Abstract: A displacement detector is attached to the pressure cylinder which operates scissored gun arms to open and close the welding gun instead of being attached directly to the arms and measures displacement of the piston rod. An optical distance sensor mounted on the front cover of the cylindr is disposed to face the piston and determine the distance thereto. Alternatively, a linear moving type potentiometer can be mounted outside the cylinder having its slider connected to the piston rod.

Abstract: A robot apparatus includes a robot having a swingable arm, a wrist mechanism mounted on the arm, and a running mechanism for displacing the robot in a prescribed direction. The wrist mechanism is coupled to an attachment member by an actuator having a fluid cylinder substantially parallel to the arm. When a component to be attached to a workpiece is held by a jig mounted on the wrist mechanism, the fluid cylinder is actuated to lift the wrist mechanism in order to correct the jig for the distance it is lowered due to the weight of the component. The wrist mechanism includes a bracket mounted on the arm by a support shaft, the bracket and the support shaft having fluid passages for supplying fluid under pressure to a torque actuator disposed in the bracket. The running mechanism is disposed in a pit defined in a floor on which the robot apparatus is located.

Abstract: An electrode tip replacement apparatus for a welding gun comprising a housing having a through-hole through which an electrode tip attached to a gun arm of a welding gun can be inserted, a chuck member in such through-hole and having a ring shaped cam rotated by a driving source and a plurality of chucking claws pivotally attached for engaging and rotating an electrode tip inserted through said through-hole for removing the electrode tip from the welding gun arm.

Abstract: The gun arm has a tail end portion provided with a flange with notches therein and a tapered portion extending rearwards from the flange. The arm holder on the gun body has a tapered hole formed to allow the tapered portion to be fitted thereinto via a receiving recess. Locking projections corresponding in shape to the notches of the flange are provided along the inner circumference of the opening end of the receiving recess. The exchange apparatus includes a gun arm indexing magazine with a plurality of gun arm holders, and a transfer device for transferring gun arms back and forth between the magazine and the welding gun.

Abstract: A robot apparatus includes a robot having a swingable arm, a wrist mechanism mounted on the arm, and a running mechanism for displacing the robot in a prescribed direction. The wrist mechanism is coupled to an attachment member by an actuator having a fluid cylinder substantially parallel to the arm. When a component to be attached to a workpiece is held by a jig mounted on the wrist mechanism, the fluid cylinder is actuated to lift the wrist mechanism in order to correct the jig for the distance it is lowered due to the weight of the component. The wrist mechanism includes a bracket mounted on the arm by a support shaft, the bracket and the support shaft having fluid passages for supplying fluid under pressure to a torque actuator disposed in the bracket. The running mechanism is disposed in a pit defined in a floor on which the robot apparatus is located.

Abstract: A welding control apparatus and a method for controlling thereof for automatic welding machines having a welding gun successively moved by a robot to a plurality of welding spots on a work object for welding is disclosed. The welding control apparatus and the method for controlling thereof detect any abnormal conditions for preventing damages to the gun or undesired occurrence of holes in the work object.

Abstract: A touch-up welding apparatus for welding such portions of a motorcar body which remain unwelded after the body has passed along a main welding portion of an assembly line. Plural welding gun magazines holding differing welding guns are disposed along side of a welding station into which the motorcar body is positioned. A framework surrounds the welding station and supports the main body of a welding robot which is movable laterally and longitudinally of the station. A turnable, swingable wrist portion is provided on a lower end of an upwardly and downwardly movable robot arm attached to the robot main body. The differing welding guns may be selectively attached to the wrist portion and moved about the motorcar body as desired to weld the remaining unwelded portions thereof.

Abstract: The present invention is directed to machining reforming apparatus for machining electrodes of a resistance welding device. The apparatus comprises a body having an insertion portion for receiving at least one electrode and at least one rotary cutter, the cutter having a cutter portion adapted to extend along a peripheral inclined surface on a front portion of an electrode. A receiving base member is positioned within the body on the axis of rotation of the rotary cutter, wherein the receiving base member is adapted to abut a front end surface of an electrode. The cutter portions are biased radially inward towards an electrode, the biasing device maintaining proper contact between the edge of the cutter and the electrode.

Abstract: A robot-type welding apparatus including a stationary main body, a supporting arm extending from a moveable forwardly and rearwardly of the main body, a tiltable wrist base body pivotally supported on the front end portion of the supporting arm, a shaft rotatably extending longitudinally through and supported by the wrist base body, a wrist member 6 to the front end of the shaft, an expansion arm member mounted on the wrist member substantially at right angles to the shaft being moveable along its longitudinal axis relative to the wrist member, and a welding gun attached to the forward end of the expansion arm member. A mechanism for moving the supporting arm relative to the main body, a mechanism for tilting the wrist base body relative to the supporting arm, a mechanism for rotating the shaft relative to the wrist base body, and a mechanism for moving the expansion arm member relative to the wrist member are provided.