公开(公告)号：US20230234230A1

公开(公告)日：2023-07-27

申请号：US18127766

申请日：2023-03-29

申请人： Lincoln Global, Inc.

发明人： Jacob F. Aas

IPC分类号： B25J9/16 ,  B25J11/00 ,  B23K9/127

CPC分类号： B25J9/1666 ,  B25J11/005 ,  B23K9/127

摘要： An embodiment includes a method of determining a collision-free space for a robotic welding system. The method includes fixing a location of a part to be welded in a 3D coordinate space of a robotic welding system. An arm of the robotic welding system is moved around the part within the 3D coordinate space. Data corresponding to positions and orientations of the arm in the 3D coordinate space are recorded as the arm is moved within the 3D coordinate space around the part. The data is translated to swept volumes of data within the 3D coordinate space. The swept volumes of data are merged to generate 3D geometry data representing a continuous collision-free space within the 3D coordinate space.

公开(公告)号：US20180154473A1

公开(公告)日：2018-06-07

申请号：US15822264

申请日：2017-11-27

申请人： FANUC CORPORATION

发明人： Shigeo YOSHIDA

IPC分类号： B23K9/127

CPC分类号： B23K9/1276 ,  B23K9/0216 ,  B23K9/127

摘要： To provide an arc welding robot system that displays a current waveform graphically during arc welding and realizes parameter adjustment on a display screen. An arc welding robot system comprises a robot controller and a teaching operation terminal. The robot controller comprises: an arc sensor; and a welding current storage unit that stores the current value of a welding current detected by the arc sensor during implementation of the arc welding. The teaching operation terminal comprises: a control unit; and a display on which data is displayed. The control unit comprises: a welding current display unit that displays the current value and the waveform of the welding current in any weaving cycle on the display; a sampling current area display unit that displays a sampling current area on the display; and a current waveform display shift unit that shifts the waveform of the welding current in a temporal axis direction on the display unit.

公开(公告)号：US09468987B2

公开(公告)日：2016-10-18

申请号：US13881096

申请日：2011-07-06

申请人： Atsuhito Aoki ,  Masatsugu Takeichi ,  Masaru Seto ,  Yukio Ikezawa

发明人： Atsuhito Aoki ,  Masatsugu Takeichi ,  Masaru Seto ,  Yukio Ikezawa

IPC分类号： B23K9/12 ,  B23K9/09 ,  B23K9/095 ,  B23K9/127 ,  B23K9/02

CPC分类号： B23K9/09 ,  B23K9/0216 ,  B23K9/095 ,  B23K9/0953 ,  B23K9/0956 ,  B23K9/127

摘要： The present invention provides an arc welding control system and method capable of simultaneously, sophisticatedly performing a weaving width control operation and a torch height control operation. Influence ratios (δw and δz) of influences of a torch height deviation (ΔPh) and a groove wall distance deviation (ΔPd) with respect to a manipulated variable (Δw) of a weaving width and a manipulated variable (Δz) of a torch height are set in accordance with a groove angle (θ) of a workpiece (5). A calculation unit (21) calculates the manipulated variables (Δz and Δw) of actuators (13 and 14) regarding the torch height and the weaving width such that the influence ratios (δw and δz) become large as the groove angle (θ) becomes large.

摘要翻译： 本发明提供一种电弧焊接控制系统和方法，其能够同时进行织造宽度控制操作和割炬高度控制操作。 焊枪高度偏差（ΔPh）和槽壁距离偏差（ΔPd）相对于编织宽度的操纵变量（Δw）和割炬高度的操纵变量（Δz）的影响的影响比（δw和δz） 根据工件（5）的槽角（θ）设定。 计算单元（21）计算关于割炬高度和编织宽度的致动器（13和14）的操纵变量（Δz和Δw），使得当沟槽角度（θ）变得变大时，影响比（δw和δz）变大 大。

公开(公告)号：US20130299475A1

公开(公告)日：2013-11-14

申请号：US13881096

申请日：2011-07-06

申请人： Atsuhito Aoki ,  Masatsugu Takeichi ,  Masaru Seto ,  Yukio Ikezawa

发明人： Atsuhito Aoki ,  Masatsugu Takeichi ,  Masaru Seto ,  Yukio Ikezawa

IPC分类号： B23K9/095

CPC分类号： B23K9/09 ,  B23K9/0216 ,  B23K9/095 ,  B23K9/0953 ,  B23K9/0956 ,  B23K9/127

摘要： The present invention provides an arc welding control system and method capable of simultaneously, sophisticatedly performing a weaving width control operation and a torch height control operation. Influence ratios (δw and δz) of influences of a torch height deviation (ΔPh) and a groove wall distance deviation (ΔPd) with respect to a manipulated variable (Δw) of a weaving width and a manipulated variable (Δz) of a torch height are set in accordance with a groove angle (θ) of a workpiece (5). A calculation unit (21) calculates the manipulated variables (Δz and Δw) of actuators (13 and 14) regarding the torch height and the weaving width such that the influence ratios (δw and δz) become large as the groove angle (θ) becomes large.

摘要翻译： 本发明提供一种电弧焊接控制系统和方法，其能够同时进行织造宽度控制操作和割炬高度控制操作。 焊枪高度偏差（DeltaPh）和槽壁距离偏差（DeltaPd）相对于编织宽度的操纵变量（Deltaw）和割炬高度的操纵变量（Deltaz）的影响的影响比（deltaw和deltaz） 根据工件（5）的凹槽角（θ）设定。 计算单元（21）计算关于割炬高度和编织宽度的致动器（13和14）的操纵变量（Deltaz和Deltaw），使得当沟槽角度（θ）变得变大时，影响比（deltaw和deltaz）变大 大。

公开(公告)号：US07498542B2

公开(公告)日：2009-03-03

申请号：US11311521

申请日：2005-12-19

申请人： Jiluan Pan ,  Bingyi Yan ,  Lisheng Gao ,  Hua Zhang ,  Qinying Lu

发明人： Jiluan Pan ,  Bingyi Yan ,  Lisheng Gao ,  Hua Zhang ,  Qinying Lu

IPC分类号： B23K9/127 ,  B23K9/12

CPC分类号： B23K37/0258 ,  B23K9/127 ,  B23K9/1274 ,  B23K37/0264 ,  B23K37/0294

摘要： A method and system are provided for a trackless autonomous crawling all-position arc welding robot with wheels and permanent magnet caterpillar belts. A sensor detects a welding seam position and transmits the position to a tracking controller. The tracking controller sends instructions to a welding torch which may be moved in generally horizontal and vertical directions based upon the instructions. Additionally, a crawler drive controller receives the welding seam position and sends a control signal to an AC servomotor drive that positions the crawler based on the control signal.

摘要翻译： 提供了一种用于无轮自动爬行全位置弧焊机器人的方法和系统，其具有轮和永磁履带。 传感器检测焊缝位置，并将位置传送到跟踪控制器。 跟踪控制器根据指令将指令发送到焊枪，焊枪可以大致水平和垂直方向移动。 此外，履带式驱动控制器接收焊缝位置，并将控制信号发送到基于控制信号定位履带的AC伺服电机驱动器。

公开(公告)号：US07094989B2

公开(公告)日：2006-08-22

申请号：US10828560

申请日：2004-04-12

申请人： Timothy R. McJunkin ,  John A. Johnson ,  Eric D. Larsen ,  Herschel B. Smartt

发明人： Timothy R. McJunkin ,  John A. Johnson ,  Eric D. Larsen ,  Herschel B. Smartt

IPC分类号： B23K9/127

CPC分类号： B23K15/0013 ,  B23K9/025 ,  B23K9/127 ,  B23K26/044

摘要： A welding apparatus using ultrasonic sensing is described and which includes a movable welder having a selectively adjustable welding head for forming a partially completed weld in a weld seam defined between adjoining metal substrates; an ultrasonic assembly borne by the moveable welder and which is operable to generate an ultrasonic signal which is directed toward the partially completed weld, and is further reflected from same; and a controller electrically coupled with the ultrasonic assembly and controllably coupled with the welding head, and wherein the controller receives information regarding the ultrasonic signal and in response to the information optimally positions the welding head relative to the weld seam.

摘要翻译： 描述了使用超声波感测的焊接装置，其包括具有选择性调节的焊接头的可移动焊接机，用于在相邻的金属衬底之间限定的焊缝中形成部分完成的焊缝; 超声波组件，其由可动焊机承载并且可操作以产生朝向部分完成的焊缝的超声波信号，并且进一步从其反射; 以及与所述超声波组件电耦合并且与所述焊接头可控地耦合的控制器，并且其中所述控制器接收关于所述超声波信号的信息，并且响应于所述信息最优地相对于所述焊缝定位所述焊接头。

公开(公告)号：US20060144835A1

公开(公告)日：2006-07-06

申请号：US11311521

申请日：2005-12-19

申请人： Jiluan Pan ,  Bingyi Yan ,  Lisheng Gao ,  Hua Zhang ,  Qinying Lu

发明人： Jiluan Pan ,  Bingyi Yan ,  Lisheng Gao ,  Hua Zhang ,  Qinying Lu

IPC分类号： B23K9/127

CPC分类号： B23K37/0258 ,  B23K9/127 ,  B23K9/1274 ,  B23K37/0264 ,  B23K37/0294

摘要： A method and system are provided for a trackless autonomous crawling all-position arc welding robot with wheels and permanent magnet caterpillar belts. A sensor detects a welding seam position and transmits the position to a tracking controller. The tracking controller sends instructions to a welding torch which may be moved in generally horizontal and vertical directions based upon the instructions. Additionally, a crawler drive controller receives the welding seam position and sends a control signal to an AC servomotor drive that positions the crawler based on the control signal.

公开(公告)号：US20050173419A1

公开(公告)日：2005-08-11

申请号：US10296635

申请日：2001-06-04

申请人： Richard Miller

发明人： Richard Miller

IPC分类号： B23K9/02 ,  B23K13/00 ,  B23K13/01 ,  G05B19/42 ,  H05B6/06 ,  H05B6/14 ,  H05B6/16

CPC分类号： B23K9/0216 ,  B23K9/0213 ,  B23K9/12 ,  B23K9/127 ,  B23K9/173 ,  B23K13/01 ,  B23K37/0235 ,  B23K2101/26 ,  G05B19/4207 ,  G05B2219/36407 ,  G05B2219/37043 ,  G05B2219/40233 ,  G05B2219/45104

摘要： An apparatus (10) and method for preheating welds uses a centered induction plate (12) having preferably a plurality of induction coils (30, 32) to impart the generation of heat in the materials to be welded (14), being interactively controlled by at least a temperature sensor (90, 92) and power supply control loop (16) so that even preheating can be obtained for a selected length of time given the parameters of the weld desired.

摘要翻译： 用于预热焊接的装置（10）和方法使用优选地具有多个感应线圈（30,32）的中心感应板（12），以在被焊接材料（14）中产生热量，由热交换控制 至少一个温度传感器（90,92）和电源控制回路（16），使得在所需焊接参数的给定时间内可以获得均匀的预热。

公开(公告)号：US20040010342A1

公开(公告)日：2004-01-15

申请号：US10297000

申请日：2003-05-09

发明人： Richard L. Thelen

IPC分类号： G06F019/00

CPC分类号： B23K9/0216 ,  B23K9/0213 ,  B23K9/12 ,  B23K9/127 ,  B23K9/173 ,  B23K13/01 ,  B23K37/0235 ,  B23K2101/26 ,  G05B19/4207 ,  G05B2219/36407 ,  G05B2219/37043 ,  G05B2219/40233 ,  G05B2219/45104

摘要： A gap welding process (10) for manipulating a movable robotic welder (30) for making a weld between two or more substantially immovable work pieces (51) using a higher level programming language (20). The gap welding process (10) performs a data transfer routine which takes spreadsheet data (18) representing expected variables, runs a data conversion program (20) that creates weld program data including point position, user frames (34 and 36), weld schedule, seam tracking schedule, weave schedule, azimuth orientation, travel speed, wait time, weave type and number of digital output control data. The gap welding process (10) also performs a gap-sensing routine (28) for actual weld gap measuring by using the robotic welder (30) to touch specific locations on pieces forming the gap or fixturing to produce weld variance data. The gap welding process (10) then uses a weld control program in conjunction with the weld program data (22), weld variance data (26), and feedback data (44) that is gathered during the welding process to determine and perform the correct manipulation required to produce torch movements to accurately weld the gap (32).

摘要翻译： 一种用于操纵可移动机器人焊接机（30）的间隙焊接工艺（10），用于使用较高级编程语言（20）在两个或更多个基本上不可移动的工件（51）之间进行焊接。 间隙焊接过程（10）执行数据传输程序，该程序采用表示预期变量的电子表格数据（18），运行数据转换程序（20），该数据转换程序（20）创建包括点位置，用户框架（34和36），焊接计划 ，缝线跟踪计划，编织时间表，方位角方向，行驶速度，等待时间，编织类型和数字输出控制数据数。 间隙焊接工艺（10）还通过使用机器人焊接机（30）来触摸形成间隙的零件上的特定位置或夹具来执行用于实际焊接间隙测量的间隙感测程序（28），以产生焊接方差数据。 间隙焊接过程（10）然后使用焊接控制程序与焊接程序数据（22），焊接方差数据（26）和在焊接过程中收集的反馈数据（44）相结合，以确定和执行正确的 产生割炬运动以精确地焊接间隙（32）所需的操作。

公开(公告)号：US06352354B1

公开(公告)日：2002-03-05

申请号：US09391264

申请日：1999-09-07

申请人： Jean-Paul Boillot ,  Jean-Claude Fontaine ,  Dominique Frechette

发明人： Jean-Paul Boillot ,  Jean-Claude Fontaine ,  Dominique Frechette

IPC分类号： B23K9095

CPC分类号： B25J19/025 ,  B23K9/127 ,  B23K9/1274 ,  B23K9/32 ,  B25J9/1697 ,  G05B2219/40623

摘要： The light pinpointing device is for producing a pinpointing light signal at an operative center point of a robot tool. The pinpointing light signal is useful to properly position the robot tool during the teaching phase. The light pinpointing device comprises a frame having first and second opposite ends, the first end being provided with a fastener for fastening the frame to an end of the robot tool. A light source assembly is provided to produce a pair of light beams inside the frame. A lens in front of the light source assembly is provided for directing the light beams through the second end of the frame in converging directions so that the light beams intersect with each other at a distance from the end of the robot tool corresponding to the operative center point thereof, thereby providing the pinpointing light signal.

摘要翻译： 光精确定位装置用于在机器人工具的操作中心点处产生精确定位的光信号。 精确定位的光信号有助于在教学阶段正确定位机器人工具。 光瞄准装置包括具有第一和第二相对端的框架，第一端设置有用于将框架紧固到机器人工具的端部的紧固件。 提供光源组件以在框架内部产生一对光束。 提供在光源组件前面的透镜，用于沿着会聚方向引导光束穿过框架的第二端，使得光束相对于与操作中心对应的机器人工具的端部相距一定距离 点，从而提供精确定位的光信号。