Abstract: A robot controller for teaching a robot with high efficiency. The robot controller including command storage unit (21) where a movement command and a work command are stored, command identifying unit (24) for discriminating between the movement and work commands, unit (22) for making/editing a series of work programs or discrete work programs by a combination of the commands, work program storage units (23) where the work programs are stored so as to control the robot according to the stored program, further including a work section identifying unit (25) for identifying a work section of the work program by way of the command identification unit (24) and work section automatic stopping unit (27) for automatically stopping or suspending the execution of the work program at the work section in a standby state when the work section identifying unit (25) identifies the work section during the execution of the work program.

Abstract: A robot controller for teaching a robot with high efficiency. The robot controller including command storage unit (21) where a movement command and a work command are stored, command identifying unit (24) for discriminating between the movement and work commands, unit (22) for making/editing a series of work programs or discrete work programs by a combination of the commands, work program storage units (23) where the work programs are stored so as to control the robot according to the stored program, further including a work section identifying unit (25) for identifying a work section of the work program by way of the command identification unit (24) and work section automatic stopping unit (27) for automatically stopping or suspending the execution of the work program at the work section in a standby state when the work section identifying unit (25) identifies the work section during the execution of the work program.

Abstract: An arc welding method which suppresses sputtering and which makes it possible to obtain a smooth bead penetration surface shape as in MIG or MAG welding, without producing undercuts or bumping beads. A carbon dioxide gas welding method effecting welding at welding rates of about not less than 1.

Abstract: A robot controller for teaching a robot with high efficiency. The robot controller including command storage unit (21) where a movement command and a work command are stored, command identifying unit (24) for discriminating between the movement and work commands, unit (22) for making/editing a series of work programs or discrete work programs by a combination of the commands, work program storage units (23) where the work programs are stored so as to control the robot according to the stored program, further including a work section identifying unit (25) for identifying a work section of the work program by way of the command identification unit (24) and work section automatic stopping unit (27) for automatically stopping or suspending the execution of the work program at the work section in a standby state when the work section identifying unit (25) identifies the work section during the execution of the work program.

Abstract: A technique for judging a welding quality for acceptance or rejection and displaying the result in diagrams, and an automatic welding device incorporating the technique therein. When an operation result record status judging means judges that past operation records are available, temperature distribution operation result records at joints of works to be welded are displayed by a weld penetration display means (23) and bead surface shape operation result records are displayed by a bead surface shape display means (25), whereby time required for operation by a temperature distribution operation means and time required for operation by a bead surface shape operation means (24) are omitted by an operation time omitting means incorporated in the automatic welding device.

Abstract: A welding voltage is determined based on an expression, P=k2×Vw2+k3×Vw, where, with a welding wire feed speed and a welding wire radius used as inputs, a power factor is P(kW), the a melting speed of a welding wire is Vw(g/sec), and k2 and k3 are constants(k2=0.898 and k3=4.625).

Abstract: The welding method according to the present invention is adapted to carry out a welding operation by feeding a welding wire to a material to be welded, and generating an arc between the material to be welded and welding wire, in which the welding is done with the welding wire feeding speed increased and reduced during the welding operation, the welding wire feeding speed being reduced after the occurrence of short-circuiting is detected, the welding wire feeding speed being increased after the cancellation of the short-circuiting and the transfer of the welding operation to the formation of the arc are detected.

Abstract: A technique for judging a welding quality for acceptance or rejection and displaying the result in diagrams, and an automatic welding device incorporating the technique therein. When an operation result record status judging means judges that past operation records are available, temperature distribution operation result records at joints of works to be welded are displayed by a weld penetration display means (23) and bead surface shape operation result records are displayed by a bead surface shape display means (25), whereby time required for operation by a temperature distribution operation means and time required for operation by a bead surface shape operation means (24) are omitted by an operation time omitting means incorporated in the automatic welding device.

Abstract: An arc welding method which suppresses sputtering and which makes it possible to obtain a smooth bead penetration surface shape as in MIG or MAG welding, without producing undercuts or bumping beads. A carbon dioxide gas welding method effecting welding at welding rates of about not less than 1.

Abstract: A robot controller for teaching a robot with high efficiency, correcting a work program in a short time, and operating the robot under light load with improved safety.

Abstract: The invention provides an arc welding monitoring device by which it is possible to easily find how detected data such as a welding current and welding voltage correspond to trajectories of a robot, in other words, welding line information of a welding work. The arc welding monitoring device comprises means 4 and 5 for detecting at least either the welding current or welding voltage, a means 14 for storing the detected data, a means 14 for storing trajectories of a robot, and a means for displaying, on a screen display, at least either the welding current or welding voltage detected by said detecting means, and the trajectories of the robot stored by the storing means, wherein a range is determined on the trajectories displayed on the screen display, and arc welding monitoring display is enabled in compliance with the range.

Abstract: An apparatus for setting a welding operation condition, enabling the simple setting of an operation and a welding condition is disclosed. The apparatus is provided with a welding information recording portion for recording information concerning a welding machine used in arc welding and welding operation, information concerning a welding operation such as shielding gas related information. A welding wire related information or the like, welding information inputting and outputting device is provided for inputting and outputting the welding operation information. A welding operation information setting device is provided for setting the welding operation information. A retrieving device is provided for retrieving the corresponding information from among the information in the welding information recording portion on the basis of the set information.

Abstract: A robot body has an articulated manipulator arm having a welding tool. The robot body is installed on a base stand housing electric circuits including a welding power source. The electric circuits provide for driving and controlling the welding tool. The robot thus provided minimizes the space needed for installation thereof and requires less time for installation and fewer parts, whereby it becomes possible to reduce the manufacturing cost, simplify the robot installation operation and obtain a stable welding performance.

Abstract: A slurry containing a precursor fiber convertible to carbon fiber and/or a carbon fiber and, based on 100 parts by weight of the fiber, 10 to 300 parts by weight of a thermosetting resin, e.g. phenol resin, is processed into a random web. This web may contain a pitch or an organic granular material. The web is hot-pressed between a pair of belts while curing of the resin is inhibited to prepare a prepreg sheet. This sheet is disposed, leaving a clearance, in a mold having ribs on a molding surface and heated over the melting point of the resin for expansion and complete cure to provide a porous composite sheet equipped with grooves. This porous composite sheet is carbonized or graphitized to produce a porous carbonaceous material for use as a fuel cell electrode material and so on. This porous carbonaceous material has high homogeneity, gas permeability, electrical conductivity, heat conductivity and mechanical strength.

Abstract: Arc generation time is obtained for each region to be welded by measuring the time during which the arc current (or voltage) exceeds a reference current (or voltage) and is compared with predetermined time which is set depending on the welding operation. An abnormality is detected in welding if the arc generation time is shorter.

Abstract: In the preparatory stage, among all possible lines in two rectangular windows (12) and (14), assuming dust, a flaw or the like to be a part of a line, the most valid one is recognized as a line, and the inclination and characteristic values of the line are obtained, and then each rectangular window is deformed into a parallelogram-shaped window along this inclination. In the detecting stage, the inclination and characteristic values of the line to be detected are obtained by use of the parallelogram-shaped windows. Thus, even if image data is inferior, the detection of a line is possible, so that it is possible to detect a weld line, an edge of an object of detection, etc. with high accuracy.

Abstract: Approximate straight lines or approximate curves at the instructed points are obtained on the basis of coordinates actually passed by a welding torch at the instructed points in the welding of the first layer, points on the approximate straight lines or approximate curves are calculated on the basis of distance at the instructed points, and actual welding path is defined at the points. In the locus of the second and succeeding layers, a shift direction and a shift amount are obtained by calculation on the basis of two points instructed as a welding start point and a termination point in the teaching of the first layer and two reference points designated to define the shift direction, and the locus of operation after the second layer is calculated to effect multi-layer welding.

Abstract: In the case where lap fillet welding is carried out by a conventional arc welding robot, when a weld wire is once departed towards an upper plate, the wire keeps being away from a weld line, and therefore, various teaching techniques so as to prevent such a departure have been re-required. In the case where a weld line is long, if the wire is departed, a defective weld length becomes long, thus posing an significant problem.The present invention provides a control method for an arc sensor by detection of a weld current. That is, a departure of a lap fillet weld towards an upper plate is prevented merely by addition of a detection algorithm, teaching can be simplified and practical merits are great.

Abstract: A method of detecting information on an arc welding position by monitoring the shape and/or position of an welding arc. When in the arc welding along a welding groove position while locating the same, the shape of the arc is picked up from above the joint portion of a member to be welded by means of an image pickup device, and the arc shape picked up is binary-coded. This binary arc shape and/or position are monitored to detect the welding groove position, the height of the welding torch, the welding start point, the welding end point, the external corner point, the internal corner point, the contact point of the welding wire with the work, and the welding groove gap.

Abstract: A method of detecting information on an arc welding position by monitoring the shape and/or position of an welding arc. When in the arc welding along a welding groove position while locating the same, the shape of the arc is picked up from above the joint portion of a member to be welded by means of an image pickup device, and the arc shape picked up is binary-coded. This binary arc shape and/or position are monitored to detect the welding groove position, the height of the welding torch, the welding start point, the welding end point, the external corner point, the internal corner point, the contact point of the welding wire with the work, and the welding groove gap.