A cooling device includes a refrigerant circulation channel, and a pump configured to pump refrigerant in the refrigerant circulation channel A heat generating part of an articulated robot includes a heat generating part of an end effector, and a part of the refrigerant circulation channel is formed as a first heat exchanging part configured to exchange heat between the heat generating part of the end effector and the refrigerant, and another part of the refrigerant circulation channel is formed as a radiator. The radiator is a passive radiator, and is attached in an exposed state to a part of the surface of an arm, configured to move in a space when a joint of the arm is driven.

A cooling device includes a refrigerant circulation channel, and a pump configured to pump refrigerant in the refrigerant circulation channel A heat generating part of an articulated robot includes a heat generating part of an end effector, and a part of the refrigerant circulation channel is formed as a first heat exchanging part configured to exchange heat between the heat generating part of the end effector and the refrigerant, and another part of the refrigerant circulation channel is formed as a radiator. The radiator is a passive radiator, and is attached in an exposed state to a part of the surface of an arm, configured to move in a space when a joint of the arm is driven.

A method for monitoring welding of an electric resistance welded steel pipe of the present invention includes: an image acquisition step in which, when an electric resistance welded steel pipe is welded, a V-convergence portion including an edge detection area and a V-convergence point, and a welding portion including a position where a molten steel starts to be discharged from an inside of a wall thickness and a bead, are imaged to obtain a captured image; a determination information acquisition step in which the captured image is image-processed, and a molten length from the V-convergence point to the position where the molten steel starts to be discharged or a molten width of the welding portion or a combination thereof is acquired as a determination information; and a determining step in which it is determined whether a cold welding has occurred by comparing the determination information with a determination threshold value set in advance for each wall thickness of the electric resistance welded steel pipe.

A method for monitoring welding of an electric resistance welded steel pipe of the present invention includes: an image acquisition step in which, when an electric resistance welded steel pipe is welded, a V-convergence portion including an edge detection area and a V-convergence point, and a welding portion including a position where a molten steel starts to be discharged from an inside of a wall thickness and a bead, are imaged to obtain a captured image; a determination information acquisition step in which the captured image is image-processed, and a molten length from the V-convergence point to the position where the molten steel starts to be discharged or a molten width of the welding portion or a combination thereof is acquired as a determination information; and a determining step in which it is determined whether a cold welding has occurred by comparing the determination information with a determination threshold value set in advance for each wall thickness of the electric resistance welded steel pipe.

A method of controlling a welding cap cooling water controller having a cooling water pipe which includes a test section with a welding cap between an inlet valve in the cooling water inlet and a return valve in the cooling water return, in a first step the pressure of the cooling water in the test section is increased to an overpressure which is above a supply pressure that prevails in the test section during the welding process with the inlet valve open and the return valve open, and subsequently a pressure drop measurement is performed at overpressure. Furthermore, a welding cap cooling water controller is provided which is adapted to carry out such a method.

A method of controlling a welding cap cooling water controller having a cooling water pipe which includes a test section with a welding cap between an inlet valve in the cooling water inlet and a return valve in the cooling water return, in a first step the pressure of the cooling water in the test section is increased to an overpressure which is above a supply pressure that prevails in the test section during the welding process with the inlet valve open and the return valve open, and subsequently a pressure drop measurement is performed at overpressure. Furthermore, a welding cap cooling water controller is provided which is adapted to carry out such a method.

A multi-tiered weld program that is effective in resistance spot welding of dissimilar materials is disclosed. The process is repeatable across a multitude of grades/thicknesses, and number of sheets of conductive materials, and is possible to perform with traditional weld tooling and electrodes. Different size/different material/different contact face geometries weld surfaces are used to balance thermal properties of the materials, and the process is designed to create a small, consistent Intermetallic Compound (IMC) that is effective in holding two different conductive materials together with a high level of strength that is suitable for industrial mass production. The multi-tiered resistance spot weld process uniformly preheats, welds, and cools the samples to control the formation of the IMC that is formed therein.

A multi-tiered weld program that is effective in resistance spot welding of dissimilar materials is disclosed. The process is repeatable across a multitude of grades/thicknesses, and number of sheets of conductive materials, and is possible to perform with traditional weld tooling and electrodes. Different size/different material/different contact face geometries weld surfaces are used to balance thermal properties of the materials, and the process is designed to create a small, consistent Intermetallic Compound (IMC) that is effective in holding two different conductive materials together with a high level of strength that is suitable for industrial mass production. The multi-tiered resistance spot weld process uniformly preheats, welds, and cools the samples to control the formation of the IMC that is formed therein.

A resistance welding pinch protection system for use with a resistance welder, comprising a sensor array adapted to be secured around the base of a positive electrode of the resistance welder, the sensor array including a plurality of proximity sensors positioned along a perimeter of the sensor array, the plurality of proximity sensors defining an electrode operation field around the positive electrode, an input/output interface to be operatively connected to the resistance welder, and at least one processor in communication with the plurality of proximity sensors and the input/output interface, wherein in use, during the lowering of the positive electrode, the at least one processor interrupts the control signal to the resistance welding controller in order to stop the welding sequence, raising the positive electrode in response to the detection of an obstacle within the electrode operation field.

A resistance welding pinch protection system for use with a resistance welder, comprising a sensor array adapted to be secured around the base of a positive electrode of the resistance welder, the sensor array including a plurality of proximity sensors positioned along a perimeter of the sensor array, the plurality of proximity sensors defining an electrode operation field around the positive electrode, an input/output interface to be operatively connected to the resistance welder, and at least one processor in communication with the plurality of proximity sensors and the input/output interface, wherein in use, during the lowering of the positive electrode, the at least one processor interrupts the control signal to the resistance welding controller in order to stop the welding sequence, raising the positive electrode in response to the detection of an obstacle within the electrode operation field.