公开(公告)号：US06680461B2

公开(公告)日：2004-01-20

申请号：US10118978

申请日：2002-04-10

申请人： Atsushi Watanabe ,  Mitsuhiro Okuda ,  Yoshitake Furuya

发明人： Atsushi Watanabe ,  Mitsuhiro Okuda ,  Yoshitake Furuya

IPC分类号： B23K2602

CPC分类号： B23K26/04

摘要： A nozzle system for laser machining capable of maintaining an interference region of a robot in a teaching operation to be substantially the same as that in a laser machining operation. An optical fiber supporting unit is attached to a nozzle body unit having laser beam converging lens for performing a laser machining operation. An optical fiber for supplying a laser beam is connected to an optical fiber connector on the optical fiber supporting unit. A laser machining is performed by combination of the nozzle body unit and the optical fiber supporting member attached to a distal end of a robot arm. In a teaching operation, a camera supporting unit (dummy nozzle) having substantially the same dimension as the nozzle body unit and supporting a camera at a predetermined position is used in place of the optical fiber supporting unit and the nozzle body unit. Alternatively, the nozzle body unit may be used commonly in combination with the optical fiber supporting unit in the machining operation and with the camera supporting unit in the teaching operation. A visual sensor using projection of a spot beam or slit beams may be adopted.

摘要翻译： 一种用于激光加工的喷嘴系统，其能够将教导操作中的机器人的干涉区域保持为与激光加工操作基本相同的激光加工。 光纤支撑单元附接到具有用于进行激光加工操作的激光束会聚透镜的喷嘴主体单元。 用于提供激光束的光纤连接到光纤支撑单元上的光纤连接器。 激光加工通过喷嘴体单元和附接到机器人臂的远端的光纤支撑构件的组合来执行。 在教学操作中，代替光纤支撑单元和喷嘴体单元，使用具有与喷嘴主体单元基本相同的尺寸并且将相机支撑在预定位置的相机支撑单元（虚拟喷嘴）。 或者，喷嘴主体单元可以在加工操作中与光纤支撑单元共同使用，并且在教学操作中可与照相机支撑单元一起使用。 可以采用使用点光束或狭缝光束的投影的视觉传感器。

公开(公告)号：US20050143861A1

公开(公告)日：2005-06-30

申请号：US11019466

申请日：2004-12-23

申请人： Atsushi Watanabe ,  Mitsuhiro Okuda ,  Yoshitake Furuya

发明人： Atsushi Watanabe ,  Mitsuhiro Okuda ,  Yoshitake Furuya

IPC分类号： B25J13/08 ,  B25J9/16 ,  G05B19/42 ,  G06F19/00

CPC分类号： B25J9/1684 ,  G05B2219/45057

摘要： A processing system for stably processing a workpiece even if the shape of the workpiece changes every production lot of the workpiece, or by a change of the workpiece. The distance between the workpiece and an end of a nozzle of a laser machining head is measured by a distance sensor. A data correcting value ΔZ′mn is calculated using a measured distance ΔZrn at each teaching point and a set gap value ΔZs (step S6-S15). By using ΔZ′mn, the data of the teaching points are corrected to new data of the teaching points of the program (step S16-S19). The distance between the workpiece and the end of the nozzle of the laser machining head does not become larger because the teaching points of the processing program are corrected every time when the workpiece is processed. The interference between the workpiece and the head may be prevented and the processing may be stably implemented because the amount of correction becomes smaller when the position of the head is corrected during the processing.

摘要翻译： 即使工件的形状改变工件的每个生产批次，也可以通过工件的变化来稳定地处理工件的处理系统。 通过距离传感器测量工件与激光加工头的喷嘴端部之间的距离。 使用每个教导点处的测量距离DeltaZrn和设定的间隙值DeltaZs来计算数据校正值DeltaZ'mn（步骤S6〜15）。 通过使用DeltaZ'mn，将教学点的数据校正为程序的教学点的新数据（步骤S 16 -S 19）。 激光加工头部的工件与喷嘴的端部之间的距离不会变大，这是因为每当加工工件被处理时校正处理程序的教导点。 可以防止工件和头部之间的干涉，并且可以稳定地执行处理，因为在处理期间校正头部的位置时校正量变小。

公开(公告)号：US07038165B2

公开(公告)日：2006-05-02

申请号：US10814275

申请日：2004-04-01

申请人： Mitsuhiro Okuda ,  Yoshitake Furuya

发明人： Mitsuhiro Okuda ,  Yoshitake Furuya

IPC分类号： B23K26/02

CPC分类号： B23K26/0884 ,  B23K26/04

摘要： If a machining program is reproduced in a robot controller and a robot is moved on a machining route, then a detection signal of a distance sensor is fetched through a distance sensor amplifier, and tracer control is carried out so as to keep a distance between a laser machining head and a workpiece at a predetermined value. In an acceleration and decoration processing in a corner, a restriction means that restricts a maximum acceleration and a maximum jerk is used to control an acceleration and a jerk of the robot not to exceed respective predetermined values, and prevents generation of a vibration when the laser machining head passes through the corner.

摘要翻译： 如果在机器人控制器中再现加工程序并且机器人在加工路径上移动，则通过距离传感器放大器获取距离传感器的检测信号，并且执行跟踪器控制以保持距离传感器 激光加工头和工件处于预定值。 在拐角处的加速加工处理中，限制装置的最大加速度和最大加加速度的限制装置用于控制机器人的加速度和加加速度不超过相应的预定值，并且当激光器 加工头通过角落。

公开(公告)号：US20050011867A1

公开(公告)日：2005-01-20

申请号：US10883718

申请日：2004-07-06

申请人： Mitsuhiro Okuda ,  Yoshitake Furuya

发明人： Mitsuhiro Okuda ,  Yoshitake Furuya

IPC分类号： B23K26/00 ,  B23K26/03 ,  B23K26/04 ,  B23K26/08 ,  B23K26/20

CPC分类号： B23K26/032 ,  B23K26/03 ,  B23K26/034

摘要： When a laser beam is irradiated from a laser welding torch onto a surface of a welding target workpiece, a plasma is generated. This plasma is introduced to an optical fiber, extracted by a filter-added half-silvered mirror, branched by half-silvered mirrors and a reflecting mirror, split by a bandpass filter, and detected by an optical sensor. Using a detection result of the optical sensor, a control for keeping the intensity or the temperature of a plasma beam constant is exercised.

摘要翻译： 当将激光束从激光焊枪照射到焊接工件的表面上时，产生等离子体。 该等离子体被引入光纤，由被半透明反射镜分支的过滤器半镀镜反射镜和由带通滤光器分离的反射镜提取，并由光学传感器检测。 使用光学传感器的检测结果，执行用于保持等离子体束的强度或温度恒定的控制。

公开(公告)号：US06555784B2

公开(公告)日：2003-04-29

申请号：US09832206

申请日：2001-04-11

申请人： Nobuaki Iehisa ,  Norio Karube ,  Akihiro Terada ,  Atsushi Watanabe ,  Mitsuhiro Okuda

发明人： Nobuaki Iehisa ,  Norio Karube ,  Akihiro Terada ,  Atsushi Watanabe ,  Mitsuhiro Okuda

IPC分类号： B23K2636

CPC分类号： B23K26/0613 ,  B23K26/0604 ,  B23K26/067

摘要： A laser machining apparatus with a simplified laser beam transmitting network. Respective laser beams form laser generators LS#11 to LS#25 divided into groups of G1 and G2 are aggregated to fiber-optic cables H1 and H2 by confluence devices HC1 and HC2 and transmitted to a most upstream laser beam outlet OP1. The laser beams are further aggregated to a fiber-optic cable H3 and distributed to a branch fiber-optic cable HH1 by the laser beam outlet OP1, and then distributed by laser beam outlet OP2 to OP8 to branch fiber-optic cables HH2 to HH8. The laser beams distributed to branch fiber-optic cables are focused by the machining tools TL1 to TL8 attached to robots RB1 to RB8 for laser machining. By controlling output levels of the laser generators with different oscillation wavelengths and different polarization characteristics, blend ratio of the laser beams can be adjusted. Distribution ratios of the laser beams at the laser beam outlets OP1 to OP8 are adjustable.

摘要翻译： 激光加工设备，具有简化的激光束传输网络。 各激光束形成分为G1和G2组的激光发生器LS＃11至LS＃25通过汇流装置HC1和HC2聚集到光纤电缆H1和H2并传输到最上游的激光束出口​​OP1。 激光束进一步聚集到光纤电缆H3，并由激光束出口​​OP1分配到分支光纤电缆HH1，然后由激光束出口​​OP2分配到OP8以分支光纤电缆HH2至HH8。 分配到分支光纤电缆的激光束由机器人RB1至RB8附加的加工工具TL1至TL8聚焦，用于激光加工。 通过控制具有不同振荡波长和不同极化特性的激光发生器的输出电平，可以调整激光束的混合比。 激光束出口​​OP1至OP8处的激光束的分布比是可调节的。

公开(公告)号：US06538231B2

公开(公告)日：2003-03-25

申请号：US09813025

申请日：2001-03-21

申请人： Norio Karube ,  Atsushi Watanabe ,  Nobuaki Iehisa ,  Akihiro Terada ,  Mitsuhiro Okuda

发明人： Norio Karube ,  Atsushi Watanabe ,  Nobuaki Iehisa ,  Akihiro Terada ,  Mitsuhiro Okuda

IPC分类号： B23K2606

CPC分类号： B23K26/0613 ,  B23K26/067

摘要： A plurality of laser generators are provided to be environmentally separated from a machining station, and temperature, humidity, vibration, cleanliness and the like are detected by a sensor, and displayed. When an abnormal environment is detected, machining operation is stopped immediately or after a predetermined time elapsed. The laser generators are grouped according to each machining tool, and fiber-optic cable switching devices FC3 and FC4 are arranged for each group. By the switchover of the laser generator, and the selective connection of a fiber-optic cable by using the fiber-optic cable switching device, the degree of freedom in selecting the laser generator and the fiber-optic cable is produced. The degree of freedom is utilized according to the abnormality of the laser generator, the abnormality of the fiber-optic cable, the type of machining work, and the like, by which a machining apparatus in which the occurrence of a partial failure does not lead to long-term shutdown of a manufacturing line can be obtained.

摘要翻译： 多个激光发生器被设置为与加工台环境分离，并且通过传感器检测温度，湿度，振动，清洁度等并显示。 当检测到异常环境时，立即停止加工操作或经过预定时间。 激光发生器根据每个加工工具进行分组，并为每个组布置光纤电缆交换设备FC3和FC4。 通过激光发生器的切换以及通过使用光纤电缆切换装置选择性地连接光纤电缆，产生了选择激光发生器和光纤电缆的自由度。 根据激光发生器的异常，光纤电缆的异常，加工工作的类型等来利用自由度，通过该自由度，发生部分故障的加工装置不会导致 可以获得长期停产的生产线。

公开(公告)号：US20050107918A1

公开(公告)日：2005-05-19

申请号：US10954606

申请日：2004-10-01

申请人： Atsushi Watanabe ,  Mitsuhiro Okuda

发明人： Atsushi Watanabe ,  Mitsuhiro Okuda

IPC分类号： G05B19/4063 ,  B25J9/16 ,  G05B19/404 ,  G05B19/00 ,  G05B15/00 ,  G06F19/00

CPC分类号： B25J9/1684 ,  G05B2219/4705

摘要： Provided is a correction data checking system, for robots, which makes it easy to reveal the cause of a machining defect. A laser machining head and a distance sensor or a sensor for detecting a work line are attached to the distal end of a robot arm. A robot is driven based on a teaching program, and a copying control technique is implemented based on information sent from the sensor so that the distance between the laser machining head and a workpiece will be equal to a set value. A path of taught positions of the laser machining head and a path of actual positions thereof are displayed in comparison with each other on a display of a teaching console or the like. Moreover, the difference between the taught position and actual position is calculated and displayed. As both the position commanded by the teaching program and the actual position derived from the copying control technique are displayed, if a machining defect occurs, the machining defect is checked to see if it is a problem attributable to the sensor or a problem attributable to the workpiece or a jig. The cause of the machining defect is then revealed. Consequently, the cause of a machining defect can be quickly revealed and dealt with at a working site.

摘要翻译： 提供了一种用于机器人的校正数据检查系统，其易于揭示加工缺陷的原因。 激光加工头和距离传感器或用于检测工作线的传感器安装在机器人手臂的远端。 基于教学程序驱动机器人，并且基于从传感器发送的信息实现复印控制技术，使得激光加工头与工件之间的距离将等于设定值。 激光加工头的教导位置的路径和实际位置的路径在教学控制台等的显示器上相互比较地显示。 此外，计算并显示教导位置和实际位置之间的差异。 由于显示了由教学程序命令的位置和从复制控制技术导出的实际位置，如果发生加工缺陷，则检查加工缺陷，看是否是由传感器引起的问题或归因于 工件或夹具。 然后揭示加工缺陷的原因。 因此，加工缺陷的原因可以在工作现场快速揭示和处理。

公开(公告)号：US07149602B2

公开(公告)日：2006-12-12

申请号：US10954606

申请日：2004-10-01

申请人： Atsushi Watanabe ,  Mitsuhiro Okuda

发明人： Atsushi Watanabe ,  Mitsuhiro Okuda

IPC分类号： G06F19/00

CPC分类号： B25J9/1684 ,  G05B2219/4705

摘要： Provided is a correction data checking system, for robots, which makes it easy to reveal the cause of a machining defect. A laser machining head and a distance sensor or a sensor for detecting a work line are attached to the distal end of a robot arm. A robot is driven based on a teaching program, and a copying control technique is implemented based on information sent from the sensor so that the distance between the laser machining head and a workpiece will be equal to a set value. A path of taught positions of the laser machining head and a path of actual positions thereof are displayed in comparison with each other on a display of a teaching console or the like. Moreover, the difference between the taught position and actual position is calculated and displayed. As both the position commanded by the teaching program and the actual position derived from the copying control technique are displayed, if a machining defect occurs, the machining defect is checked to see if it is a problem attributable to the sensor or a problem attributable to the workpiece or a jig. The cause of the machining defect is then revealed. Consequently, the cause of a machining defect can be quickly revealed and dealt with at a working site.

摘要翻译： 提供了一种用于机器人的校正数据检查系统，其易于揭示加工缺陷的原因。 激光加工头和距离传感器或用于检测工作线的传感器安装在机器人手臂的远端。 基于教学程序驱动机器人，并且基于从传感器发送的信息实现复印控制技术，使得激光加工头与工件之间的距离将等于设定值。 激光加工头的教导位置的路径和实际位置的路径在教学控制台等的显示器上相互比较地显示。 此外，计算并显示教导位置和实际位置之间的差异。 由于显示了由教学程序命令的位置和从复制控制技术导出的实际位置，如果发生加工缺陷，则检查加工缺陷，看是否是由传感器引起的问题或归因于 工件或夹具。 然后揭示加工缺陷的原因。 因此，加工缺陷的原因可以在工作现场快速揭示和处理。

公开(公告)号：US06763284B2

公开(公告)日：2004-07-13

申请号：US10001991

申请日：2001-12-05

申请人： Atsushi Watanabe ,  Tetsuya Kosaka ,  Katsutoshi Takizawa ,  Fumikazu Warashina ,  Kazunori Ban ,  Makoto Yamada ,  Akihiro Terada ,  Mitsuhiro Okuda

发明人： Atsushi Watanabe ,  Tetsuya Kosaka ,  Katsutoshi Takizawa ,  Fumikazu Warashina ,  Kazunori Ban ,  Makoto Yamada ,  Akihiro Terada ,  Mitsuhiro Okuda

IPC分类号： G05B1900

CPC分类号： B25J9/1697 ,  G05B19/4202 ,  G05B2219/35506 ,  G05B2219/36415 ,  G05B2219/37288 ,  G05B2219/37571 ,  G05B2219/37572 ,  G05B2219/40005

摘要： An image of a reference object is captured using a camera and displayed. A measurement starting point is pointed by an image position pointing device. A corresponding view line is obtained using a position on the image and a position and a direction of the camera, a robot approaches to the reference object such that it does not deviate from a projecting direction to move to a position suitable for measurement. A light is projected on the reference object and measurement of an inclination of a face of the object in the vicinity of a measuring point is started. An image including a bright line image on the reference object is photographed and 3-dimensional positions of points sequentially measured along a working line. A movement path of a robot is created using these positions as teaching points for a working robot.

摘要翻译： 使用相机拍摄参考对象的图像并进行显示。 测量起点由图像位置指示装置指向。 使用图像上的位置和相机的位置和方向获得对应的视线，机器人接近参考对象，使得其不偏离投影方向移动到适合于测量的位置。 光照射在基准对象上，开始测量对象附近的测量点的面的倾斜度。 拍摄包括参考物体上的亮线图像的图像，并沿着工作线顺序地测量点的3维位置。 使用这些位置创建机器人的移动路径作为工作机器人的教导点。

公开(公告)号：US06321139B1

公开(公告)日：2001-11-20

申请号：US09194610

申请日：1998-11-30

申请人： Akihiro Terada ,  Mitsuhiro Okuda

发明人： Akihiro Terada ,  Mitsuhiro Okuda

IPC分类号： G05B19418

CPC分类号： B25J9/1697 ,  G05B2219/37571 ,  G05B2219/45104 ,  G05B2219/49386

摘要： An operation line searching method in which an operation start position is automatically approached and a robot/sensor system having such function of detecting the operation line. A robot having a laser sensor and an operation tool attached to a distal end thereof approaches an operation start position Q1 using various searching motion path patterns (a) to (d). Pattern (a) is determined to avoid an obstacle F or an obstructively-shaped portion G. The path thereof, for example, can be determined by specifying a coordinate axis of a coordinate system w. Patterns (b) and (c) are carried out by teaching, to the robot, data for determining the paths thereof in order. Pattern (d) is carried out in the following manner: an initial parameter , an angle of rotation and a norm increase factor are specified as parameters, and at the time when incremental travel quantity of a (i+1)th occurrence (i=0, 1, 2, . . . ) Should be obtained, it is obtained by calculating − , where the vector is obtained from the last obtained vector based on the illustrated relationship (the angle of rotation and the norm growth factor).

摘要翻译： 自动接近操作开始位置的操作线搜索方法和具有检测操作线的功能的机器人/传感器系统。 具有激光传感器和附接到其远端的操作工具的机器人使用各种搜索运动路径图案（a）至（d）接近操作开始位置Q1。 确定图案（a）以避免障碍物F或阻塞形状部分G.例如，其路径可以通过指定坐标系统w的坐标轴来确定。 模式（b）和（c）通过向机器人教导依次进行确定其路径的数据来进行。 模式（d）以以下方式进行：初始参数，旋转角度和范数增加因子被指定为参数，并且在第（i + 1）次发生的增量行驶量 （i = 0,1,2，...）通过计算 - Vi>获得，其中从最后得到的矢量Vi获得矢量 基于所示的关系（旋转角度和标准生长因子）。