Provided is a program generation device capable of automatically generating a route program which takes into account the amount of bending when the tip of a robot abuts against a workpiece. This program generation device is provided with: an acquisition unit that acquires route data indicating a route to be followed by the tip of the robot with respect to an object; a detection unit that detects a pressing force for pressing the tip of the robot to the object; a calculation unit that calculates the amount of misalignment of the followed route caused by bending of the tip of the robot, on the basis of the pressing force detected by the detection unit and a prescribed constant; and a generation unit that automatically generates a route program for controlling a moving route of the tip of the robot, on the basis of the route data acquired by the acquisition unit and the amount of misalignment calculated by the calculation unit.

A robotic electric arc welding system includes a welding torch, a welding robot configured to manipulate the welding torch during a welding operation, a robot controller operatively connected to the welding robot to control weaving movements of the welding torch along a weld seam and at a weave frequency and weave period, and a welding power supply operatively connected to the welding torch to control a welding waveform, and operatively connected to the robot controller for communication therewith. The welding power supply is configured to sample a plurality of weld parameters during a sampling period of the welding operation and form an analysis packet, and process the analysis packet to generate a weld quality score, wherein the welding power supply obtains the weave frequency or the weave period and automatically adjusts the sampling period for forming the analysis packet based on the weave frequency or the weave period.

A three-dimensional measuring device is a three-dimensional measuring device that performs three-dimensional measurement of an object using a laser beam. The three-dimensional measuring device includes a laser emitter disposed in a movable section of a robot and configured to irradiate a region including the object with the laser beam, a laser emission controller configured to control driving of the laser emitter, an image capturing device configured to image the object, on which the laser beam is irradiated, and acquire image data, and a point cloud generator configured to generate, based on the image data, three-dimensional point cloud of the region including the object. The laser emitter includes a laser beam source and a diffuser configured to diffuse the laser beam emitted from the laser beam source.

A linkage assembly to connect a tool to a robotic device. The linkage assembly includes a body and a first linkage pair with first and second links that are configured to be connected to a first section of the tool. The linkage assembly also includes a second linkage pair that includes first and second links that are configured to be connected to a second section of the tool. The first linkage pair are powered to provide a force to move the tool relative to the body. The second linkage pair supports the tool and moves with the first linkage pair. Each of the first and second linkage pairs are pivotally connected to the body and may maintain parallel positioning during the movement.

A holding device according to the present invention is a holding device that holds a workpiece having flexibility. A controller sets the workpiece to a reference state in such a manner that with first and second holding mechanisms holding the workpiece, a moving mechanism moves at least one of the first and second holding mechanisms in a length direction based on a length, detected by a detector, of the workpiece in a held state and a length, prestored in a storage, of the workpiece in a reference state.

A bead appearance inspection device includes an input unit configured to enter input data related to a welding bead of a workpiece produced by welding, a preprocessing unit configured to perform a preprocessing of converting a shape of the welding bead into a predetermined shape on the input data, and k inspection determination units, where k is an integer of 1 or more, that are equipped with k types of artificial intelligence and that are configured to inspect and determine presence or absence of a welding defect of the welding bead based on processings of the k types of artificial intelligence targeting input data on which the preprocessing is performed.

A bead appearance inspection device includes an input unit configured to enter input data related to a welding bead of a workpiece produced by welding, a first determination unit configured to perform a first inspection determination related to a shape of the welding bead based on a comparison between the input data and a master data, k second determination units, where k is an integer of 1 or more, that are equipped with k types of artificial intelligence and that are configured to perform a second inspection determination related to a welding defect of the welding bead based on processings of the k types of artificial intelligence targeting the input data, and a comprehensive determination unit configured to output a result of an appearance inspection of the welding bead to an output device based on determination results of the first determination unit and the k second determination units.

End effector assemblies for drilling a plurality of spaced-apart holes in a part, robots including the end effector assemblies, and associated methods are disclosed herein. The end effector assemblies include a first force application structure, an end effector, and a second force application structure. The first force application structure is configured to apply a first force to a surface of the part. The end effector is configured to selectively transition the first force application structure between a retracted state and an extended state and to selectively extend a drill bit into the part and subsequently retract the drill bit from the part. The second force application structure is configured to continuously apply a second force to the surface of the part while the first force application structure is in the retracted state and as the end effector assembly transitions from a first predetermined location to a second predetermined location.

A robotic welding cell is provided, and includes a workstation to receive at least one workpiece, a tool support comprising at least one tool and a robot. The robot includes a robot arm being displaceable in a 3D environment of the workstation, and a robot end effector operatively coupled to the robot arm at a free end thereof. The robot end effector has a gripper adapted to separately and selectively seize and release the at least one tool from the tool support and the at least one workpiece. The tool support is within reach of the gripper such that the robot is operable to manipulate and position the workpiece within the workstation using the gripper and perform a predetermined operation on or around the workpiece using the tool held by the gripper.

A device for the automatic manufacture of screw connections by a screw includes a motion system with which the screw can be led to the components to be connected. The screw is taken up by an automatic screwing arranged on the motion system. A protective sleeve is arranged so that it can be moved with the automatic screwing unit. The protective sleeve acts as protection, surrounds the screw, and is arranged out of contact with one of the components to be connected.