公开(公告)号：US07657082B2

公开(公告)日：2010-02-02

申请号：US11335173

申请日：2006-01-18

申请人： Sadao Kubo ,  Tadao Shimada ,  Kazuhiko Onoue ,  Hirotaka Uehara ,  Hirotaka Kinoshita ,  Yukimitsu Suzuki ,  Ichiro Arita

发明人： Sadao Kubo ,  Tadao Shimada ,  Kazuhiko Onoue ,  Hirotaka Uehara ,  Hirotaka Kinoshita ,  Yukimitsu Suzuki ,  Ichiro Arita

IPC分类号： G06K9/00 ,  A47J36/02 ,  G01C3/14 ,  B23K26/00

CPC分类号： B23K9/1274

摘要： A method of measuring a welding-groove position for an over-lapped fillet welding of thin members, comprising a projection step of projecting a slit light so that the slit light is projected on both the thin members crossing a welding-groove face, a two-dimensional image acquisition step of capturing the slit-light image projected on each of the thin members as two-dimensional images; a three-dimensional conversion step of converting the two-dimensional images into three-dimensional images using a predetermined three-dimensional conversion parameter, and a calculation step of calculating the welding-groove position based on the three-dimensional data of the projected slit-light images, and relative positions between the projected slit-light images in the three-dimensional data defined by shapes and arrangement of the thin members.

摘要翻译： 一种测量薄构件的过度焊接焊接的焊接槽位置的方法，包括：突出步骤，突出狭缝光，使得狭缝光投射在与焊接槽面相交的两个薄构件上，两个 将投影在每个薄构件上的狭缝光图像捕获为二维图像的三维图像获取步骤; 使用预定的三维转换参数将二维图像转换成三维图像的三维转换步骤，以及基于投影的狭缝状图像的三维数据计算焊接槽位置的计算步骤， 光图像以及通过薄构件的形状和布置限定的三维数据中的投影狭缝光图像之间的相对位置。

公开(公告)号：US06208104B1

公开(公告)日：2001-03-27

申请号：US09423556

申请日：1999-11-10

申请人： Kazuhiko Onoue ,  Takahiro Ueno ,  Masataka Koyama ,  Nobuyasu Shimomura

发明人： Kazuhiko Onoue ,  Takahiro Ueno ,  Masataka Koyama ,  Nobuyasu Shimomura

IPC分类号： B25J918

CPC分类号： B25J9/161 ,  G05B19/414 ,  G05B2219/34038 ,  G05B2219/34069 ,  G05B2219/40174

摘要： An element including a first processing circuit conducting a real time processes for controlling a robot body and a man-machine interface element including a second processing circuit for operating the robot body are connected through the common storage device. It enables for application programs that can run with a general OS to easily refer to data relating to the robot. It also enables to easily construct necessary software.

摘要翻译： 包括执行用于控制机器人主体的实时处理的第一处理电路和包括用于操作机器人主体的第二处理电路的人机界面元件的元件通过公共存储装置连接。 它能够使用可与一般操作系统一起运行的应用程序轻松引用与机器人有关的数据。 它还可以轻松构建必要的软件。

公开(公告)号：US4968924A

公开(公告)日：1990-11-06

申请号：US490726

申请日：1990-03-08

申请人： Hiroaki Mori ,  Kazuhiko Onoue

发明人： Hiroaki Mori ,  Kazuhiko Onoue

IPC分类号： B25J5/02 ,  B25J9/02 ,  B25J9/10 ,  B66C13/22 ,  G05B19/25

CPC分类号： G05B19/251 ,  G05B2219/45083 ,  G05B2219/49195 ,  G05B2219/50228 ,  Y10S700/90

摘要： A driving apparatus for smoothly driving a running unit of a robot, including a movable table movably supported by first and second gear mechanisms driven by independent first and second motors engaging with respective two parallel racks to carry a robot body. This apparatus includes a position command unit for delivering a first position command value to the first motor; a constant value generation unit for generating a constant value indicative of a difference between output values from first and second encoders provided in association with the first and second motors when the movable table is positioned perpendicular to the parallel racks; and a correction unit for determining a first deviation between the first position command value and an output value from the first encoder and determining a second deviation between a second command value obtained by adding the constant value to the first position command value and an output value from the second encoder to determine a third deviation between these first and second deviations to correct the first and second deviation signals on the basis of the third deviation to thereby output corrected position command values for the first and second motors, respectively.

摘要翻译： 一种用于平滑地驱动机器人运行单元的驱动装置，包括由与独立的第一和第二电动机驱动的第一和第二齿轮可移动地支撑的可移动台，所述第一和第二齿轮与相应的两个平行机架接合以携带机器人主体。 该装置包括用于将第一位置指令值传递到第一电动机的位置指令单元; 恒定值产生单元，用于当可移动台垂直于平行机架定位时，生成表示与第一和第二电动机相关联地设置的第一和第二编码器的输出值之间的差值的常数值; 以及校正单元，用于确定来自第一编码器的第一位置指令值和输出值之间的第一偏差，并且确定通过将常数值与第一位置指令值相加而获得的第二指令值与来自 所述第二编码器确定所述第一和第二偏差之间的第三偏差，以基于所述第三偏差校正所述第一和第二偏差信号，从而分别输出所述第一和第二电动机的校正位置指令值。

公开(公告)号：US4853603A

公开(公告)日：1989-08-01

申请号：US169018

申请日：1988-03-16

申请人： Kazuhiko Onoue ,  Hajime Kashiki

发明人： Kazuhiko Onoue ,  Hajime Kashiki

IPC分类号： G05B19/18 ,  B25J9/10 ,  B25J9/18 ,  G05B19/404 ,  G05B19/4103 ,  G05B19/42

CPC分类号： G05B19/42 ,  G05B2219/36446 ,  G05B2219/36458 ,  G05B2219/45083 ,  G05B2219/50336 ,  G05B2219/50353

摘要： A method for controlling a working robot which is adapted to grip a workpiece for transporting it to a position where the workpiece is positioned against a working tool to be worked by the tool. The robot is positioned at a work starting position and at a work end position and in each of the positions the tool length vector is calculated. Based on the tool length vector values in the starting and end positions, intermediate tool length vector values are calculated for respective incremental points on a path along which the work is to be done by the tool for carrying out incremental compensations.

摘要翻译： 一种用于控制工作机器人的方法，所述工作机器人适于夹持工件，以将其传送到工件所在的位置，抵靠要由工具加工的加工工具。 机器人位于工件起始位置和工件端位置处，并且在每个位置中计算刀具长度向量。 根据起始位置和结束位置的刀具长度矢量值，计算刀具长度矢量值，以便在刀具进行作业进行增量补偿的路径上的各个增量点。

公开(公告)号：US5285525A

公开(公告)日：1994-02-08

申请号：US654542

申请日：1991-02-13

申请人： Yoichi Nagao ,  Hideaki Ohta ,  Kazuhiko Onoue ,  Hisanori Nakamura

发明人： Yoichi Nagao ,  Hideaki Ohta ,  Kazuhiko Onoue ,  Hisanori Nakamura

IPC分类号： B25J9/10 ,  B23K9/12 ,  B25J9/06 ,  B25J9/16 ,  B25J9/18 ,  B25J9/22 ,  B25J13/00 ,  G05B19/4093 ,  G05B19/18

CPC分类号： B25J9/1607 ,  B25J9/06

摘要： A method and apparatus for controlling an industrial robot. Values of .theta..sub.i for positions/postures of robot axes are determined, when a work mounted to the end of a robot hand is located adjacent to the end of a fixed tool, the tool being separated from the robot. Positions/postures Xi are determined in a reverse representation of the robot base for a coordinate system of the end of the hand, for the values of .theta..sub.i, by a forward transformation operation by which positions/postures of the end of the hand with respect to the base are determined using the values .theta..sub.i. Positions/postures T.sub.i in a matrix representation of the end of the tool in the coordinate system of the end of the hand are also determined, for the positions/postures of the axes, based on X.sub.i and predetermined positions/postures P of the end of the tool using the coordinate system of the base. Intermediate positions/postures T.sub.j each between two T.sub.i positions/postures are determined, using an interpolation function. Positions/postures X.sub.j are determined in a reverse matrix representation of the base using the coordinate system of the end of the hand based on P and T.sub.j. Positional values .theta..sub.j corresponding to positions/postures of the axes and to X.sub.j are determined, using a reverse transformation operation. The robot is then driven using .theta..sub.j.

摘要翻译： 一种用于控制工业机器人的方法和装置。 确定机器人轴的位置/姿势的（θ）i的值，当安装到机器人手的末端的工件位于与固定工具的端部相邻时，该工具与机器人分离。 位置/姿势X（OVS）i以对于手的结束的坐标系的机器人基座的反向表示来确定，对于（θ）i的值，通过正向变换操作来确定 使用值（θ）i确定手的相对于基准的结束。 位置/姿势也根据X（OVS）i和预定位置/姿势P来确定在手端的坐标系中工具端部的矩阵表示中的位置/姿势 的工具的末端使用基座的坐标系。 使用内插函数确定在两个Ti位置/姿势之间的中间位置/姿势Tj。 位置/姿势X（OVS）j使用基于P和Tj的手的结束坐标系，在基底的反向矩阵表示中确定。 使用逆变换操作来确定对应于轴的位置/姿势和Xj的位置值（θ）j。 然后使用（theta）j驱动机器人。

公开(公告)号：US20060213889A1

公开(公告)日：2006-09-28

申请号：US11370182

申请日：2006-03-08

申请人： Yukimitsu Suzuki ,  Ichiro Arita ,  Satoru Yamasumi ,  Masaru Seto ,  Takahisa Iizuka ,  Kazuhiko Onoue ,  Kunio Uchikoshi

发明人： Yukimitsu Suzuki ,  Ichiro Arita ,  Satoru Yamasumi ,  Masaru Seto ,  Takahisa Iizuka ,  Kazuhiko Onoue ,  Kunio Uchikoshi

IPC分类号： B23K9/06

CPC分类号： B23K9/1093 ,  B23K9/067

摘要： To provide an arc start method in a consumable electrode type arc welding method capable of firmly executing arc start and capable of executing high quality high speed welding by restraining a welding defect from being brought about therefor, at a portion of a wire projected from a welding tip, a temperature of a front end portion of the wire is made to be at a temperature higher than a temperature of a portion thereof near the welding tip. The front end portion of the wire is preheated to 300° C. or higher, preferably, 450° C. or higher. The front end portion of the wire is preheated by generating arc for preheating. The preheating arc is generated in a spot-like shape at a position near a terminal end portion of a predetermined welding line by constituting a current lower than a welding current.

摘要翻译： 为了提供一种能够通过抑制焊接缺陷而能够牢固地执行电弧启动并且能够执行高质量高速焊接的消耗电极型电弧焊接方法中的电弧启动方法，在从焊接中投射的电线的一部分 将导线的前端部的温度设定为比焊接头附近的温度高的温度。 将线的前端部预热至300℃以上，优选为450℃以上。 通过产生用于预热的电弧来预热电线的前端部分。 通过构成低于焊接电流的电流，预定电弧在预定焊接线的末端部附近的位置处以点状形成。

公开(公告)号：US20060213888A1

公开(公告)日：2006-09-28

申请号：US11370183

申请日：2006-03-08

申请人： Yukimitsu Suzuki ,  Ichiro Arita ,  Satoru Yamasumi ,  Takahisa Iizuka ,  Kazuhiko Onoue ,  Atsuhito Aoki

发明人： Yukimitsu Suzuki ,  Ichiro Arita ,  Satoru Yamasumi ,  Takahisa Iizuka ,  Kazuhiko Onoue ,  Atsuhito Aoki

IPC分类号： B23K9/095

CPC分类号： B23K9/095 ,  B23K31/125 ,  G05B2219/45104

摘要： There is provided a welding method and a welding equipment, in each of which it is possible to detect a weld abnormality, moreover it is possible to detect a generation position and a length of that abnormality, and further it is possible to perform a repair of a weld abnormality part. After a weld start signal has been inputted, a case where a welding current and a welding voltage, which have been detected by a welding current/voltage detection means, are outside set ranges is made the weld abnormality by an abnormality discrimination means. An abnormality generation time instant and an abnormality termination time instant are calculated with a start signal input timing being made a time axis reference by a time instant calculation means. An abnormality generation position and an abnormality terminus position are operated from data of the time instants and a robot position information by an operation means.

摘要翻译： 提供了可以检测焊接异常的焊接方法和焊接设备，此外，可以检测该异常的产生位置和长度，并且还可以进行修复 焊接异常部分。 在已经输入焊接启动信号之后，通过焊接电流/电压检测装置检测到的焊接电流和焊接电压在外部设定范围内的情况是由异常判别装置产生的焊接异常。 通过由时刻计算装置作为时间轴参考的开始信号输入定时来计算异常发生时刻和异常终止时刻。 通过操作装置从时刻的数据和机器人的位置信息操作异常发生位置和异常终点位置。

公开(公告)号：US20060159331A1

公开(公告)日：2006-07-20

申请号：US11335173

申请日：2006-01-18

申请人： Sadao Kubo ,  Tadao Shimada ,  Kazuhiko Onoue ,  Hirotaka Uehara ,  Hirotaka Kinoshita ,  Yukimitsu Suzuki ,  Ichiro Arita

发明人： Sadao Kubo ,  Tadao Shimada ,  Kazuhiko Onoue ,  Hirotaka Uehara ,  Hirotaka Kinoshita ,  Yukimitsu Suzuki ,  Ichiro Arita

IPC分类号： G06K9/00

CPC分类号： B23K9/1274

摘要： A method of measuring a welding-groove position for an over-lapped fillet welding of thin members, comprising a projection step of projecting a slit light so that the slit light is projected on both the thin members crossing a welding-groove face, a two-dimensional image acquisition step of capturing the slit-light image projected on each of the thin members as two-dimensional images; a three-dimensional conversion step of converting the two-dimensional images into three-dimensional images using a predetermined three-dimensional conversion parameter, and a calculation step of calculating the welding-groove position based on the three-dimensional data of the projected slit-light images, and relative positions between the projected slit-light images in the three-dimensional data defined by shapes and arrangement of the thin members.

摘要翻译： 一种测量薄构件的过度焊接焊接的焊接槽位置的方法，包括：突出步骤，突出狭缝光，使得狭缝光投射在与焊接槽面相交的两个薄构件上，两个 将投影在每个薄构件上的狭缝光图像捕获为二维图像的三维图像获取步骤; 使用预定的三维转换参数将二维图像转换成三维图像的三维转换步骤，以及基于投影的狭缝状图像的三维数据计算焊接槽位置的计算步骤， 光图像以及通过薄构件的形状和布置限定的三维数据中的投影狭缝光图像之间的相对位置。

公开(公告)号：US20060157533A1

公开(公告)日：2006-07-20

申请号：US11334054

申请日：2006-01-17

申请人： Kazuhiko Onoue ,  Satoru Yamasumi ,  Kunio Uchikoshi ,  Tetsuo Iwamoto ,  Yukimitsu Suzuki ,  Ichiro Arita

发明人： Kazuhiko Onoue ,  Satoru Yamasumi ,  Kunio Uchikoshi ,  Tetsuo Iwamoto ,  Yukimitsu Suzuki ,  Ichiro Arita

IPC分类号： B23K13/08 ,  B23K15/02 ,  B23K37/00

CPC分类号： B23K37/0408 ,  B23K9/095 ,  B23K11/25 ,  B25J9/0018

摘要： A processing system including a carry-in stage including a carry-in device; an operation stage wherein the workpieces are measured and processed, the operation stage including a measurement device and a processing device in this order from a carry-in stage side thereof, the measurement device being separated from the processing device; a carry-out stage including a carry-out device; a slide device disposed between the measurement device and the processing device of the operation stage, the slide device including a plurality of lanes respectively provided with fixing jigs movable back and forth; and a controller configured to perform control such that the carry-in device sequentially moves the workpieces onto the respective fixing jigs, the fixing jigs are moved along the slide device, the measurement device measures workpiece measurement portions of the workpieces and the processing device processes the workpiece measurement portion, and thereafter the carry-out device carries the workpieces out.

摘要翻译： 一种处理系统，包括具有进位装置的进位台; 其中测量和处理工件的操作阶段，操作阶段包括测量装置和处理装置，从其进入阶段侧开始，测量装置与处理装置分离; 包括执行装置的执行阶段; 设置在所述测量装置和所述操作台的处理装置之间的滑动装置，所述滑动装置包括分别设置有可前后移动的固定夹具的多个通道; 以及控制器，其被配置为执行控制，使得所述携带设备顺序地将所述工件移动到各个固定夹具上，所述固定夹具沿着所述滑动装置移动，所述测量设备测量所述工件的工件测量部分，并且所述处理设备处理 工件测量部分，此后，进出装置将工件输出。

公开(公告)号：US06218802B1

公开(公告)日：2001-04-17

申请号：US09423555

申请日：1999-11-10

申请人： Kazuhiko Onoue ,  Masataka Koyama ,  Kazuhiro Abe ,  Yoshimitsu Kurosaki

发明人： Kazuhiko Onoue ,  Masataka Koyama ,  Kazuhiro Abe ,  Yoshimitsu Kurosaki

IPC分类号： B25J922

CPC分类号： G05B19/425 ,  G05B2219/36163 ,  G05B2219/36475 ,  G05B2219/36552

摘要： A robot may be taught to perform a task by recording information regarding the positions and attitudes of the joints of the robot body as it performs the task. When this information is subsequently replayed, the robot performs the task in the manner as taught. In particular, the robot may be taught either by an operator situated near the robot body or by an operator situated at a remote location. At the remote location, the robot may be taught by an operator even though the operator cannot see the robot body. More particularly, at the remote location, information regarding the current position and attitude of the joints of the robot body is displayed to the operator, and the operator may adjust this information in order to control the movement of the robot body. As a safety measure, when an operator is located near the robot body, only an operator situated near the robot body can control the robot body.

摘要翻译： 可以通过在执行任务时记录关于机器人体的关节的位置和态度的信息来教导机器人执行任务。 当这些信息随后被重播时，机器人以所教导的方式执行任务。 特别地，机器人可以由位于机器人主体附近的操作员或位于远程位置的操作者来教导。 在远程位置，即使操作者看不到机器人本体，也可以由操作者教导机器人。 更具体地，在远程位置，向操作者显示关于机器人主体的关节的当前位置和姿态的信息，并且操作者可以调整该信息以便控制机器人主体的移动。 作为安全措施，当操作者位于机器人主体附近时，仅位于机器人主体附近的操作者可以控制机器人主体。