| 摘要 |
PROBLEM TO BE SOLVED: To eliminate deformation of an object to be welded accompanying thermal expansion when a welding current is supplied with reference to an equalizing device for a welding gun. SOLUTION: A displacement amount of a movable side welding chip accompanying the thermal expansion of the object to be welded when a welding current is supplied, is detected by an encoder 21 for the welding gun to detect the displacement amount of a motor 20 for the welding gun for moving a movable side welding chip of the welding gun. Distortions near a fixing side welding chip are detected by a distortion sensor 22 provided near the fixing side welding chip of the welding gun to calculate the displacement amount of the fixing side welding chip from the distortions. The displacement amount at the center position of the object to be welded is calculated from the displacement amount of the movable side welding chip and the fixing side welding chip by a welding gun position correction device 70. Based on the displacement amount, a command correcting the location of the welding gun is transmitted to a welding robot control system 60. Based on the command, the welding robot control system 60 controls drive of motors 30, 40, 50 for the welding robot to correct the location of the welding gun. COPYRIGHT: (C)2003,JPO
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