Abstract: A welding tool for a robot welds together a first component and a second component by using a metallic welding element disposed within a through-hole in the second component. The welding tool includes a welding torch attached to an arm, an element pusher that is attached to a distal end of the arm and disposes the held welding element between the welding torch and the through-hole and disposes at least a part of the welding element within the through-hole, a component pusher attached to the distal end of the arm and movable in an axial direction of a distal end of the welding torch, and a driving device that presses the component pusher against the second component. The element pusher is movable in the axial direction relative to the component pusher.

Abstract: An object is to make it possible to acquire a parameter or a first physical quantity that has been learned and an evaluation function value and thereby check the progress or the result of machine learning. An output device includes: an information acquisition unit which acquires, from a machine learning device that performs machine learning on a servo control device for controlling a servo motor driving the axis of a machine tool, a robot or an industrial machine, a parameter or a first physical quantity of a constituent element of the servo control device that is being machine learned or has been machine learned and an evaluation function value; and an output unit which outputs information indicating a relationship between the acquired parameter, the first physical quantity or a second physical quantity determined from the parameter and the evaluation function value.

Abstract: A machine learning device performs machine learning with respect to a plurality of servo control units corresponding to a plurality of axes. A first servo control unit related to an axis receiving interference includes a compensation unit that compensates for at least one of a position error, a velocity command, and a torque command of the first servo control unit based on at least one of a variable related to a position command and a variable related to position feedback information of a second servo control unit related to an axis generating the interference. The machine learning device acquires state information including first and second servo control information and a coefficient of the function, outputs action information and a reward value for reinforcement learning, and updates a value function on the basis of the reward value, the state information, and the action information.

Abstract: In the present invention, dislodging of a belt is prevented even when there is slack in a fastening member that secures a movement-side pulley for adjusting an inter-axial distance. An adjustment mechanism that adjusts an inter-axial distance between a first pulley and a second pulley is provided with a support member to which the first pulley is provided, first and second long holes provided in an arm part body, first bolts that are inserted into the first long holes and that fasten the support member to the arm part body, and second bolts that are inserted into the second long holes and that fasten the support member to the arm part body. The first long holes have a first length that enables the support member to move toward the second pulley until the inter-axial distance reaches a distance at which the belt can be wound between the first and second pulleys.

Abstract: To execute processing with high accuracy in terms of time and distance via a simple method. A robot controller comprises a motion command interpretation unit that interprets a motion command program describing a taught motion and a taught position of a robot and generates a motion command; a motion command execution unit that executes the motion command; a parallel call command detection unit that pre-reads the motion command program and detects a line where a parallel call command is taught; and a parallel call command execution unit that calls and executes a program designated by a parallel call command at a designated timing.

Abstract: Provided is a measuring device capable of flexibly identifying a different tool detection position for each user, for example.

Abstract: The objective of the present invention is to make it possible to also handle cases in a control device for a machine tool in which the waveform of a repeatable command superimposed on a normal movement command has a free shape that cannot be expressed only by a feature amount when obtaining a control command in which the repeatable command is superimposed on the normal movement command as a control command of the control device. The abovementioned objective is achieved by providing a servo control device with: a repeatable command creation unit that acquires the period of a repeatable command waveform and one period of command data from a higher-level control device, creates a repeatable command, and outputs the result; and a command superimposing unit that acquires a movement command from the higher-level control device and superimposes the repeatable command output by the repeatable command creation unit on the movement command.

Abstract: Provided is a robot capable of automatically confirming the accuracy of a three-dimensional sensor and correcting the accuracy. The robot comprises: a three-dimensional sensor; a notification unit for notifying a determination timing for determining a deviation of an optical system of the three-dimensional sensor, on the basis of a change in a physical quantity related to the three-dimensional sensor; and a determination unit for determining whether or not there is a deviation at the optical system of the three-dimensional sensor. The change in the physical quantity includes at least one of acceleration and the number of times of acceleration and deceleration added to the three-dimensional sensor, a change in temperature of the three-dimensional sensor within a certain period, a change in temperature of the three-dimensional sensor within a total operating period, and the number of times of change in temperature of the three-dimensional sensor within the total operating period.

Abstract: The three-dimensional measurement system 1 pertaining to a first embodiment of the present disclosure, whereby the three-dimensional shape of a measurement object can be accurately measured regardless of the position of the measurement object, comprises a three-dimensional measurement unit 32 that measures the position and shape of the measurement object using a three-dimensional sensor 20 that measures a distance to the measurement object, a robot 10 that moves the three-dimensional sensor 20 or the measurement object, a distance measurement unit 33 that measures the distance between the three-dimensional sensor 20 and the measurement object, and a measurement orientation setting unit 34 that sets a measurement orientation of the robot 10 such that the distance between the three-dimensional sensor 20 and the measurement object is a prescribed reference distance on the basis of the distance between the three-dimensional sensor 20 and the measurement object, measured by the distance measurement unit 33.

Abstract: The purpose of the present invention concerns a control command for a machine tool, and is to make it possible to adopt a high-frequency repetitive oscillation command, without restrictions on communication capacity, when acquiring a control command created by superimposing a command with repeatability on a normal move command such as a move command having no repeatability. The purpose can be achieved by: acquiring, from an higher-order control device, only information about the form of a command, and parameter information on numerical information relating to an amplitude, a period, and other feature amount; creating a repetitive movement command that is a command with repeatability only from the parameter information; and superimposing the repetitive movement command on a normal move command such as a move command having no repeatability.

Abstract: A machine learning device for a robot that allows a human and the robot to work cooperatively, the machine learning device including a state observation unit that observes a state variable representing a state of the robot during a period in that the human and the robot work cooperatively; a determination data obtaining unit that obtains determination data for at least one of a level of burden on the human and a working efficiency; and a learning unit that learns a training data set for setting an action of the robot, based on the state variable and the determination data.

Abstract: It is desired to be able to easily identify a cause of a communication abnormality in an industrial machine. A controller of an industrial machine which communicates with an external device through a network includes: a plurality of communication units which respectively correspond to a plurality of communication protocols; and a diagnosis unit which starts up the communication units in a predetermined order and attempts communication using the communication protocols corresponding to each communication unit that is started up so as to diagnose the conditions of communication step by step.

Abstract: A simulation device includes an image sensor which captures an image of a real space including an actual robot and a peripheral device arranged at the periphery of the actual robot, an augmented reality display section which displays a virtual robot overlaid on the actual robot shown in the captured image, a workpiece management section which manages a position of a moving workpiece, and a motion control section which controls a motion of the virtual robot on the basis of the position of the workpiece.

Abstract: A light-weight gear including: an annular tooth portion made of metal; a shaft extending along a central axis of the tooth portion and made of metal; and a coupling element configured to couple the shaft to the tooth portion and made of a resin, in which a joining part between the shaft and the coupling element and a joining part between the tooth portion and the coupling element are provided with irregularities configured to be engaged with one another in a circumferential direction, and corners of the irregularities are rounded to release a stress. Also, provided is a manufacturing method of a light-weight gear including: disposing the tooth portion and the shaft in a mold and injecting a molten resin into a cavity of the mold, thereby simultaneously performing injection molding of the coupling element and joining the coupling element to the tooth portion and the shaft.

Abstract: A laser welding apparatus is equipped with a laser head that emits a laser beam and an airflow forming unit that forms sheet-shaped airflows, in which the airflows formed by the airflow forming unit traverse an optical path of the laser beam emitted from the laser head, the airflows traversing the optical path at multiple positions which are spaced from each other in a direction along the optical path in a same direction. The airflow forming unit has an opening between the airflows at the multiple positions, the opening penetrating in a direction in which the airflows traverse the optical path.

Abstract: A work robot system including a conveying apparatus that conveys an object, a robot that performs a predetermined task on a target portion of the object being conveyed by the conveying apparatus, a controller that controls the robot, a sensor that is attached to the robot and successively detects a position, relative to the robot, of the target portion of the object being conveyed by the conveying apparatus, and a force detector that detects a force generated by a contact between the object and a part supported by the robot. When the robot is performing the predetermined task, the controller performs force control based on a detection value of the force detector while controlling the robot by using a detection result of the sensor.

Abstract: A robot linear-object unit includes: a first part including cables, which lead to motors, that are covered by a flexible sheath having a circular outer shape in cross section; a second part including the cables in a loose state at one end of the first part; a plurality of third parts each including one or more of the cables of the second part bundled together for a connector connected to corresponding one of the motors, the third parts being covered by flexible covering materials having circular outer shapes in cross section; and a casing that accommodates the second part and is fixed to a movable part. The casing is provided with a plurality of through holes that allow the first and the third parts to pass through the casing. Spaces between the through holes, the sheath, and the covering materials are fixed in a liquid-tight state by cable glands.

Abstract: An electronic device according to one embodiment of the present disclosure is capable of continuously ensuring heat conduction by a heat conductive connection body and comprises: a semiconductor element; a heat dissipation member; a heat conductive connection body for connecting the semiconductor element and the heat dissipation member to each other in a heat conductive manner; a power detection unit for detecting power consumption of the semiconductor element; an element temperature detection unit for detecting the temperature of the semiconductor element; an ambient temperature detection unit for detecting the ambient temperature of the heat dissipation member; and a heat resistance calculation unit for calculating heat resistance of the heat conductive connection body on the basis of a detection value of the power detection unit, a detection value of the element temperature detection unit, and a detection value of the ambient temperature detection unit.

Abstract: A robot system includes a robot configured to move a scraper configured to scrape the surface, and a control device configured to control the robot. The control device is configured to execute the scraping process by moving the scraper in a direction along the surface while pressing the scraper against the surface by the robot, and during the execution of the scraping process, repeatedly increase and decrease a depth of scraping the surface by controlling a position of the robot so as to repeatedly increase and decrease a pressing force by which the robot presses the scraper against the surface.

Abstract: Provided is a robot programming device capable of improving the teaching efficiency of a motion program for a fitting work performed by a robot. This robot programming device comprises: a model placement unit for placing a robot model, a first work object model, and a second work object model; a feature acquisition unit for acquiring shape features of the first work object model and the second work object model; a teaching point setting unit for setting, a teaching point for fitting the axis of the first work object model into the hole of the second work object model by the robot model; and a program creation unit for creating a motion program for the robot to perform fitting work for fitting the axis of the first work object model into the hole of the second work object model, using the set teaching point.