| 摘要 |
PURPOSE:To prevent breakdown of a robot and a welding gun by detecting abnormal position of the spot welding gun as deviation from the setting angle of a fixed side arm to an end shaft of the robot and stopping the robot and a system by this detection. CONSTITUTION:A gap between teaching position of the robot and spotting position of tips 5, 6 caused by deformed work 13 is developed and abnormal force is loaded to the spot welding gun 1, and the gun 1 becomes the abnormal position. This condition is detected as the deviation from the setting angle of the fixed side arm 3 by an approaching switch 16 and the detected result is outputted as signal to outside. Then, the robot and the system are stopped and the breakdown of the robot and the spot welding gun 1 is made to the minimum.
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