Abstract: High precision work is performed on a work target (workpiece) during conveyance, irrespective of the oscillations accompanying conveyance. A work method includes steps of: predicting a predicted oscillation pattern occurring in a workpiece (W) afterwards from the measurement results of oscillation occurring in the workpiece (W) during conveyance by way of a workpiece conveyance device (2); controlling a robot (131) so as to operate at an oscillation according to the predicted oscillation pattern thus predicted; detecting oscillation occurring in the robot (131) during the step of controlling; and comparing the oscillation occurring in the robot (131) with the predicted oscillation pattern, and in the case of differing, adjusting so that the oscillation of the robot (131) matches the predicted oscillation pattern, in which each of these steps is completed before the robot (131) performs work on the workpiece (W).

Abstract: High precision work is performed on a work target (workpiece) during conveyance, irrespective of the oscillations accompanying conveyance. A work method includes steps of: predicting a predicted oscillation pattern occurring in a workpiece (W) afterwards from the measurement results of oscillation occurring in the workpiece (W) during conveyance by way of a workpiece conveyance device (2); controlling a robot (131) so as to operate at an oscillation according to the predicted oscillation pattern thus predicted; detecting oscillation occurring in the robot (131) during the step of controlling; and comparing the oscillation occurring in the robot (131) with the predicted oscillation pattern, and in the case of differing, adjusting so that the oscillation of the robot (131) matches the predicted oscillation pattern, in which each of these steps is completed before the robot (131) performs work on the workpiece (W).

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.

Abstract: A three-dimensional shape measuring method and a measuring apparatus thereof that allow the operation of a robot to be readily taught and set in a short time when a three-dimensional measuring device mounted on the robot is caused to move along the surface of a work, thereby measuring the shape of the work. A block data representative of measurement operation that causes the three-dimensional measuring device, which is a laser scanner, to move along the surface of the work is set and recorded. Then longitudinally copying (Step S2) and laterally copying (Step S3) block data is longitudinally and laterally copied after entering the size and basic shape type of the work. Then the shape of the work is measured on the basis of the copied block data.

Abstract: A three-dimensional shape measuring method and a measuring apparatus thereof that allow the operation of a robot to be readily taught and set in a short time when a three-dimensional measuring device mounted on the robot is caused to move along the surface of a work, thereby measuring the shape of the work. The invention is characterized by setting and recording (Step S1) a block data representative of measurement operation that causes the three-dimensional measuring device, which is a laser scanner, to move along the surface of the work; longitudinally copying (Step S2) and laterally copying (Step S3) the block data after entering the size and basic shape type of the work; and by measuring (Step S4) the shape of the work on the basis of the copied block data.

Abstract: A workpiece is welded successively at a plurality of welding points by a direct-current resistance welding machine with a constant current in a welding current supply period at each of the welding points, and the constant current is varied depending on whether expulsions are produced on the workpiece when it is welded, to determine an expulsion-producing limit current value as a maximum current beyond which expulsions will be produced. The workpiece is welded with a first stepped welding current having a first current value that is smaller than the expulsion-producing limit current value by a predetermined value and a second current value that is greater than the expulsion-producing limit current value, and an average current value higher than the expulsion-producing limit current value, and also with a second stepped welding current having a variation of the second current value based on whether expulsions are produced or not on the workpiece when it is welded with the first stepped welding current.