The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 16, 1977
Filed:
Mar. 30, 1976
Shimon Ando, Hitachi, JA;
Hitachi, Ltd., , JA;
Abstract
An automatic welding apparatus having a robot and a welding torch, the robot including a main body serving as a drive means, an arm supported and driven by the main body to move in three-dimensional directions, and a wrist connected to a forward end of the arm for universal pivotal movement and supporting the welding torch. The wrist has mounted thereon two tactile sensors for sensing the positions of components to be joined by welding into a unitary structure, one of such sensors extending radially of the pivotal axis of the wrist and the other tactile sensor extending in the direction of the pivotal axis of the wrist. The positions of points at which welding should be performed are calculated based on the amount of displacement of each tactile sensor whereby the operation of the welding torch can be controlled.