Welding Patents (Class 901/42)
  • Patent number: 10099373
    Abstract: A multi-axis robot includes robot drives, a tool head, a drag chain for guiding flexible lines along at least a part of the robot up to the tool head, and an auxiliary system for moving a tool head-side end of the drag chain. The auxiliary system includes at least one auxiliary system drive for moving the tool head-side end. The auxiliary system drive is different than the robot drives. The multi-axis robot advantageously allows collisions between the tool-side end of the drag chain and the object to be treated or other objects in the vicinity of the robot to be avoided, ensuring that the surface of the object may be treated, in particular printed on by an inkjet print head, without disruption.
    Type: Grant
    Filed: March 1, 2017
    Date of Patent: October 16, 2018
    Assignee: Heidelberger Druckmaschinen AG
    Inventors: Christian Goerbing, Stefan Maier
  • Patent number: 9975257
    Abstract: A ceiling mounted robot includes a first arm portion, and a second motor that is provided in the first arm portion. The first arm portion has a first heat dissipation path limiting portion, and a first heat dissipation portion that is in contact with the first heat dissipation path limiting portion and has thermal conductivity higher than that of the first heat dissipation path limiting portion. The first heat dissipation portion is in contact with the second motor.
    Type: Grant
    Filed: April 16, 2015
    Date of Patent: May 22, 2018
    Assignee: Seiko Epson Corporation
    Inventors: Seiji Hahakura, Masato Yokota
  • Publication number: 20150108099
    Abstract: An industrial robot including a robot chain of elements, a robot wrist bearing a tool (100) and a continuous internal passage through which one or more cables and/or pipes for the power supply and/or the fluid supply to the tool. The cables and pipes continue without interruption through the passage and through a flange of the robot up to respective connections of said tool, whereby the cables and pipes are arranged completely inside the robot and inside the tool, without the need to provide separate cables and pipes of the tool connected to the cables and the pipes of the robot at the flange of the robot.
    Type: Application
    Filed: May 9, 2013
    Publication date: April 23, 2015
    Applicant: Comau S.p.A
    Inventors: Fulvio Ferrero, Enrico Mauletti
  • Publication number: 20150089880
    Abstract: A method of manufacturing PDC drill bits includes inspecting a plurality of cutters. The method further includes inspecting a plurality of pockets of a bit body. A cutter of the plurality of cutters is assigned to a pocket of the plurality of pockets based on the inspection of the plurality of cutters and the inspection of the plurality of cutter pockets. A robot positions the cutter inside the pocket and applies heat to a brazing material to produce a molten brazing material within the pocket.
    Type: Application
    Filed: September 27, 2013
    Publication date: April 2, 2015
    Applicant: VAREL EUROPE S.A.S.
    Inventors: Alfazazi Dourfaye, Gary M. Thigpen
  • Publication number: 20150088300
    Abstract: A robotic end effector system and method having a plurality of end effectors which are selectively suitable for particular applications on a workpiece. The end effectors include a resident controller adapted to execute tasks specific to the end effector and are rapidly attachable and removable from the robot for easy change over to different workpieces.
    Type: Application
    Filed: October 29, 2014
    Publication date: March 26, 2015
    Inventors: Velibor Kilibarda, Joseph Cyrek, David Reid
  • Publication number: 20150076213
    Abstract: A robot according to an embodiment includes a flange, a wrist arm, a forearm, and a feeder. The flange configured so that a welding torch is attached thereto and configured to rotate about a T axis. The wrist arm configured to rotate about a B axis substantially perpendicular to the T axis and configured to support the flange. The forearm configured to support the wrist arm. The feeder attached to a position between a base end and a tip end of the forearm and configured to feed a welding wire.
    Type: Application
    Filed: September 18, 2014
    Publication date: March 19, 2015
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Atsushi TERADA, Kazuhiro YASUTOMI
  • Publication number: 20150076131
    Abstract: A robot according to an embodiment includes a flange, a wrist arm, a forearm, a feeder, and a power cable. The flange configured so that a welding torch is attached thereto and configured to rotate about a T axis. The wrist arm configured to rotate about a B axis substantially perpendicular to the T axis and configured to support the flange. The forearm configured to support the wrist arm. The feeder attached to a position between a base end and a tip end of the forearm and configured to feed a welding wire. The power cable is a supply route of electricity to the welding torch and is provided separately from a feeding route of the welding wire.
    Type: Application
    Filed: September 18, 2014
    Publication date: March 19, 2015
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Atsushi TERADA, Kazuhiro YASUTOMI
  • Publication number: 20150034698
    Abstract: A robot includes: a stage unit; a rotation base connected to the stage unit in a rotatable manner around a predetermined rotating axis; an arm unit connected to the rotation base and having a base end rotatable around a first rotation axis that is substantially orthogonal to the rotating axis; a balancer connected to both the rotation base and the arm unit; and a cable arranged along the arm unit outside the balancer while supported by that balancer.
    Type: Application
    Filed: July 29, 2014
    Publication date: February 5, 2015
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Shingi TAKAHASHI, Tomoyuki SHIRAKI, Masato ITO, Kaori SAKAKI, Takahiko KANAMORI
  • Publication number: 20150039125
    Abstract: A robot includes: a stage unit; a rotation base connected to the stage unit in a rotatable manner around a predetermined rotating axis; an arm unit connected to the rotation base and having a base end rotatable around a first rotation axis that is substantially orthogonal to the rotating axis; a first attachment unit provided to the rotation base, arranged in an outside, in a rotation radius direction, of the rotation base and nearer to the stage unit than the first rotation axis, and formed so that one part of a balancer is attached thereto; and a second attachment unit provided to the arm unit and formed so that another part of the balancer is attached thereto.
    Type: Application
    Filed: July 29, 2014
    Publication date: February 5, 2015
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Shingi TAKAHASHI, Tomoyuki SHIRAKI, Masato ITO, Kaori SAKAKI
  • Patent number: 8948917
    Abstract: A system and method for the welding of drill bits using an automated robot or robots.
    Type: Grant
    Filed: October 22, 2009
    Date of Patent: February 3, 2015
    Assignee: Baker Hughes Incorporated
    Inventor: Alan J. Massey
  • Publication number: 20150027996
    Abstract: A tool welding system is disclosed that includes a table that heats a tool. A multi-axis robot includes a welding head that is moved relative to the table in response to a command. A controller is in communication with the robot and generates the command in response to welding parameters. The weld parameters are based upon a difference between an initial tool shape and a desired tool shape. The difference between the initial tool shape and the desired tool shape corresponds to a desired weld shape. The desired weld shape is adjusted based upon initial tool shape variations, which includes thermal growth of the tool. The tool is welded to provide the desired weld shape to achieve a desired tool shape.
    Type: Application
    Filed: October 14, 2014
    Publication date: January 29, 2015
    Inventor: Ariel Andre Waitzman
  • Patent number: 8938315
    Abstract: A method for verifying completion of a task is provided. In various embodiments, the method includes obtaining location coordinates of at least one location sensor within a work cell. The at least one sensor is affixed to a tool used to operate on a feature of a structure to be assembled, fabricated or inspected. The method additionally includes, generating a virtual object locus based on the location coordinates of the at least one location sensor. The virtual object locus corresponds to a computerized schematic of the structure to be assembled and represents of all possible locations of an object end of the tool within the work cell. The method further includes, identifying one of a plurality of candidate features as the most likely to be the feature operated on by the tool. The identification is based on a probability calculation for each of the candidate features that each respective candidate feature is the feature operated on by the tool.
    Type: Grant
    Filed: January 13, 2014
    Date of Patent: January 20, 2015
    Assignee: The Boeing Company
    Inventors: Philip L. Freeman, Thomas E. Shepherd, Christopher K. Zuver
  • Publication number: 20140360993
    Abstract: A multi-function and multi-vehicle-type common-use robot apparatus may include a robot; a frame attached to an arm of the robot; a plurality of sliders assembled to the frame to slide in a predetermined direction, and a common-use unit which includes an upper welding gun, a lower welding gun, and a component that performs a part-holding gripper and which is mounted on each slider, such that a position of the common-use unit is controlled in the frame.
    Type: Application
    Filed: May 19, 2014
    Publication date: December 11, 2014
    Applicant: Hyundai Motor Company
    Inventor: Jung Whan YEUM
  • Publication number: 20140353298
    Abstract: A welding system is disclosed for use in closing a seam. The welding system may have a mount configured to hold a work piece having the seam to be welded, and a robotic welding device movable relative to the mount. The welding system may also have a controller in communication with the robotic welding device and configured to control the robotic welding device to sequentially generate a plurality of weld layers within the seam. Each weld layer may have at least one dam segment extending generally orthogonal to a length direction of the seam, and a main segment extending in the length direction.
    Type: Application
    Filed: June 4, 2013
    Publication date: December 4, 2014
    Inventors: Leon ADCOCK, Donald Albert STICKEL, III, Howard Walter LUDEWIG
  • Publication number: 20140332504
    Abstract: A weld bead shaping apparatus including: a gouging torch for gouging an object to be shaped; a shape sensor for measuring a shape of the object; a slider apparatus and an articulated robot for driving the gouging torch and shape sensor; an image processing apparatus; and a robot controlling apparatus. The image processing apparatus includes: a shape data extracting unit extracting shape data of the object, from a measurement result obtained by the shape sensor; and a weld reinforcement shape extracting/removal depth calculating unit calculating a weld reinforcement shape of the weld bead from a difference between the shape data and a preset designated shape of the object, and calculating a removal depth by which gouging is performed, based on the weld reinforcement shape. The robot controlling apparatus controls the slider apparatus, the articulated robot, and the gouging torch based on the weld reinforcement shape and the removal depth.
    Type: Application
    Filed: December 11, 2012
    Publication date: November 13, 2014
    Applicant: KABUSHIKI KAISHA TOSHIBA
    Inventors: Takashi Hamada, Tsuyoshi Kato, Kazuo Aoyama
  • Patent number: 8884187
    Abstract: A welding observation apparatus is provided to use partial darkening by a telecentric optical system and a photochromic filter (PCF) as an optical system for filtering light emission from arc discharge in order to verify the welding condition under the welding arc discharge, without forming an image on the PCF, so that light reducing performance can be secured even if a focus shifts from on the PCF, with satisfactory monitoring of welding condition. The welding observation apparatus comprises: an arc welding unit 8; an objective optical system (1, 2) for concentrating light from the arc welding unit 8; a telecentric optical system 3 for guiding the light concentrated by the objective optical system (1, 2); a PCF 4 for illuminating with the light guided by the telecentric optical system 3; and a solid state imaging device 9 for receiving the light passing through the PCF 4, wherein the light from the arc welding unit 8 is partial-darkened by the PCF 4.
    Type: Grant
    Filed: April 11, 2008
    Date of Patent: November 11, 2014
    Assignee: Fujikura Ltd.
    Inventors: Kenichi Nakatate, Takashi Tsumanuma, Jun Yamagishi, Akemi Katou
  • Publication number: 20140319110
    Abstract: A robotic welding equipment station to detect deviation of a tool center point of a welding torch. The station is provided with pairs of light emitting and detecting devices to emit and detect two separate light beams. The pairs of light emitting devices and detectors are oriented at an angle and spaced apart from each other such that the two light beams are at an angle to one another and the weld wire electrode is able to simultaneously interrupt both light beams when there is no deviation in a tool center point. The spacing prevents the weld wire electrode from interrupting both light beams when an increasing deviation of the tool center point propagates along the length of the weld wire electrode. First and second output signals generated by the first and second light detectors are received by a means for detecting deviation of the tool center point.
    Type: Application
    Filed: April 29, 2014
    Publication date: October 30, 2014
    Inventors: Jeffrey R. Ingraham, I, Kristofer K. Klein
  • Patent number: 8863606
    Abstract: A robot wrist structure includes a first wrist arm rotatable about a first axis, a second wrist arm provided in a tip end portion of the first wrist arm and configured to swing about a second axis substantially intersecting the first axis, a wrist flange provided in a tip end portion of the second wrist arm and configured to rotate about a third axis in a skew position with respect to the second axis, an intermediate member fixed to the wrist flange, and a cable bundle connected to an end effector fixed to the intermediate member. The cable bundle extends through the second wrist arm, the wrist flange and the intermediate member and drawn out from the intermediate member to reach the end effector.
    Type: Grant
    Filed: October 28, 2011
    Date of Patent: October 21, 2014
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Atsushi Ichibangase, Takashi Sanada, Kei Kamohara
  • Publication number: 20140309762
    Abstract: A manufacturing method for joining first and second members to create a joined piece using a robot with pre-inputted instruction data. The method includes operating the robot to hold the second member for joining to the first member and photographing the second member to obtain an image of the second member at the holding position; comparing the image to a reference image of a joining position of a reference second member joined to a reference first member; determining a deviation amount by which the holding position of the second member deviates from the joining position in the reference image; determining a correction amount for correcting the holding position of the second member is to be corrected in order to reduce the deviation amount of the holding position of the second member; correcting the holding position of the second member according to the correction amount, and then subsequently joining the first and second members.
    Type: Application
    Filed: November 16, 2012
    Publication date: October 16, 2014
    Applicant: Nissan Motor Co., Ltd.
    Inventors: Junji Hayata, Satoru Takizawa
  • Patent number: 8855858
    Abstract: A motor control unit includes a detected steering torque correction unit that corrects the detected steering torque that is detected by a torque sensor and then subjected to a limitation process by a steering torque limiter. When the absolute value of the detected steering torque is equal to or smaller than a predetermined value, the detected steering torque correction unit corrects the detected steering torque to 0. When the absolute value of the detected steering torque is larger than the predetermined value, the detected steering torque correction unit outputs the detected steering torque without correction. A PI control unit calculates the addition angle based on the deviation of the control torque obtained through correction by the detected steering torque correction unit from the command steering torque.
    Type: Grant
    Filed: November 12, 2010
    Date of Patent: October 7, 2014
    Assignee: Jtekt Corporation
    Inventors: Yuji Kariatsumari, Terutaka Tamaizumi, Yoshinobu Shimizu
  • Publication number: 20140297033
    Abstract: A method for adaptive control of a robotic operation of a robot includes providing a software program to generate process signals executable during the robotic operation, including one or more execution commands. A first Signal Value channel is provided to control at least one control process parameter of the robot, where the first Signal Value channel is subject to a first time latency. The execution timing of the first Signal Value channel is synchronized with the one or more execution commands by accounting for the first time latency in relation to the one or more execution commands. The software program is run to generate the process signals and the robot is operated in response to the synchronized execution timing of the execution commands.
    Type: Application
    Filed: March 28, 2014
    Publication date: October 2, 2014
    Inventors: Jianming Tao, Charles R. Strybis, Bradley Niederquell, Jason Tsai
  • Publication number: 20140263247
    Abstract: Methods and systems for using near field communication (NFC) protocol and logic to calibrate welding operations and systems are described. Further, methods and systems for using NFC logic and tags are described for networking, calibrating and linking components that comprise welding systems.
    Type: Application
    Filed: March 13, 2014
    Publication date: September 18, 2014
    Applicant: LINCOLN GLOBAL, INC.
    Inventors: Edward Hillen, Michael Volzer, Nick Trinnes
  • Publication number: 20140203001
    Abstract: The present invention is a weld line-detecting method when fillet welding by an industrial robot including a welding torch is taught. The welding torch on which an angle sensor having a contactor is attached is moved toward a welding object, angle information obtained when the contactor is in contact with the welding object is transmitted to the industrial robot, and the industrial robot moves the welding torch based on the angle information so that the angle of the contactor becomes zero. These operations are repeated, and the welding torch is moved toward a fillet part along the surface of the welding object. When the contactor arrives at the fillet part, a signal indicating that the contactor is pressed in the axial direction of the contactor is transmitted to the industrial robot. The industrial robot detects that the contactor arrives at the position to be welded on the weld line.
    Type: Application
    Filed: March 20, 2014
    Publication date: July 24, 2014
    Applicant: PANASONIC CORPORATION
    Inventors: Tatsuya Ikeda, Hisashi Kataoka, Tetsuya Takayama, Yasushi Mukai
  • Patent number: 8761932
    Abstract: A automation equipment control system comprises a general purpose computer with a general purpose operating system in electronic communication with a real-time computer subsystem. The general purpose computer includes a program execution module to selectively start and stop processing of a program of equipment instructions and to generate a plurality of move commands. The real-time computer subsystem includes a move command data buffer for storing the plurality of move commands, a move module linked to the data buffer for sequentially processing the moves and calculating a required position for a mechanical joint. The real-time computer subsystem also includes a dynamic control algorithm in software communication with the move module to repeatedly calculate a required actuator activation signal from a joint position feedback signal.
    Type: Grant
    Filed: June 18, 2013
    Date of Patent: June 24, 2014
    Assignee: C.H.I. Development Mgmt. Ltd. XXIV, LLC
    Inventor: John R. Lapham
  • Patent number: 8761936
    Abstract: A teaching line correcting apparatus defines a first plane, which is determined by a first reference position of a preset first reference region, a second reference position of a preset second reference region, and a third reference position of a preset third reference region, defines a second plane, which is determined by a detected position of the first reference region, a detected position of the second reference region, and a detected position of the third reference region, calculates a corrective value for equalizing the first reference region to an origin, equalizing the first reference position of the first reference region as the origin to the detected position of the first reference region as the origin, and equalizing the first plane to the second plane, and correcting reference coordinates where operating points are taught based on the calculated corrective value.
    Type: Grant
    Filed: November 8, 2010
    Date of Patent: June 24, 2014
    Assignee: Honda Motor Co., Ltd.
    Inventors: Hironobu Hayama, Shinya Murakami, Yutaka Hariya, Naoki Eto, Masashi Takebe
  • Patent number: 8704132
    Abstract: In a welding wire storage device for a welding system including a housing with a wire core surrounding the welding wire being arcuately arranged to lie freely in a free space of the housing, one end of the wire core is fixed in an end region of the housing and a measuring means is provided to detect the deflection of the wire core. In order to provide a very simple and compact structure for such a welding wire storage device, the wire core is displaceably mounted in a guide element on the opposite end region, and two coupling mechanisms, for connection with a wire guide hose for the wire core are arranged on the housing.
    Type: Grant
    Filed: January 26, 2005
    Date of Patent: April 22, 2014
    Assignee: Fronius International GmbH
    Inventors: Josef Artelsmair, Christian Stumpfl
  • Publication number: 20130312643
    Abstract: A welding workbench assembly comprises a base. The welding workbench assembly further comprises a first wraparound barrier comprising at least three panels, including a first panel, a second panel, and a third panel. The second panel is adjacent to the first panel at a first end of the first panel and the third panel is adjacent to the first panel at a second end of the first panel. The welding workbench assembly further comprises a second wraparound barrier comprising at least three panels, including a fourth panel, a fifth panel, and a sixth panel. The fifth panel is adjacent to the fourth panel at a first end of the fourth panel and the sixth panel is adjacent to the fourth panel at a second end of the fourth panel.
    Type: Application
    Filed: May 22, 2012
    Publication date: November 28, 2013
    Applicant: LINCOLN GLOBAL, INC.
    Inventor: David E. Osicki
  • Publication number: 20130277344
    Abstract: Disclosed is a robot pre-heat and inter-pass welding device that is capable of pre-heating and welding one or more weld joints using a single robot. Pre-heating and welding models are used to ensure that a desirable pre-heat temperature is maintained on the weld piece at the location of the weld. Infrared temperature sensors are utilized to detect temperature of the weld piece, which are transmitted to a controller, which controls the operation of both the pre-heating and welding. Multiple welds can be performed if additional time is needed for cooling, which reduces the overall time required to perform the welding process.
    Type: Application
    Filed: October 15, 2012
    Publication date: October 24, 2013
    Inventors: Lance F. Guymon, Jon Kramer, Zachary Bennett, James R. Pring, Steve Carey, Brent Wessel
  • Publication number: 20130270241
    Abstract: The installation provided includes at least one structure for receiving and holding guide tubes and structural elements; a carriage movable parallel to the guide tubes; at least one welding tool; and displacement means for moving the welding tool, the displacement means connecting the pincer to the carriage and presenting at least six degrees of freedom.
    Type: Application
    Filed: June 7, 2013
    Publication date: October 17, 2013
    Inventor: Thierry Taillandier
  • Publication number: 20130211579
    Abstract: A robotic processing system includes a microprocessor-controlled workpiece processor having a mobile processing element to be positioned independently in three orthogonal dimensions with respect to each of a plurality of target locations on a workpiece, with each particular target location of the plurality of target locations including an element to be processed, the mobile processing element processing the element at each particular target location by first moving to an initial location that is offset from the particular target location in a single dimension and then second moving along the single dimension towards the element at the particular target location until a contact signal is detected; and a control, coupled to the workpiece and to the mobile processing element, communicating the contact signal to the workpiece processor when the processing element makes physical contact with the element at the particular target location.
    Type: Application
    Filed: February 13, 2012
    Publication date: August 15, 2013
    Applicant: TESLA MOTORS, INC.
    Inventor: Nicholas Robert Kalayjian
  • Publication number: 20130204434
    Abstract: A method for positioning a welding head or welding torch of a robot welding system over a workpiece sends microwaves as a measuring signal from a transmitter arranged on the welding head to the workpiece. The microwaves reflected on the workpiece are received by at least one receiver arranged on the welding head, and the received microwaves are evaluated by an evaluation module for determining the position of a workpiece edge. The microwaves are sent from at least one transmitter in different positions on the welding head, and the reflected microwaves are received, with a change of polarization, by the at least one receiver, having a polarization plane arranged at an angle to the polarization plane of the transmitter. The position of the edge is determined by the evaluation module at least on the basis of a phase change of the respective microwaves reflected on the different positions.
    Type: Application
    Filed: May 11, 2012
    Publication date: August 8, 2013
    Applicant: FRONIUS INTERNATIONAL GMBH
    Inventors: Andreas Haderer, Andreas Stelzer
  • Publication number: 20130197686
    Abstract: Methods include one or more of robotically positioning a cutting element on an earth-boring tool, using a power-driven device to move a cutting element on an earth-boring tool, and robotically applying a bonding material for attaching a cutting element to an earth-boring tool. Robotic systems are used to robotically position a cutting element on an earth-boring tool. Systems for orienting a cutting element relative to a tool body include a power-driven device for moving a cutting element on or adjacent the tool body. Systems for positioning and orienting a cutting element on an earth-boring tool include such a power-driven device and a robot for carrying a cutting element. Systems for attaching a cutting element to an earth-boring tool include a robot carrying a torch for heating at least one of a cutting element, a tool body, and a bonding material.
    Type: Application
    Filed: January 15, 2013
    Publication date: August 1, 2013
    Applicant: Baker Hughes Incorporated
    Inventors: David Keith Luce, Sean W. Wirth, Alan J. Massey, Crystal A. Parrot
  • Patent number: 8494678
    Abstract: A process for working a contour on at least one workpiece using a robot includes positioning the workpiece relative to the robot; acquiring an actual position of the workpiece; acquiring a real course of the contour on the workpiece at predefined points using at least one sensor; and actuating the robot according to individual vectors so as to correct a robot motion during the working of the contour.
    Type: Grant
    Filed: June 14, 2008
    Date of Patent: July 23, 2013
    Assignee: ABB AG
    Inventors: Stefan Quandt, Andreas Hoffmann, Joerg Reger
  • Publication number: 20130146574
    Abstract: The invention relates to a welding robot for resistance welding, which exhibits a welding tongs (21), a welding current generator (1) connected to the welding electrodes (24, 25) of the welding tongs (21), for supplying the welding electrodes (24, 25) with electric energy during the resistance welding, and an industrial robot. The industrial robot comprises a robot arm (2) and a robot control device (9) for moving the robot arm (2). The welding tongs (21) is connected to the robot arm (2) and the robot control device (9) is connected to the welding current generator (1) and a tongs drive (26, 27) of the welding tongs (21).
    Type: Application
    Filed: December 7, 2012
    Publication date: June 13, 2013
    Applicant: KUKA ROBOTER GMBH
    Inventor: KUKA ROBOTER GMBH
  • Patent number: 8440934
    Abstract: To start consumable electrode arc welding, an initial current is supplied to a welding wire after causing the welding wire to contact a base material and retracting the welding wire from the base material. Thereby, an initial arc is generated. The welding wire is retracted continuously for an initial arc lift period Ti with the initial arc maintained. Afterwards, the initial arc is switched to a steady arc. A predetermined weld pool formation period Tp is set after the initial arc lift period Ti. In the weld pool formation period, a weld pool formation current greater than the initial current is supplied with the initial arc maintained and the welding wire is caused to proceed and fed to the base material. In the weld pool formation period, a weld pool is formed by the initial arc without allowing the welding wire to release droplets and contact the base material.
    Type: Grant
    Filed: October 14, 2008
    Date of Patent: May 14, 2013
    Assignee: Daihen Corporation
    Inventors: Shugo Hirota, Tetsuo Era, Tomoyuki Ueyama
  • Publication number: 20130055842
    Abstract: A robot according to an aspect of embodiments includes a motor and a hypoid gear. The motor is provided in a robot arm. The hypoid gear transmits the driving force of the motor to a leading-edge arm coupled to the robot arm to swing the leading-edge arm or to rotate an end effector.
    Type: Application
    Filed: August 28, 2012
    Publication date: March 7, 2013
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventor: Takuya OKADA
  • Patent number: 8380348
    Abstract: Provided is a robot capable of appropriately adjusting a position and the like of a main body in view of executing a specified task involving an interaction with a target object. While the position and posture of the main body (10) are being controlled according to a second target path, the robot (1) moves from a first specified area to a second specified area and stands there. In this state, a second position deviation (=the deviation of the position of the main body from a second target path) and a second posture deviation (=the deviation of the posture of the main body from a second target posture) are determined. According to the determination result, the second target path is corrected so that the subsequent position deviation and the like may be smaller.
    Type: Grant
    Filed: January 13, 2009
    Date of Patent: February 19, 2013
    Assignee: Honda Motor Co., Ltd.
    Inventors: Norio Neki, Koji Okazaki, Takashi Nakayama, Masaaki Muromachi, Satoshi Kaneko, Yuta Kimura
  • Patent number: 8378260
    Abstract: The invention relates to a method for permanently interconnecting components from a heat-meltable metal material, using a robot-controlled welding unit for carrying out a hybrid welding process. According to the method, a high performance metal active gas welding process (high performance MAG) is carried out. A component (8) carrying out the high performance MAG welding process is carried along by the robot-controlled welding unit (2) to carry out the hybrid welding process, the GSMAW torch (3) which contributes to the hybrid welding process being guided so as to be dragged by the welding unit.
    Type: Grant
    Filed: May 6, 2008
    Date of Patent: February 19, 2013
    Assignee: Meyer Werft GmbH
    Inventor: Werner Knipper
  • Publication number: 20130026148
    Abstract: 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.
    Type: Application
    Filed: August 2, 2012
    Publication date: January 31, 2013
    Inventors: Kazuo AOYAMA, Tatsuya OODAKE, Shinsaku SATO, Mitsuo IWAKAWA
  • Patent number: 8338743
    Abstract: The invention relates to a method for controlling robots for welding three-dimensional workpieces, comprising the following steps: positioning and tacking profiles to a plate in order to form the workpiece to be welded, depicting the workpiece by means of a three-dimensional imaging system in the form of three-dimensional pixels, determining the geometric data of the plate and profiles, including the allocation of cutouts and final cutting shapes from the three-dimensional pixels, determining the weld seam data from the geometric data while considering the profile placement lines and the contact lines of profiles, allocating the weld seam data to parameterizable specifications for the weld plan into stored predefined movement patterns of the robot, and into commands for the control of the welding process.
    Type: Grant
    Filed: February 19, 2008
    Date of Patent: December 25, 2012
    Assignees: Fraunhofer-Gesellschaft zur Foerderung der Angewandten Forschung E.V., Universitaet Rostock
    Inventors: Martin Christoph Wanner, Alexander Zych, Uwe Pfletscher
  • Patent number: 8326454
    Abstract: Provided are a power assist apparatus and its control method, which realize improvements in positioning precision and in workability while reducing the burden of a work positioning operation on a operator by burdening a portion of the positioning work on the power assist apparatus and while making good use of the decision or experience (or institution or knack) by the operator when the operator positions the work by using the power assist apparatus. The power assist apparatus thus autonomously cooperated with the working action of the operator comprises a transfer tool including an articulated robot, a sucking jig and a free joint for gripping and transferring windows, and a control device for controlling the actions of the transfer tool. The control device divides and stores a series of working tasks into a plurality of working section, and sets control logics for the individual working sections and for the individual working directions, in which the power assist apparatus has degrees of freedom.
    Type: Grant
    Filed: July 25, 2008
    Date of Patent: December 4, 2012
    Assignee: Toyota Jidosha Kabushiki Kaisha
    Inventor: Tadashi Odashima
  • Patent number: 8321054
    Abstract: A method for adjusting a program including program instructions for controlling an industrial robot to carry out work at a plurality of target points on a work object. The robot includes a tool having two arms adapted to clamp the work object and at least one of the arms is arranged movable relative the other arm in an opening and a closing direction, a manipulator adapted to hold the tool or the work object, and a controller controlling the movements of the manipulator and the tool arm and configured to switch between a normal control mode and a compliant control mode in which the manipulator has a reduced stiffness in at least one direction. The method includes moving the manipulator and the tool according to the program instructions until one of the target points is reached.
    Type: Grant
    Filed: February 14, 2012
    Date of Patent: November 27, 2012
    Assignee: ABB Technology Ltd.
    Inventors: Tony Selnes, Ake Olofsson
  • Publication number: 20120296471
    Abstract: A robot (100) has a robot mechanism unit (1) having a sensor (10) and a control unit (2), and the control unit (2) includes a normal control unit (4) that controls the operation of the robot mechanism unit, and a learning control unit (3) that, when the robot mechanism unit (1) is operated by a speed command that is given by multiplying a teaching speed designated in a task program by a speed change ratio, performs learning to calculate, from a detection result by the sensor (10), a learning correction amount for making the trajectory or position of the control target in the robot mechanism unit (1) approach the target trajectory or target position, or for reducing the vibration of the control target, and performs processes so that the control target position of the robot mechanism unit (1) moves along a fixed trajectory regardless of the speed change ratio.
    Type: Application
    Filed: May 11, 2012
    Publication date: November 22, 2012
    Applicant: FANUC CORPORATION
    Inventors: Kiyonori INABA, Masakazu ICHINOSE
  • Patent number: 8302281
    Abstract: A method and apparatus for providing motor vehicle sub-assemblies with unrestricted model mix and quick changeover between models. The apparatus includes a track; a carriage mounted for longitudinal movement along the track between first and second positions; and first and second turrets rotatably mounted on the carriage at longitudinally spaced locations and each including a plurality of circumferentially spaced individual faces and unique tooling fixtures on the respective faces for receiving unique work piece components corresponding to a plurality of motor vehicle body styles.
    Type: Grant
    Filed: October 11, 2011
    Date of Patent: November 6, 2012
    Assignee: Comau, Inc.
    Inventor: Velibor Kilibarda
  • Patent number: 8288687
    Abstract: An arc welding robot having a welding wire conduit which has a bend radius above a certain level and arranged so that disadvantageous stress is not applied to the conduit by the motion of the robot arm. A conduit for a welding wire is inserted through a hole of a robot pedestal from the rear side of the robot, is supported by a second support member arranged on the pedestal, extends near the front side of a rotating body of the robot, and is supported by a first support member on the upper part of the rotating body while having a required minimum bend radius. The conduit after passing through the first support member is introduced to the rear side of the upper arm and is connected to a connector at the rear side of a wire feeder while having the required minimum radius, whereby the conduit presents a generally S-shape.
    Type: Grant
    Filed: June 22, 2009
    Date of Patent: October 16, 2012
    Assignee: FANUC Ltd
    Inventors: Toshihiko Inoue, Kazutaka Nakayama, Takatoshi Iwayama
  • Patent number: 8286527
    Abstract: An exemplary manipulator includes arms, an inlet conduit, and sealing members. The arms are rotatably joined. The inlet conduit extends into one of the arms and non-combustible gas is introduced into the arms via the inlet conduit. The sealing members are disposed where two corresponding of the arms are rotatably joined together. The manipulator is doubly protected from infiltration by unwanted gases by the high pressure gas in the manipulator and by the sealing members.
    Type: Grant
    Filed: January 11, 2010
    Date of Patent: October 16, 2012
    Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co. Ltd.
    Inventors: Zhen-Xing Liu, Yong Zhang
  • Publication number: 20120255937
    Abstract: This robot system includes a robot, a laser emitting portion moved by the robot, capable of scanning a welding locus with a laser beam at least in a state where the laser emitting portion is not moving, and a control portion controlling the laser emitting portion to scan the welding locus with the laser beam in order to perform welding with weaving on the welding locus at least in the state where the laser emitting portion is not moving.
    Type: Application
    Filed: February 13, 2012
    Publication date: October 11, 2012
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Yuki Oe, Keiji Makino
  • Patent number: 8274009
    Abstract: An automotive body framing system includes a setter supported by parallel spaced tracks for movement from a work position to a standby position and to a gate change position and driven by corresponding racks and synchronized pinion drive units. Opposing gate storage belt shuttles are located at the gate change position for receiving the setter therebetween, and a gate staging cart is supported in back of the setter by parallel tracks and is also moved between opposing gate storage belt shuttles by synchronized rack and pinion drive units. Power operated registration units are positioned on the setter to register each gate received at precise horizontal and vertical positions, and the setter, staging cart and gate storage belt shuttles each have a series of resilient guide and support rollers to provide for quiet operation during rapid transfer of the gates on the setter, staging cart and belt shuttles.
    Type: Grant
    Filed: July 13, 2010
    Date of Patent: September 25, 2012
    Assignee: Easom Automation Systems, Inc.
    Inventor: Reginald D. Kelley
  • Patent number: 8263898
    Abstract: The invention relates to a device and a method for producing tailored blanks. The device comprises a workpiece carrier for the sheets (15a, 15b) that are to be joined into tailored blanks in the butt joint by welding. The invention further comprises a plurality of laser welding heads (14a, 14b), which are arranged one behind the other over the workpiece carrier and along the butt joint to be welded and can be moved with an advancing device (11a, 11b), wherein the heads can be aligned with the joint using positioning means, wherein at least two combined laser cutting and welding heads (14a, 14b) are carried by at least two independent arms (13a, 13b), each associated with independent units (11a, 11b) of the advancing device, and wherein the positioning means can adjust the distances of the units (11a, 11b) in the direction of the butt joint and also the distances of the cutting and welding heads (14a, 14b) in the transversal direction to the butt joint.
    Type: Grant
    Filed: May 15, 2008
    Date of Patent: September 11, 2012
    Assignee: ThyssenKrupp Lasertechnik GmbH
    Inventor: Gerhard Alber
  • Patent number: 8214081
    Abstract: A wall climbing robot using an Indoor Global Positioning System (IGPS) provided in a room is disclosed. The wall climbing robot includes a navigation receiver configured to receive rotating fan beams emitted from one or more navigation transmitters of the indoor global positioning system, and recognize the rotating fan beams as IGPS signals; a robot frame provided with the navigation receiver mounted; a mobile controller configured to be installed on the robot frame, and to recognize and determine its own position using the IGPS signals; and a drive mechanism configured to travel along the surfaces of the room under control of the mobile controller. The mobile controller includes a central processing unit, an input/output unit, a motion control unit, a drive control unit, a navigation control unit, a sensor signal processor, an emergency processing unit, and an alarm generator.
    Type: Grant
    Filed: September 21, 2007
    Date of Patent: July 3, 2012
    Assignee: Samsung Heavy Ind. Co., Ltd.
    Inventors: Doo-jin Choi, Seong-jong Han, Yun-Seo Choi, Young-jun Park, Jae-hoon Kim