| 摘要 |
PROBLEM TO BE SOLVED: To solve a problem that the welding of a pipe to yokes requires a temporary welding in a troublesome manner. SOLUTION: Yokes 12 and 13 carried by an articulated robot 18 are set to yoke holding and fixing parts 15a and 16a, and aligned to each other with the angle therebetween regulated. The pipe 11 supported by pipe supporters 17 and 17' is also aligned, the yoke holding and fixing part 16a pressed by a pressing cylinder 28a is moved to the yoke holding and fixing part 15a and the yoke 13 is fitted to an end part of the pipe 11. The pipe 11 is also moved, and the other end part of the pipe 11 is fitted to a male yoke 12 to stop the movement. After the stop, the axial force to press the yokes 12 and 13 against both end parts of the pipe 11 is maintained by the pressing cylinder 28a. Thus, the pipe 11 and the yokes 12 and 13 are rotated while keeping the positional relationship to each other, and welded to each other.
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