Abstract: An apparatus and a method for controlling a welding robot is disclosed. In the method, an initial welding is performed under initial welding conditions while moving a welding object and a welding torch relatively to each other along a predetermined welding line. Then, a change point at which at least one of the welding conditions should be changed, and a change value of the welding condition, are determined. The welding conditions are changed to the change value at the change point while the welding operation and the relative movement of the welding object and the welding torch are continued. Thus, the welding operation is not stopped during the real-time change of the welding conditions such as welding voltage, welding current, welding speed and the like. Thus, working efficiency and the welding quality are improved, and the discontinuity of the welding bead does not occur.

Abstract: An apparatus and method controls an arc welding robot. During robot teaching, an allowable width for a command value (central value) is entered via an input. The robot is taught, and operated according to data stored in a memory, and a CPU judges if an actual welding value taken from an external interface during actual welding is within the allowable width corresponding to the entered welding condition command value, and when the actual welding value is outside of the allowable width, operation information of the robot can be immediately displayed by an information noticing device, or stored in the memory, and displayed in batch at the end of one welding stroke. An arc welding condition is monitored only during regular welding, and can be ignored during crater treatment, or a section of unstable welding right after the start of welding can be excluded from the welding condition monitoring object section.

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 method of controlling movement of a robot includes moving only the wrist portion about two of the wrist axes to achieve a repeated and cyclical movement, such as a back-and-forth movement of the tool relative to a preselected path. Since only the wrist is moved, the range of available tool positions can be determined. In most instances, the desired position of the tool as it deviates from the path is outside of the range of available tool positions, given that only the wrist will move. The method of this invention includes determining a target position within the range of available positions that best corresponds to the desired position of the tool. A unique inverse kinematics solution, which includes fixing one of the wrist axes, is used to determine the wrist orientation required to place the tool into the target position.

Abstract: A spot welding system employing parallel link robots arranged densely with one another. When an arrival of a workpiece W being conveyed is detected by a camera CM, a frame moves along guides to start tracking of the workpiece, and a plurality of robots RB1-RB4, each having a parallel link with a plurality of expandable/retractable arms and a wrist mounted on a distal end of the parallel link, start operation. A plurality of points on the workpiece are welded by spot welding guns G1-G4 attached to the wrists of the respective robots. Proximal end portions of the expandable/retractable arms are swingably supported by an upright wall of the frame, and the respective robots are disposed so as to project from the frame. The parallel link robots may be suspended from the frame to be arranged densely.

Abstract: A control system of a welding robot for performing realtime tracking using a laser sensor in which a welding operation in passing a tack welded portion is rationally coped with. An arc welding torch and a laser sensor LS are mounted on a robot hand. A tool center point is set to coincide with an aimed position of a distal end of a welding wire. The tool center point is positioned at an advancing end of a formed bead B and immediately before a tack welded portion A1. The tool center point 4 is also positioned on a welding reference line (P.sub.1 .fwdarw. . . . .fwdarw.P.sub.6). A bright line 5 is formed between points 51 and 52 by a laser beam emitted from the laser sensor LS with a deflection range SC. A detected point SA is positioned at an edge of the tack welded portion A1 on the bright line 5 (there may be found no detected point). A deviation of the detected point SA from the proper welding reference line is determined based on a direction of a robot path immediately before the detected point.

Abstract: In a multi-layer welding, weld line and a gap width of workpieces (A, B) to be welded are detected by a laser sensor mounted on a robot, during a welding for a first layer, whereby, a welding torch mounted on the robot is made to follow the weld line and welding conditions are adjusted in accordance with the detected gap width. The detected gap width is stored in the storage means together with the weld line data. Then, weldings for a second and subsequent layers are performed by using the stored data in such a manner that the welding torch is made to follow the weld line, and the welding conditions are adjusted in accordance with the gap width.

Abstract: When the amount of a change in load current supplied to a grinder is not more than a predetermined threshold value, the amount of piercing into a workpiece by the grinder is controlled according to the load current. When the amount of a change in load current exceeds the predetermined threshold value, the grinding speed of the grinder is controlled according to the load current. When performing a plurality of operations with one robot, a position correction value calculated in one operation is utilized to correct a target position in another operation.

Abstract: A process for automatically welding parts consisting of a number of tubular members (2, 3, 4 and/or 5) cut out and welded together to form a pipe (1). A previously welded part is positioned and secured using a securing jaw. The part is suspended every time from its center of gravity (G) using the securing jaw (50) and a cable (52) stretched between the two securing points, as well as a suspension joint (37), so that the part lifted by means of a lifting apparatus can be moved along about its center of gravity (G). The previously welded part and as standardized spare part are then welded using a welding robot (30) along the contact line between the two tubular parts.

Abstract: A control apparatus for a welding robot has a welding gun which is provided at a front end of a robot arm to be driven by plural kinds of servomotors. An amplifier circuit board is provided so as to mount thereon appropriate inverters by selecting out of those corresponding to respective kinds of servomotors and an inverter for the welding gun. A servo software corresponding to each of the inverters is called out of a memory device by discriminating the kind of each of the inverters. In a method of teaching the welding robot in which the welding gun is opened and closed by a servomotor, plural kinds of opening and closing patterns of the welding gun are set in advance. An appropriate opening and closing pattern is selected out of the plural kinds of opening and closing patterns in accordance with the motion of the robot arm, and the selected pattern is made the teaching data relating to the opening and closing of the welding gun.

Abstract: A method for detecting an initial welding point of a welding robot regardless of any irregularity of a parent metal to be welded and the displacement thereof caused by fastening the parent metal. The method includes identifying a first directional vector oriented toward a virtual point given at a weld end part of a roughly taught welding start point and, identifying a second directional vector indicating a direction of a torch which is oriented toward a weld part and bisects an angle included between welding surfaces of the parent metal. Horizontal and vertical tracking directions are coincided with the direction of the second directional vector are determined when the second vector rotates in a positive(+) and negative(-) direction about the first directional vector, respectively. The torch is moved in the determined horizontal and vertical tracking directions until weld deposition occurs, and after weld deposition, the torch is moved to the determined positions on the basis of operation parameters.

Abstract: An industrial robot comprises a plurality of robot arms which are movable in relation to each other and support a tool holder. The tool holder comprises an output shaft journal, to which a turning disc is attached. To electrically insulate a tool applied to the tool holder and the robot, an insulating layer is arranged between the turning disc and the shaft journal.

Abstract: A method for calibrating the center point of a tool attached to a robot face plate or other machine uses a calibration block having vertical and horizontal faces. The position of the tool center point is determined by moving the tool from a starting position to touch one of the faces, recording the location of the face plate and returning the tool to the starting point. This is repeated for the other surfaces. Then the tool center point can be calculated from the recorded locations. Also disclosed is a calibration block having a centering area with four walls arranged to form a parallelogram and a leveling area with four walls arranged to form an x, y coordinate axis.

Abstract: A modular robotic welding station comprises a base skid to which is mounted robotic welding equipment. The base skid defines one or more docking stations. Satellite modules can have either stationary tables or turn tables that hold the workpieces to be welded. The satellite modules are detachably and interchangeably docked to selected base skid docking stations to thereby create customized workstations for the workpieces. The docking stations, satellite modules, and tables are designed to accurately locate the workpieces relative to the welding equipment. By detaching the satellite modules from the skid base, the satellite modules and skid base are easily transported individually from one location to another. A safety fence secured to the skid base can be arranged in different configurations to suit whether or not a satellite module is docked at a docking station.

Abstract: A non-orthogonal three-axis coordinate system in which, when a tool center point is moved to a start point (A) of a path (A-B), the direction of the path (A-B) is represented by an X axis (XAB), an axis vertical to the X axis and vertical to the axis of a tool (Z axis of a tool coordinate system) is represented by a Y axis (YAB), and the axis of the tool is represented by a Z axis (Zt). When the set coordinate system is selected by a jog operation section, and a key for rotational movement around the X axis is selected, a work angle of the tool can be adjusted. When a key for rotational movement around the Y axis is selected, a travel angle of the tool can be adjusted.

Abstract: A method for preventing collisions between robots by causing a first robot to stop or pause so that a second robot may safely pass by or perform a specified operation. Once the second robot has completed its operation then the first robot is allowed to resume operation. Each robot automatically stops when it reaches a certain point in its job. The robots communicate with a central controller which allows the robots to resume operation when the central controller has determined that all of the robots have reached their respective correct positions. This prevents collisions between robots which are operating in the same area, especially those robots operating on the same workpiece. This method works with existing robot welders, does not require modifications to the robots, and does not require expensive spatial analysis computer programs, which may not even be available for the type of processor used in a particular robot.

Abstract: A robotic welding method for making a heat exchanger having tubes and inlet and outlet headers is disclosed. The headers have planar tubesheets and covers. The planar tubesheets are welded to the inlet and outlet ends of tubes. The tubesheets have two co-linear edge portions and a third edge intersecting a line through the two co-linear edge portions. The tubesheet has interior edges defining holes through which the ends of tubes extend. A robotic welding system is provided, with a sensor, a welding apparatus and a controller for controlling the movement and operation of the welding apparatus. The tubesheet is scanned to find the first and second co-linear edge portions, the third intersecting edge portion, and the face of the tubesheet.

Abstract: A welding robot has a gun main body, a stationary electrode tip which is immovable relative to the gun main body, and a movable electrode tip which is mounted on the gun main body and is opened and closed by a pressing source. The gun main body is movable by a driving source in a direction in which both the electrode tips lie opposite to each other. In teaching the welding robot by the movement thereof to each weld spot position of a workpiece, the movable electrode tip is moved in a closing direction relative to the gun main body by the pressing source in a state in which the gun main body is kept stationary at a predetermined position relative to the gun support bracket. The stationary electrode tip is moved in the closing direction by a relative movement of the gun main body relative to the movable electrode tip after the movable electrode tip has come into contact with the workpiece. A position at which the stationary electrode tip contacted the workpiece is detected.

Abstract: A method of controlling a robot to perform a weaving action and a tracking action using a non-contact sensor. When a weaving start command with a condition of a cycle Tw is issued, a laser sensor starts scanning in a cycle Tw/2n in synchronism with the start of weaving action, and outputs sensor data for every scanning time to be stored in a memory. After starting the weaving action, the robot performs a weaving action with a welding line as a reference path, until the tool reaches the weaving extreme (Sm, Sn+m, S2n+m, . . . ) or the termination of the weaving according to the weaving condition. Since a timed relationship between the weaving action and the scanning action of the laser sensor is known, the robot position corresponding to detection data can be calculated, based on which it is possible to successively determine a target position of the robot movement by adding a weaving amount for each detection point.

Abstract: A method and system for multiple pass welding that includes a welding torch mounted on the arm of an industrial robot. The robot has a data processor with a memory and the coordinates of a first path are inputted to the data processor and are stored in the memory. The welding torch is then moved along the first path by the robot to make a first weld of a workpiece (or workpieces). A second weld of the workpiece is made by moving the welding torch along a second path which is offset from the first by a predetermined positional increment. The positional increment is established by positional coordinate increments which are inputted to the data processor by a robot user before or after the first weld has been made. The user may also input a weld torch angle increment to change the angle of the welding torch with respect to the first path. Subsequent welding passes are made by moving the welding torch along additional paths which are also offset from the first path.

Abstract: The specification relates to a burner holder for a mechanized or automated welding or cutting device, e.g. machine or robot burner (2). In order to be able easily, reliably and especially reproducibly to insert the burner at a predetermined point, the burner (2) is releasably held between two clamping jaws (3, 4) which grip the burner (2) at least in areas of the periphery and at least one of which can be moved between an open and a closed position.

Abstract: A high precision redundant robotic manipulator for overcoming contents imposed by obstacles or imposed by a highly congested work space. One embodiment of the manipulator has four degrees of freedom and another embodiment has seven degreed of freedom. Each of the embodiments utilize a first selective compliant assembly robot arm (SCARA) configuration to provide high stiffness in the vertical plane, a second SCARA configuration to provide high stiffness in the horizontal plane. The seven degree of freedom embodiment also utilizes kinematic redundancy to provide the capability of avoiding obstacles that lie between the base of the manipulator and the end effector or link of the manipulator. These additional three degrees of freedom are added at the wrist link of the manipulator to provide pitch, yaw and roll. The seven degrees of freedom embodiment uses one revolute point per degree of freedom.

Abstract: In order to provide a method of detecting seam characteristic points which makes it possible to accurately and quickly detect seam characteristic points, which are used as work target positions, by using coordinate data of a series of distance points detected by a sensor, when sealing is performed by a robot (1) equipped with a sensor (2), seam characteristic points P of an object are detected, a distance to an arbitrary cross section of an object is detected by the sensor (2), the data obtained through the measurement are converted into coordinate data of a series of distance points arranged in a predetermined order, a statistic value regarding the distance between paired adjacent distance points among the series of distant points is calculated so as to obtain a threshold level for judging discontinuity, based on the statistic value, the distance between paired adjacent distance points is compared with the discontinuity threshold level so as to detect a pair of adjacent distance points which are separated fr

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: An apparatus for transporting a plurality of fasteners in an automated changing system, i.e., in a robotic tool changing system, wherein the system includes a tooling adaptor assembly adapted to be coupled and decoupled to and from a robot adaptor assembly. The transport apparatus includes a first member which has a first passage formed therethrough and a second member which has a second passage formed therethrough. Both the first and second members are mutually adapted for alignment to one another when the adaptor assemblies are coupled. When the adaptor assemblies are coupled together, the first and second members form an interface fitting so that the plurality of fasteners, i.e., studs, may pass therethrough, and ultimately be transported to a tool, i.e., a stud welding gun.

Abstract: An industrial resistance welding workcell includes a robot controller and robot, a welding control, and an overall workcell control in a form of a programmable logic controller and electronically-controlled electrically-actuator assembly is coupled to the wrist of a robot arm, which is further coupled to a conventional welding gun. The actuator assembly is controlled by an actuator control to vary the tip separation distance to any one of a virtually infinite number of separation distances, and further, is adapted to control a clamping force with a high degree of accuracy. The workcell further includes a tool used to secure a workpiece or workpieces. The tools characterized by use of an electronically-controlled electrically-actuated clamp for securing the position of the workpiece or workpieces relative to the base of the tool.

Abstract: An apparatus allows a robot arm located in from of a body panel to create a spot weld joint located inboard of and behind an edge of the panel. A bracket fixed to the wrist of the robot arm has an open side wide and deep enough to reach around and behind the panel edge, so that an electrode fixed to the bracket can be aligned with the desired weld location. Then, a power cylinder pulls the bracket inward until the electrode hits the weld point, under tension. The electrode then fires to create the joint, and is retracted and moved. The robot arm and wrist remain entirely in front of the panel, and no access holes in the panel are needed to reach the remote weld point.

Abstract: An arc welding system includes a welding power source unit for producing welding power for fusing welding wire to weld a workpiece. An internal resistor is incorporated in the welding power source unit. A relay is inserted between the internal resistor and the welding power source unit for switching a connection therebetween according to the operating condition of the arc welding system. The relay connects the internal resistor and the welding power source unit only while the arc welding system is performing a welding operation.

Abstract: The present invention relates to a method of automatically assigning a single welding apparatus corresponding to a single robot, which is selected as a control object, in a welding robot system capable of controlling a plurality of robots and a plurality of welding apparatuses with a single control unit. The relations of correspondence between the robots and the welding apparatuses are first predetermined, and the predetermined relations of correspondence are stored in a memory of the control unit. When a single robot is designated through a teaching console panel for executing a given welding operation, the specific welding apparatus corresponding to the designated robot is automatically determined according to the relation of correspondence stored in the storage unit. As a result, the designated robot and the corresponding welding apparatus are started.

Abstract: A method of inducing arc generation in arc welding between a head of a wire and a workpiece, such that a robot supports a welding torch, thereby causing the head of the wire to be brought near a welding start position on a workpiece. However, if there is a failure to generate an arc between the head of the wire at the position and the workpiece within a predetermined time, at least one cycle is repeated of a sequential retrial motion, in which first the robot is made to move to cause the head of the wire to be moved at a predetermined speed from a position close to the present welding start position to another position away from the position by a predetermined distance, and then the robot is made to move in the opposite direction to cause the head of the wire to be moved at a predetermined speed toward the welding start position.

Abstract: A robot supports a welding torch for use in arc welding of a cylindrical welding object. The welding object is rotated about an axis and is controlled by a robot controller. The robot is operated to track the welding torch along a calculated welding line to continuously position the welding torch along the welding line. A reference circle is formed by rotation of one point on the welding object. A coordinate system is set with a center corresponding to the center of the reference circle. A laser sensor detects a point on the welding line, and the detected point is stored by using a distance r from a center O of the work coordinate system and a z-coordinate value z. As the cylindrical welding object is rotated by an angle .theta. corresponding to an interval between the position detected by the laser sensor and a calculated second position, the welding torch is moved to a position to coincide with the second position.

Abstract: A control system for controlling operations of a plurality of controlled devices each capable of positioning a plurality of logical axes included therein to perform operations such as welding or assembling workpieces, wherein a parallel control of the respective devices is performed by a multitask processor, control of operations such as welding which require a real-time control in its nature is performed by a real-time processor, and a communication memory is provided between the both processors for transferring therebetween required commands and data for the positioning control or the operations control.

Abstract: A welding system includes an imaging system that takes frame by frame pictures of a weld puddle. The imaging system is located in the weld torch. From the images puddle length and width are determined. The length and width are applied against stored membership functions that cover a range of different weld current characteristics and the degree of membership of each dimension in those functions is determined, producing an alpha factor for each membership function. This provides a fuzzy current requirement. Stored values for moment and area for each membership function are multiplied by the alpha for the respective function. The total of the moments is divided by the total of the areas to produce a desired weld current. The weld head includes a weld wire feeder that is driven by a servo by which the wire can be feed along either side of the weld joint. The wire feeder is gear driven in such a way that it does not interfere with the optics in the weld torch. The optics include a strobe to illuminate the puddle.

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: A spot welding method and apparatus having electrode tips one of which is driven by a servo motor. In the method and apparatus, it is determined whether or not an abnormal condition occurs. The abnormal condition includes (a) squeezing some obstacle between the electrode tip and a workpiece, (b) a temperature adhesion of the electrode tips with the workpiece, (c) uneven pressurizing of the workpiece by the electrode tips, (d) a weld nugget dispersion, and (e) a too large electric resistance between the electrode tips and the workpiece. When such abnormal condition is detected, some counter measure is taken to prevent or decrease the abnormal condition.

Abstract: A control means for an industrial robot having a sensor for detecting the position of an operation line, in which the position of the robot is corrected by utilizing signals detected by the sensor in executing weaving welding, overlap welding, or other operation by the robot. In effecting weaving welding or the like with a taught track (P1.fwdarw. . . . .fwdarw.Pn) as a reference, the robot control is carried out in a sensing/correcting operation mode (Q1 to Q1-10; . . . ) where the robot position is corrected in accordance with the signals detected by the sensor as the robot moves, and in a designated-shape track operation mode where the robot starts at an end point (Q1-10, Q1-20, . . . ) of one robot track section determined during a sensing/correcting operation mode to trace a track ([B0]1-1, [B0]1-2, . . . ) of a previously designated shape, alternately. Overlap welding can be executed by utilizing the correction data obtained by executing the operation in the sensing/correcting operation mode.

Abstract: An industrial-robot teaching program is prepared off-line without using a robot. Then, cameras serving as vision sensors are mounted on a wrist flange of the robot to obtain measured position data for a teaching point P1. The teaching point P1 is on a workpiece in a sensor coordinate system and is detected by the vision sensor. The position data for the teaching point in the teaching program is converted into position data in the sensor coordinate system. Next, an error of the robot wrist flange coordinate system is estimated in accordance with a difference between measured position data for the teaching point and converted position data in the teaching program. Then, the teaching point data included in the teaching program is corrected based on the estimated error of the robot wrist flange coordinate system. The vision sensor may also be attached to an end effector of the robot.

Abstract: A contact sensor for a robot includes a plurality of electrically conductive shafts extending outward from a moving portion of the robot. Electrically conductive flexible feelers are disposed on the shafts. In one embodiment the feelers are disposed in fan-like arrangement similar to a peacock feather. Leakage current from a low voltage power source is used by a robot controller to sense contact with a conductive object. The robot controller immediately stops operation and movement of the robot before damage occurs.

Abstract: A method for assembling a motor vehicle body by fixing relative positional relationship among a plurality of motor vehicle body constituent parts by means of positioning members provided in a welding jig which is disposed on each side of an assembly station and, in this condition, welding together the plurality of motor vehicle body constituent parts at a plurality of tack-welding locations. First welding guns of indirect feeding type are mounted on the welding jig to weld a part of the tack-welding portions. A welding robot having mounted thereon a second welding gun is disposed outside the welding jig. The above-described part of the tack-welding portions are welded by supplying electric power from the second welding gun to the first welding guns by pinching, by the second welding gun, feeder terminals of the first welding guns in a condition in which the above-described part of the tack-welding portions are being pinched by the first welding guns.

Abstract: An attitude control method of a visual sensor (3) utilized for a robot (1), with the object of simplifying the teaching operation for adjusting the attitude of the visual sensor, enabling continual control of sensor attitude, and obtaining highly reliable measuring accuracy of the sensor for detecting positions of objects. The positions of a starting point and an end point on a path of the tool (2) through which the tool moves are taught. The initial attitude data representing the attitude at the starting point of the visual sensor (3) are memorized. The moving attitude data representing the attitude of the visual sensor when the tool moves through the path are periodically sampled and memorized. The attitude of the sensor (3) is controlled so that the attitude of the sensor after sampling the moving attitude data at each sampling time matches the attitude represented by the initial attitude data, based on both the initial attitude data and the moving attitude data.

Abstract: A method, such that, using known data, a relationship between a target welding current and a welding current command to be instructed to a welding machine to achieve the target welding current is estimated by a linear formula. Then, a welding current command corresponding to a welding current to be achieved is obtained according to the linear formula, and is actually supplied to the welding machine to carry out a welding operation. An actual welding current is fed back from the welding machine, and this actual welding current and the welding current command associated therewith are stored as one set of data. This process is repeated using different welding current command values, and the resulting sets of data each including the combination of a corresponding welding current command and actual welding current are stored.

Abstract: A C-type welding gun capable of accurately operating irrespective of the posture of the C-type welding gun without forcibly pressing electrodes to a workpiece and without considering thickness of the workpiece, wear of electrodes, etc. The C-type welding gun includes two servomotors attached to a housing, a C-shaped arm fixed to the housing and a movable arm provided in the housing. A mechanism for converting the rotation of the output shaft of one servomotor into the reciprocal motion of the movable arm is housed in the housing. A mechanism for converting the rotation of the output shaft of the other servomotor into the reciprocal motion of the C-shaped arm is provided between the wrist of the robot and the housing. Both the servomotors are simultaneously actuated while the other servomotor is stopped in response to the signal representing the contact of the electrode of the C-shaped arm to the workpiece.

Abstract: A window mechanism for a sensor provided at the distal end of a robot arm of an industrial robot comprises a housing for enclosing the sensor which housing includes an opening, a glass plate for closing the opening, wiper for wiping the outer surface of the glass plate, a holder plate for slidably holding the glass plate member on the housing, and an exchanger for exchanging the plate member held by the holder with a new glass plate.

Abstract: Automatic welding installation where a robot arm (1) is equipped so as to be able to seize one or other of several torches (20) serving to fulfil different tasks and positioned on a rack (21). Assembly means are provided for ensuring the continuity of all the functions without any external intervention. In particular there are connections for guiding the filler wire (8) and reversibly locking the torches to the assembly face (13) of the arm (1).

Abstract: A method for separating a temperature-adhered electrode tip from a workpiece wherein the electrode tip is biased in a direction away from the workpiece and a separation force is imposed on the electrode tip while the biasing force is being imposed so that a defect is not caused in the workpiece when the electrode tip or the workpiece is moved relative to the other during and/or after separation. An apparatus wherein a condenser battery is disposed in an electrical circuit including a welding gun servo motor. An apparatus wherein an electrode tip rotating device is installed in the welding gun.

Abstract: A teaching robot including a sensor having a size and a shape which does not deteriorate the accessibility to a workpiece, and carrying out self-teaching of an operation program without execution of actual welding, includes a rotating and sweeping device attached to the distal end of a robot arm, for rotating a noncontact distance sensor; a rotating phase detecting device for detecting rotating phase data; a signal waveform processing device for extracting a feature point from a signal waveform in accordance with distance data to an objective workpiece and rotating phase data; a relationship calculating device for calculating an actual relationship between the objective workpiece and the distal end of the robot arm from feature points extracted from the signal waveform; a relationship setting and storing device for previously setting and storing a reference relationship; and a control device for autonomously moving the robot arm so that the actual relationship calculated by the relationship calculating device

Abstract: A device for indicating the alignment of a tool held by the arm of a robot includes a frame mounted at a known coordinate, an electrical switch mounted on the frame and connected to the robot, a lever having opposite first and second end portions and a central portion therebetween pivotally connected to the frame such that the first end portion normally makes contact with the switch in the absence of outside forces on the lever. The second end portion of the lever has a target bore therein for receiving the tool with a given tolerance for misalignment of the tool. If the tolerance is exceeded, the tool engages the second end portion of the lever and forcibly pivots the first end portion out of contact with the switch to indicate misalignment of the tool.

Abstract: A laser robot having a height sensing device (13) arranged at a position very close to a laser-beam projecting machining head (9) so that the axis of the height-sensing device (13) is parallel to the longitudinal axis of the machining head (9), the three-dimensional distance data representing the positional relationship between the laser projecting nozzle (9a) of the machining head (9) and the measuring end (13a) of the height-sensing device (13) being stored in advance in the robot controller (10), the longitudinal distance between the height-sensing device (13) and a starting point of laser-beam machining being automatically measured from directly above the starting point, and a longitudinal distance between the laser beam projecting nozzle (9a) of the machining head (9) and the machining starting point being corrected on the basis of the three-dimensional distance data and the longitudinal distance measured by the height sensing device (13) to thereby accurately locate the machining head at a position corr

Abstract: A swivel connection for attachment to robot arms is disclosed for supplying a fluid to an associated tool mounted on the robot arm.

Abstract: A weld pool viewing system including optical elements for enhancing the weld pool image is positioned at an angle relative to the axis of a welding torch to extract image information pertaining to the interface of the weld pool with a workpiece to control the welding parameters.