Toyota Jidosha Kabushiki Kaisha

Jun Ikarashi

Tatsuro Mori

Yoshiki Nagai

Shinichi Washizu

Masanori Kokume

Yosuke Tateya

Daisuke Noritake

Yuki Kawashita

Yukiyasu Domae

Toshio Ueshiba

A workpiece holding apparatus include holding means for attracting and holding each workpiece in turn from among workpieces placed in a 3D space; first information acquisition means for acquiring 3D information of workpieces; candidate calculation means for calculating, based on the acquired 3D information of the workpieces, candidate holding points, the candidate holding points being, when the holding means holds each of the workpieces in turn, candidates for a holding point of that workpiece; second information acquisition means for acquiring information about each of other workpieces present within a predetermined range from each of the candidate holding points on the workpieces; and control means for selecting one of the candidate holding points based on the information about the workpiece acquired by the second information acquisition means, and controlling the holding means so that the holding means holds the workpiece at the selected candidate holding point.

Workpiece holding apparatus, workpiece holding method, program, and control apparatus capable of preventing a selected workpiece from being attracted and held by other workpieces

To calculate a holding position of a workpiece with high accuracy and place the workpiece in a placement position with high accuracy based on the holding position. A workpiece holding apparatus includes: holding means for holding a workpiece; first information acquisition means for acquiring three-dimensional information of the workpiece held by the holding means; position calculation means for calculating a lowest center point of the workpiece as position information of the workpiece based on the three-dimensional information of the workpiece acquired by the first information acquisition means; and control means for calculating a placement position where the workpiece is to be placed based on the position information of the workpiece calculated by the position calculation means and controlling, based on the placement position, the holding means so as to move the workpiece to the placement position and place the workpiece in the placement position.

Workpiece holding apparatus, workpiece holding method, program, and control apparatus

Provided is a butt laser-welding method for a metallic member in which a laser beam is scanned so as to repeatedly cross butting surfaces of metallic members to weld the metallic members to each other. When the laser beam is scanned so as to cross the butting surfaces, the closer the laser beam comes to the butting surfaces, the more an irradiation energy density of the laser beam is increased. The bottom surfaces of the molten pools formed on the metallic members are inclined so as to descend toward the butting surfaces.

Butt laser-welding method for metallic member

A vehicle pillar structure and a method for manufacturing a vehicle pillar in which, in a pillar framework, a member is easily disposed on a surface facing a transparent panel in an overlapping manner, while reducing the width of the pillar framework, and a corner butt portion on the side of the transparent panel has increased welding accuracy are provided. A flange of an outer panel and a flange of an inner panel are welded by spot welding. An end surface of a front end of the inner panel is butted against an inner surface end of the outer panel, and is welded thereto by laser welding, such that welding beads are thereby linearly formed at established intervals.

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Toyota, Japan

Jun Ikarashi