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Servo controller for spot welding gun

A technology of servo control device and spot welding gun, applied in the direction of torque/mechanical power control, digital control, electrical program control, etc., can solve the problems of unable to speed up the responsiveness of the control system, unstable control system, etc.

Inactive Publication Date: 2007-01-24
FANUC LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, when the welding pressure control gain Kf is increased, the control system tends to become unstable, so the welding pressure control gain Kf may not be sufficiently high depending on the structure of the spot welding gun.
In such a case, the spot welding gun takes time until the welding pressure between the welding tips reaches the command welding pressure, so there is a problem that the responsiveness of the control system cannot be accelerated.

Method used

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  • Servo controller for spot welding gun
  • Servo controller for spot welding gun
  • Servo controller for spot welding gun

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Embodiment Construction

[0017] Embodiments of the present invention will be described in detail below using the drawings. figure 1 The first embodiment of the servo control device of the spot welding gun according to the present invention is shown.

[0018] The servo control device of this embodiment is to drive one of the movable welding torch nozzles in the opposite direction through a servo motor (control object) among a pair of welding torch nozzles that are not shown in the figure, and control The servo control device of the spot welding gun for the welding pressure of the object to be welded held between the nozzles is bus-connected to a high-level control device of a welding robot (not shown) via a common memory.

[0019] A not-shown host control device is composed of a CPU, an input / output interface, a ROM, a RAM, a nonvolatile RAM, and the like. The teaching operation panel used to teach various actions to the robot or set various setting values ​​and parameters is connected to the input a...

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PUM

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Abstract

There is provided a servo controller for a spot welding gun for controlling a pressurizing force, applied by a pair of mutually-opposing gun chips, on an object to be welded, including at least one movable gun chip, which is held between the pair of gun chips, by causing a drive source of the movable gun chip to drive the movable gun chip in a direction in order to pressurize the object to be welded. The servo controller includes a feedback control section for calculating a difference value (F c - F) between an obtained pressurizing-force value F and a required pressurizing-force value F c , and a feedforward control section for adding a correcting command value, obtained from a position command value or a speed command value for the drive source, to the difference value (F c - F).

Description

technical field [0001] The present invention is applicable to, for example, an industrial robot equipped with a spot welding gun, and relates to a servo control device for a spot welding gun. The control device drives at least one movable side gun tip in a pair of opposing welding gun tips through a servo motor, It also controls the welding pressure on the object to be welded held between a pair of torch nozzles. Background technique [0002] Conventionally, as a servo control device of a spot welding gun that controls the welding pressure on a welding object held between a pair of welding gun nozzles, it is disclosed in JP-A-11-65676 (JP-A-11-65676) . The servo control device controls the welding pressure through feedback control, so that the actual welding pressure is consistent with the command welding pressure. In this servo control device, the value obtained by multiplying the difference between the detected welding pressure and the commanded welding pressure by the w...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/19G05D15/01G05D17/02
CPCB23K11/314B23K11/255
Inventor 加藤哲朗有田创一最上康太
Owner FANUC LTD
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