Abstract: An offline teaching device includes an input unit receiving an operator operation; an acquisition unit acquiring three-dimensional shape data of a workpiece produced by welding, an operation trajectory of the welding, and a scanning range of a sensor; a generation unit generating three-dimensional regions to be scanned by the sensor based on the acquired scanning range and a scanning section designated by the operator operation; and a control unit disposing at least one of the three-dimensional regions on the three-dimensional shape data of the workpiece based on the operator operation input to the input unit, and creating and outputting, to a welding robot that performs the welding, a teaching program for scanning the three-dimensional region based on the disposed three-dimensional region and the operation trajectory of the welding.

Abstract: A rotary shaft is spline coupled to a carrier of a final-stage planetary gear mechanism. A bearing for supporting the rotary shaft is arranged on an outer circumferential side of the carrier. The bearing and the carrier are arranged so as to overlap in a direction perpendicular to a motor axis.

Abstract: An offline teaching device include an input unit that receives an operator operation, an acquisition unit that acquires three-dimensional shape data of a workpiece, an operation trajectory of the welding, and a scanning range of a sensor; a generation unit that generates three-dimensional regions to be scanned by the sensor based on the acquired scanning range and a scanning section; and a control unit that disposes at least one of the three-dimensional regions on the three-dimensional shape data of the workpiece based on the operator operation input to the input unit, and that creates and outputs, to a welding robot that performs the welding, a teaching program for scanning the three-dimensional region based on the disposed three-dimensional region and the operation trajectory of the welding.

Abstract: An offline teaching device provided with an acquisition unit for acquiring first production data about a workpiece to be produced, and a teaching program creation unit for acquiring a first weld line of the workpiece from the first production data, and creating and outputting a first welding teaching program for executing welding by means of a welding robot, and a first inspection teaching program for executing an inspection of a weld bead, wherein, on the basis of a second weld line, a second welding teaching program for a workpiece to be produced using second production data and a second inspection teaching program are created and output.

Abstract: In an offline teaching device in the related art, in the case of changing a teaching program, even in the case of performing the same change at each teaching point, it is necessary to perform the change with respect to each teaching point. The offline teaching device of the present disclosure has a selection function, a first change function, a second change function, a welding line storage function, and a teaching program storage function. The selection function causes one welding line among a plurality of welding lines stored in the welding line storage function to be selected. The first change function causes content of a welding conditions configuring the welding line selected with the selection function to be changed.

Abstract: In an offline teaching device in the related art, in the case of changing a teaching program, even in the case of performing the same change at each teaching point, it is necessary to perform the change with respect to each teaching point. The offline teaching device of the present disclosure has a selection function, a first change function, a second change function, a welding line storage function, and a teaching program storage function. The selection function causes one welding line among a plurality of welding lines stored in the welding line storage function to be selected. The first change function causes content of a welding conditions configuring the welding line selected with the selection function to be changed.

Abstract: An offline teaching device according to the present disclosure includes a display unit, a storage unit, and a control unit. The display unit displays a teaching program and a model diagram. The storage unit stores commands constituting the teaching program, and model data of the model diagram. The control unit controls the display unit and the storage unit. The teaching program includes a position detection program including a plurality of position detection commands, and a welding program including a plurality of welding commands. The control unit displays, in the model diagram, an operation trajectory of a robot when the teaching program is executed. The control unit displays a part of the plurality of position detection commands and a part of the plurality of welding commands in the model diagram.

Abstract: Calculating a rotation center point on a plane of rotation of a positioning device by using a manipulator. The positioning device positions a workpiece by rotating the plane of rotation. The calculating includes a first step of obtaining location information of a predetermined position on the plane of rotation, a second step of rotating the plane of rotation of the positioning device 180 degrees, a third step of obtaining location information of the predetermined position on the 180-degree rotated plane of rotation, and a fourth step of calculating a point bisecting a straight line as the rotation center point of the plane of rotation of the positioning device from the location information obtained in the first step and the location information obtained in the third step, the straight line connecting the predetermined position of the first step and the predetermined position of the third step.

Abstract: Disclosed is a method for calculating a rotation center point on a plane of rotation of a positioning device by using a manipulator, the positioning device positions a workpiece by rotating the plane of rotation. The method includes: a first step of obtaining location information of a predetermined position on the plane of rotation by using the manipulator, a second step of rotating the plane of rotation of the positioning device 180 degrees; a third step of obtaining location information of the predetermined position on the 180-degree rotated plane of rotation by using the manipulator; and a fourth step of calculating a point bisecting a straight line as the rotation center point of the plane of rotation of the positioning device from the location information obtained in the first step and the location information obtained in the third step, the straight line connecting the predetermined position of the first step and the predetermined position of the third step.

Abstract: In a robot machine having a plurality of rotational joint axes, a rotational angle of rotational joint axis and a tilt angle of robot arm against the direction of gravity are measured at three or more of rotational angle positions to obtain rotational angle information &THgr;i and tilt angle information Yi, and regression factors &agr; and &bgr; are derived by computation from a resulting regression function of Y=&agr; SIN(&THgr;+&bgr;)+&ggr;, thereby performing an original point adjustment of rotational joint axis based on the obtained tilt angle and tilt direction thereof.

Abstract: A measured welding event is reproduced by a welding robot. Welding events are organized into a database by a three-dimensional measuring device and a data logging device, and the welding events are subjected to statistical and analytical processes, thereby producing operation data of a robot.