公开(公告)号：JPH01258872A

公开(公告)日：1989-10-16

申请号：JP8355388

申请日：1988-04-05

Applicant: TOYOTA MOTOR CORP

Inventor： KUSUMA NORIYUKI ,  KAWAMURA KEIJI ,  KUBO KAORU

IPC: B23K11/24 ,  B23K11/10 ,  B23K11/11

Abstract: PURPOSE:To reduce the welding time by mounting a work on a lower electrode and allowing an encoder to detect set points on a mobile locus to execute electrification while an upper electrode provided to a robot via an anti-heat means being pressed on the work and eliminating the need for a timer. CONSTITUTION:The upper electrode 33 is opposed to the lower electrode 37 and moved to the position separated by a gap A by an action of a robot arm 31a. The position of the robot arm 31a at this time is made to a predetermined set point (a) on the mobile locus of the robot arm 31a. The robot arm 31a is then advanced by dimensions B and moved to a predetermined set point (b) on the mobile locus. By this method, the work 39 is sandwiched and pressed between the upper and lower electrodes 33 and 37. When the robot arm 31a is moved from the set point (a) at the set point (b) on the mobile locus, since the upper electrode 33 presses the work 39, the encoder 38 detects the set points (a) and (b) and transmits a signal to execute electrification and spot welding is performed.

公开(公告)号：JPS6245483A

公开(公告)日：1987-02-27

申请号：JP18618485

申请日：1985-08-23

Applicant: TOYOTA MOTOR CORP

Inventor： KUBO KAORU ,  MIZUNO IKUMI ,  KUSUMA NORIYUKI

IPC: B23K11/24

Abstract: PURPOSE:To remarkably reduce the manhour in position teaching by detecting the angle slippage of the gun pressure axis for the welding spot of a work and the direct axis of the work face by a position detecting mechanism and by operating, correcting and storing the movement of each axis necessary for the angle correction. CONSTITUTION:A position detecting mechanism 25 is fitted to the holder 21 at the tip of a gun 8 in the device to perform the movement and position control 40 of the three-dimensional and revolving directions for the work 48 of a welding gun 8 at the instruction of a teaching operating part 30. The angle slippage of the gun pressure axis and work 48 face direct axis id detected by the distance sensor 28 arranged in three pieces at 120 deg. intervals for the tip 25d at the tip and operated by comparing with a teaching program storing ROM 44 by the arithmetic processing CPU 43 of the control device 40 and the corrected program is stored into a temporary storing RAM 45. With performing a spot welding by fitting a welding tip to the gun 8 and by storing to the RAM 45 an accurate spot welding is thereafter performed by the position teaching correction in short time.