AUTOMATIC WELDING METHOD BY GENERAL-PURPOSE TYPE WELDING ROBOT

摘要

PURPOSE:To perform automatic welding with a general-purpose type welding robot wherein respective movable parts are controlled by a pattern signal and a sensor signal by holding a torch at the bottom end of a rotatable spindle mounted to a frame which is driven longitudinally, transversely and vertically and swiveling, moving forward and backward and tilting the torch. CONSTITUTION:A girder 2 moves forward or backward as an axle 29 is driven by a motor 25. A moving carriage 3 is moved to the right and left by a motor 31. A spindle 4 is moved upward and downward by a motor 47 and is rotated by a motor 50. A torch holding shaft 61 mounted to the bracket 62 at the bottom end of the spindle 4 is rotated by a motor 64. The torch advancing and retreating shfat 72 of a horizontal cylinder 7 provided at the bottom end of the shaft 61 is advanced or retreated by a motor 73 and the torch 6 of a torch holder 79 is tilted and turned by a motor 80. Each motor is detected and driven by the signal consisting of the above-mentioned combined pattern and the signal for the torch position by the detector, whereby automatic welding is accomplished.