Method of teaching welding robot
First Claim
1. A method of teaching a welding robot, said welding robot comprising a spot welding gun which is mounted via a gun support bracket on an operating end of said welding robot, said spot welding gun comprising:
- a gun main body;
a stationary electrode tip which is mounted on said gun main body so as to be immovable relative thereto;
a movable electrode tip which is mounted on said gun main body and is operated to open and close by a pressing source, said gun main body being movable by a driving source relative to said gun support bracket in a direction in which both said electrode tips lie opposite to each other, said method comprising the steps of;
in teaching said spot welding gun by the movement thereof to each weld spot position of a workpiece, moving said movable electrode tip at said each weld spot position in a closing direction relative to said gun main body by said pressing source in a state in which said gun main body is kept stationary at a predetermined position relative to said gun support bracket, and moving said stationary electrode tip in a closing direction by a relative movement of said gun main body relative to said movable electrode tip after the movable electrode tip has come into contact with the workpiece;
detecting a position at which said stationary electrode tip contacted the workpiece; and
storing said position as teaching data.
1 Assignment
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Accused Products
Abstract
A welding robot has a gun main body, a stationary electrode tip which is immovable relative to the gun main body, and a movable electrode tip which is mounted on the gun main body and is opened and closed by a pressing source. The gun main body is movable by a driving source in a direction in which both the electrode tips lie opposite to each other. In teaching the welding robot by the movement thereof to each weld spot position of a workpiece, the movable electrode tip is moved in a closing direction relative to the gun main body by the pressing source in a state in which the gun main body is kept stationary at a predetermined position relative to the gun support bracket. The stationary electrode tip is moved in the closing direction by a relative movement of the gun main body relative to the movable electrode tip after the movable electrode tip has come into contact with the workpiece. A position at which the stationary electrode tip contacted the workpiece is detected. This position is stored as teaching data.
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Citations
5 Claims
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1. A method of teaching a welding robot, said welding robot comprising a spot welding gun which is mounted via a gun support bracket on an operating end of said welding robot, said spot welding gun comprising:
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a gun main body; a stationary electrode tip which is mounted on said gun main body so as to be immovable relative thereto; a movable electrode tip which is mounted on said gun main body and is operated to open and close by a pressing source, said gun main body being movable by a driving source relative to said gun support bracket in a direction in which both said electrode tips lie opposite to each other, said method comprising the steps of; in teaching said spot welding gun by the movement thereof to each weld spot position of a workpiece, moving said movable electrode tip at said each weld spot position in a closing direction relative to said gun main body by said pressing source in a state in which said gun main body is kept stationary at a predetermined position relative to said gun support bracket, and moving said stationary electrode tip in a closing direction by a relative movement of said gun main body relative to said movable electrode tip after the movable electrode tip has come into contact with the workpiece; detecting a position at which said stationary electrode tip contacted the workpiece; and storing said position as teaching data. - View Dependent Claims (2)
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3. A method of teaching a welding robot, said welding robot comprising a spot welding gun which is mounted via a gun support bracket on an operating end of said welding robot, said spot welding gun comprising:
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a gun main body; a stationary electrode tip which is mounted on said gun main body so as to be immovable relative thereto; a movable electrode tip which is mounted on said gun main body and is operated to open and close by a pressing source, said gun main body being movable by a driving source relative to said gun support bracket in a direction in which both said electrode tips lie opposite to each other, said method comprising the steps of; in teaching said spot welding gun by the movement thereof to each weld spot position of a workpiece, moving said stationary electrode tip at said each weld position, at a predetermined set speed, through movement of said gun main body by means of said driving source in a closing direction in which said stationary electrode tip approaches the workpiece, and moving said movable electrode tip, at a relative speed which is equal to said set speed, relative to said gun main body by said pressing source in a closing direction; detecting a point of time at which said stationary electrode tip contacted the workpiece; pressing the workpiece by contacting said movable electrode tip with the workpiece while said stationary electrode tip is held to the position at the point of time of said contact; and storing the position of said stationary electrode tip at the time of pressing as teaching data. - View Dependent Claims (4, 5)
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Specification