Abstract: A control device includes a moving machine operation unit for moving an end effector by operating a plurality of moving machines; an operating state data acquisition unit for acquiring operating state data indicating the operating states of the moving machines; an adaptive control execution unit for adjusting an output value of the end effector, in accordance with the operating state data acquired by the operating state data acquisition unit; and an input switching unit for switching the moving machines from which the operating state data acquisition unit acquires the operating state data, from a first moving machine to a second moving machine, in accordance with a predetermined command.

Abstract: Provided is a laser brazing system that can collectively control a robot and devices such as a laser oscillator and a wire feeding device and that can also collectively display the state of the robot and the state of the devices. A laser brazing system 1 that comprises a gas supply device 16, a wire feeding device 17, a laser oscillator 15, a robot 12 that supports a wire feeding nozzle 14 and a laser processing head 13 on the tip of an arm 121, and a robot control device 10 that controls the robot 12. In addition to the robot 12, the robot control device 10 of the laser brazing system 1 controls the wire feeding device 17, the gas supply device 16, and the laser oscillator 15 and has an operation panel 11 that includes a display unit 112 that can display the state of at least one of the wire feeding device 17, the gas supply device 16, and the laser oscillator 15.

Abstract: The control device includes a brazing controller configured to control a brazing material moving mechanism so as to retract a tip of a brazing material from a heating position to interrupt the brazing, during execution of the brazing, and a movement controller configured to, when the brazing is interrupted, control a movement machine so as to retract a heating device or a base material in a direction opposite to a movement direction during the execution of the brazing, and subsequently advance the heating device or the base material in the movement direction again. The brazing controller resumes the brazing by controlling the brazing material moving mechanism so as to cause the tip of the brazing material to reach the heating position at the same time when the heating device or the base material advanced by the movement controller reaches an interruption position at which the brazing is interrupted.

Abstract: An adjustment assistance device is attached to a galvanometer scanner at a laser output side of the galvanometer scanner and used to adjust a tool coordinate system of the galvanometer scanner. The adjustment assistance device includes a light-receiving member having a light-receiving surface, which is at least one flat surface; and a connecting member that connects the light-receiving member to the galvanometer scanner and that enables the light-receiving surface to face a laser output port of the galvanometer scanner with a predetermined distance therebetween. The light-receiving member includes a light-receiving mark portion on the light-receiving surface, the light-receiving mark portion being a mark used to quantify a relative positional difference between a reference light-receiving position for light output from the laser output port and an actual light-receiving position at which the light output from the laser output port is received.

Abstract: An adjustment assistance device is attached to a galvanometer scanner at a laser output side of the galvanometer scanner and used to adjust a tool coordinate system of the galvanometer scanner. The adjustment assistance device includes a light-receiving member having a light-receiving surface, which is at least one flat surface; and a connecting member that connects the light-receiving member to the galvanometer scanner and that enables the light-receiving surface to face a laser output port of the galvanometer scanner with a predetermined distance therebetween. The light-receiving member includes a light-receiving mark portion on the light-receiving surface, the light-receiving mark portion being a mark used to quantify a relative positional difference between a reference light-receiving position for light output from the laser output port and an actual light-receiving position at which the light output from the laser output port is received.

Abstract: A laser machining robot system that simplifies programming of a scanner operation is provided. A laser machining robot system includes a robot controller that controls a robot that performs remote laser machining and a scanner controller that controls a scanner. The robot controller includes: a machining information input unit that inputs machining information; a G-code generation unit that generates a G-code program using the machining information; and a G-code communication unit that transmits the G-code program to the scanner controller. The scanner controller includes a scanner program processing unit that applies the G-code program as a scanner operation program for operating the scanner.

Abstract: A laser processing apparatus that processes a workpiece using laser light outputted from a laser processing head includes an output detection unit for detecting an output of the laser light for a predetermined time period; a fluctuation calculation unit for calculating a fluctuation in the output of the laser light detected by the output detection unit; and an angle command unit for commanding an angle by which the laser processing head is to be inclined with respect to the normal of the workpiece, based on the fluctuation calculated by the fluctuation calculation unit.

Abstract: A laser machining device includes a scanner head which can scan a laser beam, a movement means for the scanner head, a scanner head control device and a movement control device.

Abstract: To provide a spot welding system capable of shortening a cycle time of spot welding. A robot controller measures a time between a transmission time of a welding command signal to a welding machine and a reception time of a welding completion signal, after determining completion of pressuring by a spot welding robot, and subtracts a predetermined welding time from the measured time, thereby calculating a communication delay time between the robot controller and the welding machine. A spot welding system advances transmission timing of the welding command signal and the welding completion signal by the calculated communication delay time.

Abstract: To provide a spot welding system capable of shortening a cycle time of spot welding. A robot controller measures a time between a transmission time of a welding command signal to a welding machine and a reception time of a welding completion signal, after determining completion of pressuring by a spot welding robot, and subtracts a predetermined welding time from the measured time, thereby calculating a communication delay time between the robot controller and the welding machine. A spot welding system advances transmission timing of the welding command signal and the welding completion signal by the calculated communication delay time.

Abstract: A laser machining robot system that simplifies programming of a scanner operation is provided. A laser machining robot system includes a robot controller that controls a robot that performs remote laser machining and a scanner controller that controls a scanner. The robot controller includes: a machining information input unit that inputs machining information; a G-code generation unit that generates a G-code program using the machining information; and a G-code communication unit that transmits the G-code program to the scanner controller. The scanner controller includes a scanner program processing unit that applies the G-code program as a scanner operation program for operating the scanner.

Abstract: A laser processing robot system including a laser irradiation device that carries out an irradiation point shifting operation, a robot that moves the laser irradiation device, a laser irradiation device controller that controls the irradiation point shifting operation, and a robot controller that controls the robot. When moving the laser irradiation device by the robot, the robot controller instructs the robot on a plurality of first interpolated positions at every first interpolation period, and outputs a command value associated with the irradiation point shifting operation to the laser irradiation device controller at every second interpolation period shorter than the first interpolation period.

Abstract: A spot welding system comprises a robot which changes a relative position of a spot welding gun and a workpiece. A control device drives an electrode drive motor so that a movable electrode of the spot welding gun abuts on the workpiece, and is formed so as to perform a position detection control which detects a position of the workpiece based on a position of the movable electrode when a state value of the electrode drive motor deviates from a predetermined range. An operation program includes a workpiece detection parameter for performing the position detection control. The workpiece detection parameter is set at each of welding points in the operation program.

Abstract: A laser machining device includes a scanner head which can scan a laser beam, a movement means for the scanner head, a scanner head control device and a movement control device.

Abstract: A laser processing apparatus that processes a workpiece using laser light outputted from a laser processing head includes an output detection unit for detecting an output of the laser light for a predetermined time period; a fluctuation calculation unit for calculating a fluctuation in the output of the laser light detected by the output detection unit; and an angle command unit for commanding an angle by which the laser processing head is to be inclined with respect to the normal of the workpiece, based on the fluctuation calculated by the fluctuation calculation unit.

Abstract: A laser processing robot system including a laser irradiation device that carries out an irradiation point shifting operation, a robot that moves the laser irradiation device, a laser irradiation device controller that controls the irradiation point shifting operation, and a robot controller that controls the robot. When moving the laser irradiation device by the robot, the robot controller instructs the robot on a plurality of first interpolated positions at every first interpolation period, and outputs a command value associated with the irradiation point shifting operation to the laser irradiation device controller at every second interpolation period shorter than the first interpolation period.

Abstract: A spot welding system comprises a robot which changes a relative position of a spot welding gun and a workpiece. A control device drives an electrode drive motor so that a movable electrode of the spot welding gun abuts on the workpiece, and is formed so as to perform a position detection control which detects a position of the workpiece based on a position of the movable electrode when a state value of the electrode drive motor deviates from a predetermined range. An operation program includes a workpiece detection parameter for performing the position detection control. The workpiece detection parameter is set at each of welding points in the operation program.

Abstract: In a tip dressing system having a welding gun, a dressing device, and a control device, the control device comprises a detection part which detects an increment amount of a load applied to a servo motor of the dressing device, a judgment part which judges if the increment amount of the load reaches a predetermined threshold value, an acquisition part which acquires a position of a movable electrode which is measured by an encoder of a servo motor for driving cutting blades of the dressing device, and a calculation part which calculates the cutting amount of the electrode tips based on the distance covered by the movable electrode moves when it is moved toward the counter electrode from the position where the increment amount of the load reaches the threshold value.

Abstract: A spot welding system including a spot welding gun having a pair of electrodes disposed opposite to each other, and a servo motor for allowing the pair of electrodes to approach each other and separate from each other; a robot for movably holding either a spot welding gun or a workpiece so that a workpiece is disposed between the pair of electrodes of the spot welding gun; a physical quantity detection section for detecting a physical quantity correlative to torque or velocity of the servo motor; a position detection section for detecting positions of the pair of electrodes; a mode switching section for switching, by a switching command, an operation mode of the spot welding system between a spot welding mode for spot-welding the workpiece and a position correction mode for correcting a spot welding position of the workpiece; and a processing section for performing a spot welding process in the spot welding mode and a position correction process in the position correction mode.

Abstract: A position detection device for a workpiece to be welded including a spot welding gun having a pair of electrodes adapted to be disposed opposite each other across the workpiece; a robot for holding either one of the spot welding gun and the workpiece in a manner movable relate to each other; a servo motor for allowing the pair of electrodes to approach the workpiece and separate from the workpiece; a physical quantity detection section for detecting a physical quantity correlative to a torque of the servo motor when the servo motor allows one of the pair of electrodes to approach a surface of the workpiece so that the one of the pair of electrodes abuts against the surface of the workpiece; a position detection section for detecting positions of the pair of electrodes; a storage section for storing the physical quantity detected by the physical quantity detection section and a value detected by the position detection section; and a computation section for calculating a contact start time at which the one of