| 摘要 |
PURPOSE:To eliminate restrictions in the shape of weld positions and to make the shape of a gun simple and lightweight by coupling tips directly to the bottom end of a C-shaped lower arm and mounting the welding gun using a driving cylinder of an upper arm for both pressurizing and opening of tips directly to a robot hand by a supporting arm in a hinge part. CONSTITUTION:When a floor panel 43 of a vehicle body is fixed in a prescribed position, a robot R operates to feed a welding gun 41 in a direction C while an upper arm 46 is held open. Since the weld point in a tunnel part 45 is provided on the vertical wall 43a on the side opposite from the robot R, the gun can be brought to the welding point by the simple motion of advancing and ascending. Thereupon, a driving cylinder 48 turns the arm 46 so that the prescribed striking point of the wall 43a is sandwiched and pressurized by tips 51, 53. By this action, the arm 46 and the cylinder 48 are positioned in the free space on the top surface side of the panel 43, and since there are no mechanisms of pressurizing cylinders or the like on the tip 51 side, there is no interference with the work unlike in the prior art. The gun 41 is attached directly to the hand H by the supporting arm 60 of a hinge part 47 and does not require any equalizing mechanism. |
