Kawasaki Jukogyo Kabushiki Kaisha

Sumitomo Light Metal Industries, Ltd.

Kazumi Fukuhara

Mitsuo Fujimoto

Toshihiko Fukuda

Hideki Okada

Hajime Kashiki

Hitoshi Nariai

Ryoji Ohashi

Masaki Kumagai

Jun Fujimori

Yoshio Sato

Masayuki Inuzuka

Kenta Aoki

Koichi Masaoka

Tomoya Sakuma

Masato Fukushima

Hiroyuki Moriishi

Yuji Hashiba

Shota Asazu

A method of planning works for robots includes creating a work plan for a plurality of robots, each having a work tool, sharing at at least one station a work to a plurality of work parts of the workpiece. The method includes the steps of calculating a distribution of the work parts to the robots, calculating, as a robot operation, a work order of the work parts and a moving path of the work tool for each of the robots based on the calculated work distribution, and calculating a disposed location of each of the robots with respect to the workpiece and a station where the robot is disposed so that an inter-robot interference does not occur during execution of the calculated robot operation.

Method of planning works for robots and work planning device

A robot system has at least one robot that performs predetermined work on at least first and second work portions among a plurality of work portions, and a plurality of locators each having a locate pin movable in three axial directions orthogonal to one another, and that position the workpiece with the locate pins being inserted into the holes at a first position where the robot performs work on the first work portion, and a control device that controls operation of the plurality of locators, in which after the work of the robot on the first work portion is completed, the control device controls the plurality of locators while keeping a state that the locate pins are inserted into the holes, so as to change a position of the workpiece from the first position to a second position where the robot performs work on the second work portion.

Robot system and work line including the same

A tool driving section of a friction stir spot welding device is configured to advance and retract each of a pin member and a shoulder member. A tool driving control section is configured to control the tool driving section such that an absolute value of a tool average position Tx is small, wherein Tx is defined by a following equation: Ap&#xb7;Pp+As&#xb7;Ps=Tx, where Ap is a cross-section area of a front end surface of the pin member, As is a cross-section area of a front end surface of the shoulder member, Pp is a press-fit depth of the pin member press-fitted from a front surface of an object to be welded, and Ps is a press-fit depth of the shoulder member press-fitted from the front surface of the object to be welded. Thus, especially in a double-acting friction stir spot welding, excellent welding quality can be accurately achieved according to welding conditions, and an internal cavity defect can be prevented or suppressed.

Friction stir spot welding device and friction stir spot welding method

A tool driving section of a friction stir spot welding device is configured to advance and retract each of a pin member and a shoulder member. A tool driving control section is configured to control the tool driving section such that an absolute value of a tool average position Tx defined by a following equation:

A tool driving section of a friction stir spot welding device is configured to cause each of a pin member and a shoulder member to advance and retract, and is controlled by a tool driving control section. A press-fit reference point setting section sets a position where the pin member or the shoulder member contacts an object to be welded as a press-fit reference point, and the tool driving control section controls the position of the pin member with respect to the shoulder member on the basis of the press-fit reference point, thereby controlling the press-fit depth of a rotating tool press-fitted from the surface of the object to be welded. This achieves the excellent welding quality at suitable precision according to welding conditions especially in a double-acting friction stir spot welding method.

There is provided a friction stir spot joining device wherein stirring-related members are unitized to form a unitized stirring unit and an opening is formed in a friction stir spot joining device body for housing the unitized stirring unit therein. A stirring motor, a stirring shaft and a power transmission mechanism are unitized to form a stirring unit, and bearings of a linear motion guide are fixed to the stirring unit immediately under the stirring unit, and a ball nut is fixed to the back face of the stirring unit, wherein the friction stir spot joining device body is opened to form the opening at a rear upper portion through which the stirring unit is caused to move inside thereof.

Friction stir spot joining device

A rotational tool retaining member unitis mounted at one end portion thereof to a FSW gun body. The rotational tool retaining member unitis provided at the other end thereof with a fitting holeand a plurality of mounting passageswhich are formed on a peripheral surface thereof such that the mounting passagesopen on the opposite side of the one end portion and are spaced apart from each other in the circumferential direction. A mounting member unithas a plurality of pin members. The mounting member unitis mounted to the rotational tool retaining member unitin such a manner that the pin membersare moved from the openings to the tip end portions of the mounting passagesand fitted thereinto. A rotational toolis inserted into the mounting member unit. The rotational toolhas one end portion thereof a tie-in portion which is fitted to the fitting hole of the retaining means. The mounting member unitis provided with a biasing meansfor exerting a force on the rotational tool retaining member unitto inhibit the pine membersfrom coming off the tip end portions.

Friction stir welding apparatus and system

The invention is a welding tool used in a friction-stir welding apparatus for welding a plurality of members to be welded. The welding tool includes: a tool holder having a front end and a base end, the base end being held by the friction-stir welding apparatus so as to be driven to rotate and move by the friction-stir welding apparatus; and a welding unit of a wear resistant material adapted to be removably mounted on the front end of the tool holder, the welding unit mounted on the front end of the tool holder being immersed into a part of the members to be welded during a friction-stir welding.

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Akashi, Japan

Kazumi Fukuhara