公开(公告)号：US06768078B1

公开(公告)日：2004-07-27

申请号：US10339047

申请日：2003-01-09

申请人： Frank Garza ,  Jason Tsai ,  Hadi Akeel ,  Brad Niederquell

发明人： Frank Garza ,  Jason Tsai ,  Hadi Akeel ,  Brad Niederquell

IPC分类号： B23K1111

CPC分类号： B23K11/315 ,  B23K11/115

摘要： A servo spot welding control system and method to efficiently weld a pair of workpieces together. The system includes a robot movable about the workpieces, a weld gun, servomotors, a transformer, and a controller. The weld gun is mounted on the robot and includes at least two pairs of electrodes. Each pair of electrodes includes a stationary electrode and a moveable electrode. The servomotors are operatively connected to the movable electrodes. The controller actuates the robot to move the robot into position. The controller also actuates the servomotors to clamp the workpieces and to selectively sequence electric current from the transformer to form multiple spot welds on the workpieces.

摘要翻译： 一种伺服点焊控制系统和方法，可有效地将一对工件焊接在一起。 该系统包括可围绕工件移动的机器人，焊枪，伺服电动机，变压器和控制器。 焊枪安装在机器人上，并且包括至少两对电极。 每对电极包括固定电极和可动电极。 伺服电动机可操作地连接到可动电极。 控制器启动机器人以将机器人移动到位。 控制器还致动伺服电动机夹紧工件，并选择性地对来自变压器的电流进行排序，以在工件上形成多个点焊。

公开(公告)号：US09144860B2

公开(公告)日：2015-09-29

申请号：US13433850

申请日：2012-03-29

申请人： Frank Garza ,  Brad Niederquell

发明人： Frank Garza ,  Brad Niederquell

IPC分类号： B23K11/31 ,  B23K11/11 ,  B23K11/25

CPC分类号： B23K11/115 ,  B23K11/25 ,  B23K11/315

摘要： A method for controlling a welding robot having a servo gun with a movable tip and a fixed tip includes the steps of separately contacting a surface of a part with the movable tip to measure a base test point and an at least two additional test points displaced from the base test point. Two non-collinear vectors are calculated from the at least two additional test points. A normal vector is calculated from the two non-collinear vectors. An angle between the original servo gun orientation and the normal vector is determined. An orientation of the servo gun may be corrected, for example, if the angle is within user specified tolerances.

摘要翻译： 一种用于控制具有可移动末端和固定末端的伺服枪的焊接机器人的方法包括以下步骤：将部件的表面与可动尖端分开接触，以测量基准测试点和至少两个从 基准测试点。 从至少两个附加测试点计算两个非共线向量。 从两个非共线向量计算法向量。 确定原始伺服枪方向与法向量之间的角度。 例如，如果角度在用户指定的公差之内，则可以校正伺服枪的取向。

公开(公告)号：US20130256278A1

公开(公告)日：2013-10-03

申请号：US13433850

申请日：2012-03-29

申请人： Frank Garza ,  Brad Niederquell

发明人： Frank Garza ,  Brad Niederquell

IPC分类号： B23K9/12

CPC分类号： B23K11/115 ,  B23K11/25 ,  B23K11/315

摘要： A method for controlling a welding robot having a servo gun with a movable tip and a fixed tip includes the steps of separately contacting a surface of a part with the movable tip to measure a base test point and an at least two additional test points displaced from the base test point. Two non-collinear vectors are calculated from the at least two additional test points. A normal vector is calculated from the two non-collinear vectors. An angle between the original servo gun orientation and the normal vector is determined. An orientation of the servo gun may be corrected, for example, if the angle is within user specified tolerances.

摘要翻译： 一种用于控制具有可移动末端和固定末端的伺服枪的焊接机器人的方法包括以下步骤：将部件的表面与可动尖端分开接触，以测量基准测试点和至少两个从 基准测试点。 从至少两个附加测试点计算两个非共线向量。 从两个非共线向量计算法向量。 确定原始伺服枪方向与法向量之间的角度。 例如，如果角度在用户指定的公差之内，则可以校正伺服枪的取向。

公开(公告)号：US06516248B2

公开(公告)日：2003-02-04

申请号：US09876620

申请日：2001-06-07

申请人： H. Dean McGee ,  Eric Lee ,  Frank Garza

发明人： H. Dean McGee ,  Eric Lee ,  Frank Garza

IPC分类号： G05B1904

CPC分类号： B25J9/1692 ,  G05B2219/37413 ,  G05B2219/39021 ,  G05B2219/39026

摘要： A robot calibration system for calibrating a robot and a method of determining a position of the robot to calibrate the robot are disclosed. The system includes an electrical ground defining a return for an electrical circuit. The robot, which is electrically connected to the ground, includes an arm having a tool surface operating within a robot workspace. The system also includes an electrical supply and a detection device. The electrical supply defines a source for the circuit and provides a charge and a reference voltage to the system. The detection device communicates with the electrical supply to detect variations in either the charge, the reference voltage, or both. The system further includes a calibration object. The calibration object is electrically insulated from the ground and is electrically connected to the electrical supply. The calibration object receives the charge and the reference voltage from the electrical supply to determine the position of the robot relative to the calibration object when the tool surface moves toward the calibration object to electrically interact with the calibration object.