JPH049092Y2 - - Google Patents
Info
- Publication number
- JPH049092Y2 JPH049092Y2 JP1986118431U JP11843186U JPH049092Y2 JP H049092 Y2 JPH049092 Y2 JP H049092Y2 JP 1986118431 U JP1986118431 U JP 1986118431U JP 11843186 U JP11843186 U JP 11843186U JP H049092 Y2 JPH049092 Y2 JP H049092Y2
- Authority
- JP
- Japan
- Prior art keywords
- horizontal
- welding
- robot
- positioner
- vertical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000003466 welding Methods 0.000 claims description 33
- 230000000694 effects Effects 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
Description
【考案の詳細な説明】
（産業上の利用分野）
本考案は金属等の溶接加工における技術分野で
利用される溶接ロボツトに関するものである。[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to a welding robot used in the technical field of welding metals and the like.
（従来の技術）
一般に、溶接ロボツトとポジシヨナーとの組合
せによりワークの水平隅肉アーク溶接を行う場合
において、特に、大形で長尺のワークのアーク溶
接を行なう際、二軸のポジシヨナーによつてワー
クの溶接部位を所望の位置に移動できるようにす
ると、構造が大形になつて配置上、取扱上に問題
がある。このために止むを得ず、第５図および第
６図に示すように、一軸ポジシヨナーｐを適用す
る一方、該一軸ポジシヨナーｐに支持される大形
長尺ワークＷの両側方および上方に間隔を保つて
配置した多関節ロボツトr1，r2，r3を、ポジシヨ
ナーｐの回動軸ｓに沿つて移動可能に設けること
が行われていた。この場合、各多関節ロボツト
r1，r2，r3はワークＷの溶接部位に適した位置で、
それぞれ違つた溶接時期に分割されて使用され
る。(Prior Art) In general, when performing horizontal fillet arc welding of workpieces using a combination of a welding robot and a positioner, especially when performing arc welding of large and long workpieces, it is common to use a two-axis positioner to perform horizontal fillet arc welding of workpieces. If the welding part of the workpiece is made to be movable to a desired position, the structure becomes large and there are problems in arrangement and handling. For this reason, as shown in FIGS. 5 and 6, while applying a uniaxial positioner p, spaces are provided on both sides and above the large elongated workpiece W supported by the uniaxial positioner p. The multi-joint robots r 1 , r 2 , r 3 are arranged so as to be movable along the rotation axis s of the positioner p. In this case, each articulated robot
r 1 , r 2 , r 3 are positions suitable for the welding part of the workpiece W,
They are divided and used at different welding times.
（考案が解決しようとする課題）
ところが、上述の多関節ロボツトr1，r2，r3は
溶接部位の多少にかかわらず３基必要とし、しか
も、それぞれの多関節ロボツトが相対するワーク
Ｗの溶接部位にだけ専用的な溶接作業を行なうた
め、３基の多関節ロボツトを同時使用できず、１
基ないし２基の多関節ロボツトが休止することに
なり、溶接ロボツト全体の稼動率が低下するとい
う不具合がある。(Problem to be solved by the invention) However, the above-mentioned articulated robots r 1 , r 2 , and r 3 require three units regardless of the number of welded parts, and each articulated robot has a large number of welded parts. Because the welding work is done exclusively for the welding area, three articulated robots cannot be used at the same time, and one
There is a problem in that one or two articulated robots are stopped, and the operating rate of the entire welding robot is reduced.
本考案はかかる従来の上記問題点にかんがみ、
２基の多関節ロボツトと一軸ポジシヨナーとを組
合せて長尺のワークの所望の溶接部位に対して溶
接作業を行なうとともに、各多関節ロボツトの稼
動率を向上させるようにした溶接ロボツトを提供
するにある。 The present invention has been developed in consideration of the above-mentioned problems of the conventional technology.
To provide a welding robot which performs welding work on a desired welding part of a long workpiece by combining two articulated robots and a single-axis positioner, and improves the operating rate of each articulated robot. be.
（課題を解決するための手段）
本考案の上記課題を解決するための手段は、長
尺のワークを該ワークの長手方向に延びる回動軸
の廻りに回転可能に支持する一軸ポジシヨナー
と、該一軸ポジシヨナーの両側において該一軸ポ
ジシヨナーの回動軸と並行に敷設された左右一対
の走行レールと、該各走行レール上に走行可能に
乗架された左右の台車と、該左右両台車間に跨つ
て設けられ、各台車上に垂直に立設された左右の
縦部材と該左右の縦部材の上端部間に水平に架設
された横部材とからなり、上記両台車を同時走行
可能に連結する門形フレームと、上記左右の台車
を同時走行させる走行駆動手段と、上記門形フレ
ームの左右の縦部材のそれぞれに上下移動可能に
支持された左右の昇降基盤と、該各昇降基盤を上
下方向に昇降させる縦送り手段と、上記各昇降基
盤に上記一軸ポジシヨナー側に向かつて水平方向
に進退可能に支持された左右の水平アームと、該
各水平アームを水平方向に進退動させる水平送り
手段と、上記各水平アームの先端部に該水平アー
ムの進退方向と直交する水平軸廻りに回動可能に
支持され、先端に上記ワークに対する溶接を行う
トーチ部を有する左右の多関節ロボツトと、該各
多関節ロボツトを上記水平軸廻りに回動させるロ
ボツト回動手段とを備えたものとする。(Means for Solving the Problems) Means for solving the above problems of the present invention include a uniaxial positioner that rotatably supports a long workpiece around a rotation axis extending in the longitudinal direction of the workpiece; A pair of left and right running rails laid parallel to the rotation axis of the single-axis positioner on both sides of the single-axis positioner, a left and right bogie that is movably mounted on each of the running rails, and a straddle between the left and right bogies. The vehicle consists of left and right vertical members vertically erected on each bogie, and a horizontal member installed horizontally between the upper ends of the left and right vertical members, and connects both bogies so that they can run simultaneously. A gate-shaped frame, a travel drive means for simultaneously running the left and right carts, left and right lifting bases supported vertically movably on each of the left and right vertical members of the gate-shaped frame, and a means for moving the respective lifting bases in the vertical direction. a vertical feeding means for raising and lowering the horizontal arm; left and right horizontal arms supported on each of the lifting bases so as to be movable in the horizontal direction toward the uniaxial positioner; and a horizontal feeding means for moving the horizontal arms horizontally in the horizontal direction. , left and right multi-jointed robots each of which is rotatably supported at the tip of each of the horizontal arms about a horizontal axis perpendicular to the advancing and retreating direction of the horizontal arms, and has a torch section at the tip for welding the workpiece; and robot rotation means for rotating the multi-joint robot around the horizontal axis.
（作用）
上記の手段による作用は、一軸ポジシヨナーに
よつて所定の溶接姿勢にされたワークに対し、左
右の各多関節ロボツトは、それぞれ縦送り手段に
よりワークに対する高さが調節され、かつ水平送
り手段によつてワークに対する進退位置が調節さ
れるとともに、ロボツト回動手段によつて水平軸
の周りを回動しかつ多関節ロボツト自体でそのト
ーチ部を適正な溶接姿勢に保つた状態で、台車の
走行移動によりワークの長さ方向の送りが与えら
れる。(Function) The effect of the above means is that for a workpiece that has been set in a predetermined welding posture by a uniaxial positioner, each of the left and right multi-joint robots adjusts its height relative to the workpiece by a vertical feed means, and horizontally feeds the workpiece. The robot is rotated around the horizontal axis by the robot rotating means, and the articulated robot itself maintains its torch in an appropriate welding position. The traveling movement of gives the workpiece a feed in the longitudinal direction.
（実施例）
以下、本考案の一実施例を図面に基づいて説明
する。なお、この説明における方向は、第１図に
おいて上下方向を縦方向、左右方向を横方向、紙
面に対して直角方向を前後方向と呼ぶ。(Example) Hereinafter, an example of the present invention will be described based on the drawings. Note that in FIG. 1, the directions in this explanation are referred to as the vertical direction, the horizontal direction as the horizontal direction, and the direction perpendicular to the plane of the paper as the front-back direction.
第１図は一軸ポジシヨナーによつて大形で長尺
のワークＷの長手方向に延びる回動軸Ｓ廻りに回
転可能に支持されたワークＷに対しアーク溶接加
工をする溶接ロボツト１を示している。該溶接ロ
ボツト１は、一軸ポジシヨナーの両側においてそ
の回動軸Ｓと平行に敷設された左右一対の走行レ
ール２，２上に、それぞれ台車３，４がモータ等
の走行駆動手段（図示省略）を具備して前後移動
可能に乗架され、該各台車３，４にそれぞれ、水
平アーム５，６を縦送り（上下送り）する縦送り
手段７，８を備えた縦部材２３が立設されている
とともに、該各縦部材２３の上端部に軌間方向の
横部材９を架設して門形フレーム１０が形成さ
れ、前記各縦部材２３には縦送り手段７，８によ
つて縦送りされる水平アーム５，６が上下移動可
能に設けられ、該水平アーム５，６には水平アー
ム５，６をワークＷに向かって水平方向に進退動
させる水平送り手段１１，１２と、門形フレーム
１０で囲まれた内側空所１０ａで相対する水平ア
ーム５，６の先端部に設けられた多関節ロボツト
１３，１４を水平アーム５，６の進退方向と直交
する水平軸１５，１６の廻りに回動せしめるロボ
ツト回動手段１７，１８とが備えられてなる。さ
らに、水平アーム５，６の先端部において該水平
アーム５，６の側方には軸受フレーム１９が間隔
を保つて配置され、該軸受フレーム１９に嵌着さ
れた先端部軸受２０と、水平アーム５，６に嵌着
された基端部軸受２１とによつて前記水平軸１
５，１６の両端部が枢支されるとともに、該水平
軸１５，１６の一端にはＬ形のロボツト支持部材
２２が固設され、該ロボツト支持部材２２に、先
端にトーチ部を有する多関節ロボツト１３，１４
が固設されている。 FIG. 1 shows a welding robot 1 that performs arc welding on a work W that is rotatably supported by a uniaxial positioner around a rotation axis S extending in the longitudinal direction of a large and long work W. . The welding robot 1 has carts 3 and 4 mounted on a pair of left and right running rails 2, 2, which are laid parallel to the rotation axis S on both sides of a single-axis positioner, respectively, and drive means (not shown) such as motors. A vertical member 23 is provided on each of the carts 3 and 4 to vertically feed the horizontal arms 5 and 6 vertically (up and down). At the same time, a horizontal member 9 in the gauge direction is installed at the upper end of each vertical member 23 to form a gate-shaped frame 10, and each vertical member 23 is vertically fed by vertical feeding means 7 and 8. Horizontal arms 5 and 6 are provided to be movable up and down, and the horizontal arms 5 and 6 are provided with horizontal feeding means 11 and 12 for moving the horizontal arms 5 and 6 forward and backward in the horizontal direction toward the workpiece W, and a gate-shaped frame 10. The articulated robots 13 and 14 provided at the tips of the horizontal arms 5 and 6 facing each other in the inner space 10a surrounded by Robot rotation means 17, 18 for moving the robot are provided. Further, a bearing frame 19 is arranged at the distal end of the horizontal arms 5, 6 at a distance from each other on the side of the horizontal arms 5, 6, and a distal end bearing 20 fitted to the bearing frame 19 and a distal end bearing 20 of the horizontal arm 5 and 6, the horizontal shaft 1 is
Both ends of the horizontal shafts 15 and 16 are pivotally supported, and an L-shaped robot support member 22 is fixed to one end of the horizontal shafts 15 and 16. Robot 13, 14
is permanently installed.
前記縦送り手段７，８は第３図に示す。前記台
車３，４に立設された縦部材２３の一側には、そ
の中央部に縦ボールねじ２４が、両端部に縦ガイ
ドレール２５，２５が互いに縦方向に平行に設け
られている。一方、前記縦部材２３の一側方に間
隔を保つて配置された昇降基盤２６の一側には、
その中央部に前記縦ボールねじ２４と螺合する縦
ボールねじナツト２７が、両端部に前記縦ガイド
レール２５，２５に対して摺動自在に蟻嵌合され
る摺動ベアリング２８，２８が互いに縦方向に平
行に設けられるとともに、前記縦ボールねじ２４
の上端部（第１図参照）にモータ等の縦送り駆動
手段２９が設けられてなる。そして、上記縦送り
駆動手段２９の駆動により縦ボールねじ２４が回
転し、該縦ボールねじ２４に螺合する縦ボールね
じナツト２７を有する昇降基盤２６が縦ガイドレ
ール２５，２５の案内のもとで上下方向に昇降す
るように構成されている。 The longitudinal feeding means 7, 8 are shown in FIG. On one side of the vertical member 23 erected on the carts 3, 4, a vertical ball screw 24 is provided at the center thereof, and vertical guide rails 25, 25 are provided at both ends thereof in parallel with each other in the vertical direction. On the other hand, on one side of the elevating base 26 arranged at a distance from one side of the vertical member 23,
A vertical ball screw nut 27 is screwed into the vertical ball screw 24 at the center thereof, and sliding bearings 28, 28 are dovetail-fitted at both ends so as to be slidable relative to the vertical guide rails 25, 25. The vertical ball screw 24 is provided in parallel with the vertical direction.
A vertical feed drive means 29 such as a motor is provided at the upper end (see FIG. 1). The vertical ball screw 24 is rotated by the drive of the vertical feed driving means 29, and the lifting base 26 having the vertical ball screw nut 27 screwed into the vertical ball screw 24 is moved under the guidance of the vertical guide rails 25, 25. It is configured to move up and down in the vertical direction.
前記水平送り手段１１，１２を示す第３図にお
いて、前記昇降基盤２６の他側には、中央部に横
ボールねじナツト３０が、両端部に摺動ベアリン
グ３１，３１が互いに水平方向に平行に設けられ
ている。一方、水平アーム５，６の一側には、前
記横ボールねじナツト３０と螺合する横ボールね
じ３２と、前記摺動ベアリング３１に対して摺動
自在に蟻嵌合される横ガイドレール３３，３３と
が互いに水平方向に平行に設けられているととも
に、前記横ボールねじ３２の外端部にモータ等の
水平送り駆動手段３４が設けられてなる。そし
て、上記水平送り駆動手段３４の駆動により回転
する横ボールねじ３２が上記水平アーム５，６に
設けた横ボールねじナツト３０に螺合しているこ
とにより、該水平アーム５，６が横ガイドレール
３３の案内のもとで水平方向に進退動するように
構成されている。 In FIG. 3 showing the horizontal feeding means 11 and 12, on the other side of the lifting base 26, there is a horizontal ball screw nut 30 at the center and sliding bearings 31 and 31 at both ends parallel to each other in the horizontal direction. It is provided. On the other hand, on one side of the horizontal arms 5 and 6, there is a horizontal ball screw 32 that is screwed into the horizontal ball screw nut 30, and a horizontal guide rail 33 that is slidably dovetail-fitted to the sliding bearing 31. , 33 are provided horizontally parallel to each other, and a horizontal feed drive means 34 such as a motor is provided at the outer end of the horizontal ball screw 32. The horizontal ball screw 32 rotated by the drive of the horizontal feed drive means 34 is screwed into the horizontal ball screw nut 30 provided on the horizontal arms 5, 6, so that the horizontal arms 5, 6 can be used as horizontal guides. It is configured to move forward and backward in the horizontal direction under the guidance of rails 33.
前記ロボツト回動手段１７，１８は、前記水平
軸１５，１６の中間部に回動アーム３５が固設さ
ている一方、前記水平アーム５，６の中間部の他
側にブラケツト３６が突設され、該ブラケツト３
６にシリンダ装置３７の基端部が枢支されるとと
もに、該シリンダ装置３７のピストンロツド３８
が前記回動アーム３５の先端部３５ａにピン結合
されていることで、回動アーム３５が０〜90°の
範囲で回動して多関節ロボツト１３，１４が上記
水平軸１５，１６廻りに回動するように構成され
ている。 The robot rotating means 17, 18 has a rotating arm 35 fixedly installed at the intermediate portion of the horizontal shafts 15, 16, and a bracket 36 protruding from the other side of the intermediate portion of the horizontal arms 5, 6. , the bracket 3
The base end of the cylinder device 37 is pivotally supported by the piston rod 38 of the cylinder device 37.
is pin-coupled to the tip 35a of the rotating arm 35, so that the rotating arm 35 rotates in the range of 0 to 90 degrees, and the multi-joint robots 13 and 14 rotate around the horizontal axes 15 and 16. It is configured to rotate.
次に、本実施例の作用について説明する。 Next, the operation of this embodiment will be explained.
一軸ポジシヨナーによつて所定の溶接姿勢にさ
れたワークＷに対し、一方の多関節ロボツト１３
は縦送り手段７によつてワークＷに対して適正な
高さに調節され、、また水平送り手段１１によつ
てワークＷに対して適正な進退位置に調節され、
さらにロボツト回動手段１７によつて水平軸１５
の周りを０〜90°の範囲で適正な回動角に調節さ
れる。同様に、他方の多関節ロボツト１４におい
ても縦送り手段８、水平送り手段１２およびロボ
ツト回動手段１８によつて所望の位置に調節され
る。同時に、各多関節ロボツト１３，１４自体で
そのトーチ部がワークＷの溶接部位に対して適正
な溶接姿勢に調整される。その後は、両多関節ロ
ボツト１３，１４が走行駆動手段（図示省略）に
より、門形フレーム１０とともにワークＷの長さ
に匹敵した前後方向の送りが与えられる。したが
つて、第２図ａ，ｂ，ｃおよびｄに示すような溶
接部位は、多関節ロボツト１３，１４の溶接位置
の調節によつて同時に溶接加工が行なわれる。 One multi-joint robot 13
is adjusted to an appropriate height with respect to the workpiece W by the vertical feeding means 7, and adjusted to an appropriate advancing/retracting position with respect to the workpiece W by the horizontal feeding means 11,
Furthermore, the horizontal shaft 15 is rotated by the robot rotation means 17.
The rotation angle is adjusted to an appropriate angle within the range of 0 to 90°. Similarly, the other articulated robot 14 is adjusted to a desired position by the vertical feed means 8, the horizontal feed means 12, and the robot rotation means 18. At the same time, the torch portion of each articulated robot 13, 14 itself is adjusted to an appropriate welding posture with respect to the welding part of the workpiece W. Thereafter, both the articulated robots 13 and 14 are given a forward and backward movement equal to the length of the workpiece W together with the portal frame 10 by a travel drive means (not shown). Therefore, the welding parts shown in FIGS. 2a, b, c and d are simultaneously welded by adjusting the welding positions of the articulated robots 13 and 14.
（考案の効果）
本考案は上記のように構成したから、ワークの
両側に配設された２基の多関節ロボツトによつて
複雑な形状の長尺のワークに対しても全面アーク
溶接が可能であり、しかも各多関節ロボツトは同
時作業ができるので稼動率が大幅に向上するばか
りでなく、設備費を著しく削減しうるという効果
を有する。(Effects of the invention) Since the invention is constructed as described above, it is possible to perform full-surface arc welding on long workpieces with complex shapes using two articulated robots placed on both sides of the workpiece. Moreover, since each articulated robot can work simultaneously, it not only greatly improves the operating rate but also has the effect of significantly reducing equipment costs.
第１図〜第４図は本考案の実施例を例示し、第
１図は溶接ロボツトの正面図、第２図はワークの
各溶接部位に対する多関節ロボツトの相対姿勢を
示す図、第３図は溶接ロボツトの縦送り手段、水
平送り手段およびロボツト回動手段を一部断面で
示した平面図、第４図は第３図の−線におけ
る断面図である。第５図は溶接ロボツトの従来例
を説明する側面図、第６図は同正面図である。
１……溶接ロボツト、２……走行レール、３，
４……台車、５，６……水平アーム、７，８……
縦送り手段、９……横部材、１０……門形フレー
ム、１１，１２……水平送り手段、１３，１４…
…多関節ロボツト、１５，１６……水平軸、１
７，１８……ロボツト回動手段、２３……縦部
材、Ｓ……ポジシヨナー回動軸、Ｗ……ワーク。
Figures 1 to 4 illustrate an embodiment of the present invention, with Figure 1 being a front view of the welding robot, Figure 2 showing the relative posture of the multi-joint robot with respect to each welding part of the workpiece, and Figure 3. 4 is a partially sectional plan view showing the vertical feeding means, horizontal feeding means and robot rotation means of the welding robot, and FIG. 4 is a sectional view taken along the line -- in FIG. 3. FIG. 5 is a side view illustrating a conventional example of a welding robot, and FIG. 6 is a front view of the same. 1...Welding robot, 2...Traveling rail, 3,
4...Dolly, 5,6...Horizontal arm, 7,8...
Vertical feeding means, 9... Horizontal member, 10... Portal frame, 11, 12... Horizontal feeding means, 13, 14...
...Articulated robot, 15, 16...Horizontal axis, 1
7, 18...Robot rotation means, 23...Vertical member, S...Positioner rotation axis, W...Work.
Claims (1)
動軸の廻りに回転可能に支持する一軸ポジシヨナ
ーと、 該一軸ポジシヨナーの両側において該一軸ポジ
シヨナーの回動軸と並行に敷設された左右一対の
走行レールと、 該各走行レール上に走行可能に乗架された左右
の台車と、 該左右両台車間に跨つて設けられ、各台車上に
垂直に立設された左右の縦部材と該左右の縦部材
の上端部間に水平に架設された横部材とからな
り、上記両台車を同時走行可能に連結する門形フ
レームと、 上記左右の台車を同時走行させる走行駆動手段
と、 上記門形フレームの左右の縦部材のそれぞれに
上下移動可能に支持された左右の昇降基盤と、 該各昇降基盤を上下方向に昇降させる縦送り手
段と、 上記各昇降基盤に上記一軸ポジシヨナー側に向
かつて水平方向に進退可能に支持された左右の水
平アームと、 該各水平アームを水平方向の進退動させる水平
送り手段と、 上記各水平アームの先端部に該水平アームの進
退方向と直交する水平軸廻りに回動可能に支持さ
れ、先端に上記ワークに対する溶接を行うトーチ
部を有する左右の多関節ロボツトと、 該各多関節ロボツトを上記水平軸廻りに回動さ
せるロボツト回動手段と を備えたことを特徴とする溶接ロボツト。[Scope of Claim for Utility Model Registration] A single-axis positioner that rotatably supports a long workpiece around a rotational axis extending in the longitudinal direction of the workpiece, and a single-axis positioner that is parallel to the rotational axis of the single-axis positioner on both sides of the single-axis positioner. A pair of left and right running rails laid on the ground, left and right bogies mounted on the respective running rails so as to be able to run, and a pair of left and right bogies installed between the left and right bogies and vertically erected on each bogie. A gate-shaped frame consisting of left and right vertical members and a horizontal member installed horizontally between the upper ends of the left and right vertical members, and connecting both the bogies so that they can run simultaneously; a drive means; left and right lifting bases supported vertically movably on each of the left and right vertical members of the gate-shaped frame; a vertical feeding means for raising and lowering each of the lifting bases in the vertical direction; Left and right horizontal arms facing the uniaxial positioner side are supported so as to be movable in the horizontal direction; horizontal feeding means for moving each horizontal arm back and forth in the horizontal direction; left and right multi-joint robots that are rotatably supported around horizontal axes perpendicular to the direction and have torch parts at their tips for welding the work; and a robot rotation that rotates each of the multi-joint robots around the horizontal axes. A welding robot characterized by being equipped with a moving means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1986118431U JPH049092Y2 (en) | 1986-07-31 | 1986-07-31 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1986118431U JPH049092Y2 (en) | 1986-07-31 | 1986-07-31 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6325265U JPS6325265U (en) | 1988-02-19 |
| JPH049092Y2 true JPH049092Y2 (en) | 1992-03-06 |
Family
ID=31004875
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1986118431U Expired JPH049092Y2 (en) | 1986-07-31 | 1986-07-31 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH049092Y2 (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS54151530A (en) * | 1978-05-22 | 1979-11-28 | Nissan Motor Co Ltd | Series spot welder |
| JPS5927786A (en) * | 1982-08-10 | 1984-02-14 | Nissan Motor Co Ltd | Welding robot |
-
1986
- 1986-07-31 JP JP1986118431U patent/JPH049092Y2/ja not_active Expired
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS54151530A (en) * | 1978-05-22 | 1979-11-28 | Nissan Motor Co Ltd | Series spot welder |
| JPS5927786A (en) * | 1982-08-10 | 1984-02-14 | Nissan Motor Co Ltd | Welding robot |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6325265U (en) | 1988-02-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5388935A (en) | Six axis machine tool | |
| JP4063781B2 (en) | Transport device | |
| CN101716731B (en) | Workpiece transfer robot system | |
| CN113664416B (en) | Automatic welding machine and welding method for steel structural members | |
| JP2004516153A (en) | Platform linear positioning device | |
| CN209886867U (en) | Automatic welding special machine for five-axis piston rod | |
| EP0087449A1 (en) | Work positioner including rotatable work-tables | |
| JP2638707B2 (en) | Steel joint welding equipment | |
| JPH049092Y2 (en) | ||
| KR20120060659A (en) | Articulated welding robot | |
| US5148091A (en) | Arrangement for bringing the tool-carrying end of a robot beam to a desired one of a plurality of possible predetermined positions | |
| JPH0231632B2 (en) | ||
| JP7243855B2 (en) | Battery mounting system and battery mounting method | |
| US4056064A (en) | Transversely removable gantry loader | |
| JPH049093Y2 (en) | ||
| CA2294672A1 (en) | Apparatus for assembling motor vehicle body | |
| CN115133463B (en) | Quick wiring mechanism of car pencil | |
| JPH03184783A (en) | Robot transferrer | |
| JPH067940A (en) | Automatic welding device | |
| CN217800178U (en) | Intelligent manufacturing and processing equipment with multi-axis cooperative linkage | |
| JP2617775B2 (en) | Industrial robot with horizontal arm | |
| JPH0635080B2 (en) | Work input device for welding equipment | |
| JPH04111789A (en) | Device for moving industrial robot | |
| JPS6231265Y2 (en) | ||
| JPH049104Y2 (en) |