| 摘要 |
PURPOSE:To remarkably diversify the attitude actions of a tool, to enhance its control function, to eliminate the interruption and stop of work and to improve the work efficiency by incorporating a slope action axis between the slew action axis of a robot wrist part and a rotational action axis. CONSTITUTION:The slew action axis 14 to slew and operate a welding torch (a) is continuously installed on the end of a robot arm, that is, the end of a vertical action axis 13. The slope action axis 15 to incliningly operating the welding torch (a) is perpendicularly disposed on the end of the slew action shaft 14, and the rotational action axis 16 with a work tool holder 17 to rotate and operate said torch (a) is protrusively disposed perpendicular to both axis 14 and 15, thereby constituting the robot wrist part. A computer 23 sots out the actions of the axis 14 and 15 for positional direction due to the slew of the torch (a), proceeding and reteating angles due to inclination and an inclination angle due to rotation, and controls the axis 14 and 15 through numerical analysis using coordinate inversion. The computer calculates the angles of respective shafts, selects answers which can switch the shaft angle in an attitude at the leading edge to that in an attitude at the tailing edge, and issues an action command to a robot main body 20.
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