Abstract: A sensor bracket is provided with frame members supporting an acceleration sensor, the frame members having circular arc members holding an outer periphery of a tool of a robot in a state in which circumferential-direction gaps are defined in at least one portion of the circular arc members in a circumferential direction, and a bolt thread-screwed into the frame members so as to reduce the circumferential-direction gaps.

Abstract: Provided is a butt laser-welding method for a metallic member in which a laser beam is scanned so as to repeatedly cross butting surfaces of metallic members to weld the metallic members to each other. When the laser beam is scanned so as to cross the butting surfaces, the closer the laser beam comes to the butting surfaces, the more an irradiation energy density of the laser beam is increased. The bottom surfaces of the molten pools formed on the metallic members are inclined so as to descend toward the butting surfaces.

Abstract: A learning control unit includes a machining device performance calculation section for calculating performance of a machining device during machining or after machining based on a motion command issued to a robot by a controller, a machining command issued to the machining device by the controller, and machining results measured by a sensor, an operation speed correction information calculation section for calculating operation speed correction information of the robot based on the performance of the machining device so as to satisfy a preset acceptable condition of the machining error, and under an allowable load condition of the robot, and a learning completion determination section for determining whether or not learning has completed based on previous correction information and current correction information.

Abstract: A control device includes a learning control part in which a difference is calculated between a target position and an actual position of a portion detected based on a sensor, and an operation-speed change rate is increased or reduced several times within a maximum value of the operation-speed change rate set for increasing or reducing the operation speed of a robot mechanism unit and within allowance conditions of vibrations occurring at the portion to be controlled; meanwhile, learning is repeated to calculate an updated compensation amount based on the difference and a previous compensation amount previously calculated for suppressing vibrations at each operation-speed change rate, and a convergent compensation amount and a convergent operation-speed change rate are stored after convergence of the compensation amount and the operation-speed change rate.

Abstract: A robot system includes a robot mechanism unit provided with a sensor and a motor encoder for detecting a position of a control target, and a robot control device which controls an operation of the robot mechanism unit in accordance with an operation program, in which a learning control unit includes a position error estimating section which estimates low-frequency components in a position error, based on information from the motor encoder and estimates high-frequency components in the position error, based on information from the sensor.

Abstract: A vehicle pillar structure and a method for manufacturing a vehicle pillar in which, in a pillar framework, a member is easily disposed on a surface facing a transparent panel in an overlapping manner, while reducing the width of the pillar framework, and a corner butt portion on the side of the transparent panel has increased welding accuracy are provided. A flange of an outer panel and a flange of an inner panel are welded by spot welding. An end surface of a front end of the inner panel is butted against an inner surface end of the outer panel, and is welded thereto by laser welding, such that welding beads are thereby linearly formed at established intervals.

Abstract: A control device repeats learning of: calculating an allowable condition for speed variations during a processing operation based on an allowable condition for processing error; setting an operating speed change rate used to increase or reduce an operating speed of a robot mechanism unit using a calculated allowable condition for speed variations; and, while increasing or reducing the operating speed change rate over a plurality of repetitions within a range not exceeding a maximum value of the operating speed change rate and within a range of an allowable condition for vibrations occurring in a control target, calculates a new correction amount based on an amount of difference between a position of the control target detected based on a sensor and a target position, and a previously-calculated correction amount.

Abstract: A sensor bracket is provided with frame members supporting an acceleration sensor, the frame members having circular arc members holding an outer periphery of a tool of a robot in a state in which circumferential-direction gaps are defined in at least one portion of the circular arc members in a circumferential direction, and a bolt thread-screwed into the frame members so as to reduce the circumferential-direction gaps.

Abstract: A robot system includes a robot mechanism unit provided with a sensor and a motor encoder for detecting a position of a control target, and a robot control device which controls an operation of the robot mechanism unit in accordance with an operation program, in which a learning control unit includes a position error estimating section which estimates low-frequency components in a position error, based on information from the motor encoder and estimates high-frequency components in the position error, based on information from the sensor.

Abstract: Provided is a butt laser-welding method for a metallic member in which a laser beam is scanned so as to repeatedly cross butting surfaces of metallic members to weld the metallic members to each other. When the laser beam is scanned so as to cross the butting surfaces, the closer the laser beam comes to the butting surfaces, the more an irradiation energy density of the laser beam is increased. The bottom surfaces of the molten pools formed on the metallic members are inclined so as to descend toward the butting surfaces.

Abstract: A vehicle pillar structure and a method for manufacturing a vehicle pillar in which, in a pillar framework, a member is easily disposed on a surface facing a transparent panel in an overlapping manner, while reducing the width of the pillar framework, and a corner butt portion on the side of the transparent panel has increased welding accuracy are provided. A flange of an outer panel and a flange of an inner panel are welded by spot welding. An end surface of a front end of the inner panel is butted against an inner surface end of the outer panel, and is welded thereto by laser welding, such that welding beads are thereby linearly formed at established intervals.

Abstract: A learning control unit includes a machining device performance calculation section for calculating performance of a machining device during machining or after machining based on a motion command issued to a robot by a controller, a machining command issued to the machining device by the controller, and machining results measured by a sensor, an operation speed correction information calculation section for calculating operation speed correction information of the robot based on the performance of the machining device so as to satisfy a preset acceptable condition of the machining error, and under an allowable load condition of the robot, and a learning completion determination section for determining whether or not learning has completed based on previous correction information and current correction information.

Abstract: A robot system includes a detector for detecting the position and posture of a workpiece; a robot for performing a predetermined operation on the workpiece; and a robot control device. The robot control device includes an area divider for dividing an operation area into a plurality of areas; an area determiner for determining in which area the workpiece is present; a learning controller for learning an operation speedup ratio to speed up an operation by varying speed or acceleration on an area-by-area basis in which the workpiece is present; a memory for storing the position of the workpiece and the operation speedup ratio; and a controller that performs the operation on a new workpiece using the learned operation speedup ratio when the operation has been learned in the area having the new workpiece, and makes the learning controller learn the operation speedup ratio when the operation has not been learned.

Abstract: A control device repeats learning of: calculating an allowable condition for speed variations during a processing operation based on an allowable condition for processing error; setting an operating speed change rate used to increase or reduce an operating speed of a robot mechanism unit using a calculated allowable condition for speed variations; and, while increasing or reducing the operating speed change rate over a plurality of repetitions within a range not exceeding a maximum value of the operating speed change rate and within a range of an allowable condition for vibrations occurring in a control target, calculates a new correction amount based on an amount of difference between a position of the control target detected based on a sensor and a target position, and a previously-calculated correction amount.

Abstract: A control device includes a learning control part in which a difference is calculated between a target position and an actual position of a portion detected based on a sensor, and an operation-speed change rate is increased or reduced several times within a maximum value of the operation-speed change rate set for increasing or reducing the operation speed of a robot mechanism unit and within allowance conditions of vibrations occurring at the portion to be controlled; meanwhile, learning is repeated to calculate an updated compensation amount based on the difference and a previous compensation amount previously calculated for suppressing vibrations at each operation-speed change rate, and a convergent compensation amount and a convergent operation-speed change rate are stored after convergence of the compensation amount and the operation-speed change rate.

Abstract: A robot system includes a detector for detecting the position and posture of a workpiece; a robot for performing a predetermined operation on the workpiece; and a robot control device. The robot control device includes an area divider for dividing an operation area into a plurality of areas; an area determiner for determining in which area the workpiece is present; a learning controller for learning an operation speedup ratio to speed up an operation by varying speed or acceleration on an area-by-area basis in which the workpiece is present; a memory for storing the position of the workpiece and the operation speedup ratio; and a controller that performs the operation on a new workpiece using the learned operation speedup ratio when the operation has been learned in the area having the new workpiece, and makes the learning controller learn the operation speedup ratio when the operation has not been learned.

Abstract: A robot controller capable of easily speeding up the motion of a robot by learning, without using a special device and teaching know-how. The robot controller has a storing part which stores a reference motion pattern of the robot; an inputting part which designates at least one of a working start region where a motion of the robot based on the reference motion pattern is initiated and a working end region where the motion of the robot is terminated; an automatic generating part which automatically generates a plurality of motion patterns of the robot based on the reference motion pattern and divided regions formed by dividing a working region at a predetermined resolution; and a learning control part which learns a motion speed-up ratio for speeding up the motion by changing a velocity or acceleration in relation to each of the automatically generated motion patterns.

Abstract: A robot controller capable of easily speeding up the motion of a robot by learning, without using a special device and teaching know-how. The robot controller has a storing part which stores a reference motion pattern of the robot; an inputting part which designates at least one of a working start region where a motion of the robot based on the reference motion pattern is initiated and a working end region where the motion of the robot is terminated; an automatic generating part which automatically generates a plurality of motion patterns of the robot based on the reference motion pattern and divided regions formed by dividing a working region at a predetermined resolution; and a learning control part which learns a motion speed-up ratio for speeding up the motion by changing a velocity or acceleration in relation to each of the automatically generated motion patterns.

Abstract: A stator comprises: a stator core having a plurality of slots; and a cage coil formed of a rectangular combined conductor that is wound by a plurality of turns. The combined conductor includes: a first conductor formed in a continuous zig-zag pattern; a second conductor formed in a continuous zig-zag pattern, the first and second conductors being combined to overlap one on the other with a displacement of one pitch; conductor in-slot portions overlapped and mounted in each of the slots of the stator core; conductor connecting portions placed circumferentially on the outside of the slots; and conductor stepped portions connecting the conductor in-slot portions and the conductor connecting portions.

Abstract: A stator comprises: a stator core having a plurality of slots; and a cage coil formed of a rectangular combined conductor that is wound by a plurality of turns. The combined conductor includes: a first conductor formed in a continuous zig-zag pattern; a second conductor formed in a continuous zig-zag pattern, the first and second conductors being combined to overlap one on the other with a displacement of one pitch; conductor in-slot portions overlapped and mounted in each of the slots of the stator core; conductor connecting portions placed circumferentially on the outside of the slots; and conductor stepped portions connecting the conductor in-slot portions and the conductor connecting portions.