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JPS6340683A - Automatic shaping and automatic exchanging method for welding electrode and its device - Google Patents

Automatic shaping and automatic exchanging method for welding electrode and its device

Info

Publication number
JPS6340683A
JPS6340683A JP18317886A JP18317886A JPS6340683A JP S6340683 A JPS6340683 A JP S6340683A JP 18317886 A JP18317886 A JP 18317886A JP 18317886 A JP18317886 A JP 18317886A JP S6340683 A JPS6340683 A JP S6340683A
Authority
JP
Japan
Prior art keywords
electrode
automatic
shaping
welding
robot
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.)
Granted
Application number
JP18317886A
Other languages
Japanese (ja)
Other versions
JPH0698505B2 (en
Inventor
Hirobumi Abe
博文 安部
Shinichi Inoue
真一 井上
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Motor Corp
Original Assignee
Toyota Motor Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Toyota Motor Corp filed Critical Toyota Motor Corp
Priority to JP61183178A priority Critical patent/JPH0698505B2/en
Publication of JPS6340683A publication Critical patent/JPS6340683A/en
Publication of JPH0698505B2 publication Critical patent/JPH0698505B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00Resistance welding; Severing by resistance heating
    • B23K11/30Features relating to electrodes
    • B23K11/3063Electrode maintenance, e.g. cleaning, grinding
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00Resistance welding; Severing by resistance heating
    • B23K11/30Features relating to electrodes
    • B23K11/3072Devices for exchanging or removing electrodes or electrode tips

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Resistance Welding (AREA)

Abstract

PURPOSE:To increase working efficiency by allowing a carriage on which an automatic shaping device and an automatic changing device of a welding electrode are installed to attain a position of a welding robot to shape or change the welding electrode installed on the robot. CONSTITUTION:After a specific number of carriages 21 on which objects to be welded are mounted are continued, the electrode automatic shaping and changing carriage 27 is mixed in the carriages. The automatic shaping and changing carriage 27 is allowed to attain the position of the welding robot 23 to shape or change the electrode 25 by the electrode shaping device 26 or the electrode changing device 26a on the carriage 27. After the changing work of the electrode 15 is finished, the welding work is again reopened from the next carriage 21. In this way, the working efficiency can be increased.

Description

【発明の詳細な説明】 (産業上の利用分野) 本発明はロボット溶接機による台車方式の溶接ラインに
おいて、台車に電極の整形装置および電極の交換装置を
そなえて溶接電極の自動整形と自動交換を行う方法およ
びその装はに関するものである。
Detailed Description of the Invention (Industrial Application Field) The present invention provides automatic shaping and automatic replacement of welding electrodes in a cart-type welding line using a robot welding machine, in which the cart is equipped with an electrode shaping device and an electrode changing device. The methods and equipment for doing so are related.

(従来の技術) 従来、ロボットによるスポット溶接の増訂工程において
は、電極が摩耗して変形した場合は、人手によってやす
シで電極を整形するか、または電極を取外して1個所に
集め、ボール盤等によシ集中研摩し、整形された電極を
ロボットの溶接ガンに手動で取付けることが行われてい
た。
(Prior art) Conventionally, in the process of spot welding using robots, when the electrodes become worn and deformed, the electrodes are manually shaped with a chisel, or the electrodes are removed and collected in one place, and the electrodes are removed using a drilling machine. In the past, the electrodes were intensively polished and shaped, and then manually attached to the robot's welding gun.

しかし、最近では第4〜5図に示すような、電極口11
/lI整形機1や、電極自動変換機10を使用して、電
極を自動榮形または交換するものも用いられるようにな
っている。
However, recently, the electrode port 11 as shown in FIGS.
/lI shaping machine 1 and automatic electrode converting machine 10 are also used to automatically shape or replace electrodes.

電極整形装置としては、例えば第4図のようなもので、
ロボットの溶接ガン2を1匡極自攬1整形機1のところ
に移動させ、溶接ガン2の先端部に取付けられた電極3
を、研摩工具4に当接させる。そこで電極自動整形機1
の保持アーム5で電極3をクランプし、エアモータ6で
研削工具4を垂直軸回シに回転させ、電極3の整形が行
われるものが用いられている。
An example of an electrode shaping device is as shown in Figure 4.
The welding gun 2 of the robot is moved to the 1st position 1st positioning machine 1, and the electrode 3 attached to the tip of the welding gun 2 is moved.
is brought into contact with the polishing tool 4. Therefore, electrode automatic shaping machine 1
The holding arm 5 clamps the electrode 3, and the air motor 6 rotates the grinding tool 4 on a vertical axis to shape the electrode 3.

電極交換装置としては、例えばggs図のようなもので
、溶接t!!極11の電極ホールダ11aをクランプ1
2で保持し、電極抜き工具15を溶接電極11とホール
ダ11aの間に挿入させ、く濱び作用により電極11を
ホールダ11aから抜きとシ、ホッパ14に落して排出
する。新しい電極15はフィーダ16から供給され、電
極取付工具17の上に載置される。電極°取付工具17
は、取付工具用シリンダ18.19によって、新、しい
電極15を、電極ホールダ11aに取付けるようになっ
ている。
As an electrode exchange device, for example, something like the ggs diagram is used, and welding t! ! Clamp 1 the electrode holder 11a of pole 11
2, the electrode extraction tool 15 is inserted between the welding electrode 11 and the holder 11a, and the electrode 11 is extracted from the holder 11a by the wedge action and dropped into the hopper 14 and discharged. A new electrode 15 is fed from the feeder 16 and placed on the electrode installation tool 17. Electrode installation tool 17
The new electrode 15 is attached to the electrode holder 11a using the mounting tool cylinders 18 and 19.

(発明が解決しようとする問題点) しかして手作業でやすシによシ成形する方法や、電極を
手で取付取外しを行うものでは、多くの工数を要する上
、ロボットの作動部に人が出入しなければならないので
危険である。また電極の自動整形機、自動交換機を用い
る場合には、ロボット1台に対し、それぞれ1台づつの
電極自動整形機と自動交換機を設置しなければならない
。その為に、設備費が膨大になるばかシでなくそれらを
設置するスペースがとれないこともおこる。
(Problem to be solved by the invention) However, the method of manually forming the shape into a shape, or the method of attaching and detaching the electrodes by hand, requires a lot of man-hours and requires a human to operate the operating part of the robot. It's dangerous because you have to go in and out. Further, when using an automatic electrode shaping machine and an automatic exchange machine, one automatic electrode shaping machine and one automatic exchange machine must be installed for each robot. For this reason, not only does the equipment cost become enormous, but it also happens that there is not enough space to install them.

本発明は自動整形装置、自動交換装置の設置スペースを
必要とせず、しかも人手を要せずにi!!極の整形およ
び交換を自動的に行うことができる方法および装置を提
供するものである。
The present invention does not require installation space for an automatic shaping device or an automatic changing device, and moreover, it does not require any manpower. ! A method and apparatus are provided in which pole shaping and replacement can be performed automatically.

(問題点を解決するだめの手段) 第1の発明の溶接電極の自yJJJJ整形と自動交換を
行う方法は、台車による被溶接物搬送方式のロボット溶
接ラインにおいて、被1fj接吻が載置される台車上に
被溶接物の代りに溶接電極の自動整形装置および自動交
換装置を装着した台車を搬送ラインの上で移動させ、前
記台車がロボットの位置に到達したとき、溶接電極の自
動整形または自動交換を行うようにしだものである。
(Means to Solve the Problem) The method of automatically shaping and automatically replacing a welding electrode according to the first invention is based on a robot welding line in which a welding object is transported by a cart, and a welding object is placed on the robot welding line. A dolly equipped with an automatic welding electrode shaping device and an automatic exchange device in place of the workpiece is moved on the conveyor line, and when the dolly reaches the robot position, the welding electrode is automatically shaped or automatically replaced. It is meant to be exchanged.

第2の発明の溶接電極の自動整形と自動交換を行う装置
は、台車による被溶接物搬送方式のロボット溶接ライン
において、被溶接物が載置された台車を、電極自動整形
装置および電極自動交換装置が装着された、電極整形交
換用台車と置換させるようにしたものである。
The device for automatically shaping and automatically exchanging a welding electrode of the second invention is a robot welding line in which the workpiece is transported by a dolly, and the dolly on which the workpiece is placed is connected to the automatic electrode shaping device and the automatic electrode exchanger. It is designed to be replaced with an electrode shaping exchange trolley equipped with a device.

(作用) このような方法および装置を用いる場合は、溶接ライン
の上には、被溶接物が載flされた台車の間に、電極整
形交換用の台車が混在し、溶接ロボットのところに流れ
てくる。電極整形交換用台車が来たときは、ロボットは
そこでは溶接作業を行わず、ロボットは電極整形または
電極某換装はのところに電極を当接させた状態で停止す
る。そして電極整形変換用の台車内の制御装置は、そこ
で電極の整形作条または電極の又換作業が行うようにプ
ログラムされており、電極の整形および交換が行われる
(Function) When using such a method and device, on the welding line, a trolley for electrode shaping exchange is mixed between the trolleys carrying objects to be welded, and the flow to the welding robot is mixed. It's coming. When the electrode shaping/replacing trolley arrives, the robot does not perform any welding work there, and the robot stops with the electrode in contact with the location where the electrode shaping or electrode replacement is to be performed. The control device in the carriage for electrode shaping and conversion is programmed to carry out the electrode shaping or changing operations therein, and the electrode shaping and replacement are performed.

(実施例) 以下本発明の実施例を図について説明する。(Example) Embodiments of the present invention will be described below with reference to the drawings.

第1図〜第3図は組立用搬送ライン20の上で、溶接が
行われる部分を示すもので、被溶接物(図示せず)が載
置される台車21がライン20上を動くものとする1台
車21は台車移動装置22によって動かされるもので、
台車21には、通常は被溶接物例えば自動車ボデーが載
置され、搬送ライン20の横に据付けられている溶接ロ
ボット23によって、溶接作業が行われるようになって
いる。一方台車21の何台かに1台は、自動車ボデーが
載置されていない。
Figures 1 to 3 show the parts where welding is performed on the assembly conveyance line 20, and it is assumed that a cart 21 on which objects to be welded (not shown) are placed moves on the line 20. One cart 21 to be moved is moved by a cart moving device 22,
An object to be welded, such as an automobile body, is normally placed on the trolley 21, and welding work is performed by a welding robot 23 installed next to the transport line 20. On the other hand, one out of several carts 21 does not have an automobile body mounted thereon.

その代シ第4図、第5図の電極整形装置1、電極自動交
換装置10と同様な電極自動整形装置26および電極自
動交換装置26aが装着された電極自動整形・交換用台
車27が混在し、溶接ロボット23の浴接ガン24に装
着されている電極25の整形または変換を行う。
Instead, an automatic electrode shaping/replacement cart 27 equipped with an automatic electrode shaping device 26 and an automatic electrode changing device 26a similar to the electrode shaping device 1 and the automatic electrode changing device 10 shown in FIGS. 4 and 5 are mixed together. , the electrode 25 attached to the bath gun 24 of the welding robot 23 is shaped or converted.

組立用搬送ライン20の台車21の上の自動車ボデーは
、溶接ロボット23の溶接ガン24によって溶接作業が
行われるが、溶接ガン24の先端の電極25は、何台か
のボデーの溶接をしたならば摩耗、変形するので整形し
なければならず、そうして倒回か整形をくりかえすうち
に短くなってしまって、交換しなければならなくなる0
本実施例では、台車211こ自動車ボデーが載置された
もの10台がつyいた後は、電極自動整形変換台車27
が来て、該台車の電極整形装置26により電極の自動整
形が行われ、また自動車ボデーの載置された台車21が
100台つヌいた後は、電極交換装置26aにより、電
極交換が行われる。 “ 電極整形交換用台車27が溶接ロボット23のところに
到達すると、溶接ロボット23は通常の溶接作業の動作
を行わず、溶接ガン24の@極25を、電極整形装置2
6に当接するようプログラムされている。また電極整形
tt東+WQ27が溶接ロボット23のところへ米だな
らば、自動的に電源や空気源(図示せず)が、電極整形
交換用台車27に連結される。そして電極整形交換用台
車27内にある制御装置28が作動を開始して電極整形
が自動的に行われる。
The car bodies on the carts 21 of the assembly transport line 20 are welded by the welding gun 24 of the welding robot 23, but the electrode 25 at the tip of the welding gun 24 If it wears out and becomes deformed, it must be reshaped, and as it is repeatedly turned over or reshaped, it becomes shorter and has to be replaced.
In this embodiment, after the 10 carts on which 211 automobile bodies are mounted are assembled, the electrode automatic shaping conversion cart 27
Then, the electrodes are automatically shaped by the electrode shaping device 26 of the trolley, and after 100 trolleys 21 on which car bodies are placed have been loaded, the electrodes are replaced by the electrode changing device 26a. . “When the electrode shaping exchange trolley 27 reaches the welding robot 23, the welding robot 23 does not perform normal welding work, but replaces the pole 25 of the welding gun 24 with the electrode shaping device 2.
It is programmed to touch 6. Further, when the electrode shaping ttto+WQ27 is brought to the welding robot 23, a power source and an air source (not shown) are automatically connected to the electrode shaping exchange trolley 27. Then, the control device 28 in the electrode shaping exchange trolley 27 starts operating, and electrode shaping is automatically performed.

電極整形装置26は、第4図における電極整形装置1と
同様な構成を持っているから、保持アーム5によって電
極がクランプされ、エアモータ6によって研削工具4が
回転するという作動と同様な作動が、制御装置21iこ
よって制御されて、電極25が整形される。電極25の
整形が終れば、次の台車21には、自動車ボデーが載置
されていて前と同様な溶接作業がつyけられる。
Since the electrode shaping device 26 has the same configuration as the electrode shaping device 1 shown in FIG. 4, the electrode is clamped by the holding arm 5 and the grinding tool 4 is rotated by the air motor 6. The electrode 25 is shaped under the control of the control device 21i. Once the electrode 25 has been shaped, a car body is placed on the next truck 21 and the same welding work as before is carried out.

台車21が100台通過すると、電極整形変換台車27
に載置されたt極自動交換装置26aによシ、電極交換
が行われる。電極整形変換台車27が、溶接ロボット2
3のところに到達すると、溶接ロボット23は、溶接ガ
ン24の電極25を、電極交換装置26aに当接するよ
うプログラムされている。また電極変換用台車27aが
溶接ロボット23のところに来たならば、自動的に電源
や空気源(図示せず)が電極整形交換用台車27に連結
される。そしてt極整形交換用台車27内Iこある制御
装置28が作動を開始じて、電極交換が自動的に行われ
る。
When 100 carts 21 pass, the electrode shaping conversion cart 27
Electrode exchange is performed by the t-electrode automatic exchange device 26a mounted on the t-pole automatic exchange device 26a. The electrode shaping conversion trolley 27 is the welding robot 2
3, the welding robot 23 is programmed to bring the electrode 25 of the welding gun 24 into contact with the electrode changing device 26a. Further, when the electrode conversion cart 27a comes to the welding robot 23, a power source and an air source (not shown) are automatically connected to the electrode shaping and replacement cart 27a. Then, the control device 28 in the T-pole shaping exchange trolley 27 starts operating, and electrode exchange is automatically performed.

電極交換装置26aは、第5図における電極交換装置1
0と同様な構成を持っているから、制御装置28に制御
されて同様な動作を行い、電極を交換する。
The electrode exchange device 26a is the same as the electrode exchange device 1 in FIG.
Since it has the same configuration as 0, it performs the same operation under the control of the control device 28 and replaces the electrode.

(発明の効果) 本発明は上記のような構成と作用を有するものであるか
ら、本発明の方法および装置を用いることによシ、令名
ロボット1台について1台づつの電極整形装置または電
極交換装置を有していたものが、ロボット100台に対
して電極整形装置及び電極交換装置が2〜4台ですみ、
設備費が大巾1ζ低減される。また電極整形装置及び電
極交換装置の設置場所に関するスペースその他の問題点
がすべて解消する。
(Effects of the Invention) Since the present invention has the above-described configuration and operation, by using the method and device of the present invention, it is possible to reduce the number of electrode shaping devices or electrodes for each robot. Instead of having an exchange device, only 2 to 4 electrode shaping devices and electrode exchange devices are required for every 100 robots.
Equipment costs are reduced by 1ζ. Further, all problems such as space and other problems regarding the installation location of the electrode shaping device and the electrode exchanging device are solved.

また電極整形交換用台車を適正頻度で配設し循環させる
ことによシ、各工程の電極が適正頻度で整形および交換
でき、訂接品式の安定化をはかることができる。その他
作業工数が低減され、また自動整形装置で定期的(こ7
E極を整形するため、溶接電流のステップアップコント
ロールが不要になる等の効果をも有している。
Furthermore, by arranging and circulating the electrode shaping/replacing trolley at an appropriate frequency, the electrodes in each process can be shaped and replaced at an appropriate frequency, and it is possible to stabilize the process of changing parts. Other work man-hours are reduced, and the automatic shaping device periodically
Since the E-electrode is shaped, it also has the effect of eliminating the need for step-up control of welding current.

【図面の簡単な説明】[Brief explanation of the drawing]

第1図は本発明の犬施例の溶接ラインの正面図、第2図
はその電極整形交換用台車の側面図、第3図はその平面
図、第4図は従来の電極整形装置の側面図、第51.?
Iは従来の電極変換装置の側面図である。 20・・・組立用搬送ライン 21・・・台車22・・
・台車移動装置  23・・・溶接ロボット26・・・
電極整形装置  26a・・・電礪又換衷護27・・・
1!極′翳形交換用台車 特許出願人  トヨタ自動車株式会社 第 1  f、1 第 2 1!、1 ’A”;  3  置1 第4図
Fig. 1 is a front view of the welding line of the dog embodiment of the present invention, Fig. 2 is a side view of its electrode shaping exchange trolley, Fig. 3 is its plan view, and Fig. 4 is a side view of a conventional electrode shaping device. Fig. 51. ?
I is a side view of a conventional electrode conversion device. 20... Assembly transport line 21... Trolley 22...
・Dolly moving device 23...Welding robot 26...
Electrode shaping device 26a... Electrode shaping device 27...
1! Extremely dark-shaped replacement trolley patent applicant Toyota Motor Corporation No. 1 f, 1 No. 2 1! , 1 'A''; 3 position 1 Fig. 4

Claims (2)

【特許請求の範囲】[Claims] (1)台車による被溶接物搬送方式のロボット溶接ライ
ンにおいて、被溶接物が載置される台車上に、被溶接物
の代りに溶接電極の自動整形装置および自動交換装置を
装着した台車を移動させ、前記台車が、ロボットの位置
に到達したとき、電極の整形または交換を行うことを特
徴とする溶接電極の自動整形および自動交換方法。
(1) In a robot welding line in which the workpiece is transported by a trolley, a trolley equipped with an automatic welding electrode shaping device and an automatic exchange device is moved in place of the workpiece onto the trolley on which the workpiece is placed. and when the cart reaches the position of the robot, the electrode is shaped or replaced.
(2)台車による被溶接物搬送方式のロボット溶接ライ
ンにおいて、被溶接物が載置された台車を、電極自動整
形装置および電極自動交換装置が装着された電極整形交
換用台車と置換させたことを特徴とする溶接電極の自動
整形および自動交換装置。
(2) In a robot welding line that uses a trolley to transport objects to be welded, the trolley on which the objects to be welded are placed is replaced with an electrode shaping and replacement trolley equipped with an automatic electrode shaping device and an automatic electrode changing device. An automatic shaping and changing device for welding electrodes, which is characterized by:
JP61183178A 1986-08-04 1986-08-04 Automatic welding electrode shaping and replacement device Expired - Lifetime JPH0698505B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP61183178A JPH0698505B2 (en) 1986-08-04 1986-08-04 Automatic welding electrode shaping and replacement device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP61183178A JPH0698505B2 (en) 1986-08-04 1986-08-04 Automatic welding electrode shaping and replacement device

Publications (2)

Publication Number Publication Date
JPS6340683A true JPS6340683A (en) 1988-02-22
JPH0698505B2 JPH0698505B2 (en) 1994-12-07

Family

ID=16131138

Family Applications (1)

Application Number Title Priority Date Filing Date
JP61183178A Expired - Lifetime JPH0698505B2 (en) 1986-08-04 1986-08-04 Automatic welding electrode shaping and replacement device

Country Status (1)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102189323A (en) * 2010-03-12 2011-09-21 上海拖拉机内燃机有限公司 Method and system for replacing electrode outside working position of robot spot welding
CN104416278A (en) * 2013-08-22 2015-03-18 罗伯特·博世有限公司 Device for changing electrode caps of a welding unit and welding method
WO2015073404A1 (en) * 2013-11-12 2015-05-21 Comau, Inc. Assembly line quality control cart and method
US10384873B2 (en) 2016-05-06 2019-08-20 Comau Llc Inverted carrier lift device system and method
US11420853B2 (en) 2019-10-03 2022-08-23 Comau Llc Assembly material logistics system and methods
US11905114B2 (en) 2020-06-08 2024-02-20 Comau Llc Assembly material logistics system and methods

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61200674U (en) * 1985-06-05 1986-12-16

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61200674U (en) * 1985-06-05 1986-12-16

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102189323A (en) * 2010-03-12 2011-09-21 上海拖拉机内燃机有限公司 Method and system for replacing electrode outside working position of robot spot welding
CN104416278A (en) * 2013-08-22 2015-03-18 罗伯特·博世有限公司 Device for changing electrode caps of a welding unit and welding method
WO2015073404A1 (en) * 2013-11-12 2015-05-21 Comau, Inc. Assembly line quality control cart and method
US10384873B2 (en) 2016-05-06 2019-08-20 Comau Llc Inverted carrier lift device system and method
US10807801B2 (en) 2016-05-06 2020-10-20 Comau Llc Inverted carrier lift device system and method
US11420853B2 (en) 2019-10-03 2022-08-23 Comau Llc Assembly material logistics system and methods
US11905114B2 (en) 2020-06-08 2024-02-20 Comau Llc Assembly material logistics system and methods

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