CA1233885A - Workpiece feeding apparatus in seam welding machine - Google Patents
Workpiece feeding apparatus in seam welding machineInfo
- Publication number
- CA1233885A CA1233885A CA000482954A CA482954A CA1233885A CA 1233885 A CA1233885 A CA 1233885A CA 000482954 A CA000482954 A CA 000482954A CA 482954 A CA482954 A CA 482954A CA 1233885 A CA1233885 A CA 1233885A
- Authority
- CA
- Canada
- Prior art keywords
- workpiece
- robot
- welding machine
- electrode rolls
- turnable
- 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
Landscapes
- Manipulator (AREA)
Abstract
ABSTRACT OF THE DISCLOSURE
A workpiece feeding apparatus for a seam welding machine of the type wherein part of a workpiece to be welded is fed bet-ween a pair of electrode rolls mounted on the seam welding machine comprises a robot that can move three-dimensionally in any desired direction. The robot has a wrist portion of three shaft con-struction supporting a chuck for holding the workpiece and is mounted on the body of the seam welding machine.
A workpiece feeding apparatus for a seam welding machine of the type wherein part of a workpiece to be welded is fed bet-ween a pair of electrode rolls mounted on the seam welding machine comprises a robot that can move three-dimensionally in any desired direction. The robot has a wrist portion of three shaft con-struction supporting a chuck for holding the workpiece and is mounted on the body of the seam welding machine.
Description
The invention relates to a workpiece ~eeding appara-tus in a seam welding machine for carrying out an automatic seam welding operation on a workpiece such as a fuel tank for a two~wheeled vehicle or the like.
It has heen usual hitherto, when a workpiece is to be Mig or Tig welded, for the workpiece to be fixed and the foregoing welding to be carried out in such a manner that a welding torch is moved by a robot. However, if seam welding is to be carried with the workpiece fixed, a welding unit of comparatively large weight comprising a pair of electrode rolls, a pressure applying mechanism, and a rotation driving mechanism must be mounted on the robot. As a result, the robot becomes slow in its working speed, and conseguently the productivity of the welded workpieces becomes low.
Alternatively, a stationary type seam welding machine can be installed on the floor and the workpiece moved by a robot so that a portion of the workpiece to be welded is fed between a pair of electrode rolls forming part of the seam welding machine. ~owever, where the portion to be welded is three-dimensionally curved, such as a butt flange portion of a tank outer panel and a tank bottom panel of a fuel tank -Eor a two-wheeled vehicle~ three-dimensional movement control of the workpi.ece and attitude co.ntrol thereof are required.
If the robot is installed on a floor, the floor space for the whole of the apparatus including the seam weld-ing machine is increased, and in addition cooling water applied to the workpiece is liable to be applied to the robot with the danger of causing rust or undesirable effects.
The present invention alleviates the aforementioned problems.
According to the present invention there is p:rovided the combination of a workpiece ~eeding apparatus and a welding ,i~"
machine comprising: a seam welding machine having a machine body and a pair of electrode rolls provided on the machine body to engage a workpiece for welding a seam thereon; a work-piece feeding apparatus comprising a robot mechanism support-ing a chucking means for holding a workpiece, said robot mech-anism being arranged to move said workpiece three dimension-ally in rotation and translation in any desired direction to assume any posture; said workpiece feeding apparatus being arranged with respect to said welding machine to hold a work-piece in position for engagement by said electrode rolls alonga three-dimensionally curved portion of said workpiece to be welded, and for controlling movements and posture of said workpiece to maintain said workpiece in engagement with said electrode rolls along said portion to be welded; and said robot mechanism of said workpiece feeding apparatus comprising a robot main body mounted on said welding machine body, said robot main body and said electrode rolls being arranged to be relatively turnable with respect to each other about an axial line passing through the centers of said electrode rolls.
Suitably the robot and the two electrode rolls are arranged to be relatively turnable about a single axial line connecting between the center of the two electrode rolls. Desirably the robot comprises a robot main body which is turnable, a first arm pivotally attached to the robot main body, and a second arm pivotally attached to a forward end of the first arm, and wherein a rotary shaft of the robot main body is in alignment with said axial line. Preferably the two electrode rolls are so arranged as to be turnable about said axial line. Suitably said robot is arranged to be turnable with respect to said welding machine about one of said axes. Desirably said elec-trode rolls are arranged to be turnable with respect to said welding machine about an axial line passing through the cen-
It has heen usual hitherto, when a workpiece is to be Mig or Tig welded, for the workpiece to be fixed and the foregoing welding to be carried out in such a manner that a welding torch is moved by a robot. However, if seam welding is to be carried with the workpiece fixed, a welding unit of comparatively large weight comprising a pair of electrode rolls, a pressure applying mechanism, and a rotation driving mechanism must be mounted on the robot. As a result, the robot becomes slow in its working speed, and conseguently the productivity of the welded workpieces becomes low.
Alternatively, a stationary type seam welding machine can be installed on the floor and the workpiece moved by a robot so that a portion of the workpiece to be welded is fed between a pair of electrode rolls forming part of the seam welding machine. ~owever, where the portion to be welded is three-dimensionally curved, such as a butt flange portion of a tank outer panel and a tank bottom panel of a fuel tank -Eor a two-wheeled vehicle~ three-dimensional movement control of the workpi.ece and attitude co.ntrol thereof are required.
If the robot is installed on a floor, the floor space for the whole of the apparatus including the seam weld-ing machine is increased, and in addition cooling water applied to the workpiece is liable to be applied to the robot with the danger of causing rust or undesirable effects.
The present invention alleviates the aforementioned problems.
According to the present invention there is p:rovided the combination of a workpiece ~eeding apparatus and a welding ,i~"
machine comprising: a seam welding machine having a machine body and a pair of electrode rolls provided on the machine body to engage a workpiece for welding a seam thereon; a work-piece feeding apparatus comprising a robot mechanism support-ing a chucking means for holding a workpiece, said robot mech-anism being arranged to move said workpiece three dimension-ally in rotation and translation in any desired direction to assume any posture; said workpiece feeding apparatus being arranged with respect to said welding machine to hold a work-piece in position for engagement by said electrode rolls alonga three-dimensionally curved portion of said workpiece to be welded, and for controlling movements and posture of said workpiece to maintain said workpiece in engagement with said electrode rolls along said portion to be welded; and said robot mechanism of said workpiece feeding apparatus comprising a robot main body mounted on said welding machine body, said robot main body and said electrode rolls being arranged to be relatively turnable with respect to each other about an axial line passing through the centers of said electrode rolls.
Suitably the robot and the two electrode rolls are arranged to be relatively turnable about a single axial line connecting between the center of the two electrode rolls. Desirably the robot comprises a robot main body which is turnable, a first arm pivotally attached to the robot main body, and a second arm pivotally attached to a forward end of the first arm, and wherein a rotary shaft of the robot main body is in alignment with said axial line. Preferably the two electrode rolls are so arranged as to be turnable about said axial line. Suitably said robot is arranged to be turnable with respect to said welding machine about one of said axes. Desirably said elec-trode rolls are arranged to be turnable with respect to said welding machine about an axial line passing through the cen-
- 2 -ters of said electrode rollsO
The invention will now be described in more detail, by way of example only, with reference to the accompanying drawings, in which:-Fig. 1 is a side view of a seam welding machineincorporating one embodiment of the invention;
Fig. 2 is a front view thereof;
Fig. 3 is an enlarged side view of an important part of the apparatus;
Fig.s 4-6 are perspective views of important parts of the apparatus for explaining the operation thereof;
Fig. 7 is a side view of another embodiment of the invention; and Fig. 8 iS a front ViQW thereof.
In Fig .s 1 and 2, numeral 1 denotes a machine body of a seam welding machine, and a pair of upper and lower elec-trode rolls 2,3 are provided on a front portion of the machine body 1. As shown in Fig. 2, the upper electrode roll 2 is rotatably supported on an electrode holder 5 which is movable upwards and downwards by a pair of right and left pressure applying cylinders 4,4. The holder 5 is provided thereon with a knurl member 6 which abuts a circumferential surface of the upper electrode rolls 2 so that the upper electrode roll 2 may be driven to rotate through the knurl member 6 by a drivln~
source ~not illustrated). The lower electrode roll 3 is rotatably supported on an electrode holder 7 fixed to the machine body 1 so that if the upper electrode roll 2 is lowered by the pressure applying cylinders 4,4, s ~b - 2a -~ 3 a bu~t flange portion c of a fuel tank A, that is, the workpiece~
can be held between -the two electrode rolls 2,3, and if the upper electrode roll 2 is rotated, the flange portion c can be subjected to a seam welding.
A robot 10 that can move three-dimensionally in any desired direction, i-ts wrist portion 9 of three-axial construc-tion supporting a chucking means 8 for holding the fuel tank A, is mounted on -the foregoing machine body 1.
In more detail, in the illustrated example, -the robot 10 comprises a robot main body 11 which is turnable about a rotary shaft lla extending in the vertical direction, a first arm 12 extending forwards from -the robot main body 11 and so attached thereto through a laterally extending pivot shaft 12a provided on a rear end portion thereof as to be swingable upwards and downwards, and a second arm 13 ex-tending downwards from the first arm 12 and so a-ttached thereto through a laterally extend-ing pivot shaft 13a provided on an upper end portion thereof as to be swingable forwards and rearwards. The robo-t 10 is mounted on an upper surface of the machine body 1 through a base member 14 provided on a lower side of -the robot main body 11, and the wrist por-tion 9 thereof is at-tached to a lower end of the second arm 13 so -that the wrist portion 9 is movable three-dimensionally in any desired direction by a combination of move-ments of the robot main body 11 and the two arms 12,13.
The robot main body 11 is so arranged as to be turnable through a bevel gear means llc by an electric motor llb provided on -the base member 14, and the respective arms 12,13 are so ar-ranged as to be movable -to swlng by respec-tive electric mo-tors 12b,13b provided right and left on an attaching base 19 pivotally provided on a rearwardly extended portion of the first arm 12, through respec-tive chains (not illustra-ted) between the motors 12b,13b and the shafts 12a,13a, respectively. Numeral l9a deno-tes a link which is so provided between -the base 19 and -the main body 11 as -to be in parallel wi-th the extended portion.
In the foregoing embodiment, the two arms 12,13 are swingable arms. However, these two arms 12,13 can be modified in-to a righ-t-angled co-ordinate type arm mechanism wherein the firs-t arm 12 is movable -to advance and retrea-t in front and rear directions in rela-tion -to -the robot main body 11, and the second arm 13 is movable -to advance and retreat in upper and lower direc-tions in relation to the first arm 12.
This modified arrangement can be further modified into a right-angled three-dimensional co-ordinate construction by m~king the robot main body 11 laterally slidable.
The three-shaft construc-tion wrist portion has a wrist main body 15 thereof at-tached -to the lower end of the second arm 13 which is provided with a rotary shaEt 16 -turnable -through a bevel gear means 16b by an electric motor 16a, and a cross joint 17 comprising two shafts 17b,17c crossing one another at right angles attached to the rotary shaft 16.
As shown clearly in Fig. 4, one of the shafts 17b,17c of the cross joint 17, tha-t is, the shaft 17b is supported on a stationary yoke 17a formed integrally on a lower end of the rotary shaft 16. The other shaft 17c is supported on a movable yoke 17d, and the foregoing chucking means 8 is attached to the yoke 17d so that the fuel tank A held by the chucking means 8 can be changed three-dimensionally to assume any desired posture by a combination of movements of the three shafts 16,17b,17c.
The wrist main body 15 is so arranged that its constan-t posture can be maintained, even if there is swingable movement of-the-two arms 12,13, by a parallel link mechanism 18 cc~prising a pair of links 18a, 18b provided on the two arms 12,13 and thereby the ro-tary shaft 16 supported thereon can be always maintained in the vertical direc-tion.
The chucking means 8 is prov:Lded with a chucking member 8a for holding a charging opening portion _ o the fuel tank A and a pair of attracting pads 8b,8b for sticlcing fast to an ou-ter surface of the -tank A.
The operation of the apparatus will be explained as follows:-When the fuel -tank _ is held by the chucking means 8, a desired part of the flange portion c is placed on.the lower electrode roll 3, and -then the upper electrode roll 2 is lowered to hold the flange por-tion c between the two elec-trode rolls 2,3.
~ Thereafter, -the upper electrode roll 2 is rotated and at the same time the robot main body 11 and the two arms 12,13 are operated so as to move the wrist por-tion 9 along on a -three-dimensional locus previously defined. In addition, the posture of -the fuel tank A is changed three-dimensionally by respec-tive movements of the three shafts 16,17b,17c of the wrist portion 9. Every part of -the flange portion c -to be welded is con-tinuously fed between the two el.ec-trode rolls 2,3, as shown in ~ig.s 4-6. During this opera-tion, the fuel tank A is applied wi-th a cooling water -through a wa-ter supply pipe (no-t illustrated) so as not to generated ther-2~ mal deformation of the -tank A.
In practice, due to such factors as -the difference between the feeding speed of the fuel tank A and the leading-in speed of the par-t of the flange portion c between the two elect-: rode rolls 2,3 that is caused by ro-tation of -the upper electrode roll 2, thermal deformation caused by welding, or o-ther factors, -the advancing direction of the two electrode rolls 2,3 in rela-ting -to the flange portion c to be welded some-times devia-tes from -the normal welding line, and -therefore i-t is desirable that this deviation can be properly compensated for by -the operator.
In this case, i-t is intended to compensate for -the advancing di.rection of -the -two electrode rolls 2,3 by turning the fuel tarlk A wi-th the ro-tary shaf-t 16 oE the wrist portion 9 which ._ 5 p~:~
is parallel -to the vertical axis X connec-ting the centers of the two electrode rolls 2,3, but the fuel tank A actually cannot be turned because part of -the flange portion c is held firmly bet-ween the two electrode rolls 2,3. To achieve the compensation of the advancing direction effectively, it is necessary to turn -the fuel tank A about the axis X in relation -to the two electrode rolls 2,3.
With -this problem in mind, the robot 9 is so mounted on the machine body 1 as to be in alignment at the rotary shaft lla of the robot main body 11 with the axis X so that the compen-sation of the advancing direction can be made merely by turning the robot main body 11.
Incidentally, if the rotary shaft lla is not in align-ment with -theaxis X, the fuel tank A can be turned about -theaxis X only when the -two arms 12,13 and the rotary shaft 16 are operated simultaneously with -the turning of the robot main body 11. Thus, i-t is ex-tremely difficult in prac-tice for an operator to carry out those operations by operating a control means for those members 12,13 and lh.
In the foregoing example, the robot 9 is arranged to be turnable about the axis X in rela-tion to the two electrode rolls 2,3, but almos-t the same effec-t can be obtained by making the two electrode rolls 2,3 themselves turnable about the axis X.
E'ig.s 7 and 8 show an embodiment of -this type of appara-tus. The electrode holder 5 for the upper electrode roll 2 is rotatably suppor-ted on a bearing 5b coaxial with the axis X that is provided on a frame base 5a which is movable upwards and downwards by the cylinders 4,4. Additionally, -the elec-trode holder 7 for -the lower elec-trode roll 3 is ro-ta-tably supported on ~a bearing 7a coaxial with the axis X that is provided on the machine body 1. The -two holders 5,7 are so arranged as to be turnable synchronously by an appropriate dri.ving source (not ~%3~
illustrated).
In the described embodiment, a workpiece is held through a chucking means on a wrist portion of three-shaft construction so that a three-dimensional posture control of -the workpiece can be effected. Additionally, the wrist portion is movable three-dimensionally in any desired direction by a robot so that a three-dimensional movemen-t control of the workpiece may be effec--ted. Thus, even if a por-tion of the workpiece to be welded is three-dimensionally curved, seam welding can be carried out with high efficiency and automatically by feeding the portion -to be welded continuously between a pair of electrode rolls o:E a seam welding machine. Addi-tionally, as the robot is mounted on the machine body of the seam welding machine, only the installa-tion space sufficient for the seam welding machine is requi.red, and this is advantageous in using effectively fac-tory floor space by that amount. At the same -time, rusting of the robot or of other undesirable effects caused by splashing on the robot of cooling wa-ter can be avoided and thus the durability or longevity of the robot can be improved.
The invention will now be described in more detail, by way of example only, with reference to the accompanying drawings, in which:-Fig. 1 is a side view of a seam welding machineincorporating one embodiment of the invention;
Fig. 2 is a front view thereof;
Fig. 3 is an enlarged side view of an important part of the apparatus;
Fig.s 4-6 are perspective views of important parts of the apparatus for explaining the operation thereof;
Fig. 7 is a side view of another embodiment of the invention; and Fig. 8 iS a front ViQW thereof.
In Fig .s 1 and 2, numeral 1 denotes a machine body of a seam welding machine, and a pair of upper and lower elec-trode rolls 2,3 are provided on a front portion of the machine body 1. As shown in Fig. 2, the upper electrode roll 2 is rotatably supported on an electrode holder 5 which is movable upwards and downwards by a pair of right and left pressure applying cylinders 4,4. The holder 5 is provided thereon with a knurl member 6 which abuts a circumferential surface of the upper electrode rolls 2 so that the upper electrode roll 2 may be driven to rotate through the knurl member 6 by a drivln~
source ~not illustrated). The lower electrode roll 3 is rotatably supported on an electrode holder 7 fixed to the machine body 1 so that if the upper electrode roll 2 is lowered by the pressure applying cylinders 4,4, s ~b - 2a -~ 3 a bu~t flange portion c of a fuel tank A, that is, the workpiece~
can be held between -the two electrode rolls 2,3, and if the upper electrode roll 2 is rotated, the flange portion c can be subjected to a seam welding.
A robot 10 that can move three-dimensionally in any desired direction, i-ts wrist portion 9 of three-axial construc-tion supporting a chucking means 8 for holding the fuel tank A, is mounted on -the foregoing machine body 1.
In more detail, in the illustrated example, -the robot 10 comprises a robot main body 11 which is turnable about a rotary shaft lla extending in the vertical direction, a first arm 12 extending forwards from -the robot main body 11 and so attached thereto through a laterally extending pivot shaft 12a provided on a rear end portion thereof as to be swingable upwards and downwards, and a second arm 13 ex-tending downwards from the first arm 12 and so a-ttached thereto through a laterally extend-ing pivot shaft 13a provided on an upper end portion thereof as to be swingable forwards and rearwards. The robo-t 10 is mounted on an upper surface of the machine body 1 through a base member 14 provided on a lower side of -the robot main body 11, and the wrist por-tion 9 thereof is at-tached to a lower end of the second arm 13 so -that the wrist portion 9 is movable three-dimensionally in any desired direction by a combination of move-ments of the robot main body 11 and the two arms 12,13.
The robot main body 11 is so arranged as to be turnable through a bevel gear means llc by an electric motor llb provided on -the base member 14, and the respective arms 12,13 are so ar-ranged as to be movable -to swlng by respec-tive electric mo-tors 12b,13b provided right and left on an attaching base 19 pivotally provided on a rearwardly extended portion of the first arm 12, through respec-tive chains (not illustra-ted) between the motors 12b,13b and the shafts 12a,13a, respectively. Numeral l9a deno-tes a link which is so provided between -the base 19 and -the main body 11 as -to be in parallel wi-th the extended portion.
In the foregoing embodiment, the two arms 12,13 are swingable arms. However, these two arms 12,13 can be modified in-to a righ-t-angled co-ordinate type arm mechanism wherein the firs-t arm 12 is movable -to advance and retrea-t in front and rear directions in rela-tion -to -the robot main body 11, and the second arm 13 is movable -to advance and retreat in upper and lower direc-tions in relation to the first arm 12.
This modified arrangement can be further modified into a right-angled three-dimensional co-ordinate construction by m~king the robot main body 11 laterally slidable.
The three-shaft construc-tion wrist portion has a wrist main body 15 thereof at-tached -to the lower end of the second arm 13 which is provided with a rotary shaEt 16 -turnable -through a bevel gear means 16b by an electric motor 16a, and a cross joint 17 comprising two shafts 17b,17c crossing one another at right angles attached to the rotary shaft 16.
As shown clearly in Fig. 4, one of the shafts 17b,17c of the cross joint 17, tha-t is, the shaft 17b is supported on a stationary yoke 17a formed integrally on a lower end of the rotary shaft 16. The other shaft 17c is supported on a movable yoke 17d, and the foregoing chucking means 8 is attached to the yoke 17d so that the fuel tank A held by the chucking means 8 can be changed three-dimensionally to assume any desired posture by a combination of movements of the three shafts 16,17b,17c.
The wrist main body 15 is so arranged that its constan-t posture can be maintained, even if there is swingable movement of-the-two arms 12,13, by a parallel link mechanism 18 cc~prising a pair of links 18a, 18b provided on the two arms 12,13 and thereby the ro-tary shaft 16 supported thereon can be always maintained in the vertical direc-tion.
The chucking means 8 is prov:Lded with a chucking member 8a for holding a charging opening portion _ o the fuel tank A and a pair of attracting pads 8b,8b for sticlcing fast to an ou-ter surface of the -tank A.
The operation of the apparatus will be explained as follows:-When the fuel -tank _ is held by the chucking means 8, a desired part of the flange portion c is placed on.the lower electrode roll 3, and -then the upper electrode roll 2 is lowered to hold the flange por-tion c between the two elec-trode rolls 2,3.
~ Thereafter, -the upper electrode roll 2 is rotated and at the same time the robot main body 11 and the two arms 12,13 are operated so as to move the wrist por-tion 9 along on a -three-dimensional locus previously defined. In addition, the posture of -the fuel tank A is changed three-dimensionally by respec-tive movements of the three shafts 16,17b,17c of the wrist portion 9. Every part of -the flange portion c -to be welded is con-tinuously fed between the two el.ec-trode rolls 2,3, as shown in ~ig.s 4-6. During this opera-tion, the fuel tank A is applied wi-th a cooling water -through a wa-ter supply pipe (no-t illustrated) so as not to generated ther-2~ mal deformation of the -tank A.
In practice, due to such factors as -the difference between the feeding speed of the fuel tank A and the leading-in speed of the par-t of the flange portion c between the two elect-: rode rolls 2,3 that is caused by ro-tation of -the upper electrode roll 2, thermal deformation caused by welding, or o-ther factors, -the advancing direction of the two electrode rolls 2,3 in rela-ting -to the flange portion c to be welded some-times devia-tes from -the normal welding line, and -therefore i-t is desirable that this deviation can be properly compensated for by -the operator.
In this case, i-t is intended to compensate for -the advancing di.rection of -the -two electrode rolls 2,3 by turning the fuel tarlk A wi-th the ro-tary shaf-t 16 oE the wrist portion 9 which ._ 5 p~:~
is parallel -to the vertical axis X connec-ting the centers of the two electrode rolls 2,3, but the fuel tank A actually cannot be turned because part of -the flange portion c is held firmly bet-ween the two electrode rolls 2,3. To achieve the compensation of the advancing direction effectively, it is necessary to turn -the fuel tank A about the axis X in relation -to the two electrode rolls 2,3.
With -this problem in mind, the robot 9 is so mounted on the machine body 1 as to be in alignment at the rotary shaft lla of the robot main body 11 with the axis X so that the compen-sation of the advancing direction can be made merely by turning the robot main body 11.
Incidentally, if the rotary shaft lla is not in align-ment with -theaxis X, the fuel tank A can be turned about -theaxis X only when the -two arms 12,13 and the rotary shaft 16 are operated simultaneously with -the turning of the robot main body 11. Thus, i-t is ex-tremely difficult in prac-tice for an operator to carry out those operations by operating a control means for those members 12,13 and lh.
In the foregoing example, the robot 9 is arranged to be turnable about the axis X in rela-tion to the two electrode rolls 2,3, but almos-t the same effec-t can be obtained by making the two electrode rolls 2,3 themselves turnable about the axis X.
E'ig.s 7 and 8 show an embodiment of -this type of appara-tus. The electrode holder 5 for the upper electrode roll 2 is rotatably suppor-ted on a bearing 5b coaxial with the axis X that is provided on a frame base 5a which is movable upwards and downwards by the cylinders 4,4. Additionally, -the elec-trode holder 7 for -the lower elec-trode roll 3 is ro-ta-tably supported on ~a bearing 7a coaxial with the axis X that is provided on the machine body 1. The -two holders 5,7 are so arranged as to be turnable synchronously by an appropriate dri.ving source (not ~%3~
illustrated).
In the described embodiment, a workpiece is held through a chucking means on a wrist portion of three-shaft construction so that a three-dimensional posture control of -the workpiece can be effected. Additionally, the wrist portion is movable three-dimensionally in any desired direction by a robot so that a three-dimensional movemen-t control of the workpiece may be effec--ted. Thus, even if a por-tion of the workpiece to be welded is three-dimensionally curved, seam welding can be carried out with high efficiency and automatically by feeding the portion -to be welded continuously between a pair of electrode rolls o:E a seam welding machine. Addi-tionally, as the robot is mounted on the machine body of the seam welding machine, only the installa-tion space sufficient for the seam welding machine is requi.red, and this is advantageous in using effectively fac-tory floor space by that amount. At the same -time, rusting of the robot or of other undesirable effects caused by splashing on the robot of cooling wa-ter can be avoided and thus the durability or longevity of the robot can be improved.
Claims (6)
PROPERTY OR PRIVILEGE IS CLAIMED ARE DEFINED AS FOLLOWS:
1. The combination of a workpiece feeding apparatus and a welding machine comprising: a seam welding machine hav-ing a machine body and a pair of electrode rolls provided on the machine body to engage a workpiece for welding a seam thereon; a workpiece feeding apparatus comprising a robot mechanism supporting a chucking means for holding a workpiece, said robot mechanism being arranged to move said workpiece three dimensionally in rotation and translation in any desired direction to assume any posture; said workpiece feeding appa-ratus being arranged with respect to said welding machine to hold a workpiece in position for engagement by said electrode rolls along a three-dimensionally curved portion of said work-piece to be welded, and for controlling movements and posture of said workpiece to maintain said workpiece in engagement with said electrode rolls along said portion to be welded; and said robot mechanism of said workpiece feeding apparatus com-prising a robot main body mounted on said welding machine body, said robot main body and said electrode rolls being arranged to be relatively turnable with respect to each other about an axial line passing through the centers of said elec-trode rolls.
2. An apparatus as claimed in claim 1, wherein the robot and the two electrode rolls are arranged to be rela-tively turnable about a single axial line connecting between the centers of the two electrode rolls.
3. An apparatus as claimed in claim 2, wherein the robot comprises a robot main body which is turnable, a first arm pivotally attached to the robot main body, and a second arm pivotally attached to a forward end of the first arm, and wherein a rotary shaft of the robot main body is in alignment with said axial line.
4. An apparatus as claimed in claim 2, wherein the two electrode rolls are so arranged as to be turnable about said axial line.
5. An apparatus as claimed in claim 1 wherein said robot is arranged to be turnable with respect to said welding machine about one of said axes.
6. An apparatus as claimed in claim 1 wherein said electrode rolls are arranged to be turnable with respect to said welding machine about an axial line passing through the centers of said electrode rolls.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA000482954A CA1233885A (en) | 1985-05-31 | 1985-05-31 | Workpiece feeding apparatus in seam welding machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA000482954A CA1233885A (en) | 1985-05-31 | 1985-05-31 | Workpiece feeding apparatus in seam welding machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1233885A true CA1233885A (en) | 1988-03-08 |
Family
ID=4130609
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000482954A Expired CA1233885A (en) | 1985-05-31 | 1985-05-31 | Workpiece feeding apparatus in seam welding machine |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA1233885A (en) |
-
1985
- 1985-05-31 CA CA000482954A patent/CA1233885A/en not_active Expired
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4652719A (en) | Workpiece feeding apparatus in seam welding machine | |
| CA1201176A (en) | Robotic automatic welding apparatus | |
| EP0160293A1 (en) | Laser welding system and apparatus | |
| CN107322142B (en) | Height self-adaptive adjusting device for TIG welding gun | |
| EP0361140B1 (en) | Industrial robot | |
| JP4699807B2 (en) | Welding equipment | |
| CA1233885A (en) | Workpiece feeding apparatus in seam welding machine | |
| US4652718A (en) | Workpiece feeding apparatus in seam welding machine | |
| CN113385843B (en) | Automatic welding device | |
| JP3249547B2 (en) | Stud welding equipment | |
| KR20070066238A (en) | The carriage device for overhead position welding robot system | |
| KR900001672B1 (en) | Work piece feeding apparatus in seam welding m/s | |
| KR20110027352A (en) | Tig torch with automatic weaving function and welding method using it | |
| CA1235193A (en) | Workpiece feeding apparatus in seam welding machine | |
| US3473001A (en) | Welding machine carriage and track assembly | |
| JPH10109170A (en) | Automatic fillet welding device for large-sized block | |
| KR900001673B1 (en) | Workpiece feeding apparatus in seam welding m/c | |
| KR102426356B1 (en) | Welding robot that forms uniform weaving bead by performing welding in precise weaving operation along the welding line formed on the steel pipe | |
| JPH0368791B2 (en) | ||
| JPS6213274A (en) | Track correcting method in automatic seam welding equipment and its track correcting equipment | |
| CN85104213A (en) | Seam welder send the workpiece device | |
| JPS6333945B2 (en) | ||
| JP2526952B2 (en) | Automatic welding equipment | |
| CN210254638U (en) | Welding tank body of robot | |
| CN115351402B (en) | Arc welding workstation capable of flexibly switching production |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| MKEX | Expiry |