Abstract: Provided is a shaping device for a roller electrode for seam welding that prepares shapes for a first roller electrode and a second roller electrode attached to an arm of a robot. This shaping device is provided independently from the robot and disposed within rotational range of the arm, and is provided with a first roller and a second roller that are disposed on a line orthogonal to a line joining the rotational centers of the first and second roller electrodes and are in contact with the outer circumferences of the first and second roller electrodes.

Abstract: 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).

Abstract: 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.

Abstract: A laminate formed by stacking a plurality of workpieces is sandwiched between a pair of roller electrodes. Then, seam welding is performed on the laminate by successively repeating an ON/OFF operation of a conduction state between the pair of roller electrodes while moving the laminate relative to the pair of roller electrodes. When the seam welding stops in a state where the pair of roller electrodes are unpowered and then the seam welding is to be resumed, the laminate is moved by a predetermined distance in a direction opposite to the relative moving direction during seam welding, spot welding is performed on the laminate, and then the seam welding is resumed.

Abstract: Shifts of a reference point C in a robot coordinate system among three postures of a seam welding apparatus 10 are found, and calibration data is obtained (STEP 1). Correction data is found from the calibration data based on deformation of elastic units 22a due to weight of the seam welding apparatus 10 in accordance with the posture of the seam welding apparatus 10 relative to a robot 20 (STEP 5). Teaching data is corrected based on the correction data (STEP 6).

Abstract: Provided is a shaping device for a roller electrode for seam welding that prepares shapes for a first roller electrode and a second roller electrode attached to an arm of a robot. This shaping device is provided independently from the robot and disposed within rotational range of the arm, and is provided with a first roller and a second roller that are disposed on a line orthogonal to a line joining the rotational centers of the first and second roller electrodes and are in contact with the outer circumferences of the first and second roller electrodes.

Abstract: 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.

Abstract: Distance to the upper face of workpieces W sandwiched between electrode rollers 15 and 16 is measured by a range sensor 41 that has a predetermined positional relationship with the electrode rollers 15 and 16 (STEPs 1, 3). Correction is made based on the distance found by the range sensor 41 by moving the pair of electrode rollers 15, 16 with reference to the workpieces W so that an angle Rx between a straight line L0 connecting centers of the pair of electrode rollers 15, 16 and the surface of the plurality of workpieces W is preset angle (STEP 5).

Abstract: 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.

Abstract: 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.

Abstract: Shifts of a reference point C in a robot coordinate system among three postures of a seam welding apparatus 10 are found, and calibration data is obtained (STEP 1). Correction data is found from the calibration data based on deformation of elastic units 22a due to weight of the seam welding apparatus 10 in accordance with the posture of the seam welding apparatus 10 relative to a robot 20 (STEP 5). Teaching data is corrected based on the correction data (STEP 6).

Abstract: Distance to the upper face of workpieces W sandwiched between electrode rollers 15 and 16 is measured by a range sensor 41 that has a predetermined positional relationship with the electrode rollers 15 and 16 (STEPs 1, 3). Correction is made based on the distance found by the range sensor 41 by moving the pair of electrode rollers 15, 16 with reference to the workpieces W so that an angle Rx between a straight line L0 connecting centers of the pair of electrode rollers 15, 16 and the surface of the plurality of workpieces W is preset angle (STEP 5).

Abstract: 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).

Abstract: Sonic wave speed at a part is calculated considering the environment surrounding the part, sonic wave speed around the part is measured, and the accuracy of the position detection is improved. An ultrasonic wave transmitting device is arranged at a robot hand tip, hexahedrons which can contain the tip are set, and the ultrasonic wave transmitting-receiving devices are arranged at the top points thereof. Upon detecting the tip position, a top point that is close to the tip is selected as a specific point, and sonic wave speeds from other top points to this specific point are calculated. Based on these sonic wave speeds, sonic wave speed along a route from the tip to the specific point is calculated. Based on this sonic wave speed value and spread time of ultrasonic waves between the tip and the specific point, distance from the specific point to the tip is calculated.

Abstract: Chirped light pulses, the color of which changes regularly with time, are generated and applied to an object to be measured. A reflected light image of the chirped light pulses reflected from the object is acquired. Then, three-dimensional information of the object is acquired using two-dimensional information, color information represented by the reflected light image of the chirped light pulses, and the field of vision of the three-dimensional information to be acquired is enlarged.

Abstract: Disclosed are a processing system and a processing method such that the production cost in a workpiece processing line is reduced and that a workpiece is processed efficiently. A robot 11 has an arm 23 at the tip of which the processing machine 12 is installed, and a robot base 22 on which the arm 23 is installed. The robot base 22 is installed on a robot movement mechanism 14, and said robot movement mechanism 14 moves the robot 11. A robot control device 16 performs movement control of the arm 23, and also executes movement control on the robot movement mechanism 14. By way of movement control of the robot movement mechanism 14, the robot control device 16 executes control wherein the robot 11 is moved independently of the continuous conveyance of the workpiece 2 by the continuous conveying mechanism 20.

Abstract: Sonic wave speed at a part is calculated considering the environment surrounding the part, sonic wave speed around the part is measured, and the accuracy of the position detection is improved. An ultrasonic wave transmitting device is arranged at a robot hand tip, hexahedrons which can contain the tip are set, and the ultrasonic wave transmitting-receiving devices are arranged at the top points thereof. Upon detecting the tip position, a top point that is close to the tip is selected as a specific point, and sonic wave speeds from other top points to this specific point are calculated. Based on these sonic wave speeds, sonic wave speed along a route from the tip to the specific point is calculated. Based on this sonic wave speed value and spread time of ultrasonic waves between the tip and the specific point, distance from the specific point to the tip is calculated.

Abstract: Chirped light pulses, the color of which changes regularly with time, are generated and applied to an object to be measured. A reflected light image of the chirped light pulses reflected from the object is acquired. Then, three-dimensional information of the object is acquired using two-dimensional information, color information represented by the reflected light image of the chirped light pulses, and the field of vision of the three-dimensional information to be acquired is enlarged.