Spot welding system
First Claim
1. A spot welding system comprising:
- a frame;
a plurality of robots, each robot having a plurality of arms and a wrist, the wrist having a plurality of drive axes, each of the plurality of arms being expandable and retractable and having distal and proximal ends, the proximal ends of the plurality of arms being supported by the frame, the distal ends of the plurality of arms of each robot being connected to the wrist of the robot such that for each robot, the plurality of arms commonly support the wrist; and
a welding gun attached to the wrist of each robot.
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Accused Products
Abstract
A spot welding system employing parallel link robots arranged densely with one another. When an arrival of a workpiece W being conveyed is detected by a camera CM, a frame moves along guides to start tracking of the workpiece, and a plurality of robots RB1-RB4, each having a parallel link with a plurality of expandable/retractable arms and a wrist mounted on a distal end of the parallel link, start operation. A plurality of points on the workpiece are welded by spot welding guns G1-G4 attached to the wrists of the respective robots. Proximal end portions of the expandable/retractable arms are swingably supported by an upright wall of the frame, and the respective robots are disposed so as to project from the frame. The parallel link robots may be suspended from the frame to be arranged densely.
30 Citations
6 Claims
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1. A spot welding system comprising:
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a frame; a plurality of robots, each robot having a plurality of arms and a wrist, the wrist having a plurality of drive axes, each of the plurality of arms being expandable and retractable and having distal and proximal ends, the proximal ends of the plurality of arms being supported by the frame, the distal ends of the plurality of arms of each robot being connected to the wrist of the robot such that for each robot, the plurality of arms commonly support the wrist; and a welding gun attached to the wrist of each robot. - View Dependent Claims (2, 3, 4, 5, 6)
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Specification