| 摘要 |
PROBLEM TO BE SOLVED: To improve the detection precision of the surface position of a welding workpiece by a movable electrode in a spot welding system. SOLUTION: In the spot welding system including a spot welding gun 14 having a movable electrode 30 driven by a servo motor 34 and a counter electrode 32 arranged facing it and provided with a multiarticulated robot 12 holding one of the welding workpiece W and the spot welding gun, the movable electrode 30 and the welding workpiece W are moved relative to each other so as to make the movable electrode 30 and the welding workpiece W approach each other, monitoring at least either the moving speed or acceleration of the movable electrode 30 during relative movement, and detecting the surface position on the side of the movable electrode 30 in the welding workpiece W from the position of the movable electrode 30 and the position of the multiarticulated robot 12 when the moving speed or acceleration of the movable electrode 30 changes by judging that the movable electrode comes into contact with the welding workpiece W. COPYRIGHT: (C)2011,JPO&INPIT
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