公开(公告)号：US20130345868A1

公开(公告)日：2013-12-26

申请号：US14003429

申请日：2012-03-02

申请人： Tsutomu One ,  Toshihiko Nishimura ,  Masayuki Shigeyoshi ,  Takeshi Koike

发明人： Tsutomu One ,  Toshihiko Nishimura ,  Masayuki Shigeyoshi ,  Takeshi Koike

IPC分类号： B25J9/16

CPC分类号： B25J9/1628 ,  B23K9/095 ,  B23K9/12 ,  B25J9/1664 ,  G05B19/4103 ,  G05B2219/39527 ,  G05B2219/40333 ,  G05B2219/40354 ,  G05B2219/42207

摘要： The purpose of the present invention is to have the angles of each of the drive shafts of the first articulated drive system infallibly reach the angle of the work completed position, while maintaining the rate of movement and position of the working parts of an articulated robot. If exception conditions are not satisfied, the drive shafts of first and second articulation drive systems are driven individually (S64) on the basis of interpolated points calculated in step 5 (S5). After exception conditions are satisfied (Yes side of S61), until the working parts reach the work completed position (No side of S12), the angle of each of the drive shafts of the first articulated drive system required to vary each of the drive shafts of the first articulated drive system in a linear manner with the angle at the work completed position as a target is calculated (S8), and the angle of each of the drive shafts of the second articulated drive system is calculated on the basis of the position of the working part at the interpolated point calculated in step 5 (S5) and the angle of each of the drive shafts of the first articulated drive system as calculated (S9), and the drive shafts of the first and second articulated drive systems are driven according to said calculation results (S11).

摘要翻译： 本发明的目的是使第一关节式驱动系统的每个驱动轴的角度可靠地达到工作完成位置的角度，同时保持铰接式机器人的工作部件的运动速度和位置。 如果异常条件不满足，则基于步骤5（S5）中计算出的内插点，分别驱动第一关节传动系统和第二关节驱动系统的驱动轴（S64）。 在满足例外条件（S61的是侧）之后，直到工作部件到达工件完成位置（S12的否侧），第一铰接驱动系统的每个驱动轴的角度需要改变每个驱动轴 计算出第一铰接驱动系统以作为目标的作业完成位置处的角度的线性方式（S8），并且基于位置来计算第二铰接驱动系统的每个驱动轴的角度 （S5）中计算的插补点处的工作部分和第一铰接驱动系统的每个驱动轴的角度（S9），并且驱动第一和第二铰接驱动系统的驱动轴 根据所述计算结果（S11）。

公开(公告)号：US09242373B2

公开(公告)日：2016-01-26

申请号：US14003429

申请日：2012-03-02

申请人： Tsutomu One ,  Toshihiko Nishimura ,  Masayuki Shigeyoshi ,  Takeshi Koike

发明人： Tsutomu One ,  Toshihiko Nishimura ,  Masayuki Shigeyoshi ,  Takeshi Koike

IPC分类号： B25J9/16 ,  B23K9/095 ,  B23K9/12 ,  G05B19/4103

CPC分类号： B25J9/1628 ,  B23K9/095 ,  B23K9/12 ,  B25J9/1664 ,  G05B19/4103 ,  G05B2219/39527 ,  G05B2219/40333 ,  G05B2219/40354 ,  G05B2219/42207

摘要： The purpose of the present invention is to have the angles of each of the drive shafts of the first articulated drive system infallibly reach the angle of the work completed position, while maintaining the rate of movement and position of the working parts of an articulated robot. If exception conditions are not satisfied, the drive shafts of first and second articulation drive systems are driven individually (S64) on the basis of interpolated points calculated in step 5 (S5). After exception conditions are satisfied (Yes side of S61), until the working parts reach the work completed position (No side of S12), the angle of each of the drive shafts of the first articulated drive system required to vary each of the drive shafts of the first articulated drive system in a linear manner with the angle at the work completed position as a target is calculated (S8), and the angle of each of the drive shafts of the second articulated drive system is calculated on the basis of the position of the working part at the interpolated point calculated in step 5 (S5) and the angle of each of the drive shafts of the first articulated drive system as calculated (S9), and the drive shafts of the first and second articulated drive systems are driven according to said calculation results (S11).

摘要翻译： 本发明的目的是使第一关节式驱动系统的每个驱动轴的角度可靠地达到工件完成位置的角度，同时保持铰接式机器人的工作部件的运动速度和位置。 如果异常条件不满足，则基于步骤5（S5）中计算出的内插点，分别驱动第一关节传动系统和第二关节驱动系统的驱动轴（S64）。 在满足例外条件（S61的是侧）之后，直到工作部件到达工件完成位置（S12的否侧），第一铰接驱动系统的每个驱动轴的角度需要改变每个驱动轴 计算出第一铰接驱动系统以作为目标的作业完成位置处的角度的线性方式（S8），并且基于位置来计算第二铰接驱动系统的每个驱动轴的角度 （S5）中计算的插补点处的工作部分和第一铰接驱动系统的每个驱动轴的角度（S9），并且驱动第一和第二铰接驱动系统的驱动轴 根据所述计算结果（S11）。

公开(公告)号：US20090179021A1

公开(公告)日：2009-07-16

申请号：US12318085

申请日：2008-12-22

申请人： Toshihiko Nishimura ,  Masayuki Shigeyoshi

发明人： Toshihiko Nishimura ,  Masayuki Shigeyoshi

IPC分类号： B23K9/00

CPC分类号： B23K9/1272

摘要： A welding robot in which a translational correction calculating unit corrects a target value of a leading electrode using a translational correction amount, to obtain a primary correction target value. The translational correction amount is a correction amount of a position of the leading electrode in a translational direction in a base coordinate system at a next time. A rotational correction calculating unit calculates a rotation correction amount for correcting displacement of an orientation of a torch around the leading electrode with respect to a actual weld line, and calculates a secondary correction target value resulting from correcting the primary correction target value so that the torch rotates around the leading electrode by the rotation correction amount. The displacement is caused by the correction using the translational correction amount. A manipulator is driven on the basis of the secondary correction target value.

摘要翻译： 一种焊接机器人，其中平移校正计算单元使用平移校正量校正前导电极的目标值，以获得主要校正目标值。 平移校正量是下一次在基座坐标系中的前导电极在平移方向上的位置的校正量。 旋转校正计算单元计算用于校正相对于实际焊接线的引导电极周围的割炬取向的位移的旋转校正量，并且计算通过校正主校正目标值而得到的二次校正目标值，使得割炬 通过旋转校正量围绕前导电极旋转。 位移由使用平移校正量的校正引起。 基于二次校正目标值来驱动机械手。

公开(公告)号：US07965055B2

公开(公告)日：2011-06-21

申请号：US12030668

申请日：2008-02-13

申请人： Takeshi Koike ,  Masayuki Shigeyoshi ,  Masaki Shibaike

发明人： Takeshi Koike ,  Masayuki Shigeyoshi ,  Masaki Shibaike

IPC分类号： B25J9/10 ,  B23K37/047 ,  B23K9/095

CPC分类号： B25J9/0096 ,  B23K9/12 ,  B23K9/1272 ,  B25J9/1676

摘要： A control device of a work positioning apparatus includes an operating limit line storage unit for storing position coordinates of an operating limit line, a speed reduction zone storage unit for storing a width of a speed reduction zone ranging from a reduction start position to the operating limit line, a check point storage unit for storing position coordinates of check points set in the work, a check point updating unit for determining position coordinates of the check points moved in accordance with an operation of the work positioning apparatus by calculation, an in-speed-reduction-zone determining unit for determining whether the check points enter the speed reduction zone in accordance with the updated position coordinates of the check points, and a work positioning apparatus control unit for instructing a work positioning apparatus motor to reduce a speed if the check points are determined to enter the speed reduction zone.

摘要翻译： 工件定位装置的控制装置包括操作限位线存储单元，用于存储操作极限线的位置坐标;减速区存储单元，用于存储从减速开始位置到操作极限的减速区的宽度 行检查点存储单元，用于存储在工作中设定的检查点的位置坐标;检查点更新单元，用于根据工作定位装置的运算通过计算确定移动的检查点的位置坐标，速度 减速区域确定单元，用于根据检查点的更新的位置坐标来确定检查点是否进入减速区;以及工件定位装置控制单元，用于指示工件定位装置电动机如果检查点降低速度 确定点进入减速区。

公开(公告)号：US20080243306A1

公开(公告)日：2008-10-02

申请号：US12030668

申请日：2008-02-13

申请人： Takeshi Koike ,  Masayuki Shigeyoshi ,  Masaki Shibaike

发明人： Takeshi Koike ,  Masayuki Shigeyoshi ,  Masaki Shibaike

IPC分类号： B25J9/10 ,  B23K37/047 ,  B23K9/095

CPC分类号： B25J9/0096 ,  B23K9/12 ,  B23K9/1272 ,  B25J9/1676

摘要： A control device of a work positioning apparatus includes an operating limit line storage unit for storing position coordinates of an operating limit line, a speed reduction zone storage unit for storing a width of a speed reduction zone ranging from a reduction start position to the operating limit line, a check point storage unit for storing position coordinates of check points set in the work, a check point updating unit for determining position coordinates of the check points moved in accordance with an operation of the work positioning apparatus by calculation, an in-speed-reduction-zone determining unit for determining whether the check points enter the speed reduction zone in accordance with the updated position coordinates of the check points, and a work positioning apparatus control unit for instructing a work positioning apparatus motor to reduce a speed if the check points are determined to enter the speed reduction zone.

摘要翻译： 工件定位装置的控制装置包括操作限位线存储单元，用于存储操作极限线的位置坐标;减速区存储单元，用于存储从减速开始位置到操作极限的减速区的宽度 行检查点存储单元，用于存储在工作中设定的检查点的位置坐标;检查点更新单元，用于根据工作定位装置的运算通过计算确定移动的检查点的位置坐标，速度 - 减速区域确定单元，用于根据检查点的更新的位置坐标来确定检查点是否进入减速区;以及工件定位装置控制单元，用于指示工件定位装置电动机如果检查 确定点进入减速区。

公开(公告)号：US08487213B2

公开(公告)日：2013-07-16

申请号：US12240034

申请日：2008-09-29

申请人： Akihiko Asai ,  Masayuki Shigeyoshi

发明人： Akihiko Asai ,  Masayuki Shigeyoshi

IPC分类号： B23K9/12

CPC分类号： B23K9/0216 ,  B23K9/0953

摘要： An arc welding robot control system of the present invention includes memory devices, controlling devices, a welding condition changing position calculating device, a weaving operation controlling device that outputs a signal of completion of one weaving cycle every time when a welding torch completes to perform one weaving cycle of a predetermined movement pattern, a welding condition calculating device for calculating to-be-changed welding conditions, and a welding condition changing device that changes welding conditions of an arc welding robot, based on to-be-changed welding conditions, every time when a signal of completion of one weaving cycle is input. With this configuration, it enables a continuous change of welding conditions and a copying arc welding with high accuracy even in the case in which the arc welding robot performs a weaving operation.

摘要翻译： 本发明的电弧焊接机器人控制系统包括存储装置，控制装置，焊接条件变更位置计算装置，编织操作控制装置，每当焊枪完成时，输出完成一个编织周期的信号，执行一个 每一个焊接条件的焊接条件，焊接条件计算装置，焊接条件计算装置，焊接条件计算装置以及焊接条件改变装置， 输入完成一个编织周期的信号的时间。 通过这种结构，即使在电弧焊机器人执行编织操作的情况下，也能够以高精度连续地改变焊接条件和复制电弧焊接。

公开(公告)号：US07999208B2

公开(公告)日：2011-08-16

申请号：US11852777

申请日：2007-09-10

申请人： Masayuki Shigeyoshi

发明人： Masayuki Shigeyoshi

IPC分类号： B23K9/12 ,  G05B19/18

CPC分类号： B23K9/121 ,  B23K9/0216 ,  B23K9/1272

摘要： A robot control unit for controlling a tandem arc welding system, which has a welding torch, a robot for weaving the welding torch, a leading electrode power supply, and a trailing electrode power supply, includes a leading electrode detection section and a trailing electrode detection section for detecting quantity of welding state during weaving; a leading electrode processing section for calculating amounts of electrical change; a leading electrode correction section for calculating correction amounts for correcting displacement in horizontal and vertical directions from a weld line of a weaving center trajectory based on the amounts of electrical change; a trailing electrode processing section for calculating an amount of electrical change; and a trailing electrode correction section for calculating a correction amount for correcting displacement in a rotational direction from the weld line of the weaving center trajectory based on the amount of electrical change.

摘要翻译： 一种用于控制串联电弧焊接系统的机器人控制单元，其具有焊炬，用于编织焊炬的机器人，引导电极电源和拖曳电极电源，包括引导电极检测部分和拖尾电极检测 织造期间检测焊接状态的部分; 用于计算电气变化量的引导电极处理部分; 前导电极校正部，用于基于电变化量计算用于校正沿着编织中心轨迹的焊接线的水平和垂直方向的位移的校正量; 用于计算电气变化量的拖尾电极处理部分; 以及拖尾电极校正部分，用于基于电变化量计算用于校正沿着编织中心轨迹的焊接线的旋转方向的位移的校正量。

公开(公告)号：US20080083716A1

公开(公告)日：2008-04-10

申请号：US11852777

申请日：2007-09-10

申请人： Masayuki Shigeyoshi

发明人： Masayuki Shigeyoshi

IPC分类号： B23K9/127

CPC分类号： B23K9/121 ,  B23K9/0216 ,  B23K9/1272

摘要： A robot control unit for controlling a tandem arc welding system, which has a welding torch, a robot for weaving the welding torch, a leading electrode power supply, and a trailing electrode power supply, includes a leading electrode detection section and a trailing electrode detection section for detecting quantity of welding state during weaving; a leading electrode processing section for calculating amounts of electrical change; a leading electrode correction section for calculating correction amounts for correcting displacement in horizontal and vertical directions from a weld line of a weaving center trajectory based on the amounts of electrical change; a trailing electrode processing section for calculating an amount of electrical change; and a trailing electrode correction section for calculating a correction amount for correcting displacement in a rotational direction from the weld line of the weaving center trajectory based on the amount of electrical change. According to the robot control unit, arc welding can be performed, which is excellent in accuracy of arc-sensor control, and hardly produces welding defects.

摘要翻译： 一种用于控制串联电弧焊接系统的机器人控制单元，其具有焊炬，用于编织焊炬的机器人，引导电极电源和拖曳电极电源，包括引导电极检测部分和拖尾电极检测 织造期间检测焊接状态的部分; 用于计算电气变化量的引导电极处理部分; 前导电极校正部，用于基于电变化量计算用于校正沿着编织中心轨迹的焊接线的水平和垂直方向的位移的校正量; 用于计算电气变化量的拖尾电极处理部分; 以及拖尾电极校正部分，用于基于电变化量计算用于校正沿着编织中心轨迹的焊接线的旋转方向的位移的校正量。 根据机器人控制单元，可以进行电弧焊接，电弧传感器控制的精度优异，几乎不产生焊接缺陷。

公开(公告)号：US09623507B2

公开(公告)日：2017-04-18

申请号：US12984077

申请日：2011-01-04

申请人： Masayuki Shigeyoshi

发明人： Masayuki Shigeyoshi

IPC分类号： B23K9/12 ,  B23K9/095 ,  B23K9/127 ,  B23K9/173

CPC分类号： B23K9/126 ,  B23K9/0956 ,  B23K9/1278 ,  B23K9/173 ,  B23K9/1735

摘要： A tip-base metal distance control method is provided. In this method, actual welding currents are measured under a predetermined actual welding condition, and an average actual welding current under the actual welding condition is then calculated. From a reference-current storage table, an average welding current under a welding condition that corresponds to the actual welding condition is extracted, and the extracted current value is set as a reference current. The calculated average actual welding current is then compared with the reference current to obtain a comparison result. The position of a welding torch in an upward or a downward direction is then corrected based on the comparison result.