| 摘要 |
PURPOSE:To enable the welding of the plural spots of the body to be welded automatically by using the flexible transfer device consisting of robots, by holding the body to be welded at the tip of the hand which is a part of the transfer device and thereafter by actuating a welding machine as well as by revolving, retreating, advancing and rotating the hand. CONSTITUTION:A work 1 is removed from a starting table 2 with the ascent of hands 3A and 3B and is revolved 90 deg. to the left direction with retreating the hands 3A and 3B when the work 1 of the above of the starting table 2 is held with the advance of the hands 3A and 3B of transfer device 3. Whether other works exist on a work table 5 or not is detected by an access sensor 9 with the revolution of 45 deg. which is an intermediate position. In case of no work existing on the starting table 5, the transfer device 3 sets the flange 1a of the work 1 on the lower part electrode tip 4B of a welder 4 with performing the vertical movement, horizontal movement and advance of the hands 3A and 3B without stopping at the 45 deg. revolution position. The welding machine 4 starts a welding stage when the correct setting of the work 1 is confirmed by the sensor 9 and the welding is performed with the descent of the upper part electrode.
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