公开(公告)号：US07605347B2

公开(公告)日：2009-10-20

申请号：US10544637

申请日：2004-02-05

申请人： Akinobu Izawa ,  Tetsuo Era ,  Koji Ueda ,  Takeshi Yamagami

发明人： Akinobu Izawa ,  Tetsuo Era ,  Koji Ueda ,  Takeshi Yamagami

IPC分类号： B23K9/12

CPC分类号： B25J9/1684 ,  B23K9/032 ,  B23K9/0956 ,  B23K9/127 ,  B23K9/1272 ,  B23K9/1274 ,  B25J9/1694 ,  B25J19/022 ,  G05B19/42 ,  G05B2219/34096 ,  G05B2219/36407 ,  G05B2219/36415 ,  G05B2219/36462 ,  G05B2219/45104 ,  G05B2219/4705 ,  G05B2219/49218

摘要： The control system includes a welding robot which moves a welding torch along a work for welding the work. A robot controller controls driving of the welding robot. A laser sensor head detects a shape change in the work during welding by the welding torch, and a personal computer obtains instruction information for the welding robot in accordance with the shape change, based on a result of detection by the laser sensor head. The robot controller moves the welding torch by controlling the driving of the working robot, based on the instruction information obtained by the personal computer.

摘要翻译： 控制系统包括焊接机器人，该焊接机器人沿着用于焊接工件的工件移动焊炬。 机器人控制器控制焊接机器人的驱动。 激光传感器头通过焊炬检测焊接期间的工作形状变化，并且个人计算机基于激光传感器头的检测结果，根据形状变化获取焊接机器人的指令信息。 基于由个人计算机获得的指示信息，机器人控制器通过控制工作机器人的驱动来移动焊炬。

公开(公告)号：US20050224477A1

公开(公告)日：2005-10-13

申请号：US10828560

申请日：2004-04-12

申请人： Timothy McJunkin ,  John Johnson ,  Eric Larsen ,  Herschel Smartt

发明人： Timothy McJunkin ,  John Johnson ,  Eric Larsen ,  Herschel Smartt

IPC分类号： B23K9/025 ,  B23K9/12 ,  B23K9/127 ,  B23K15/00

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; 以及控制器，其与所述超声波组件电耦合并且与所述焊接头可控地耦合，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优选地相对于所述焊缝定位所述焊接头。

公开(公告)号：US20040256369A1

公开(公告)日：2004-12-23

申请号：US10484526

申请日：2004-08-09

发明人： Akihiro Kondo

IPC分类号： B23K009/12

CPC分类号： B23K37/0258 ,  B23K9/127 ,  B23K9/1278 ,  B23K37/0247 ,  B23K37/0252

摘要： A tracking welder, which is provided with a carriage traveling in the forward and backward direction, a welding torch mounted on the carriage, a weaving driver for weaving the welding torch, a tracking system for running the carriage along a predetermined welding line, and a welding torch holder for holding the welding torch through the weaving driver and holding the weaving driver adjustably so as to shift the weaving direction of the welding torch around the center of a weaving path. According to this welder, it is possible to carry out fillet welding without causing unbalance of deposit metal between sides on a carriage running face and a tracking face, not only in a case the welding is carried out on a nearly horizontal carriage running face and a nearly vertical carriage running face, but also even in a case the welding is carried out on an inclined carriage running face.

摘要翻译： 一种跟踪焊机，其具有沿前后方向行进的滑架，安装在滑架上的焊炬，用于编织焊炬的编织驱动器，用于沿预定焊接线行进滑架的跟踪系统，以及 用于通过编织驱动器固定焊炬的焊枪支架，可调节地保持编织驱动器，以使焊炬的编织方向绕编织路径的中心移动。 根据该焊接机，可以进行圆角焊接，而不会导致滑架行驶面和跟踪面之间的侧面之间的沉积金属的不平衡，不仅在几乎水平的托架运行面上进行焊接的情况下 几乎垂直的托架运行面，而且即使在倾斜的托架运行面上进行焊接的情况下也是如此。

公开(公告)号：US6064168A

公开(公告)日：2000-05-16

申请号：US039095

申请日：1998-03-13

申请人： Jianming Tao ,  Jason Tsai ,  H. Dean McGee

发明人： Jianming Tao ,  Jason Tsai ,  H. Dean McGee

IPC分类号： B23K9/127 ,  B25J9/16 ,  B25J9/18 ,  B23K9/12 ,  B25J15/02 ,  G05B19/33

CPC分类号： B25J9/1607 ,  B23K9/127 ,  G05B2219/39573

摘要： A method of controlling movement of a robot includes moving only the wrist portion about two of the wrist axes to achieve a repeated and cyclical movement, such as a back-and-forth movement of the tool relative to a preselected path. Since only the wrist is moved, the range of available tool positions can be determined. In most instances, the desired position of the tool as it deviates from the path is outside of the range of available tool positions, given that only the wrist will move. The method of this invention includes determining a target position within the range of available positions that best corresponds to the desired position of the tool. A unique inverse kinematics solution, which includes fixing one of the wrist axes, is used to determine the wrist orientation required to place the tool into the target position.

摘要翻译： 一种控制机器人运动的方法包括仅绕手腕轴上的两个腕部移动手腕部分，以实现重复和循环运动，例如工具相对于预选路径的前后移动。 由于只有手腕移动，可以确定可用刀具位置的范围。 在大多数情况下，只要手腕移动，工具偏离路径的期望位置就在可用刀具位置的范围之外。 本发明的方法包括确定在与工具的期望位置最佳对应的可用位置的范围内的目标位置。 一个独特的逆运动学解决方案，包括固定一个腕轴，用于确定将刀具放置到目标位置所需的手腕方位。

公开(公告)号：US5965037A

公开(公告)日：1999-10-12

申请号：US968451

申请日：1997-11-12

申请人： Roland Louis Georges Bernuchon ,  Etienne Ledauphin

发明人： Roland Louis Georges Bernuchon ,  Etienne Ledauphin

IPC分类号： B23K9/167 ,  B23K9/127 ,  B23K9/29

CPC分类号： B23K9/127

摘要： An inert gas electric arc welding process is described in which the refractory electrode of the welding torch is rotated about its own axis throughout the welding operation so that the electric arc produced at the end of the electrode rotates and agitates the surface of the melt pool locally and continuously.

摘要翻译： 描述了一种惰性气体电弧焊接方法，其中焊枪的耐火电极在整个焊接操作期间围绕其自己的轴线旋转，使得在电极端部产生的电弧在本地旋转并搅拌熔池的表面 并不断。

公开(公告)号：US5511007A

公开(公告)日：1996-04-23

申请号：US50007

申请日：1993-04-22

申请人： Ryo Nihei ,  Yasuo Naito ,  Hiroshi Wakio ,  Takashi Iwamoto

发明人： Ryo Nihei ,  Yasuo Naito ,  Hiroshi Wakio ,  Takashi Iwamoto

IPC分类号： B25J19/02 ,  B23K9/127 ,  B25J19/04 ,  G01B11/00 ,  G01B11/24 ,  G01D3/08 ,  G01D21/00 ,  G01S17/46 ,  G05D3/12 ,  G01P21/00

CPC分类号： G01S17/48 ,  B23K9/127 ,  B23K9/1274 ,  G01B11/24 ,  G01D3/08

摘要： A diagnostic method in which data obtained from a real-time sensor are stored during the operation of a robot for later diagnosis of the operation state of the sensor. This method includes the steps of scanning an object by using a laser sensor, thereby obtaining sectional data; detecting a weld line position on the basis of the sectional data; storing in a memory the weld line position along with robot positions corresponding to the time of detection; and storing in the memory the sectional data when a predetermined robot position is reached with a conditional value set to "1", when the weld line position has first failed to be detected with the conditional value set to "2", or when the variation of the weld line position is larger than a predetermined value. The operation state of the sensor is traced on the basis of the weld line position and the sectional data stored in the memory, and various parameters for detection are set so that an optimum state for detection can be established. By doing so, the operation of the sensor can be continually monitored during its operation, thereby enabling the parameters to be set to optimum values.

摘要翻译： PCT No.PCT / JP92 / 01081 Sec。 371日期：1993年4月22日 102（e）日期1993年4月22日PCT提交1992年8月26日PCT公布。 公开号WO93 / 04339 日期：1993年4月3日。一种诊断方法，其中在机器人的操作期间存储从实时传感器获得的数据，以便以后诊断传感器的操作状态。 该方法包括通过使用激光传感器扫描物体的步骤，从而获得截面数据; 基于截面数据检测焊接线位置; 在存储器中存储焊接线位置以及与检测时间对应的机器人位置; 并且当条件值设定为“1”时，当达到预定的机器人位置达到预定的机器人位置时，当焊接线位置首先以条件值设置为“2”被检测到，或者当变化 的焊接线位置大于预定值。 基于存储在存储器中的焊接线位置和截面数据来追踪传感器的操作状态，并且设置用于检测的各种参数，从而可以建立用于检测的最​​佳状态。 通过这样做，可以在其操作期间连续地监视传感器的操作，从而使参数能够被设置为最佳值。

公开(公告)号：US5148000A

公开(公告)日：1992-09-15

申请号：US460841

申请日：1990-01-04

申请人： Paul A. Tews

发明人： Paul A. Tews

IPC分类号： B23K9/028 ,  B21C37/08 ,  B23K9/095 ,  B23K9/10 ,  B23K9/12 ,  B23K9/127 ,  B23K9/173 ,  B23Q41/00 ,  G05B19/02 ,  G05B19/042 ,  G05B19/18 ,  G05B19/414

CPC分类号： G05B19/0421 ,  B23K9/1087 ,  B23K9/127 ,  B23K9/173 ,  G05B19/0426 ,  G05B2219/13164 ,  G05B2219/13172 ,  G05B2219/13173 ,  G05B2219/15004 ,  G05B2219/2212 ,  G05B2219/23043 ,  G05B2219/23427 ,  G05B2219/23436 ,  G05B2219/25232 ,  G05B2219/25296

摘要： An automatic welder is used in an internal welder unit which travels along the interior of a pipeline and provides the interior weld passes at the junction of abutting pipe joints. The internal welder unit has an electronic control system which includes a plurality of microprocessor control units, each of which performs specific functional operations for the internal welder unit. The microprocessor control units are interconnected by a serial communication link which permits the transmission of commands and data between all of the microprocessor control units. The control system includes a back end control unit positioned in the internal welder unit, a front end control unit with a panel in the weld unit, a reach rod control unit at the end of a reach rod and a power supply control unit adjacent the arc power supply. The control system directs the operation of orbiting internal welders to have a zero or slow travel speed at a start point to ensure a high reliability of arc initiation. After the arc is started, the travel speed of the internal welders is accelerated to a high speed rate for the majority of the weld pass. At the end of the weld pass, the welders travel rate and wire feed rate are suddenly reduced to zero for the weld termination. The control system can extend to include one or more external welders, as well as external monitoring and control devices, all of which communicate through the serial communication link.

摘要翻译： PCT No.PCT / US90 / 00020 Sec。 371 1990年1月4日第 102（e）1990年1月4日PCT PCT 1990年1月4日PCT PCT。 出版物WO90 / 日期为1989年12月29日。自动焊机用于沿着管道内部行进的内部焊接单元，并在邻接管接头的接合处提供内部焊缝。 内部焊接单元具有电子控制系统，其包括多个微处理器控制单元，每个微处理器控制单元对内部焊接单元执行特定的功能操作。 微处理器控制单元通过串行通信链路互连，允许在所有微处理器控制单元之间传输命令和数据。 控制系统包括位于内部焊接单元中的后端控制单元，在焊接单元中具有面板的前端控制单元，在到达杆的端部处的到达杆控制单元和邻近弧的电源控制单元 电源。 控制系统引导轨道内焊机的操作，在起点处具有零速或低速行驶速度，以确保电弧启动的高可靠性。 在电弧启动之后，内部焊工的行进速度在大多数焊缝中被加速到高速率。 在焊接结束时，焊接机的行进速率和焊丝进给速率在焊接终止时突然减小到零。 控制系统可以扩展到包括一个或多个外部焊工以及外部监控和控制设备，所有这些都通过串行通信链路进行通信。

公开(公告)号：US5066847A

公开(公告)日：1991-11-19

申请号：US269742

申请日：1988-10-28

申请人： Hajimu Kishi ,  Tohru Mizuno ,  Yuichi Kanda

发明人： Hajimu Kishi ,  Tohru Mizuno ,  Yuichi Kanda

IPC分类号： B23K9/127

CPC分类号： B23K9/127

摘要： According to a path correction method in an automatic welding machine in accordance with the invention, the torch TC of a welding machine is grasped by a robot and welding is performed while the welding torch is weaved to the left and right of a welding line. At such time, an integrated value of welding current of the torch weaved with respect to a given welding line is computed every half cycle, the correction direction is decided, the amount of correction is decided by performing a computation, which is based on the integrated value, in dependence upon the correction direction decided, and the weaving path of the torch is corrected by multiplying the decided amount of correction by a predetermined coefficient.

公开(公告)号：US4831235A

公开(公告)日：1989-05-16

申请号：US871415

申请日：1986-05-21

申请人： Hajimu Kishi ,  Shinsuke Sakakibara ,  Haruyuki Ishikawa

发明人： Hajimu Kishi ,  Shinsuke Sakakibara ,  Haruyuki Ishikawa

IPC分类号： B23K9/12 ,  B23K9/022 ,  B23K9/127

CPC分类号： B23K9/127

摘要： A welding control system in an automatic welding machine controls the movement of a torch (TC) such that while the torch is weaving along a welding line (CT), the torch is moved under the control of a control device (3). The amplitudes on the lefthand side (aL) and righthand side (aR) of a welding line are based on independent commands. The welding control system can provide a weaving pattern according to the manner in which a desired workpiece is to be welded.

摘要翻译： PCT No.PCT / JP85 / 00532 Sec。 371日期：1986年5月21日 102（e）日期1986年5月21日PCT提交1985年9月26日PCT公布。 出版物WO86 / 02029 PCT 日期：1986年04月10日。自动焊接机中的焊接控制系统控制手电筒（TC）的移动，使得在割炬沿着焊接线（CT）编织时，焊炬在控制下移动 装置（3）。 焊接线的左侧（aL）和右侧（aR）的振幅基于独立的命令。 焊接控制系统可以根据期望的工件要焊接的方式提供编织图案。

公开(公告)号：US4704513A

公开(公告)日：1987-11-03

申请号：US855441

申请日：1986-04-24

申请人： Yuji Sugitani ,  Yukio Kobayashi ,  Masatoshi Murayama

发明人： Yuji Sugitani ,  Yukio Kobayashi ,  Masatoshi Murayama

IPC分类号： B23K9/08 ,  B23K9/12 ,  B23K9/127

CPC分类号： B23K9/127

摘要： A groove tracing control method for a fillet welding effected by rotating a welding torch and thereby rotating an arc at a high speed. The groove tracing control of the welding torch is effected in accordance with variations in the voltage waveform of the rotating arc and in this way the groove tracing is effected in real time in a noncontact manner with a high degree of accuracy.

摘要翻译： 用于通过旋转焊炬从而高速旋转电弧进行角焊的槽跟踪控制方法。 焊枪的凹槽跟踪控制是根据旋转电弧的电压波形的变化来实现的，以这种方式，以非接触的方式以高精确度实时地实现凹槽跟踪。