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公开(公告)号：US20070007262A1
公开(公告)日：2007-01-11
申请号：US10569895
申请日：2005-06-27
申请人： Kei Aimi , Hidetoshi Oyama , Kazunori Matsumoto , Tatsuya Ikeda , Yasushi Mukai
发明人： Kei Aimi , Hidetoshi Oyama , Kazunori Matsumoto , Tatsuya Ikeda , Yasushi Mukai
IPC分类号： B23K9/10
CPC分类号： B25J9/1674 , B23K11/24 , G05B2219/40217
摘要： In a conventional arc welding robot control unit, since an emergency stop circuit for a robot and an emergency stop circuit for a welding machine exist independently of each other, not only the circuit configuration thereof is long but also the emergency stop enforcing processings and emergency stop removing processings are executed individually. To solve these problems, according to the invention, there is provided an arc welding robot control unit which comprises an inverter circuit 1 for enforcing arc welding, main power supply switches 2a-2c for turning on and off a main power supply used to supply power to the inverter circuit 1, a main power supply control part 3 for controlling the main power supply switches 2a-2c, and an emergency stop button 4 for emergency stopping the operation of a robot, wherein, when the emergency stop button 4 is depressed to thereby put the robot into emergency stop, the main power supply switches 2a-2c can be turned off in linking with the robot emergency stop.
摘要翻译： 在传统的电弧焊接机器人控制单元中，由于用于机器人的紧急停止电路和用于焊接机的紧急停止电路彼此独立存在，不仅其电路构造长，而且紧急停止执行处理和紧急停止 单独执行删除处理。 为了解决这些问题，根据本发明，提供一种电弧焊接机器人控制单元，其包括用于强制电弧焊接的逆变器电路1，用于接通和断开主电源的主电源开关2a-2c， 向逆变器电路1供电，用于控制主电源开关2A-2c的主电源控制部3和用于紧急停止机器人的操作的紧急停止按钮4，其中，当紧急停止按钮 4被按下，从而使机器人进入紧急停止状态，与机器人紧急停止连接，主电源开关2a-2c可以被关闭。
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公开(公告)号：US07518088B2
公开(公告)日：2009-04-14
申请号：US10569895
申请日：2005-06-27
申请人： Kei Aimi , Hidetoshi Oyama , Kazunori Matsumoto , Tatsuya Ikeda , Yasushi Mukai
发明人： Kei Aimi , Hidetoshi Oyama , Kazunori Matsumoto , Tatsuya Ikeda , Yasushi Mukai
IPC分类号： B23K9/10
CPC分类号： B25J9/1674 , B23K11/24 , G05B2219/40217
摘要： In a conventional arc welding robot control unit, since an emergency stop circuit for a robot and an emergency stop circuit for a welding machine exist independently of each other, not only the circuit configuration thereof is long but also the emergency stop enforcing processings and emergency stop removing processings are executed individually. To solve these problems, according to the invention, there is provided an arc welding robot control unit which comprises an inverter circuit 1 for enforcing arc welding, main power supply switches 2a-2c for turning on and off a main power supply used to supply power to the inverter circuit 1, a main power supply control part 3 for controlling the main power supply switches 2a-2c, and an emergency stop button 4 for emergency stopping the operation of a robot, wherein, when the emergency stop button 4 is depressed to thereby put the robot into emergency stop, the main power supply switches 2a-2c can be turned off in linking with the robot emergency stop.
摘要翻译： 在传统的电弧焊接机器人控制单元中，由于用于机器人的紧急停止电路和用于焊接机的紧急停止电路彼此独立存在，不仅其电路构造长，而且紧急停止执行处理和紧急停止 单独执行删除处理。 为了解决这些问题，根据本发明，提供一种电弧焊接机器人控制单元，其包括用于强制电弧焊接的逆变器电路1，用于接通和断开用于供电的主电源的主电源开关2a-2c 到逆变器电路1，用于控制主电源开关2a-2c的主电源控制部3和用于紧急停止机器人的操作的紧急停止按钮4，其中当紧急停止按钮4被按下时 从而使机器人进入紧急停止状态，主机电源开关2a-2c可以与机器人紧急停止相关联。
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公开(公告)号：US20080302773A1
公开(公告)日：2008-12-11
申请号：US11571830
申请日：2005-07-08
申请人： Tatsuya Ikeda , Kei Aimi , Yasushi Mukai
发明人： Tatsuya Ikeda , Kei Aimi , Yasushi Mukai
IPC分类号： B23K9/12
CPC分类号： B23K9/127 , B23K9/0953 , B23K9/12 , B23K9/126 , G05B2219/45104
摘要： In the visual inspection of welded members, there is a limit to welding quality control. Even in the welding quality control using general-purpose measuring instruments, sufficient data cannot be collected, and increased cost entails.An arc welding robot of the invention is an arc welding robot which operates with a predetermined operation pattern by an operation program taught in advance, and welds a workpiece under predetermined welding conditions set in advance for each predetermined period in the operation pattern, includes: storage means for storing as history information at least one of a program name, a welding portion, and measurement data at the time of execution of the operation program. Therefore, it is possible to collect data necessary for welding quality control at low cost and with high accuracy without adding any special measuring instrument.
摘要翻译： 在焊接部件的目视检查中，焊接质量控制有限制。 即使在使用通用测量仪器的焊接质量控制中，无法收集足够的数据，而且成本也会增加。 本发明的电弧焊机器人是一种电弧焊机器人，其通过预先教导的操作程序以预定的操作模式进行操作，并且在操作模式中的每个预定周期预先设定的预定焊接条件下焊接工件，包括：存储 用于在执行操作程序时存储作为历史信息的程序名称，焊接部分和测量数据中的至少一个的装置。 因此，无需添加任何特殊的测量仪器就能以低成本，高精度收集焊接质量控制所需的数据。
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公开(公告)号：US07355145B2
公开(公告)日：2008-04-08
申请号：US10575172
申请日：2005-07-08
申请人： Tatsuya Ikeda , Kei Aimi , Yasushi Mukai
发明人： Tatsuya Ikeda , Kei Aimi , Yasushi Mukai
IPC分类号： B23K9/095
CPC分类号： B23K9/0953 , G05B19/4063 , G05B2219/37078 , G05B2219/37382 , G05B2219/45104
摘要： The invention provides an arc welding robot capable of collecting and displaying waveform data in a welding operation without using an external device. The arc welding robot comprises: a manipulator 101 including a welding torch 124 mounted thereon; a control unit 102 for operating the manipulator 101 in a given operation pattern in accordance with a previously taught operation program, the control unit 102 including therein a welding control part 104 for welding a member to be welded 125 under a given welding condition, and a RAM 106 for recording waveform data relating to at least one of a welding current instruction value, a welding current output value, a welding voltage instruction value, a welding voltage output value, a welding speed, a wire feed speed, the number of times of short circuits and a wire feed motor current during a given period; and, display means for graphically displaying the waveform data recorded in the RAM 106.
摘要翻译： 本发明提供一种能够在不使用外部装置的情况下在焊接操作中收集和显示波形数据的电弧焊机器人。 电弧焊机器人包括：安装在其上的焊炬124的操纵器101; 控制单元102，用于根据先前教导的操作程序以给定的操作模式操作操纵器101;控制单元102，其中包括用于在给定焊接条件下焊接要焊接的构件125的焊接控制部分104;以及 RAM 106，用于记录与焊接电流指令值，焊接电流输出值，焊接电压指令值，焊接电压输出值，焊接速度，送丝速度，焊丝进给速度， 给定时间内短路和送丝电机电流; 以及用于图形显示记录在RAM 106中的波形数据的显示装置。
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公开(公告)号：US20070068910A1
公开(公告)日：2007-03-29
申请号：US10575172
申请日：2005-07-08
申请人： Tatsuya Ikeda , Kei Aimi , Yasushi Mukai
发明人： Tatsuya Ikeda , Kei Aimi , Yasushi Mukai
IPC分类号： B23K9/095
CPC分类号： B23K9/0953 , G05B19/4063 , G05B2219/37078 , G05B2219/37382 , G05B2219/45104
摘要： The invention provides an arc welding robot capable of collecting and displaying waveform data in a welding operation without using an external device. The arc welding robot comprises: a manipulator 101 including a welding torch 124 mounted thereon; a control unit 102 for operating the manipulator 101 in a given operation pattern in accordance with a previously taught operation program, the control unit 102 including therein a welding control part 104 for welding a member to be welded 125 under a given welding condition, and a RAM 106 for recording waveform data relating to at least one of a welding current instruction value, a welding current output value, a welding voltage instruction value, a welding voltage output value, a welding speed, a wire feed speed, the number of times of short circuits and a wire feed motor current during a given period; and, display means for graphically displaying the waveform data recorded in the RAM 106.
摘要翻译： 本发明提供一种能够在不使用外部装置的情况下在焊接操作中收集和显示波形数据的电弧焊机器人。 电弧焊机器人包括：安装在其上的焊炬124的操纵器101; 控制单元102，用于根据先前教导的操作程序以给定的操作模式操作操纵器101;控制单元102，其中包括用于在给定焊接条件下焊接要被焊接的构件125的焊接控制部分104;以及 RAM 106，用于记录与焊接电流指令值，焊接电流输出值，焊接电压指令值，焊接电压输出值，焊接速度，送丝速度，焊丝进给速度， 给定时间内短路和送丝电机电流; 以及用于图形显示记录在RAM 106中的波形数据的显示装置。
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公开(公告)号：US20070119841A1
公开(公告)日：2007-05-31
申请号：US10582563
申请日：2005-10-18
申请人： Hiroyuki Nakata , Yasushi Mukai , Tatsuya Ikeda , Naoto Masunaga , Masaru Kowa , Yasuyoshi Honuchi
发明人： Hiroyuki Nakata , Yasushi Mukai , Tatsuya Ikeda , Naoto Masunaga , Masaru Kowa , Yasuyoshi Honuchi
IPC分类号： B23K9/10
CPC分类号： B23K9/0671 , B23K9/125 , B23K9/126
摘要： A torch is moved by a manipulator in a direction separating from a base material 7 while a wire is supplied, whereby an actuator driving the robot manipulator can control a velocity of the wire for a workpiece by a unidirectional operation of separating the torch, and vibration due to reverse of torch velocity is not generated. Further, by using a dedicated separation control system, velocity follow-up performance of the actuator moving the torch can be heightened without increasing overshoot in the usual operation time, and the acceleration and deceleration time of the manipulator can be reduced.
摘要翻译： 在供给电线的同时，通过机械手在与基材7分离的方向上移动手电筒，由此驱动机器人操纵器的致动器可以通过分离割炬的单向操作来控制工件的线的速度，并且振动 由于反转不能产生割炬速度。 此外，通过使用专用的分离控制系统，可以提高移动割炬的致动器的速度跟随性能，而不会在通常的操作时间内增加过冲，并且可以减小操纵器的加速和减速时间。
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公开(公告)号：US07525066B2
公开(公告)日：2009-04-28
申请号：US10568552
申请日：2005-06-27
CPC分类号： B23K9/125 , B23K9/0671 , B23K9/173
摘要： In a consumable electrode type welding method, while feeding a welding wire 1, a welding torch 4 is moved by a robot manipulator 9 in a direction where the welding torch 4 is pulled apart from a base metal 7, so that an initial arc is generated while the welding wire 1 is separated from the base metal 7. This not only can eliminate the need for the reversing operation of the robot manipulator 9 and thus can reduce the waste time to thereby be able to reduce a tact time but also can stabilize an arc in the welding start portion and thus can reduce the “unexpected stop” effectively.
摘要翻译： 在消耗电极型焊接方法中，在供给焊丝1的同时，焊枪4由机械手操纵器9沿着焊炬4从母材7拉开的方向移动，从而产生初始电弧 而焊丝1与基底金属7分离。这不仅可以消除对机器人操纵器9的反转操作的需要，从而可以减少浪费时间，从而能够减少节拍时间，而且能够稳定 因此能够有效地减少“意外停止”。
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公开(公告)号：US20080169276A1
公开(公告)日：2008-07-17
申请号：US10568552
申请日：2005-06-27
CPC分类号： B23K9/125 , B23K9/0671 , B23K9/173
摘要： In a conventional consumable electrode type welding method, owing to the need of the reversing operation of a robot manipulator, an extra response time as well as acceleration and deceleration times are necessary and, at the same time, the feed speed of a welding wire is not be able to catch up with the melting speed of the welding wire to thereby extend the length of an arc, resulting in the unstable arc. In a consumable electrode type welding method according to the invention, while feeding a welding wire 1, a welding torch 4 is moved by a robot manipulator 9 in a direction where the welding torch 4 is pulled apart from a base metal 7, so that an initial arc is generated while the welding wire 1 is separated from the base metal 7. This not only can eliminate the need for the reversing operation of the robot manipulator 9 and thus can reduce the waste time to thereby be able to reduce a tact time but also can stabilize an arc in the welding start portion and thus can reduce the “unexpected stop” effectively.
摘要翻译： 在常规的消耗电极型焊接方法中，由于需要机器人操纵器的反转操作，需要额外的响应时间以及加速和减速时间，同时焊丝的进给速度为 不能赶上焊丝的熔化速度，从而延长电弧的长度，导致不稳定的电弧。 在根据本发明的消耗电极型焊接方法中，在馈送焊丝1的同时，焊枪4由机器人操纵器9沿着焊炬4从基体金属7拉开的方向移动，使得 当焊丝1与基底金属7分离时，产生初始电弧。这不仅可以消除对机器人操纵器9的反转操作的需要，从而可以减少浪费时间，从而能够减少节拍时间， 也能够使焊接起始部的电弧稳定化，能够有效地减少“意外停止”。
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公开(公告)号：US07842904B2
公开(公告)日：2010-11-30
申请号：US10582563
申请日：2005-10-18
申请人： Hiroyuki Nakata , Yasushi Mukai , Tatsuya Ikeda , Naoto Masunaga , Masaru Kowa , Yasuyoshi Honuchi
发明人： Hiroyuki Nakata , Yasushi Mukai , Tatsuya Ikeda , Naoto Masunaga , Masaru Kowa , Yasuyoshi Honuchi
CPC分类号： B23K9/0671 , B23K9/125 , B23K9/126
摘要： A torch is moved by a manipulator in a direction separating from a base material 7 while a wire is supplied, whereby an actuator driving the robot manipulator can control a velocity of the wire for a workpiece by a unidirectional operation of separating the torch, and vibration due to reverse of torch velocity is not generated. Further, by using a dedicated separation control system, velocity follow-up performance of the actuator moving the torch can be heightened without increasing overshoot in the usual operation time, and the acceleration and deceleration time of the manipulator can be reduced.
摘要翻译： 在供给电线的同时，通过机械手在与基材7分离的方向上移动手电筒，由此驱动机器人操纵器的致动器可以通过分离割炬的单向操作来控制工件的线的速度，并且振动 由于反转不能产生割炬速度。 此外，通过使用专用的分离控制系统，可以提高移动割炬的致动器的速度跟随性能，而不会在通常的操作时间内增加过冲，并且可以减小操纵器的加速和减速时间。
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公开(公告)号：US07627396B2
公开(公告)日：2009-12-01
申请号：US10534669
申请日：2004-11-05
IPC分类号： G05B15/00
摘要： There is provided an industrial robot which comprises a manipulator having a tool at the tip end, a robot control unit for controlling the manipulator, and a primary teaching device and subsidiary teaching device for controlling the manipulator through the robot control unit, wherein operation capable of being conducted by the subsidiary teaching device is restricted as compared with operation capable of being conducted by the primary teaching device. By realizing the industrial robot, it is possible to prevent a production line worker from executing a function of the robot which is originally to be executed by a supervisor.
摘要翻译： 提供了一种工业机器人，其包括具有尖端的工具的机械手，用于控制机械手的机器人控制单元，以及用于通过机器人控制单元控制机械手的主教学装置和辅助教学装置，其中， 与由主教学装置进行的操作相比，由辅助教学装置进行的操作受到限制。 通过实现工业机器人，可以防止生产线工作者执行最初由主管执行的机器人的功能。
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