Spot welding system and method of controlling pressing force of spot welding gun

摘要

A spot welding system using a spot welding gun having a servomotor for driving welding tips capable of suppressing variation of pressing force due to influence of heat generated by welding current to obtain a uniform pressing force. A position control of the welding tips is performed based on motion commands r and position feedback amounts y to obtain a torque command (current command) tau to drive the servomotor (S1, S2). A difference between the temperature T detected by a temperature sensor (S3) and an initial temperature T0 is multiplied by a coefficient A to obtain a pressing force compensation amount alpha (S4). In a pressing force control, the pressing force compensation amount alpha is subtracted from the commanded pressing force p to obtain temperature compensated command pressing force p' (S8, S9). A pressing force d estimated by an observer is subtracted from the compensated command pressing force p' and an obtained difference is multiplied by a constant K2 to obtain a torque command (current command) tau for driving the servomotor to press the objects by the welding tips (S10). Since the commanded pressing force p is compensated in accordance with the temperature T, a constant and stable pressing force is produced without influence of the temperature variation. IMAGE