| 摘要 |
PROBLEM TO BE SOLVED: To minimize a period required from setting of an industrial robot to an assembling line to welding of a work, and to reduce working cost following it. SOLUTION: A welding robot 10 comprises a controlling part 12, the frame 14 disposed adjacent to the controlling part 12, an arm part 18 disposed on an annular support block 16 fixed to the frame 14, and a welding gun 20 mounted to the tip of the arm part 18. The arm part 18 comprises first to sixth joints 26, 32, 40, 60, 62 and 64 and first to sixth motors 30, 36, 48, 52, 54 and 56 for rotating the first to sixth joints 26, 32, 40, 60, 62 and 64. A work positioning frame 100 comprises first to fourth master points 130, 140, 156 and 164.
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