Welding robot

Abstract

Abstract PURPOSE:To provide a welding robot which accomplishes automatic welding from the stage of tack welding up to perfection by controlling a grip device supported to members which are positioned three dimensionally and a welding torch positioned three dimensionally with respect to said members by means of a control unit. CONSTITUTION:The 1st work W1 is positioned and fixed in abutment on strap means 29a-29c, after which the 2nd work W2 is transferred 30, and is positioned in abutment on the strap means 31b of the table 31a of a positioning device 31. Next, in this state, X-, Y-, Z- and respective control axes are controlled in the positions and postures that can grip the work W2 by the pawls 16b of a gripping device 16 by the system program recorded in a central control unit or memory device by the signals from sensors. Next, the X-, Y-, Z- control axes are controlled in such a way that the pawls 16b are positioned vertically and the work W2 horizontally. Upon completion of the positioning of the work W2, the work W2 is held gripped by the device 16, and further the welding point of the torch T is position-controlled by controlling the respective control axes, whereby tack welding executed.

Inventors

• 👤 Takeshi Yasuo

Bibliographic Details