| 摘要 |
PROBLEM TO BE SOLVED: To provide a spot welding robot by which whether the deposition of a mobile electrode or the deposition of a fixed electrode can be distinguished and detected. SOLUTION: The welding robot 1 is constituted by equipping a welding gun 8 on the wrist of an articulated type welding robot 2. The welding gun 8 has the fixed electrode 14 and a mobile electrode 13 to be driven by a servomotor Mw for welding. After performing spot welding, a moving command is given to the robot 2 and the servomotor Mw for welding so that both electrodes 13, 14 are separated from a work W. When electrodes 13, 14 have not deposited, both electrodes 13, 14 can separate from the work W, however when the only mobile electrode 13 has deposited, a reaction is generated on the mobile electrode 13, and when the only fixed electrode 14 has deposited, a reaction is generated on the fixed robot 2 side, and when both electrodes 13, 14 have deposited, a reaction is generated on the mobile electrode 13 and the robot 2 respectively.
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