Abstract: A robot system including a plurality of robots that are arranged at intervals and that each perform machining on a work; and a tool storage unit that stores a tool used when each of the robots performs machining on the work and that is disposed at a position allowing at least one of the robot to take out the tool, wherein the respective robots are provided with hands with which the tool stored in the tool storage unit can be handled; and, when one of the robots needs to exchange the tool.

Abstract: A robot system of the present invention has a disturbance torque monitoring part which monitors a disturbance torque of a servo motor which drives rotation about a joint of the robot in accordance with an operating command of a robot operation control part. Further, when a work gripped by the hand is fastened by a work fasting device, the abnormality judging part compares the disturbance torque with a predetermined first threshold value and, when the disturbance torque is over the first threshold value, judges that an abnormality has occurred in the position of the work fastened by the work fastening device.

Abstract: Provided are a friction stir welding (FSW) device, FSW system, and FSW method with which it is possible to expand the applications of FSW while increasing processing accuracy. In a FSW device, when a first member to be welded and a second member to be welded are continuously welded by moving a processing tool in a linear or curved manner with the processing tool, while rotating, being pressed in the axial direction against the first member to be welded and the second member to be welded, a control device executes a reaction force correction control that controls the output of support member actuators so as to cancel the reaction force acting upon the processing tool as a result of the rotation of the processing tool.

Abstract: The conveyor system of the present invention comprises a conveyor robot having a hand and arm, and a pair of gripping jigs attached to a conveyed object. The hand of the conveyor robot comprises a body part attached to an arm, a pair of projecting parts projecting out from different positions of the body part in the same direction, hook parts provided on the pair of projecting parts, and pushing parts attached to the body part adjoining the pair of projecting parts and configured to move along the projection direction of the pair of projecting parts to generate a pushing force. Each gripping jig attached to a conveyed object comprises of a pushed part pushed by a pushing part of the hand, and a rod-shaped part caught on a hook part of the hand.

Abstract: A machining system of the present invention includes a robot having a hand, a processing machine to rotate a machining tool, a control unit which controls the processing machine and the robot so as to rotate the machining tool and press a workpiece held by the hand against the machining tool to thereby machine the workpiece, and a force sensor which detects force acting between the workpiece and the machining tool when the workpiece is pressed against the machining tool by the robot and is machined by the machining tool. The control unit regulates the workpiece feed speed of the robot and the rotational speed of the machining tool so that the force value detected by the force sensor is between a predetermined upper threshold and a predetermined lower threshold.

Abstract: A robot system of the present invention has a disturbance torque monitoring part which monitors a disturbance torque of a servo motor which drives rotation about a joint of the robot in accordance with an operating command of a robot operation control part. Further, when a work gripped by the hand is fastened by a work fasting device, the abnormality judging part compares the disturbance torque with a predetermined first threshold value and, when the disturbance torque is over the first threshold value, judges that an abnormality has occurred in the position of the work fastened by the work fastening device.

Abstract: The conveyor system of the present invention comprises a conveyor robot having a hand and arm, and a pair of gripping jigs attached to a conveyed object. The hand of the conveyor robot comprises a body part attached to an arm, a pair of projecting parts projecting out from different positions of the body part in the same direction, hook parts provided on the pair of projecting parts, and pushing parts attached to the body part adjoining the pair of projecting parts and configured to move along the projection direction of the pair of projecting parts to generate a pushing force. Each gripping jig attached to a conveyed object comprises of a pushed part pushed by a pushing part of the hand, and a rod-shaped part caught on a hook part of the hand.

Abstract: An assembling device which does not use a positioning device for articles to be assembled, nor a feeder mechanism and a pneumatic mechanism for a bolt for assembling. The article assembling device includes a first robot which takes out and aligns a bolt by using a detection result of a first camera; a second robot which grips a first article by using a detection result of a second camera and conveys the first article to a position where the first article can be attached to a second article; and a bolt holding and fastening section which fastens the articles by using the aligned bolt.

Abstract: A robot laser processing system (10) comprises at least one robot controller (14) for controlling at least one robot, a host controller (12) connected to the robot controller through a first network (11) for overall control of the robot controller, and a plurality of laser oscillators (16-1 to 16-n) selectively connectable to the processing nozzle (35) mounted on each robot and connected to the robot controller through a second network (18-1 to 18-n). An instruction from the host controller is transmitted to the robot controller through the first network, so that the robot controller determines the laser oscillator to be controlled and directly controls the particular laser oscillator through the second network. As a result, a processing command can be issued directly to the laser oscillator from the robot controller without intervention by the host controller.

Abstract: A robot laser processing system (10) comprises at least one robot controller (14) for controlling at least one robot, a host controller (12) connected to the robot controller through a first network (11) for overall control of the robot controller, and a plurality of laser oscillators (16-1 to 16-n) selectively connectable to the processing nozzle (35) mounted on each robot and connected to the robot controller through a second network (18-1 to 18-n). An instruction from the host controller is transmitted to the robot controller through the first network, so that the robot controller determines the laser oscillator to be controlled and directly controls the particular laser oscillator through the second network. As a result, a processing command can be issued directly to the laser oscillator from the robot controller without intervention by the host controller.

Abstract: A laser welding method using a laser welding robot irradiating a workpiece with a laser beam, the laser welding method has firing the laser beam at a time of not welding, making the laser beam move to the next weld location at a feed rate faster than the feed rate at a time of welding and not leaving a heat affected layer at the workpiece in a state while firing the laser beam, and successively welding a plurality of weld locations of the workpiece. It is possible to make the laser beam move at the time of not welding while defocused. Also, a laser welding robot irradiating a workpiece with a laser beam, provided with a laser output controller controlling the robot to fire a laser beam both at a time of welding and at a time of not welding and fast feed mechanisms for making the laser beam move by a feed rate faster than the feed rate at the time of welding and not leaving a heat affected layer at the workpiece.

Abstract: A laser welding teaching device, and a teaching method, for simplifying the teaching of the motion of a scanner and for reducing a welding operation time by a welding robot. The laser welding teaching device is connected to a robot control device for controlling the welding robot for welding a workpiece and sends a command to the robot control device. A laser oscillator is connected to a work tool of the robot and a laser scanner is mounted on the work tool. By using the laser scanner capable of moving at high-speed, the motion of the robot during the air cut motion may be greatly reduced, resulting in a significant reduction of the cycle time of the whole system.

Abstract: A laser processing robot system including a manipulator, a laser processing tool attached to the manipulator, and a control unit for controlling operations of the manipulator and the laser processing tool. The laser processing tool includes a laser scan head with a movable mirror incorporated therein, and a movable support mechanism movably supporting the laser scan head. The control unit includes a rapid-traverse operation controlling section for controlling an operation of the movable support mechanism to make the laser scan head perform a rapid-traverse operation during a non-processing period when the laser scan head does not emit a laser beam. The rapid-traverse operation controlling section can control an operation of at least one of the manipulator and the movable mirror, in addition to an operation control of the movable support mechanism, during the non-processing period.

Abstract: If a machining program is reproduced in a robot controller and a robot is moved on a machining route, then a detection signal of a distance sensor is fetched through a distance sensor amplifier, and tracer control is carried out so as to keep a distance between a laser machining head and a workpiece at a predetermined value. In an acceleration and decoration processing in a corner, a restriction means that restricts a maximum acceleration and a maximum jerk is used to control an acceleration and a jerk of the robot not to exceed respective predetermined values, and prevents generation of a vibration when the laser machining head passes through the corner.

Abstract: A laser processing apparatus includes a six-axis robot operating by robot axes controlled by a robot control device and a processing tool mounted on the end of the arm of the robot. A processing head is provided on a horizontal movement mechanism provided on a horizontal movement mechanism support base, which is in turn supported by a carrier able to move on a vertical movement mechanism. The vertical movement mechanism and the horizontal movement mechanism are driven by additional axes controlled by the robot control device. In a non-processing section of the workpiece etc., only the additional axes are operated to move the processing head at a high speed and shorten the cycle time. When operating the additional axes to move, the data of the relative position of the control point (tool end point) with respect to a fixed point on the arm forward end is corrected each time.

Abstract: From the robot controller, a laser irradiation start command is issued to the laser oscillator, together with a laser power command condition before arc generation. The laser power command before arc generation is used to suppress an amount of heat input, and is selected from among the first to the third laser power commands according to conditions of the material and thickness of base metal and the like. An arc welding start command is issued to the arc welding power source, together with welding voltage and wire feeding speed commands. Before the arc welding command is issued and the wire comes into contact with the base metal, the voltage becomes no-load voltage. Also, the slow wire feeding speed is instructed before the arc is generated. When the wire comes into contact with the base metal and the arc is generated, it is detected and the laser power command condition is changed to a condition for processing.

Abstract: A processing system for stably processing a workpiece even if the shape of the workpiece changes every production lot of the workpiece, or by a change of the workpiece. The distance between the workpiece and an end of a nozzle of a laser machining head is measured by a distance sensor. A data correcting value ?Z?mn is calculated using a measured distance ?Zrn at each teaching point and a set gap value ?Zs (step S6-S15). By using ?Z?mn, the data of the teaching points are corrected to new data of the teaching points of the program (step S16-S19). The distance between the workpiece and the end of the nozzle of the laser machining head does not become larger because the teaching points of the processing program are corrected every time when the workpiece is processed. The interference between the workpiece and the head may be prevented and the processing may be stably implemented because the amount of correction becomes smaller when the position of the head is corrected during the processing.

Abstract: When a laser beam is irradiated from a laser welding torch onto a surface of a welding target workpiece, a plasma is generated. This plasma is introduced to an optical fiber, extracted by a filter-added half-silvered mirror, branched by half-silvered mirrors and a reflecting mirror, split by a bandpass filter, and detected by an optical sensor. Using a detection result of the optical sensor, a control for keeping the intensity or the temperature of a plasma beam constant is exercised.

Abstract: If a machining program is reproduced in a robot controller and a robot is moved on a machining route, then a detection signal of a distance sensor is fetched through a distance sensor amplifier, and tracer control is carried out so as to keep a distance between a laser machining head and a workpiece at a predetermined value. In an acceleration and decoration processing in a corner, a restriction means that restricts a maximum acceleration and a maximum jerk is used to control an acceleration and a jerk of the robot not to exceed respective predetermined values, and prevents generation of a vibration when the laser machining head passes through the corner.

Abstract: A nozzle system for laser machining capable of maintaining an interference region of a robot in a teaching operation to be substantially the same as that in a laser machining operation. An optical fiber supporting unit is attached to a nozzle body unit having laser beam converging lens for performing a laser machining operation. An optical fiber for supplying a laser beam is connected to an optical fiber connector on the optical fiber supporting unit. A laser machining is performed by combination of the nozzle body unit and the optical fiber supporting member attached to a distal end of a robot arm. In a teaching operation, a camera supporting unit (dummy nozzle) having substantially the same dimension as the nozzle body unit and supporting a camera at a predetermined position is used in place of the optical fiber supporting unit and the nozzle body unit.