Matsushita Electric Industrial Co., Ltd.

Panasonic Corporation

Panasonic Intellectual Property Management Co., Ltd.

Tatsuya Ikeda

Yasushi Mukai

Hiroyuki Nakata

Takamichi Komatsu

Atsuhiro Kawamoto

Masaru Kowa

Kei Aimi

Yasuzo Tsuchiya

Junji Fujiwara

Kazunori Matsumoto

Tatsuyuki Nakagawa

Yasuyoshi Honuchi

Toshiyuki Mishima

Seiji Iwai

Hidetoshi Oyama

Kazumasa Yoshima

Hisashi Kataoka

Naoto Masunaga

Akio Shindo

Kunitoshi Morita

Kazuhiko Ochiai

Hisatomi Fujiki

Kazuhito Ochiai

Tetsuya Takayama

A method for determining a laser welding condition of the present disclosure includes a first step, a second step, and a third step. In the first step, workpiece information indicating characteristics of a workpiece is input. In the second step, laser information indicating characteristics of laser light is input. In the third step, a first welding condition is calculated based on the workpiece information and the laser information, and then displayed. The first welding condition is any one of a recommended laser power of the laser light, a recommended welding speed, a recommended welding pattern, an estimated strength of a welded portion, and an estimated weld depth of the welded portion. Furthermore, the workpiece information includes a joint shape of the workpiece. Thus, an optimum weld condition can be set while considering a shape of a joint in welding.

Laser welding condition determination method and laser welding device

A robot control method includes a teaching step, first processing step, modifying step, second processing step, and third processing step. In the modifying step, a third teaching point is changed to a second modified point, a fourth teaching point to a third modified point, and a fifth teaching point to a fourth modified point, based on a difference between a second teaching point and a first modified point. A profile modifying control to change the position of a work tool is applied, using a sensor mounted on the processing advancing direction side of the work tool, in the first processing step and the third processing step. An attitude of the work tool is changed during the second processing step.

Robot control method for processing a workpiece on a processing line

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.

Weld line-detecting method and industrial robot

A method of setting function includes first to fourth steps. The first step connects a recording medium to a first electrical apparatus having an optional function either disabled or temporarily enabled, the recording medium containing license information to enable the optional function. The second step allows first electrical apparatus to authenticate the license information. The third step, subsequent to the second step, enables the optional function of the first electrical apparatus. The fourth step, subsequent to the third step, records the optional function as having been authenticated in the license information.

Function setting method

A robot system control method includes a first step through a fifth step. Particularly in the second step, a second transformation matrix that represents the positional relation between a first slave robot and a second slave robot is generated and stored in a master robot. In the fourth step, based on a second command obtained using a first transformation matrix and the second transformation matrix, the master robot instructs the second slave robot to operate. In the fifth step, the first slave robot and the second slave robot perform a cooperative operation with the master robot. Thus, in the state where a working robot that can perform TCP matching with only part of the other robots is set to a master robot, all of the robots can perform a cooperative operation.

Robot system control method and robot system

A torch is moved by a manipulator in a direction separating from a base materialwhile a wire is supplied, whereby an actuator driving the robot manipulator can control a velocity of the wire for a workpiece by a unidirectional operation of separating the torch, and vibration due to reverse of torch velocity is not generated. Further, by using a dedicated separation control system, velocity follow-up performance of the actuator moving the torch can be heightened without increasing overshoot in the usual operation time, and the acceleration and deceleration time of the manipulator can be reduced.

Welding system and consumable electrode welding method

An industrial robot includes a first member, a positioning member arranged to be attached to the first member, a second member arranged to rotate relative to the first member, and a first joint for coupling the first member with the second member. The second member has a contact point arranged to contact the positioning member. An indication for requesting to enable the positioning member to contact the contact point is displayed. The second member rotates at the first joint relatively to the first member while the positioning member can contact the contact point. It is detected whether or not the contact point of the second member contacts the positioning member. A position of the second member is stored as an origin when it is detected that the contact point of the second member contacts the positioning member. This method prevents a possible failure of the attaching of the positioning member, and decreases a work load on an operator.

Method of adjusting origin of industrial robot

There is provided an industrial robot which comprises a manipulator having a tool at the tip end, a robot control unit for controlling the manipulator, and a primary teaching device and subsidiary teaching device for controlling the manipulator through the robot control unit, wherein operation capable of being conducted by the subsidiary teaching device is restricted as compared with operation capable of being conducted by the primary teaching device. By realizing the industrial robot, it is possible to prevent a production line worker from executing a function of the robot which is originally to be executed by a supervisor.

Industrial robot

In a consumable electrode type welding method, while feeding a welding wire, a welding torchis moved by a robot manipulatorin a direction where the welding torchis pulled apart from a base metal, so that an initial arc is generated while the welding wireis separated from the base metal. This not only can eliminate the need for the reversing operation of the robot manipulatorand thus can reduce the waste time to thereby be able to reduce a tact time but also can stabilize an arc in the welding start portion and thus can reduce the 'unexpected stop' effectively.

Consumable electrode type welding method

In a conventional arc welding robot control unit, since an emergency stop circuit for a robot and an emergency stop circuit for a welding machine exist independently of each other, not only the circuit configuration thereof is long but also the emergency stop enforcing processings and emergency stop removing processings are executed individually. To solve these problems, according to the invention, there is provided an arc welding robot control unit which comprises an inverter circuitfor enforcing arc welding, main power supply switches-for turning on and off a main power supply used to supply power to the inverter circuita main power supply control partfor controlling the main power supply switches-and an emergency stop buttonfor emergency stopping the operation of a robot, wherein, when the emergency stop buttonis depressed to thereby put the robot into emergency stop, the main power supply switches-can be turned off in linking with the robot emergency stop.

Controller for arc welding robot

The invention provides an arc welding robot capable of collecting and displaying waveform data in a welding operation without using an external device. The arc welding robot comprises: a manipulatorincluding a welding torchmounted thereon; a control unitfor operating the manipulatorin a given operation pattern in accordance with a previously taught operation program, the control unitincluding therein a welding control partfor welding a member to be weldedunder a given welding condition, and a RAMfor recording waveform data relating to at least one of a welding current instruction value, a welding current output value, a welding voltage instruction value, a welding voltage output value, a welding speed, a wire feed speed, the number of times of short circuits and a wire feed motor current during a given period; and, display means for graphically displaying the waveform data recorded in the RAM

Arc welding robot

A welding apparatus capable of effecting welding completion processing which is reliable and free of wasteful time, by transmitting the completion of wire fusion prevention processing to a welding machine, by transmitting the detected result to a controllerupon completion of the subsequent wire fusion detection processing, and by thus proceeding with processing while effecting the confirmation of completion of respective processing between the welding machineand the controller

Welding apparatus

A welding voltage judgment portionof judging to see if a predetermined value of welding voltage inputted from an input devicefalls within a predetermined certain range is provided, and when the aforementioned welding voltage judgment portionjudges that the predetermined value of welding voltage deviates from the certain range, a standard voltage corresponding to the aforementioned inputted predetermined value of welding current is selected from a unitary voltage table portion, making it possible to always keep the welding voltage stored in the welding device within a proper voltage range even when the worker inputs conditions deviating from the proper range during the operation of inputting welding conditions.

Welding equipment

When a position deviation of teaching point of a robot manipulator is detected during continuous operation of a robot system, device for correcting the teaching point without stopping continuous operation of the robot system is provided, thereby presenting device for operating the robot system efficiently without having effects on productivity of the production line. Having a changeover unit for changing over modes by selecting from an input mode for entering teaching points, an operation mode for operating according to the teaching points, and an in-process correction mode for correcting the teaching points stored in the storage unit according to the data from the input unit during operation of the robot manipulator, the mode is changed over to the in process correction mode by the changeover unit, the data for correcting the teaching point is entered from the input unit, and the control unit corrects and processes according to the entered data.

Robot controller

A robot for synchronizing with other robots without raising costs, a robot system, and a robot control method. The robot includes a storage portion ( ) in which an operating program for the robot is stored, a main arithmetic portion ( ) for analyzing the operating program stored in the storage portion, a sequencer portion ( ) from which a signal from the main arithmetic portion is output, a driving portion ( ) for driving the robot to which the signal from the main arithmetic portion ( ) is input, and a communications portion ( ) for communicating with apparatuses connected to a network. In the robot, a signal input from an apparatus connected to the sequencer portion ( ) and a signal input to the communications portion ( ) are input to the main arithmetic portion ( ) so as to perform a calculation, and, based on the calculation, a signal is output from the main arithmetic portion ( ) to the sequencer portion ( ) or to the driving portion ( ).

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Hyogo, Japan

Tatsuya Ikeda