DAIHEN Corporation

A high-frequency power supply system according to the present disclosure includes a first power supply, a second power supply, a first matcher, and a second matcher. The second power supply performs pulse modulation of repeating an ON operation of outputting a second forward wave voltage and an OFF operation of not outputting the second forward wave voltage. The first power supply performs frequency modulation control in a second power supply ON period, and performs frequency offset control of outputting a forward wave voltage VF 3 having a fundamental frequency obtained by adding an offset frequency to a fundamental frequency in a second power supply OFF period. The second matcher generates a phase reset signal having a frequency lower than a fundamental frequency based on detection information of a forward wave voltage, and supplies the phase reset signal to the first power supply.

A high-frequency power supply device includes a first power supply that outputs a high-frequency AC voltage having a first frequency, a second power supply that outputs a DC pulse voltage including one or more continuous pulse waveforms, a matching box that receives the high-frequency AC voltage, performs impedance matching such that impedance viewed from the first power supply becomes constant, and outputs the high-frequency AC voltage, a filter that receives the DC pulse voltage, filters the DC pulse voltage, and outputs the DC pulse voltage to a pulse-power input terminal of a load, and an IMD suppression circuit that includes a first inductor having predetermined inductance provided between the matching box and an AC-power input terminal of the load, receives the high-frequency AC voltage, allows the input high-frequency AC voltage to pass through the first inductor, and outputs the high-frequency AC voltage to the AC-power input terminal of the load.

A teaching system is provided for a transfer robot including a vertical arm assembly, a rotation member, a horizontal arm assembly supported by the rotation member, a hand section supported by the horizontal arm assembly and provided with a detection sensor, and a control device configured to teach a position of the hand section using the sensing results of the target by the detection sensor. The target has first and second edges horizontally spaced apart from each other by distance L 1 . The control device adjusts the angel around a central axis and x, y positions of the hand section based on the distance L 1 and a rotation angle through which the hand section is rotated around the central axis until the first or second edge is detected.

A plasma processing apparatus includes: an inner electrode; an electrode holder; an outer electrode; an insulating member that surrounds the inner electrode and the electrode holder; a fin member for forming a swirling flow around the inner electrode by causing a process gas supplied to an inner side of the insulating member to swirl; and a nozzle that blows the swirling flow converted into a plasma state. The insulating member is directly or indirectly secured to the outer electrode, and the fin member is secured to the electrode holder while being spaced from the inner electrode, and is in contact with an inner circumferential surface of the insulating member.

To readily cause a robot to operate just as an operator imagined. A robot system including a display control portion that causes image data having been captured by an imaging portion and based on imaging information at least including a work object to be worked. An acquiring portion acquires three-dimensional data of the work object. A linking portion links the image data and the three-dimensional data as data in a user coordinate system. A designation accepting portion accepts a movement designation of a target position. A coordinate transforming portion transforms the target position in the user coordinate system into the target position in a robot coordinate. A trajectory calculating portion calculates a trajectory. And an operation control portion causes the work tool portion to operate to the target position according to the calculated trajectory.

A terminal device is configured to photograph a first image including a work target and a marker for the work target, and a second image including a robot marker, the work target, and the marker for the work target, which maintain a positional relation in the first image, set a user coordinate system using the marker for the work target as a reference, set an operation path based on a work spot of the work target included in the first image, create a work program based on the set operation path of the industrial robot, calculate a robot coordinate system based on the robot marker included in the second image and position attitude information of the industrial robot, and modify the work program by converting a coordinate system of the operation path of the industrial robot from the user coordinate system to the robot coordinate system.

To generate a correct path for a robot to perform a certain action while avoiding interference. The teaching program generation device generates a teaching program for teaching a robot a predetermined action, based on information about the robot and its surroundings. The device includes an acquisition unit that acquires, from a robot controller that controls driving of the robot, information to be used for the robot to perform the predetermined action while avoiding interference, and a teaching program generation unit that generates a movement path for the robot to perform the predetermined action while avoiding interference, based on the information.

The present invention provides a robot control system that can reduce the burden on the operator. A controller includes: an acceptance unit that accepts a rough teaching instruction regarding a rough teaching point, which is a tentative teaching point; an accumulation unit that accumulates teaching data of the rough teaching point in response to the acceptance of the rough teaching instruction; and a control unit that specifies a sensing teaching point corresponding to the rough teaching point, based on sensing results obtained by causing a sensor of a robot to perform sensing using the rough teaching point as a reference. The accumulation unit accumulates teaching data of the sensing teaching point. The control unit controls the robot using the sensing teaching point. In this manner, it is possible to reduce the burden on the operator during teaching, and to operate the robot with a higher level of precision using the sensing teaching point.

A method for controlling pulse arc welding includes repeating provisions of welding currents during a peak rise period, a peak period, a peak fall period, and a base period as one pulse cycle, and performing arc length control based on a welding voltage setting value. The feed speed of the welding wire is set to: a forward-feeding peak value during the peak period; a base period forward-feeding value during the base period to generate a short circuit, where the base period forward-feeding value is smaller than the forward-feeding peak value; and a reverse-feeding peak value when the short circuit occurs. The reverse-feeding peak value is maintained after the short circuit is cleared.

A terminal device includes a coordinate-system setting portion which sets a user coordinate system on the basis of a marker included in an image, photographed by a photographing portion, including an industrial robot and a work space of the industrial robot, a coordinate giving portion which gives a coordinate of the user coordinate system to point-group data obtained by a distance measuring portion which measures a distance to an object included in the image, a region specifying portion which specifies a robot region on the user coordinate system corresponding to the industrial robot on the basis of shape size information of the industrial robot corresponding to a type of the industrial robot and attitude information of the industrial robot, and a point-group creating portion for avoidance which creates point-group data for interference avoidance by removing the point-group data included in the robot region from the point-group data obtained by the distance measuring portion.