公开(公告)号：EP3417977A1

公开(公告)日：2018-12-26

申请号：EP17753062.3

申请日：2017-02-09

申请人： Kabushiki Kaisha Kobe Seiko Sho (Kobe Steel, Ltd.)

发明人： SHIKA, Yuki ,  MINATO, Tatsuji

IPC分类号： B23K9/12 ,  B23K9/022 ,  B23K9/30 ,  B25J13/00 ,  B25J17/02 ,  B23K11/11 ,  B23K26/08

CPC分类号： B23K9/022 ,  B23K9/12 ,  B23K9/30 ,  B23K11/11 ,  B23K26/08 ,  B25J13/00 ,  B25J17/02

摘要： A welding device (100) is provided with: an articulated robot (11) having a plurality of drive axes; an end effector (23) supported by the articulated robot; a distal-end axis drive mechanism (21) which is disposed between a distal-endmost drive axis (19) of the articulated robot and the end effector, and which causes the distal-end axis of the end effector to perform a weaving operation; and a drive control unit (41) which drives the articulated robot and the distal-end axis drive mechanism. The distal-end axis drive mechanism includes a first axial drive unit for driving in a first axial direction perpendicular to the distal-end axis of the end effector, and a second axial drive unit for driving in a second axial direction perpendicular to the distal-end axis and the first axial direction.