| 摘要 |
PROBLEM TO BE SOLVED: To efficiently weld a relatively small sized part with more inexpensive equipment without necessitating human aid in a welding robot provided with a handling means for the part to be welded (work). SOLUTION: A holding device for parts to be welded is provided in a hand of a welding robot. A part holding device (work holding device) is provided with a holding end 20 which holds the part (work) in a position wherein one place of a weld position of the part (work) is matched to a position of a weld line existing on an extension line of the tip end of a welding torch or holds the part so that the part is transferred to such a position. The holding end is formed of a finger for clamping the part, an electric magnet for attracting the parts by magnetic force and a vacuum pad for sucking the part by a negative pressure or the like. A weld position of the part held with the work holding end is set by a program transferring the torch to the weld position. Energization is executed in the direction of a member attaching the part to be welded by energizing the work holding end of the work holding device toward the tip end side of the welding torch 7. |
