JPH0222264U - - Google Patents
Info
- Publication number
- JPH0222264U JPH0222264U JP9711588U JP9711588U JPH0222264U JP H0222264 U JPH0222264 U JP H0222264U JP 9711588 U JP9711588 U JP 9711588U JP 9711588 U JP9711588 U JP 9711588U JP H0222264 U JPH0222264 U JP H0222264U
- Authority
- JP
- Japan
- Prior art keywords
- axis
- shaft
- wrist
- horizontal rotation
- vertical axis
- 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.)
- Pending
Links
- 210000000707 wrist Anatomy 0.000 claims description 6
- 238000003466 welding Methods 0.000 claims description 5
- 238000005452 bending Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
Description
第１図は本考案配管付着品溶接ロボツトの一実
施例の正面図、第２図は平面図、第３図、第４図
は付着品センシング方法の説明図、第５図、第６
図は溶接方法の説明図である。第７図は本考案溶
接ロボツトが溶接施工対象とする配管付着品を示
す斜視図である。
１…走行レール、２…走行台車、３…前後軸、
４…水平回動軸、５…上下軸、６…半径軸、７…
手首回動軸、８…手首曲げ軸、９…溶接トーチ、
１０…距離センサー、１１…母管、１２…付着品
、１２ａ…枝管、１２ｂ…丸形補強板、１２ｃ…
角形補強板、１２ｄ…付属品。
Fig. 1 is a front view of an embodiment of the piping adhesion welding robot of the present invention, Fig. 2 is a plan view, Figs. 3 and 4 are explanatory views of the adhesion detection method, and Figs.
The figure is an explanatory diagram of the welding method. FIG. 7 is a perspective view showing a piping attachment to be welded by the welding robot of the present invention. 1... Traveling rail, 2... Traveling trolley, 3... Front and rear axle,
4...Horizontal rotation axis, 5...Vertical axis, 6...Radial axis, 7...
Wrist rotation axis, 8... Wrist bending axis, 9... Welding torch,
DESCRIPTION OF SYMBOLS 10... Distance sensor, 11... Main pipe, 12... Attached article, 12a... Branch pipe, 12b... Round reinforcing plate, 12c...
Square reinforcement plate, 12d...accessories.
Claims (1)
走行レールに載架された走行台車と、同走行台車
上に母管軸方向と直交して突設された前後軸と、
同前後軸の先端部に設けられた水平回動軸と、同
水平回動軸に昇降可能に装架された上下軸と、同
上下軸に水平方向摺動可能に係合された半径軸と
、同半径軸の先端に垂直線周りに回動可能に垂設
された手首回動軸と、同手首回動軸の下端に取付
けられた手首曲げ軸と、同手首曲げ軸に把持され
た溶接トーチと、上記水平回動軸の中心で上記上
下軸の下端に取付けられた距離センサーとを具え
たことを特徴とする配管付着品溶接ロボツト。 A traveling truck mounted on a traveling rail set in the axial direction of the main pipe to which the attached parts are welded, and a front and rear shaft protruding from the traveling truck perpendicular to the axial direction of the main pipe,
A horizontal rotation axis provided at the tip of the longitudinal axis, a vertical axis mounted on the horizontal rotation axis so that it can be raised and lowered, and a radial axis that is engaged with the vertical axis so that it can slide in the horizontal direction. , a wrist rotation shaft vertically installed on the tip of the same radius shaft so as to be rotatable around a vertical line, a wrist bending shaft attached to the lower end of the wrist rotation shaft, and a welded part held by the wrist bending shaft. A piping attachment welding robot comprising a torch and a distance sensor attached to the lower end of the vertical axis at the center of the horizontal rotation axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9711588U JPH0222264U (en) | 1988-07-22 | 1988-07-22 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9711588U JPH0222264U (en) | 1988-07-22 | 1988-07-22 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0222264U true JPH0222264U (en) | 1990-02-14 |
Family
ID=31322344
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9711588U Pending JPH0222264U (en) | 1988-07-22 | 1988-07-22 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0222264U (en) |
-
1988
- 1988-07-22 JP JP9711588U patent/JPH0222264U/ja active Pending
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