| 摘要 |
PCT No. PCT/JP97/01462 Sec. 371 Date Dec. 22, 1997 Sec. 102(e) Date Dec. 22, 1997 PCT Filed Apr. 25, 1997 PCT Pub. No. WO97/39853 PCT Pub. Date Oct. 30, 1997A spot welding system employing parallel link robots arranged densely with one another. When an arrival of a workpiece W being conveyed is detected by a camera CM, a frame moves along guides to start tracking of the workpiece, and a plurality of robots RB1-RB4, each having a parallel link with a plurality of expandable/retractable arms and a wrist mounted on a distal end of the parallel link, start operation. A plurality of points on the workpiece are welded by spot welding guns G1-G4 attached to the wrists of the respective robots. Proximal end portions of the expandable/retractable arms are swingably supported by an upright wall of the frame, and the respective robots are disposed so as to project from the frame. The parallel link robots may be suspended from the frame to be arranged densely.
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