In a method in which a welding process is carried out on a workpiece with a welding torch and to a welding device for carrying out the method, a welding current source is supplied in order to provide a welding voltage, and an electrical voltage is applied, at least temporarily, during the welding process to an external element of the welding torch, in particular to an outer wall of a gas nozzle, and a possibly occurring electrical contact between the external element and a further element, in particular the workpiece or a contact tube, is detected by the electrical voltage applied. The welding current source is electrically connected via at least one first resistor to the external element of the welding torch and the external element of the welding torch is connected to the electrical potential of the workpiece via at least one second resistor.

Provided is a roller laser texturing processing equipment and its processing method, comprising the following steps: dividing the processing area, determining the distribution scheme: obtaining a distribution scheme of end-to-end, unordered and uniform texturing lattice according to said roller processing unit parameters and morphological parameters; determining the output signal: the laser output position signal, beam energy regulation signal and deflection signal of one-dimensional beam deflection unit are obtained through the information processing module; performing roller laser texturing processing: said laser output position signal is used to control the light source module to emit the laser; said beam energy regulation signal and deflection signal of one-dimensional beam deflection unit are input into the laser terminal output module, respectively, to generate an unordered laser lattice, each laser terminal output module is used to process a roller processing unit. The present invention can guarantee the unordered degree of the texturing points and the uniformity of the morphology distribution at the same time, the surface consistency of the produced cold-rolled plate is better in the subsequent coating treatment.

A robotic welding system comprises a supporting arm for attaching to a repositionable support structure, the supporting arm comprising a first mounting portion connectable to the repositionable support structure, and a second mounting portion rotatably coupled to the first mounting portion. A yaw rotary actuator rotates the second mounting portion about a yaw axis. A welding arm comprises a third mounting portion rotatably coupled to the second mounting portion of the supporting arm. A pitch rotary actuator rotates the third mounting portion about a pitch axis generally perpendicular to the yaw axis. A roll rotary actuator rotates a torch holder shaft about a roll axis generally perpendicular to the pitch axis. The shaft has a torch mounting portion for mounting a welding torch at an end thereof. A controller is operably coupled to the actuators to cause the welding torch to execute a welding pattern.

A method of sensing and initializing a zero-height for a computer-controlled cutting machine implements ohmic contact between a tool head of the cutting machine and a work surface of the cutting machine in order to ascertain a zero-height of the tool head before executing a machine control operation, ensuring the tool head is positioned correctly at a predetermined operating height above the work surface throughout the machine control operation. A baseline electrical resistance is tracked across the work surface. A downward movement of the tool head toward the work surface is executed with a gantry-style movement mechanism of the cutting machine. The downward movement is stopped and a current height of the tool head is designated as the zero-height if a change in the baseline electrical resistance is detected. The tool head is electrically isolated in order to facilitate detection of the change in resistance.

A motion trajectory generation method for generating a motion trajectory of a robot having a plurality of drive axes upon carrying out work at a work position includes: an obtaining step of obtaining a motion condition identified and corresponding to the work position; and a generation step of generating a motion trajectory of the robot by carrying out a search for a plurality of motion trajectories that the robot is able to implement, on the basis of the motion condition, in which in the generation step, priority levels in the search are determined on the basis of the motion condition and work directions for a plurality of work positions, and the search for the plurality of motion trajectories is carried out on the basis of the priority levels.

A scanner controller analyzes a position instruction in which a position in a world coordinate system and a position in a local coordinate system of a path of laser light are associated with each other and creates a movement command for a drive unit of a scanner based on the position of the local coordinate system. Further, the scanner controller calculates the current position of the scanner in the local coordinate system based on the position and attitude of a robot in the world coordinate system and the position in the world coordinate system in accordance with the position instruction. When the distance between the calculated position of the local coordinate system and the position in the local coordinate system in accordance with the position instruction is below a predetermined threshold, the scanner controller then determines to start machining and performs control of a drive unit of the scanner.

The machine includes a working head with a focusing device arranged to focus a laser beam on the surface of a tube or profiled section to be worked, a carriage and a scanning system arranged to scan a portion of the outline of the cross-section of the tube or profiled section. The working head and laser scanning module are mounted on the carriage, and the carriage is able to translate with respect to the tube or profiled section in longitudinal and transverse directions such that the working head and laser scanning module translate with the carriage. The scanning system includes at least one laser scanning module including a laser emitter arranged to emit a light blade with which to illuminate a portion of the tube or profiled section and a camera arranged to acquire an image of the portion of tube or profiled section illuminated by the light blade.

To provide a spot welding system of high reliability which, when an abnormality such as a spot missing in spot welding occurs, is capable of more precisely and accurately detecting this immediately. Provided are a robot-side system having a robot and a robot-side control unit which controls driving of the robot; and a welder-side system having a welding gun mounted to the robot, and a welder-side control unit, in which the robot-side system includes: a storage unit which stores in advance a required welding time needed in a sport welding operation of one location or a plurality of spot welding operations; a welding time measurement unit which measures an actual time from when a welding start command is outputted until receiving a welding completion command; and a comparative determination unit which determines quality by comparing the required welding time stored in the storage unit and the actual welding time measured by the welding time measurement unit.

A sticking detection device for detecting the presence or absence of sticking of a welding wire disposed in an arc welding robot to a workpiece includes a first sticking detection unit and a second sticking detection unit. The first sticking detection unit detects the presence or absence of sticking based on a voltage value detected with respect to voltage being applied to the welding wire and the workpiece. The second sticking detection unit determines the presence or absence of sticking based on the voltage value and a result of the detection by the first sticking detection unit.

A robotic welding system comprises a supporting arm for attaching to a repositionable support structure, the supporting arm comprising a first mounting portion connectable to the repositionable support structure, and a second mounting portion rotatably coupled to the first mounting portion. A yaw rotary actuator rotates the second mounting portion about a yaw axis. A welding arm comprises a third mounting portion rotatably coupled to the second mounting portion of the supporting arm. A pitch rotary actuator rotates the third mounting portion about a pitch axis generally perpendicular to the yaw axis. A roll rotary actuator rotates a torch holder shaft about a roll axis generally perpendicular to the pitch axis. The shaft has a torch mounting portion for mounting a welding torch at an end thereof. A controller is operably coupled to the actuators to cause the welding torch to execute a welding pattern.