POSITION CONTROL DEVICE FOR SPOT WELDING ROBOT

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.