-
公开(公告)号：US5986424A
公开(公告)日：1999-11-16
申请号：US26588
申请日：1998-02-20
IPC分类号： B25J13/08 , B25J9/18 , B25J13/00 , G05B13/02 , G05B13/04 , G05B19/408 , G05D20060101 , G05D3/12 , G05D17/00 , H02P5/00 , H02P29/00
CPC分类号： G05B19/404 , B25J9/1641 , G05B2219/41398 , G05B2219/41402 , G05B2219/49197
摘要： A control system which comprises a reduction gear unit containing gears, a motor being disposed on an input side of said reduction gear unit, a sensor for detecting a turning angle of said motor, and control means for inputting output from said sensor and controlling turning of said motor. The control system further includes gear output angle variation estimation means for estimating a gear output angle variation of said reduction gear unit based on the motor turning angle. An angle transmission error is estimated based on the motor turning angle, whereby load tip locus accuracy can be improved without lowering responsivity of the control system.
摘要翻译： 一种控制系统，包括：减速齿轮单元，其包含齿轮;马达设置在所述减速装置的输入侧;传感器，用于检测所述马达的转角;以及控制装置，用于输入所述传感器的输出， 说电机。 控制系统还包括齿轮输出角度变化估计装置，用于基于马达转动角度来估计所述减速齿轮单元的齿轮输出角度变化。 基于马达转角来估计角度传递误差，从而可以提高负载尖端轨迹精度，而不降低控制系统的响应性。
-
公开(公告)号：US6084374A
公开(公告)日：2000-07-04
申请号：US159624
申请日：1998-09-24
IPC分类号： G05B13/02 , B25J9/10 , G05B20060101 , G05B19/19 , G05B19/416 , G05D3/12
CPC分类号： G05B19/416 , B25J9/1638 , G05B2219/41151 , G05B2219/43099
摘要： The controller comprises (a) an interpolation calculator for dividing move data of a robot arm tip position into each sample period, the data fed from a position teaching section, (b) a load inertia calculator, (c) a gravity torque calculator, (d) acceleration and deceleration (A & D) time calculator for calculating an optimum A & D time by using the load inertia calculated by the load inertia calculator and the gravity torque calculated by the gravity torque calculator, (e) an A & D processor for providing an A & D process to move data of each sample time calculated by the interpolation calculator based on the A & D time calculated by the A & D time calculator, and (f) position controllers for controlling each motor based on the move data processed by the A & D processor. The A & D time is calculated with the following equation:T=.alpha..multidot.(J.sub.m +J.sub.L)/(T.sub.m -T.sub.L).multidot.Vwhere: V=desirable speed, J.sub.m =motor inertia, J.sub.L =load inertia, T.sub.m =motor torque, T.sub.L =disturbance torque including gravity torque, .alpha.=proportional coefficient and T=A & D time. The robot having the above construction can figure out an optimum A & D time by considering change of load inertia and also that of gravity torque produced by a posture change of the robot, whereby A & D time can be varied. As a result, the robot can be operated at a higher speed.
摘要翻译： 控制器包括：（a）插入计算器，用于将机器人臂尖位置的移动数据分割成每个采样周期，从位置示教部分馈送的数据，（b）负载惯量计算器，（c）重力矩计算器， d）加速和减速（A＆D）时间计算器，用于通过使用由负载惯量计算器计算的负载惯量和由重力矩计算器计算的重力矩来计算最佳A＆D时间，（e）A＆D处理器 用于提供A＆D处理以基于由A＆D时间计算器计算的A＆D时间来计算由插值计算器计算的每个采样时间的数据，以及（f）基于移动数据控制每个电动机的位置控制器 由A＆D处理器处理。 A＆D时间用以下公式计算：T =αx（Jm + JL）/（Tm-TL）xV其中：V =期望速度，Jm =电机惯量，JL =负载惯量，Tm =电机转矩，TL =干扰转矩，包括重力矩，α=比例系数，T = A＆D时间。 具有上述结构的机器人可以通过考虑负载惯量的变化以及由机器人的姿势变化产生的重力矩的变化来确定最佳的A＆D时间，从而可以改变A＆D时间。 结果，机器人可以以更高的速度运行。
-
公开(公告)号：US07102315B2
公开(公告)日：2006-09-05
申请号：US10546712
申请日：2004-07-02
CPC分类号： G05B19/4061 , B25J9/1633 , B25J9/1676 , G05B2219/39355 , G05B2219/40226 , G05B2219/42288
摘要： When either a command value or an actually measured value is appropriately selected as an angular velocity used for the frictional torque calculation, the frictional compensation can be made valid at all times in both the case in which a robot is actively operated according to an angular velocity command and the case in which the robot is passively operated being pushed by an external force. In the case where a motor rotating direction and a collision direction are reverse to each other after a collision has been detected, the control mode is switched from the positional control to the electric current control and a torque, the direction of which is reverse to the direction of the motor rotation is generated by the motor, so that the motor rotating speed can be reduced and the collision energy can be alleviated. After that, when the motor rotating speed is reduced to a value not more than the setting value, the control mode is switched to the compliance control and the distortion caused in a reduction gear is dissolved. On the other hand, in the case where the motor rotating direction and the collision direction are the same, the control mode is directly switched from the positional control to the compliance control without passing through the electric current control. When the robot is operated whole following a collision force, the collision force can be alleviated.
-
公开(公告)号：US20060071625A1
公开(公告)日：2006-04-06
申请号：US10546712
申请日：2004-07-02
IPC分类号： B25J5/00
CPC分类号： G05B19/4061 , B25J9/1633 , B25J9/1676 , G05B2219/39355 , G05B2219/40226 , G05B2219/42288
摘要： When either a command value or an actually measured value is appropriately selected as an angular velocity used for the frictional torque calculation, the frictional compensation can be made valid at all times in both the case in which a robot is actively operated according to an angular velocity command and the case in which the robot is passively operated being pushed by an external force. In the case where a motor rotating direction and a collision direction are reverse to each other after a collision has been detected, the control mode is switched from the positional control to the electric current control and a torque, the direction of which is reverse to the direction of the motor rotation is generated by the motor, so that the motor rotating speed can be reduced and the collision energy can be alleviated. After that, when the motor rotating speed is reduced to a value not more than the setting value, the control mode is switched to the compliance control and the distortion caused in a reduction gear is dissolved. On the other hand, in the case where the motor rotating direction and the collision direction are the same, the control mode is directly switched from the positional control to the compliance control without passing through the electric current control. When the robot is operated whole following a collision force, the collision force can be alleviated.
摘要翻译： 当将命令值或实际测量值适当地选择为用于摩擦力矩计算的角速度时，可以在机器人根据角速度主动操作的情况下始终使摩擦补偿始终有效 通过外力推动机器人被动地操作的情况。 在检测到碰撞之后电动机旋转方向和碰撞方向相反的情况下，控制模式从位置控制切换到电流控制，转向与 由电动机产生电动机旋转的方向，从而能够减小电动机的转速，能够缓和碰撞能量。 此后，当电动机转速降低到不大于设定值的值时，控制模式切换到顺从控制，并且在减速装置中引起的变形被解除。 另一方面，在电动机旋转方向和碰撞方向相同的情况下，控制模式从位置控制直接切换到柔性控制，而不经过电流控制。 当机器人在碰撞力之后整体运行时，可以减轻碰撞力。
-
公开(公告)号：US08993925B2
公开(公告)日：2015-03-31
申请号：US13143273
申请日：2010-07-16
申请人： Junji Fujiwara , Yasushi Mukai , Atsuhiro Kawamoto , Masaru Kowa
发明人： Junji Fujiwara , Yasushi Mukai , Atsuhiro Kawamoto , Masaru Kowa
摘要： An arc welding method relates to consumable electrode arc welding in which a welding wire feeding rate suitable for a welding current is determined as an average feeding rate, and the short circuit state and the arc generation state are alternately generated by changing the wire feeding periodically and repeatedly between the forward feeding and the reverse feeding. The method offers arc welding with the average feeding rate according to a welding current, a predetermined frequency, and a predetermined velocity amplitude. In the method, at least any one of the frequency and the velocity amplitude is set to a value suitable for the welding current.
摘要翻译： 电弧焊接方法涉及消费电极电弧焊，其中适合于焊接电流的焊丝进给速率被确定为平均进给速率，并且通过周期性地改变焊丝交替地产生短路状态和电弧产生状态， 反向进料和反向进料之间反复进行。 该方法根据焊接电流，预定频率和预定的速度振幅提供具有平均馈送速率的电弧焊接。 在该方法中，将频率和速度振幅中的至少任一个设定为适合焊接电流的值。
-
公开(公告)号：US08440935B2
公开(公告)日：2013-05-14
申请号：US12066736
申请日：2007-07-20
申请人： Atsuhiro Kawamoto , Kei Aimi , Yasushi Mukai , Yukinori Hirota
发明人： Atsuhiro Kawamoto , Kei Aimi , Yasushi Mukai , Yukinori Hirota
IPC分类号： B23K9/10
CPC分类号： B23K9/167 , B23K9/0953 , B23K9/124 , B23K9/126
摘要： A welding control unit has a common power section for detecting contact of a welding material and for welding. A material contact detector for detecting contact of the welding material and a workpiece, and a power controller are built in the welding control unit. This stabilizes a bead shape in starting welding. The number of components can also be reduced, resulting in more inexpensive equipment. In addition, only a space for installing the welding control unit is needed without any additional space.
摘要翻译： 焊接控制单元具有用于检测焊接材料的接触和焊接的公共功率部。 用于检测焊接材料和工件的接触的材料接触检测器以及功率控制器被内置在焊接控制单元中。 这在起动焊接时稳定了焊道的形状。 组件的数量也可以减少，导致更便宜的设备。 此外，只需要安装焊接控制单元的空间，而不需要额外的空间。
-
公开(公告)号：US20120145691A1
公开(公告)日：2012-06-14
申请号：US13063815
申请日：2010-07-12
申请人： Junji Fujiwara , Yasushi Mukai , Atsuhiro Kawamoto , Masaru Kowa
发明人： Junji Fujiwara , Yasushi Mukai , Atsuhiro Kawamoto , Masaru Kowa
IPC分类号： B23K9/10
CPC分类号： B23K9/073 , B23K9/0732 , B23K9/091 , B23K9/0956 , B23K9/124
摘要： An arc welding method of the present invention controls a short-circuit current increasing gradient (di/dt), an inflection point at which the short-circuit current increasing gradient (di/dt) changes, the current in a peak period and in a base period, and the time of the peak period in accordance with a difference between a set voltage and an output voltage. This allows the output voltage to be matched with the set voltage, and stabilizes the arc. Thereby, a stable arc welding method can be implemented, even as a method for outputting a welding current based on a welding voltage.
摘要翻译： 本发明的电弧焊接方法控制短路电流增加梯度（di / dt），短路电流增加梯度（di / dt）变化的拐点，高峰期的电流和 基准周期，以及根据设定电压和输出电压之间的差的峰值期间的时间。 这允许输出电压与设定电压匹配，并稳定电弧。 因此，即使作为基于焊接电压输出焊接电流的方法，也可以实现稳定的电弧焊接方法。
-
公开(公告)号：US20120111842A1
公开(公告)日：2012-05-10
申请号：US13143273
申请日：2010-07-16
申请人： Junji Fujiwara , Yasushi Mukai , Atsuhiro Kawamoto , Masaru Kowa
发明人： Junji Fujiwara , Yasushi Mukai , Atsuhiro Kawamoto , Masaru Kowa
摘要： An arc welding method relates to consumable electrode arc welding in which a welding wire feeding rate suitable for a welding current is determined as an average feeding rate, and the short circuit state and the arc generation state are alternately generated by changing the wire feeding periodically and repeatedly between the forward feeding and the reverse feeding. The method offers arc welding with the average feeding rate according to a welding current, a predetermined frequency, and a predetermined velocity amplitude. In the method, at least any one of the frequency and the velocity amplitude is set to a value suitable for the welding current.
摘要翻译： 电弧焊接方法涉及消费电极电弧焊，其中适合于焊接电流的焊丝进给速率被确定为平均进给速率，并且通过周期性地改变焊丝交替地产生短路状态和电弧产生状态， 反向进料和反向进料之间反复进行。 该方法根据焊接电流，预定频率和预定的速度振幅提供具有平均馈送速率的电弧焊接。 在该方法中，将频率和速度振幅中的至少任一个设定为适合焊接电流的值。
-
公开(公告)号：US20090152252A1
公开(公告)日：2009-06-18
申请号：US10582085
申请日：2005-11-14
申请人： Atsuhiro Kawamoto , Yasushi Mukai , Masaru Kowa
发明人： Atsuhiro Kawamoto , Yasushi Mukai , Masaru Kowa
IPC分类号： B23K9/10
CPC分类号： B23K9/092
摘要： Disclosed here is a pulse welding control method and a pulse arc welding device capable of improving arc stability, and decreasing the amount of spatters. The structure contains arc short-circuit judging section (13) for judging a welding state; setting section (21) for defining parameters used for a short-circuit period and an arc period; secondary control section (25); and driving section (18). Secondary control section (25) sharply decreases welding current on detecting a moment when the tip of a wire has a neck just before recovery from the short circuit, according to at least any one of outputs from a welding current value detector, a welding voltage value detector, and the setting section. Driving section (18) selects from outputs of a pulse-waveform circuit section and a dip-waveform circuit section according to the signal from the setting section and the output from the arc short-circuit section, and outputs the selected data to a switching element.
摘要翻译： 这里公开了能够提高电弧稳定性和减少飞溅量的脉冲焊接控制方法和脉冲电弧焊接装置。 该结构包括用于判断焊接状态的电弧短路判断部（13） 设置部分（21），用于定义用于短路周期和电弧周期的参数; 二级控制部（25）; 和驱动部（18）。 根据焊接电流值检测器的输出中的至少任一个，焊接电压值（25）中的至少任一个，二次侧控制部（25）在从短路恢复之前检测线的尖端具有颈部的时刻急剧减小焊接电流 检测器和设置部分。 驱动部（18）根据来自设定部的信号和电弧短路部的输出，从脉冲波形电路部和dip波形电路部的输出中进行选择，并将选择的数据输出到开关元件 。
-
公开(公告)号：US20070034617A1
公开(公告)日：2007-02-15
申请号：US10568990
申请日：2005-06-21
IPC分类号： B23K9/10
CPC分类号： H05K7/20909 , B23K9/325
摘要： In the conventional arc welding control unit, since the air of the outside of the equipment is applied directly to the whole of the main semiconductor for cooling, there is found a problem that dust, welding fumes and the like can accumulate on or adhere to the conductive portions of the inside of the equipment, which takes time for maintenance of the equipment. To solve this, according to the invention, there is provided an arc welding control unit having a heat radiating unit built in the box body thereof for discharging the air heated by a heat generating first electrical element to the outside. The heat radiating unit has a tunnel-type shape including an outer peripheral portion for defining a cavity portion allowing the air to flow therethrough, whereby dust, welding fumes and the like can be prevented from accumulating on or adhering to the conductive portions of the inside of the equipment.
摘要翻译： 在传统的电弧焊接控制单元中，由于设备外部的空气直接施加到整个主半导体进行冷却，因此存在灰尘，焊接烟雾等可能积聚在或附着于 设备内部的导电部分，这需要维护设备的时间。 为了解决这个问题，根据本发明，提供了一种电弧焊接控制单元，其具有内置在其箱体中的用于将由发热第一电气元件加热的空气排放到外部的散热单元。 散热单元具有隧道式形状，其包括用于限定空气流过其中的空腔部分的外周部分，由此可以防止灰尘，焊接烟雾等积聚在内部或其内部的导电部分上 的设备。
-
-
-
-
-
-
-
-
-
搜索结果
51 条记录 (耗时 0.027 秒)
