Patent ID: 8076604

Claim:
A process for the electric spot welding a workpiece, the process comprising the steps of: providing welding tongs with electrodes, the welding tongs including electrodes pressed-on the workpiece when the welding tongs are closed; moving the workpiece and the welding tongs relative to each other along a path between the welding spots; performing a plurality of spot welds along the path on the workpiece by the welding tongs; moving the workpiece and a part of the welding tongs relative to one another along the path during said performing of the spot welds, the workpiece and the welding tongs are rotated relative to one another along the path during performing of the spot welds, the workpiece and the welding tongs are rotated relative to one another about an electrode axis extending between the pressed-on electrodes when the said welding tongs are closed, the rotary motion around the welding spot is directed in a direction of the path toward a next welding spot, the workpiece and the welding tongs are rotated relative to one another during an opening of the said welding tongs, the workpiece and the welding tongs are rotated relative to one another during a closing of the welding tongs; a robot is provided for said moving of the workpiece and the part of the welding tongs relative to one another, the robot including main axes I, II, III performing a substantially constant guiding motion along the path and a superimposing compensating motion with a multiaxial robot hand, said compensating motion of the robot hand is an adjusting motion around the welding spot when the welding tongs are closed, said compensating motion of the robot hand is an orienting motion around a hand root point in a direction to a next welding spot when the welding tongs are open.