| 摘要 |
PURPOSE:To weld an intricate work easily by making the joint length of a wrist part and a welding torch supporting part adjustable, and using the data on the joint length from a detector for controlling the attitudes of a torch. CONSTITUTION:In a robot body 12, a joint length L3 is made adjustable by a slide bar 26 extending forward from a wrist part 22 and a slide block 28. The length L3 is detected with a detector 30. A controller 10 provided with a central processing unit CPU, a program storage part ROM, a variable data storage part RAM, a control part 32 for positioning of the body 12, a driving part 34, a control part 36 for a welding power source 14, and a reception part 38 for the joint length feedbacks and controls the positions of joints J0-J4. It creates desired welding attitudes momentarily. The positions and attitudes of a torch 16 in this case are operated in accordance with joint lengths L1-L4. It is possible to control the torch to various attitudes by adjusting and setting the length L3 properly. |
