| 摘要 |
PROBLEM TO BE SOLVED: To automatically and effectively weld an internal face of a box shaped block by installing a turning stand at the top end of a horizontal telescopic arm and mounting an articulated welding robot on the above. SOLUTION: In the state with an opening part of a box shaped block 20 arranged in front of a fixing stand 2, a robot turning stand 4 is fallen forward and an articulated robot 10 is extended horizontally, a horizontal telescopic arm 3 is expanded, the articulated robot 10 is inserted inside the block from a narrow part of a diaphragm, etc., and it is stopped at a prescribed position. Then, the robot turning stand 4 is turned, the articulated robot 10 is actuated, a welding torch is moved to the welding start point and the automatic welding is executed. In this case, welding is executed by making the welding weaving frequency without the range of a resonance frequency±0.5Hz of the device.
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