TEACHING SYSTEM AND TEACHING PROCESS FOR A WELDING ROBOT

摘要

A teaching system wraps a welding wire when detecting that the tip end of the welding wire has come in contact with a teaching object, and advances the welding wire unless it is detected that the tip end of the welding wire has come into contact with the teaching object. In addition, the teaching system moves the robot in a direction away from the teaching object when the current projection length of the welding wire is less than a certain length, and moves the robot in an approaching direction to the teaching object when the present projection length is larger than the predetermined length , When it is determined that the present protrusion length is the same as the predetermined length, the teaching system stops advancing and winding up the welding wire and stops the robot and stores it as a teaching position.