| 摘要 |
PURPOSE:To extend the allowable welding range, and to reduce the number of robots to be installed and the number of welding machines to be equipped, by mounting plural welding guns at varying angles to the movable forward end of one unit of welding robot. CONSTITUTION:Five shafts; a traversing shaft 6a which moves in a direction F, a vertical shaft 6b which moves in a direction G orthogonally therewith, a horizontal shaft 6c which moves in a direction H orthogonally with the shaft 6b, a shaft 6d which rotates in an arrow I direction with respect to the shaft 6f offset 90 deg. in the axial direction of the shaft 6c, and a shaft 6e which rotates in an arrow J direction with respect to the shaft 6g orthogonal with the shaft 6f, are mounted to the movable forward end of a welding robot 6. The positions of welding guns 2, 3 mounted to the shaft 6e are controlled with the orthogonal 3 shafts of the shafts 6a, 6b, 6c, and the attitude of the welding gun is controlled with the remaining shafts 6d, 6e, whereby the automatic welding in all ranges is made possible with one unit of the welding robot, and the number of robots is reduced. |
