Daihen

An inspection apparatus (100) performs a surface process of irradiating a receive position (W1) with a transmitting laser. Subsequently, inspection apparatus (100) performs an inspection process of determining presence or absence of an anomaly of a workpiece (W).

An electrode (10) for solid-phase resistance spot joining includes a cylindrical portion (11) that extends in an axial direction, the cylindrical portion (11) being provided with one end (12) in the axial direction. The one end (12) includes a tip end surface (14) to be pressed against a workpiece (301, 302). By providing a plurality of slits (50) by cutting in the axial direction, the one end (12) is divided into a plurality of pieces aligned at an interval in a circumferential direction of the cylindrical portion (11) when viewed from a side of the tip end surface (14).

In a pressurization mechanism (P1) of this welding wire feed apparatus (1), a pressurization arm (300) is provided such that one end side thereof is pivotable with respect to a bottom surface (111) and one end side of a locking pin (200) is engageable with the other end side thereof. The locking pin (200) includes, at the one end side, an adjustment screw (210) to be engaged with the pressurization arm (300) and includes, at the other end side, a spring case (220) that holds the adjustment screw (210) and is provided as being pivotable along a first wall (112). A pressurized state is selected by setting the locking pin (200) to a state substantially in parallel to the bottom surface (111) so as to be engaged with the pressurization arm (300). A non-pressurized state is selected by pivoting the locking pin (200) in a direction away from the bottom surface (111) along the first wall (112).

A method for controlling pulse arc welding includes repeating provisions of welding currents during a peak rise period, a peak period, a peak fall period, and a base period as one pulse cycle, and performing arc length control based on a welding voltage setting value. The feed speed of the welding wire is set to: a forward-feeding peak value during the peak period; a base period forward-feeding value during the base period to generate a short circuit, where the base period forward-feeding value is smaller than the forward-feeding peak value; and a reverse-feeding peak value when the short circuit occurs. The reverse-feeding peak value is maintained after the short circuit is cleared.

The present invention provides a robot control system that can reduce the burden on the operator. A controller 20 includes: an acceptance unit 21 that accepts a rough teaching instruction regarding a rough teaching point, which is a tentative teaching point; an accumulation unit 22 that accumulates teaching data of the rough teaching point in response to the acceptance of the rough teaching instruction; and a control unit 24 that specifies a sensing teaching point corresponding to the rough teaching point, based on sensing results obtained by causing a sensor of a robot 10 to perform sensing using the rough teaching point as a reference. The accumulation unit 22 accumulates teaching data of the sensing teaching point. The control unit 24 controls the robot 10 using the sensing teaching point. In this manner, it is possible to reduce the burden on the operator during teaching, and to operate the robot 10 with a higher level of precision using the sensing teaching point.

Provided are a robot control device and a plasma cutting method that are capable of appropriately cutting a workpiece at the cutting position on the cutting surface of the workpiece while keeping a constant distance between the tip of a torch and the surface of the workpiece.A robot control device includes: a robot control unit that controls an operation of a plasma cutting robot according to a teaching program; a distance calculation unit that calculates a distance between a torch and a cutting position on a cutting target; a posture calculation unit that calculates a posture of the torch relative to a cutting surface that contains the cutting position on the cutting target; and a correction unit that corrects at least a position of the torch in an adaptive direction orthogonal to the cutting surface on a basis of the distance calculated by the distance calculation unit and the posture calculated by the posture calculation unit, to keep a cutting distance for plasma-cutting the cutting target. The robot control unit controls the operation of the plasma cutting robot with at least the position of the torch corrected by the correction unit.

In a state where an output shaft of a fifth axis motor that allows a support arm of a collaborative robot to rotate about the fifth axis is disposed along a fourth axis, the fifth axis motor and a torque converter that converts a torque of the output shaft into a torque about the fifth axis are housed inside of an upper arm. The upper arm is a cylindrical case, and includes an arm body having an opening for attaching the fifth axis motor and the torque converter, and a cover attached to the arm body to cover the opening. The fifth axis motor and the torque converter are housed in an internal region within an opening edge of the opening when viewed along the fifth axis.

A drive mechanism (120) is capable of moving an electrode (110) relatively to a pressurization shaft (100) in an axial direction. The drive mechanism (120) includes a cylinder (130) and a piston (140). The cylinder (130) is fixed to the pressurization shaft (100) as surrounding the pressurization shaft (100) and provided with an inner circumferential surface (135) that extends along the axial direction. The piston (140) is accommodated in the cylinder (130) while it is connected to the electrode (110), and driven by a pressure of fluid. The piston (140) partitions an internal space in the cylinder (130) into a first chamber (11) and a second chamber (12). As fluid alternately goes in and out of the first chamber (11) and the second chamber (12), the piston (140) is driven in the axial direction while it slides with respect to the inner circumferential surface (135), and the electrode (110) is movable in the axial direction together with the piston (140).

In a collaborative robot, a shoulder includes a plurality of attachment holes for attaching an auxiliary device at two different positions. The plurality of attachment holes includes a plurality of first attachment holes on one side of the shoulder and a plurality of second attachment holes on another side of the shoulder with a first virtual plane extending therebetween. The plurality of attachment holes is holes selected from either the plurality of first attachment holes or the plurality of second attachment holes and to which the auxiliary device is attached.

The present application relates to a gun arm (100) which includes an inner frame portion (110), an outer frame portion (120), and beams (131 to 140). The inner frame portion (110) includes a base portion (111) and a first extension portion (112) and a second extension portion (113), the first extension portion (112) and the second extension portion (113) extending from one end and the other end in a first direction thereof, in a second direction, respectively. When viewed from a third direction orthogonal to the first and second directions, each of the beams (131 to 140) extends away in the first direction from a central portion (C) of the base portion (111) in the first direction, from a side of the inner frame portion (110) toward the outer frame portion (120). When viewed from the third direction, an angle of an acute angle formed by a direction of extension of each of the beams (131 to 140) with respect to the base portion (111) is smaller as an intersection (c1 to c10) between the direction of extension and the base portion (111) is more distant from the central portion (C) in the first direction.