公开(公告)号：US20150352656A1

公开(公告)日：2015-12-10

申请号：US14731371

申请日：2015-06-04

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Masafumi MURAKAMI ,  Kiminori NISHIMURA

IPC: B23K9/095 ,  B23K9/12 ,  B23K9/09

CPC classification number: B23K9/0953 ,  B23K9/09 ,  B23K9/095 ,  B23K9/12 ,  B23K9/125 ,  Y10S901/02

Abstract: An arc welding system includes a feeder to feed a consumable electrode to a welding torch. A power source supplies power to between the electrode and an object. A welding controller controls the feeder and the power source to cause a short-circuit state and an arc state to repeat between the electrode and the object. A robot moves the welding torch along a welding line. A robot controller controls the robot. A detector detects whether a state between the electrode and the object is the short-circuit state or the arc state. A determiner determines whether a first period or a second period has elapsed since the detector detected the arc state. An instructor instructs the robot controller to decelerate the welding torch when the determiner determines that the first period has elapsed, and to stop the welding torch when the determiner determines that the second period has elapsed.

Abstract translation: 电弧焊接系统包括将消耗电极馈送到焊炬的馈电器。 电源向电极和物体之间供电。 焊接控制器控制进料器和电源，使电极和物体之间产生短路状态和电弧状态。 机器人沿着焊接线移动焊枪。 机器人控制器控制机器人。 检测器检测电极和物体之间的状态是短路状态还是电弧状态。 确定器确定从检测器检测到电弧状态以来是否经过了第一周期或第二周期。 当确定器确定第一时间段已经过去时，指导者指示机器人控制器减速焊炬，并且当确定器确定第二时间段已经过去时，指示器停止焊炬。

公开(公告)号：US20190084156A1

公开(公告)日：2019-03-21

申请号：US16134969

申请日：2018-09-19

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yuya YASUDA ,  Tatsuya NAKATA ,  Tsuyoshi ITO ,  Kiminori NISHIMURA

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B25J5/00 ,  B25J5/02 ,  B25J9/16 ,  B25J9/1615 ,  G05B2219/40252

Abstract: A robot system includes a robot, a moving body, a determination circuit, a calculation circuit, and a control circuit. The robot includes a mount and a first arm. The determination circuit is configured to determine a lastly moved part of the robot which is lastly moved to make the robot take an operation posture. The calculation circuit is configured to calculate, based on the lastly moved part, an angle between a travel direction of the moving body and an orientation axis of the first arm when the robot in the operation posture is viewed along a height axis of the robot. The control circuit is configured to control the robot to work on a workpiece keeping the robot in the operation posture with the calculated angle while controlling the moving body to move in the travel direction.

公开(公告)号：US20210229267A1

公开(公告)日：2021-07-29

申请号：US17228713

申请日：2021-04-13

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tsuyoshi ITO ,  Kiminori NISHIMURA

IPC: B25J9/06 ,  B62D65/00 ,  B25J15/00 ,  B25J11/00 ,  B25J9/00

Abstract: A robot system includes first and third robots arranged along a transport direction in which a workpiece is conveyed, and a second robot arranged between the first and third robots along the transport direction. Each of the first and third robots has a first distal end at which a first end effector is configured to be provided to work on the workpiece and has a plurality of axes arranged in a first axis configuration in which a rotation axis, a pivot axis, a pivot axis, and a rotation axis are arranged in this order from the first distal end. The second robot has a second distal end at which a second end effector is configured to be provided to work on the workpiece. The second robot has a second axis configuration different from the first axis configuration.