Abstract: To provide an arc start method in a consumable electrode type arc welding method capable of firmly executing arc start and capable of executing high quality high speed welding by restraining a welding defect from being brought about therefor, at a portion of a wire projected from a welding tip, a temperature of a front end portion of the wire is made to be at a temperature higher than a temperature of a portion thereof near the welding tip. The front end portion of the wire is preheated to 300° C. or higher, preferably, 450° C. or higher. The front end portion of the wire is preheated by generating arc for preheating. The preheating arc is generated in a spot-like shape at a position near a terminal end portion of a predetermined welding line by constituting a current lower than a welding current.

Abstract: A method of measuring a welding-groove position for an over-lapped fillet welding of thin members, comprising a projection step of projecting a slit light so that the slit light is projected on both the thin members crossing a welding-groove face, a two-dimensional image acquisition step of capturing the slit-light image projected on each of the thin members as two-dimensional images; a three-dimensional conversion step of converting the two-dimensional images into three-dimensional images using a predetermined three-dimensional conversion parameter, and a calculation step of calculating the welding-groove position based on the three-dimensional data of the projected slit-light images, and relative positions between the projected slit-light images in the three-dimensional data defined by shapes and arrangement of the thin members.

Abstract: There is provided a welding method and a welding equipment, in each of which it is possible to detect a weld abnormality, moreover it is possible to detect a generation position and a length of that abnormality, and further it is possible to perform a repair of a weld abnormality part. After a weld start signal has been inputted, a case where a welding current and a welding voltage, which have been detected by a welding current/voltage detection means, are outside set ranges is made the weld abnormality by an abnormality discrimination means. An abnormality generation time instant and an abnormality termination time instant are calculated with a start signal input timing being made a time axis reference by a time instant calculation means. An abnormality generation position and an abnormality terminus position are operated from data of the time instants and a robot position information by an operation means.

Abstract: To provide an arc start method in a consumable electrode type arc welding method capable of firmly executing arc start and capable of executing high quality high speed welding by restraining a welding defect from being brought about therefor, at a portion of a wire projected from a welding tip, a temperature of a front end portion of the wire is made to be at a temperature higher than a temperature of a portion thereof near the welding tip. The front end portion of the wire is preheated to 300° C. or higher, preferably, 450° C. or higher. The front end portion of the wire is preheated by generating arc for preheating. The preheating arc is generated in a spot-like shape at a position near a terminal end portion of a predetermined welding line by constituting a current lower than a welding current.

Abstract: A method of measuring a welding-groove position for an over-lapped fillet welding of thin members, comprising a projection step of projecting a slit light so that the slit light is projected on both the thin members crossing a welding-groove face, a two-dimensional image acquisition step of capturing the slit-light image projected on each of the thin members as two-dimensional images; a three-dimensional conversion step of converting the two-dimensional images into three-dimensional images using a predetermined three-dimensional conversion parameter, and a calculation step of calculating the welding-groove position based on the three-dimensional data of the projected slit-light images, and relative positions between the projected slit-light images in the three-dimensional data defined by shapes and arrangement of the thin members.

Abstract: A processing system including a carry-in stage including a carry-in device; an operation stage wherein the workpieces are measured and processed, the operation stage including a measurement device and a processing device in this order from a carry-in stage side thereof, the measurement device being separated from the processing device; a carry-out stage including a carry-out device; a slide device disposed between the measurement device and the processing device of the operation stage, the slide device including a plurality of lanes respectively provided with fixing jigs movable back and forth; and a controller configured to perform control such that the carry-in device sequentially moves the workpieces onto the respective fixing jigs, the fixing jigs are moved along the slide device, the measurement device measures workpiece measurement portions of the workpieces and the processing device processes the workpiece measurement portion, and thereafter the carry-out device carries the workpieces out.

Abstract: A remote control method of remote controlling a robot controller through a universal communication network by a terminal disposed remote from the robot controller, includes: enabling the terminal to remote control the robot controller by a functional connecting device which is disposed on a side of the robot controller, the functional connecting device being capable of enabling the terminal to remote control the robot controller through the universal communication network; and performing a predetermined operation on the robot controller by the terminal.

Abstract: A robot may be taught to perform a task by recording information regarding the positions and attitudes of the joints of the robot body as it performs the task. When this information is subsequently replayed, the robot performs the task in the manner as taught. In particular, the robot may be taught either by an operator situated near the robot body or by an operator situated at a remote location. At the remote location, the robot may be taught by an operator even though the operator cannot see the robot body. More particularly, at the remote location, information regarding the current position and attitude of the joints of the robot body is displayed to the operator, and the operator may adjust this information in order to control the movement of the robot body. As a safety measure, when an operator is located near the robot body, only an operator situated near the robot body can control the robot body.

Abstract: An element including a first processing circuit conducting a real time processes for controlling a robot body and a man-machine interface element including a second processing circuit for operating the robot body are connected through the common storage device. It enables for application programs that can run with a general OS to easily refer to data relating to the robot. It also enables to easily construct necessary software.

Abstract: A method and apparatus for controlling an industrial robot. Values of .theta..sub.i for positions/postures of robot axes are determined, when a work mounted to the end of a robot hand is located adjacent to the end of a fixed tool, the tool being separated from the robot. Positions/postures Xi are determined in a reverse representation of the robot base for a coordinate system of the end of the hand, for the values of .theta..sub.i, by a forward transformation operation by which positions/postures of the end of the hand with respect to the base are determined using the values .theta..sub.i. Positions/postures T.sub.i in a matrix representation of the end of the tool in the coordinate system of the end of the hand are also determined, for the positions/postures of the axes, based on X.sub.i and predetermined positions/postures P of the end of the tool using the coordinate system of the base. Intermediate positions/postures T.sub.j each between two T.sub.

Abstract: A driving apparatus for smoothly driving a running unit of a robot, including a movable table movably supported by first and second gear mechanisms driven by independent first and second motors engaging with respective two parallel racks to carry a robot body.

Abstract: A method for controlling a working robot which is adapted to grip a workpiece for transporting it to a position where the workpiece is positioned against a working tool to be worked by the tool. The robot is positioned at a work starting position and at a work end position and in each of the positions the tool length vector is calculated. Based on the tool length vector values in the starting and end positions, intermediate tool length vector values are calculated for respective incremental points on a path along which the work is to be done by the tool for carrying out incremental compensations.