Honda Motor Co., Ltd.

Kabushiki Kaisha Yaskawa Denki

Noriko Kurimoto

Kazuhiko Yamaashi

Mitsugu Kaneko

Yasuhiro Kawai

Mitsutaka Igaue

Haruhiko Kobayashi

Noriaki Shigematsu

Hiroshi Miwa

Eisaku Hasegawa

Takeshi Nakamura

Kaoru Shibata

Yoshiyuki Kinouchi

Kenichiro Kurai

Takafumi Ikeda

Yushi Aoki

Masami Nakakura

Teppei Sonoda

Takuya Mori

The seam welding apparatus includes a pair of rotating electrodes, an electrode supporting frame, a distance measuring means, and a controller. The electrode supporting frame supports the pair of rotating electrodes. The distance measuring means is provided on the electrode supporting frame and measures a distance to an edge of the steel plate. The controller controls the robot to adjust a running direction of the rotating electrodes so that a deviation comes into zero when a distance actually measured by the distance measuring means deviates from a predetermined distance. Thereby, it is accomplished that the seam welding apparatus is downsized as well as uninfluenced by the surface state and/or shape of workpiece (steel plate).

Seam welding apparatus, seam welding method, robot control device, and robot control method

An autonomous traveling unit is provided with a pair of toggle mechanisms. The toggle mechanisms respectively have displaceable bodies provided with cam followers. A workpiece loading unit is provided with a member in an X shape to be clamped. The cam followers are respectively advanced to a pair of opposing corners (a first crossing portion and a second crossing portion) of the member to be clamped. When advancing to the pair of opposing corners, the cam followers are respectively brought into abutment on the member to be clamped, whereby the workpiece loading unit is restrained on the autonomous traveling unit.

Transport vehicle

In a seam welding method, a pressing force applied to workpiece by roller electrodes is reduced and an energization to the roller electrodes is stopped when the roller electrodes pass at least a portion where metal sheets are temporarily fastened together through spot welding, and the pressing force to the workpiece by the roller electrodes and the energization to the roller electrodes are restored after the roller electrodes have passed the spot welded portion.

Seam welding method and vehicle body

Shifts of a reference point C in a robot coordinate system among three postures of a seam welding apparatusare found, and calibration data is obtained (STEP). Correction data is found from the calibration data based on deformation of elastic unitsdue to weight of the seam welding apparatusin accordance with the posture of the seam welding apparatusrelative to a robot(STEP). Teaching data is corrected based on the correction data (STEP).

Seam welding method and system

A seam welding device sandwiches between a first roller electrode and a second roller electrode a laminate, which is formed by laminating a plurality of workpieces and disposing the thinnest workpiece, which has the smallest thickness among the workpieces, on the outside, to carry out seam welding. The second roller electrode, which is in contact with the thinnest workpiece, is disposed further along the direction of welding progress than the first roller electrode.

Seam welding method and seam welding device

Distance to the upper face of workpieces W sandwiched between electrode rollersandis measured by a range sensorthat has a predetermined positional relationship with the electrode rollersand(STEPs). Correction is made based on the distance found by the range sensorby moving the pair of electrode rollerswith reference to the workpieces W so that an angle Rx between a straight line Lconnecting centers of the pair of electrode rollersand the surface of the plurality of workpieces W is preset angle (STEP).

Method and system for resistance seam welding with electrode rollers

A moving die is held by a robot and made to approach a vehicle, and a positioning pin is inserted into a positioning hole of the vehicle. The moving die is brought into a floating state of being displaceable relative to the vehicle by reducing a force of the robot for maintaining an attitude thereof. In a state of holding the moving die by the robot, a surface of the moving die is brought into contact with the vehicle by an adsorbing mechanism including an adsorbing portion of an elastic member provided to the moving die. The moving die and the robot are cut to be separated.

Hemming working method and working apparatus

The intensity of first reflected ultrasonic waves reflected from an end of a first electrode tip is measured while the electrode tip is separated from a workpiece. The intensity of second reflected waves reflected from the end of the electrode tip is measured while the electrode tip contacts with the workpiece. Based on the above intensities, an intensity ratio (reflectance) and the fraction of the waves entering the workpiece are determined from the following equations: reflectance=(intensity of second reflected waves)/(intensity of first reflected waves) fraction of waves entering the workpiece=1&#x2212;reflectance. From a predetermined correlative relationship between a contact area of a region enabling ultrasonic waves to be incident on the workpiece and the determined fraction of the entering waves, a ratio (contact area ratio) is determined between a total area of the region and a contact area of the region contacting with the workpiece.

Method of evaluation using ultrasonic waves

A spot welding inspecting apparatus is provided with: a gun chip; a signal transmitting part; an ultrasonic sensor; an inner cylinder; a through hole; a partitioning cylinder; a first flow path; a second flow path; and a third flow path. The inner cylinder is inserted to an outer cylinder of spot welding gun and holds the ultrasonic sensor. The through hole is provided on the inner cylinder. The partitioning cylinder surrounds the through hole and is inserted into a gap between the ultrasonic sensor and the outer cylinder. The first flow path is formed between the inner cylinder and the partitioning cylinder by passing the through hole from an inner portion of the inner cylinder. The second flow path is formed at the gun chip to be circulated around a front end of the partitioning cylinder. The third flow path is formed between the outer cylinder and the partitioning cylinder. A cooling agent flows in an order of the first flow path, the second flow path and the third flow path.

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Tochigi, Japan

Noriko Kurimoto