To simplify a control logic for position control of a welding torch.
A welding torch 14 is attached to a cut ring gear 6 held by a horseshoe guide 5 so as to rotate over a cut portion 5a to form a branched pipe welding machine 4A. An end portion opposite to the cut portion 5a in the horseshoe guide 5 of the branched pipe welding machine 4A is attached to a wrist flange surface 18 on the front end side of a front end arm member 16 in a robot arm 15 of an articulated robot 3A via an attaching base member 20. A rotation transmitting means 19 is provided between a wrist shaft 17 of the articulated robot 3A protruding in a front end side of a front end arm member 16 and the cut ring gear 6 of the branched pipe welding machine 4A, thereby forming the automatic welding machine for pipes. The position control of the branched pipe welding machine 4A and the control of a circumferential operation of the welding torch 14 are executed by using the control function of each shaft other than the wrist shaft 17 originally provided in the articulated robot 3A and the control function of the wrist shaft 17.
IIJIMA TORU
MATSUOKA TAKAAKI
UCHIDA YUTA
| JPH10193112A | 1998-07-28 | |||
| JP2003094168A | 2003-04-02 | |||
| JPH02284796A | 1990-11-22 |
Hideharu Asao
Next Patent: LASER MACHINING DEVICE AND LASER MACHINING METHOD