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公开(公告)号：US09434020B2
公开(公告)日：2016-09-06
申请号：US13956360
申请日：2013-08-01
Applicant: KABUSHIKI KAISHA YASKAWA DENKI
Inventor： Masami Nakakura , Teppei Sonoda , Manabu Okahisa
IPC: B23K11/06
CPC classification number: B23K11/061 , B23K11/063
Abstract: A seam welding robot includes a robot arm and a welding unit that is coupled to the robot arm. The welding unit includes a pair of roller electrodes. The pair of roller electrodes rotates following motion of the robot arm while sandwiching and pressurizing welding targets. The welding unit passes a welding electric current between the pair of roller electrodes to seam-weld the welding targets.
Abstract translation: 缝焊机器人包括机器人臂和联接到机器人手臂的焊接单元。 焊接单元包括一对辊电极。 一对辊电极在夹持并加压焊接对象的同时，随着机器人臂的运动而旋转。 焊接单元将一对辊电极之间的焊接电流通过焊接焊接对象。
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2.发明授权公开(公告)号：US10821540B2
公开(公告)日：2020-11-03
申请号：US14741465
申请日：2015-06-17
Applicant: KABUSHIKI KAISHA YASKAWA DENKI , HONDA MOTOR CO., LTD.
Inventor： Yasuhiro Kawai , Kazuhiko Yamaashi , Haruhiko Kobayashi , Mitsugu Kaneko , Noriko Kurimoto , Masami Nakakura , Teppei Sonoda
IPC: B23K11/06 , B23K11/25 , B25J9/16 , B23K11/36 , B23K11/30 , B23K11/24 , B23K11/31 , B23K101/00 , B23K101/04 , B23K103/04
Abstract: The seam welding apparatus includes a pair of rotating electrodes, an electrode supporting frame, a distance measuring means, and a controller. The electrode supporting frame supports the pair of rotating electrodes. The distance measuring means is provided on the electrode supporting frame and measures a distance to an edge of the steel plate. The controller controls the robot to adjust a running direction of the rotating electrodes so that a deviation comes into zero when a distance actually measured by the distance measuring means deviates from a predetermined distance. Thereby, it is accomplished that the seam welding apparatus is downsized as well as uninfluenced by the surface state and/or shape of workpiece (steel plate).
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公开(公告)号：US10543560B2
公开(公告)日：2020-01-28
申请号：US14689057
申请日：2015-04-17
Applicant: KABUSHIKI KAISHA YASKAWA DENKI , HONDA MOTOR CO., LTD.
Inventor： Masami Nakakura , Teppei Sonoda
Abstract: A seam welding system includes a pair of roller electrodes. The pair of roller electrodes hold a to-be-welded object between circumferential surfaces of the roller electrodes, rotate while holding the to-be-welded object between the circumferential surfaces, and perform seam welding on the to-be-welded object when a current flows between the roller electrodes while rotating and holding the to-be-welded object between the circumferential surfaces. To an electrode movement mechanism, the roller electrodes are mounted. The electrode movement mechanism moves the roller electrodes along a welding line of the to-be-welded object. Drive sources respectively rotate the roller electrodes and a joint of the electrode movement mechanism. A controller controls an amount by which the roller electrodes rotate based on a torque change in the drive sources so as to keep torques respectively acting on the roller electrodes within a predetermined range.
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公开(公告)号：US09908160B2
公开(公告)日：2018-03-06
申请号：US14529209
申请日：2014-10-31
Applicant: KABUSHIKI KAISHA YASKAWA DENKI
Inventor： Manabu Okahisa , Masami Nakakura , Teppei Sonoda
CPC classification number: B21B31/16 , B21B37/58 , B21D5/16 , B21D19/043 , B21D39/021 , B21D39/023 , B25J9/1633 , B25J9/1679 , G05B2219/39329 , G05B2219/40052 , Y10S901/02 , Y10S901/15 , Y10S901/41 , Y10T29/49908
Abstract: A robot system includes an end effector, a robot arm, and a controller. The end effector includes a pressure roller and a linear motion mechanism. The linear motion mechanism is configured to move the pressure roller with respect to a pressed surface. The robot arm is configured to support the end effector. The controller is configured to control the linear motion mechanism to move the pressure roller to make a pressing force of the pressure roller against the pressed surface approximately uniform.
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