Abstract
PROBLEM TO BE SOLVED: To provide a spot welding robot which precisely detects the direction vertical to its face without using a special detector regardless of the shape of a tip of an electrode. SOLUTION: The spot welding robot 1 is provided with a welding gun 8 at the wrist of a multi-joint type robot 2. The welding gun 8 has a fixed electrode 13 and a moving electrode 14, and the moving electrode 14 is driven by a servo motor Mw. In order to detect the direction vertical to its face at a welding dotting spot Pc of a work W, a cone 30, whose central axis line B is a dotting angle at welding dotting spot Pc and having a bottom plane 32 including the welding dotting spot Pc, is set, and plural designated spots P1 to P8 on the outer periphery of the bottom plane 32 are set. The electrode 13 is moved to each designated spots P1 to P8, the electric current of the servo motor Mw is stored at each spot, and in the case where the difference between the maximum and the minimum electric currents is smaller than the predetermined value D, a dotting angle is shifted for an angular displacement to the side of the designated spot P5 where the electric current becomes minimum, and a teaching data are corrected.
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