公开(公告)号：US20240227052A1

公开(公告)日：2024-07-11

申请号：US18152587

申请日：2023-01-10

申请人： Hitachi, Ltd.

发明人： Quan ZHOU

IPC分类号： B23K9/095 ,  B23K31/12 ,  G05B19/4155 ,  G06N20/00

CPC分类号： B23K9/0953 ,  B23K31/125 ,  G05B19/4155 ,  G06N20/00 ,  G05B2219/45104

摘要： Systems and methods described herein involve intaking sensor data associated with an arc weld from a robotic welding process, the sensor data involving thermal imaging data; executing a machine learning model on the sensor data, the machine learning model configured to output predicted internal parameters of a weld seam of the arc weld, predicted surface parameters of the weld seam of the arc weld, and a predicted quality of the arc weld associated with the predicted internal parameters and the predicted surface parameters; and modifying parameters of the robotic welding process of the arc weld based on the output predicted quality, the output predicted internal parameters, and the predicted surface parameters.

公开(公告)号：US20180164793A1

公开(公告)日：2018-06-14

申请号：US15833349

申请日：2017-12-06

申请人： FANUC CORPORATION

发明人： Hiromitsu Takahashi ,  Toshimichi Aoki ,  Masanobu Hatada

IPC分类号： G05B19/42 ,  B23K26/03

CPC分类号： G05B19/42 ,  B23K26/032 ,  B23K26/082 ,  B23K26/0884 ,  B25J9/1679 ,  G05B19/41 ,  G05B19/4103 ,  G05B2219/45104

摘要： A laser processing robot system including a laser irradiation device that carries out an irradiation point shifting operation, a robot that moves the laser irradiation device, a laser irradiation device controller that controls the irradiation point shifting operation, and a robot controller that controls the robot. When moving the laser irradiation device by the robot, the robot controller instructs the robot on a plurality of first interpolated positions at every first interpolation period, and outputs a command value associated with the irradiation point shifting operation to the laser irradiation device controller at every second interpolation period shorter than the first interpolation period.

公开(公告)号：US20170151633A1

公开(公告)日：2017-06-01

申请号：US15359256

申请日：2016-11-22

申请人： LASER TECH, S.A. de C.V.

发明人： Sofia Elizabeth Acosta ORTIZ ,  Jose Alberto Arellano ACOSTA

IPC分类号： B23K28/02 ,  B23K26/21 ,  G05B19/414 ,  B25J11/00 ,  B25J15/00 ,  B25J19/06 ,  B23K10/00 ,  B23K26/38

CPC分类号： B23K28/02 ,  B23K10/00 ,  B23K26/21 ,  B23K26/38 ,  B23K2101/06 ,  B23K2101/18 ,  B25J11/0055 ,  B25J15/0019 ,  B25J19/06 ,  G05B19/4145 ,  G05B2219/36199 ,  G05B2219/45104 ,  G05B2219/45138

摘要： System for 2D and 3D metal processing with fiber optic laser and plasma, that includes CNC for cutting metal plates with fiber optic laser and plasma and a robot arm for cutting and welding metals with fiber optic laser. The system is characterized because it includes three processes in one single equipment: metal cutting with fiber optic laser, metal cutting with plasma and metal welding with fiber optic laser. The equipment has a computer numerical control (CNC) system and a working area of 1200×3000 mm for cutting metals; it has two cutting heads, one for fiber optic laser and one for plasma as well as one 360° rotating robot arm on which the laser welding head or the laser cutting head can be placed for 3D welding, or cutting circular or rectangular pipes, respectively.

公开(公告)号：US20150367511A1

公开(公告)日：2015-12-24

申请号：US14766007

申请日：2014-02-14

申请人： KABUSHIKI KAISHA KOBE SEIKO SHO (KOBE STEEL, LTD.)

发明人： Yoshiharu NISHIDA ,  Takashi WADA ,  Yoshihide INOUE ,  Shuichi INADA

IPC分类号： B25J9/16 ,  B25J9/06

CPC分类号： B25J9/1638 ,  B23K9/095 ,  B23K9/124 ,  B23K9/173 ,  B23K9/32 ,  B23K37/0229 ,  B25J9/06 ,  B25J9/1605 ,  B25J9/1633 ,  B25J9/1641 ,  G05B2219/34119 ,  G05B2219/39186 ,  G05B2219/41222 ,  G05B2219/41225 ,  G05B2219/41426 ,  G05B2219/41436 ,  G05B2219/45104 ,  G05B2219/49384 ,  Y10S901/02

摘要： This control device (10) for compensating for the elastic deformation of an articulated robot is configured from a joint angle command value calculation unit (100), an axial force torque calculation unit (200), a first dynamic characteristic computing unit (300), a feedback control unit (500), and a motor angle command value calculation unit (600). The first dynamic characteristic computing unit (300) is configured from an interpolation unit configured from an N-ary curve interpolation, and a filter unit configured from an M-ary filter, with N+M being at least 4.

摘要翻译： 用于补偿关节式机器人的弹性变形的该控制装置（10）由关节角度指令值计算部（100），轴力扭矩计算部（200），第一动力特性运算部（300）， 反馈控制单元（500）和马达角度指令值计算单元（600）。 第一动态特性计算单元（300）由从N元曲线插值构成的内插单元和由N + M至少为4的M元滤波器构成的滤波器单元构成。

公开(公告)号：US09199374B2

公开(公告)日：2015-12-01

申请号：US14003449

申请日：2012-03-02

申请人： Tsutomu One ,  Toshihiko Nishimura

发明人： Tsutomu One ,  Toshihiko Nishimura

IPC分类号： G05B19/41 ,  B25J9/10 ,  G05B19/4103 ,  G05B19/423 ,  B25J9/16

CPC分类号： B25J9/10 ,  B25J9/1664 ,  G05B19/4103 ,  G05B19/423 ,  G05B2219/34083 ,  G05B2219/40333 ,  G05B2219/45104 ,  Y10S901/41

摘要： In order to suppress fluctuations in specific components of posture angle in a target coordinate system while maintaining the position of the leading edge of the wrist, the velocity of movement of the leading edge of the wrist, and the permissible velocity of the shaft during velocity suppression, an articulated robot which moves while calculating the position in interpolated points on a teaching path, the posture and the angles in each axis is provided, wherein a judgment is made as to whether the velocity of the wrist shaft exceeds a permissible limit, and if the permissible limit is exceeded, a plurality of candidates for angle of the wrist shaft that maintain the velocity within permissible limits are calculated, and the candidate with the minimum fluctuation in the specific component of the posture angle of the weld line coordinate system is selected.

摘要翻译： 为了抑制目标坐标系中的姿势角的特定成分的波动，同时保持手腕前缘的位置，手腕前缘的移动速度以及在速度抑制期间轴的容许速度 ，在计算教导路径内插点的位置时移动的关节式机器人，提供各轴的姿势和角度，其中判断腕轴的速度是否超过容许极限，如果 超过允许极限，计算将维持速度保持在允许极限内的角度的多个候选轴，并且选择具有焊接线坐标系的姿势角的特定分量中的最小波动的候选。

公开(公告)号：US09073213B2

公开(公告)日：2015-07-07

申请号：US12677379

申请日：2009-05-20

申请人： Hiroyuki Nakata ,  Yasuhiro Kinugasa

发明人： Hiroyuki Nakata ,  Yasuhiro Kinugasa

IPC分类号： B25J9/00 ,  B25J9/16

CPC分类号： B25J9/1674 ,  G05B2219/37344 ,  G05B2219/37525 ,  G05B2219/41372 ,  G05B2219/45104

摘要： A failure of a robot can be determined while a production line is operating by determining when a motor output torque moving average value, which is an average value of N (N is a positive integer) pieces of motor output torque values, exceeds a first failure determination reference value, and an external force torque estimated moving average value, which is an average value of N pieces of external force torque estimated values, exceeds a second failure determination reference value.

摘要翻译： 通过确定作为电动机输出转矩值的N（N为正整数）的平均值的电动机输出转矩移动平均值何时超过第一次故障，可以在生产线运行时确定机器人的故障 作为N个外力转矩推定值的平均值的外力转矩推定移动平均值超过第二故障判定基准值。

公开(公告)号：US08972059B2

公开(公告)日：2015-03-03

申请号：US12801211

申请日：2010-05-27

申请人： Hisashi Moriyama ,  Takahiro Inada ,  Motonobu Sasaki ,  Shinji Kajihara

发明人： Hisashi Moriyama ,  Takahiro Inada ,  Motonobu Sasaki ,  Shinji Kajihara

IPC分类号： B25J9/10 ,  B25J9/16 ,  B25J13/08

CPC分类号： B25J9/1682 ,  B25J9/1633 ,  B25J13/085 ,  G05B2219/39129 ,  G05B2219/39176 ,  G05B2219/45104 ,  Y10S901/09

摘要： In an automatic operation system including: a positioning robot having a holding tool and an inertial sensor at a tip end portion of an arm thereof; a working robot having an operation tool at a tip end portion of an arm thereof; and a robot control device, a positioning correcting method of the present invention includes: conveying and positioning the holding tool, which holds a work, by the positioning robot at a positioning reference position of the holding tool corresponding to an operation position of the work; detecting a displacement amount of the holding tool from the positioning reference position by the robot control device based on an inertial force of the inertial sensor when the working robot carries out a predetermined operation with respect to the work; and correcting based on the detected displacement amount the positioning reference position of the holding tool to a position of the holding tool before the holding tool is displaced.

摘要翻译： 一种自动操作系统，包括：定位机器人，其具有在其臂的末端部分处的保持工具和惯性传感器; 工作机器人，其臂部的前端部具有操作工具; 本发明的机器人控制装置，定位校正方法包括：通过所述定位机器人在与所述工件的操作位置对应的所述保持工具的定位基准位置处，传送并定位保持工件的工具; 当所述工作机器人执行相对于所述工件的预定操作时，基于所述惯性传感器的惯性力，由所述机器人控制装置从所述定位基准位置检测所述保持工具的位移量; 并且基于检测到的位移量将保持工具的定位基准位置校正到保持工具在保持工具移位之前的位置。

公开(公告)号：US20130026148A1

公开(公告)日：2013-01-31

申请号：US13564867

申请日：2012-08-02

申请人： Kazuo AOYAMA ,  Tatsuya OODAKE ,  Shinsaku SATO ,  Mitsuo IWAKAWA

发明人： Kazuo AOYAMA ,  Tatsuya OODAKE ,  Shinsaku SATO ,  Mitsuo IWAKAWA

IPC分类号： B23K9/12

CPC分类号： G05B19/4086 ,  B23K9/235 ,  B23K37/00 ,  G05B2219/33259 ,  G05B2219/37116 ,  G05B2219/45104 ,  G05B2219/50353

摘要： A welding apparatus of an embodiment includes: a welding torch and a shape sensor attached to a welding robot; a shape data extraction unit extracting, from measured data measured by the shape sensor, shape data representing an outline of an object to be welded; a transformation data calculation unit calculating, based on a position and a posture of the shape sensor, coordinate transformation data for correcting the shape data; a shape data correction unit correcting the shape data based on the coordinate transformation data; an angle calculation unit calculating, based on the corrected shape data, an inclination angle of a groove of the object to be welded; and a welding position and posture determination unit determining, based on the inclination angle of the groove, a position and a posture of the welding torch.

摘要翻译： 一种实施方式的焊接装置包括：焊枪和安装在焊接机器人上的形状传感器; 形状数据提取单元，从由形状传感器测量的测量数据中提取表示待焊接物体的轮廓的形状数据; 变换数据计算单元，基于形状传感器的位置和姿势来计算用于校正形状数据的坐标变换数据; 形状数据校正单元，基于坐标变换数据校正形状数据; 角度计算单元，根据修正后的形状数据，计算待焊接物体的槽的倾斜角度; 以及焊接位置和姿势确定单元，基于所述凹槽的倾斜角确定所述焊炬的位置和姿势。

公开(公告)号：US20120029674A1

公开(公告)日：2012-02-02

申请号：US13138411

申请日：2010-02-12

申请人： Masatoshi Hida

发明人： Masatoshi Hida

IPC分类号： G06F17/50

CPC分类号： G05B19/4097 ,  B23K9/127 ,  G05B2219/35102 ,  G05B2219/45104 ,  G05B2219/49386 ,  G06F17/5009 ,  G06F2217/41 ,  Y02P90/265

摘要： A welding line can be rapidly extracted using three-dimensional CAD data constituted of a large number of line sections containing welding line candidates. The method of choosing a welding line includes: a step (S110) of specifying one face (first face constituting a reference face) from two faces of a member where a welding line is to be formed; a step (S120) of specifying the other face (second face constituting a groove face) from the two faces of the number where a welding line is to be formed; a step.(S130) of extracting an edge line; a step (S140) of selecting an edge line zone where welding is possible; a step (S150) of creating welding line information by unifying edge lines where welding is possible; and a step (S160) of correcting welding line information in accordance with the groove shape.

摘要翻译： 可以使用由包含焊接线候补的大量线段构成的三维CAD数据来快速提取焊接线。 选择焊接线的方法包括：从要形成焊接线的部件的两个面指定一个面（构成基准面的第一面）的步骤（S110） 从要形成焊接线的数量的两个面指定另一个面（构成槽面的第二面）的台阶（S120） 一步。 （S130）提取边缘线; 选择可能进行焊接的边缘线区域的台阶（S140） 通过在可焊接的情况下统一边缘线来产生焊接线信息的步骤（S150） 以及根据槽形状来校正焊接线信息的步骤（S160）。

公开(公告)号：US20110106304A1

公开(公告)日：2011-05-05

申请号：US12984796

申请日：2011-01-05

申请人： Ryo Nihei ,  Tetsuaki Kato ,  Hiroji Nishi

发明人： Ryo Nihei ,  Tetsuaki Kato ,  Hiroji Nishi

IPC分类号： G05B19/425

CPC分类号： G05B19/4083 ,  B25J9/1664 ,  G05B2219/36404 ,  G05B2219/40385 ,  G05B2219/45104

摘要： A taught point correcting device for correcting a taught point in an operation program of a robot. The device includes a judging section judging whether position data of any of a plurality of different taught points, previously taught and included in an operation program, has been corrected or not; and a data correcting section correcting, when the judging section judges that position data of a first taught point among the different taught points has been corrected, position data of a correlative taught point having a relative positional relationship with the first taught point, in accordance with a taught-point rule previously prescribing the relative positional relationship between the different taught points. The device may also include a storing section storing the taught-point rule. The taught-point rule may include a rule prescribing a distance between any two taught points among the different taught points.

摘要翻译： 一种用于校正机器人的操作程序中的教导点的教导点校正装置。 该装置包括：判断部，其判断是否已经校正了先前教导并包括在操作程序中的多个不同教导点中的任一个的位置数据; 以及数据校正部，根据所述判断部判断所述不同教导点中的第一教导点的位置数据已被校正，校正与所述第一教导点具有相对位置关系的相关教导点的位置数据 以前规定不同教学点之间的相对位置关系的教导点规则。 设备还可以包括存储教导点规则的存储部分。 教导点规则可以包括规定不同教导点之间的任何两个教导点之间的距离的规则。