| 摘要 |
PROBLEM TO BE SOLVED: To eliminate the need of additional parts for working out the original position by correcting the original position of an welding gun actuator based on the abrasion volume of both electrodes. The abrasion volume of one electrode is calculated by a driving position of a welding robot, and the abrasion volume of the other electrode is calculated by a driving position of the welding gun actuator. SOLUTION: One electrode 41 is pressed to a reference abutting portion 10 by driving a welding robot 2, and the abrasion volumeδ1 of the pressed electrode 41 is obtained by the comparison with an electrode position in a non- abrasive state. A pair of electrodes 41 , 4u are touched and abutted to each other by driving a welding gun actuator 5. The total sumδ1 of the abrasion volume of a pair of the electrodes 41 , 4u is obtained from the difference between the present electrode contact position and the electrode contact position before abrasion of the welding gun actuator 5, and the abrasion volumeδu of the other electrode 4u is obtained by subtractingδ1 hornδ1 . The original position of the welding gun actuator 5 is corrected based on the original position X0δ1 , andδu after the electrode abrasion.
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