Honda Giken Kogyo Kabushiki Kaisha

Toshiaki Nagasawa

Nobuo Kobayashi

Isao Bundou

Makoto Suzuki

Minoru Kobayashi

Shigeo Kobayashi

Kouji Oda

Hitoshi Saito

Fumitomo Takano

Keiichiro Gunji

Toshihiro Murakawa

Junichi Yamanaga

Yousuke Narita

Yoshihiko Suzuki

Hidenori Koga

Hisaya Watanabe

Hiroki Hashimoto

Hidetaka Nose

Kazuhiro Kawabata

Tetsuya Ozawa

Hisaya Ohiwa

Mitsugu Kaneko

Yoshifumi Kawabata

Koichiro Chaen

In a spot welding gun which is made up of a gun main body which is operated for equalization by a driving source, a stationary electrode tip which is immovable relative to the gun main body, and a movable electrode tip which is connected to a pressing source, both electrode tips are pressed to a workpiece with an even force, to thereby perform a high quality spot welding. The driving source is controlled such that the electrode force of the stationary electrode tip, by the driving source, to the workpiece becomes substantially zero. In this manner, there occurs no difference in the electrode forces by both the electrode tips to the workpiece.

Method of controlling electrode force of spot welding gun

When a workpiece which is made up by laminating a plurality of plates of different thicknesses is welded by using a spot welding gun having a pair of electrode tips, the electrode force to the workpiece by one of the electrode tips, which is positioned on the side of a thinner plate, is made larger that the electrode force to the workpiece by the other of the electrode tips. The contact pressure on the side of the thinner plate becomes larger with the result that the contact resistance decreases. Therefore, the nugget on the side of the thinner plate becomes smaller than the nugget on the side of the thicker plate.

Electric resistance welding method with unequal force application

A control apparatus for a welding robot has a welding gun which is provided at a front end of a robot arm to be driven by plural kinds of servomotors. An amplifier circuit board is provided so as to mount thereon appropriate inverters by selecting out of those corresponding to respective kinds of servomotors and an inverter for the welding gun. A servo software corresponding to each of the inverters is called out of a memory device by discriminating the kind of each of the inverters. In a method of teaching the welding robot in which the welding gun is opened and closed by a servomotor, plural kinds of opening and closing patterns of the welding gun are set in advance. An appropriate opening and closing pattern is selected out of the plural kinds of opening and closing patterns in accordance with the motion of the robot arm, and the selected pattern is made the teaching data relating to the opening and closing of the welding gun.

Control apparatus for welding robot and method of teaching welding robot

A welding robot has a gun main body, a stationary electrode tip which is immovable relative to the gun main body, and a movable electrode tip which is mounted on the gun main body and is opened and closed by a pressing source. The gun main body is movable by a driving source in a direction in which both the electrode tips lie opposite to each other. In teaching the welding robot by the movement thereof to each weld spot position of a workpiece, the movable electrode tip is moved in a closing direction relative to the gun main body by the pressing source in a state in which the gun main body is kept stationary at a predetermined position relative to the gun support bracket. The stationary electrode tip is moved in the closing direction by a relative movement of the gun main body relative to the movable electrode tip after the movable electrode tip has come into contact with the workpiece. A position at which the stationary electrode tip contacted the workpiece is detected. This position is stored as teaching data.

Method of teaching welding robot

A control system for controlling operations of a plurality of controlled devices each capable of positioning a plurality of logical axes included therein to perform operations such as welding or assembling workpieces, wherein a parallel control of the respective devices is performed by a multitask processor, control of operations such as welding which require a real-time control in its nature is performed by a real-time processor, and a communication memory is provided between the both processors for transferring therebetween required commands and data for the positioning control or the operations control.

Multitask control system

A servomotor control system for multi-axes in which a single servo-amplifier can operate m rotational speed control loops and m current control loops as well for m servomotors simultaneously, where m is a predetermined integer greater than unity, while a single positioning controller with a signal teaching box can handle n servo-amplifiers in parallel, where n is a predetermined integer greater than unity, thereby mn servomotors in total can be controlled by a single system. In the system of the invention, the multiple servomotors can be divided into groups each including up to six servomotors to be controlled as a group and independently from servomotors belonging to other groups. The system of the invention can easily be expanded by a minimum addition of servo-amplifiers and/or positioning controllers to include servomotors more than mn, in which addition of one or more teaching boxes is possible whenever they become necessary.

Servomotor control system for multi-axes

A robot control system including a robot, a robot controller for controlling operation of the robot, and a teaching box for teaching the robot through the robot controller. The teaching box includes an input unit separate from the robot controller for entering a command signal to teach the robot its operation to be effected and a control unit for controlling the input unit and processing and for applying the command signal to the robot controller.

Robot control system

A phase adjusting apparatus for use in an assembling machine for assembling first and second workpieces including a movable frame which is arranged to move into and out of the space formed between the two workpieces. Prior to coupling the two workpieces, the movable frame is moved to enter the space and a first movable table and a second movable table on the movable frame are used to adjust the phase of a rotary body on the first workpiece and the phase of a rotary shaft on the second workpiece to another. After removing the movable frame from the space, the two workpieces are then brought together so that the rotary body and the rotary shaft are coupled to each other.

Phase adjusting apparatus in assembling machine

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Saitama-ken, Japan

Toshiaki Nagasawa