| 摘要 |
PURPOSE:To automate welding work by moving jigs which hold bar-like steel materials of which crossing parts are welded like a grid with respect to a welding machine by means of a robot provided with supporting means for the work. CONSTITUTION:Jigs 7 which hold the work 8 of prescribed sizes like a grid are placed on the supporting jaws 66 of supporting means 6 for the work and are supported elastically. Then a robot 1 moves the supporting means to the position of a spot welding machine 9 by the controlling taught by swiveling and turning links 2, 4, so that the first crossing parts to be welded of the work 8 are made coincident with the positions of electrodes 93, 94. When this operation stops, the electrodes 93, 94 are made downward and upward by actuators 95, 96 to sandwich the work 8, whereby said parts are welded. Upon ending of the welding, the electrodes 93, 94 are spaced, and the link 4 is turned around the pivotal shaft 3 according to the spacings between the crossing parts of the work 8, whereby the jigs 7 are moved like an arc and the next crossing parts are matched with the electrode positions. |
