| 摘要 |
The invention relates to a welding robot with a working arm movable in several axes and a welding torch aranged on its free end. A consumable wire electrode is guided in the welding torch. To detect and compensate for an abnormal position of the wire electrode in relation to a member of the robot, a test electrode held in an electrically insulated manner is provided at a defined fixed position inside the working range of the working arm. The test electrode can be approached by the welding torch. The test electrode contains an opening which is preferably formed in a slot shape and can accommodate the projecting end of the wire electrode with defined clearance. The slot preferably extends towards a freely accessible margin of the disc-shaped test electrode and is angled. During testing the wire electrode is moved as far as possible free of contact laterally into the slot of the test electrode. Upon contact a correction movement can be triggered which corrects the wire electrode towards the slot centre. In this way a defined point of the test slot can be approached and this position can be secured. Starting from such a located reference point, welding can be carried out again in an accurate position.
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