Patent Description:
A welding gun is intended for resistance spot welding. Resistance spot welding became commonly used in the industry. For example, spot welding is used for connecting metal body parts in vehicle manufacturing. Welding guns generally have a first movable electrode driven by an electromechanical linear actuator (hereinafter, EMA) and a second electrode that remains stationary relative to the welding gun. The welding gun is located on an arm of an industrial manipulator (hereinafter, a robot), which is controlled by the controller of the robot. During configuration, a spatial coordinate of the end of the fixed electrode of the welding gun is determined, for example, by bringing the electrode to the plate without a gap between them and recording the current coordinate. Before welding, the robot is trained - with a control unit an operator brings the welding gun to the welding spot such that the second electrode touches one of the parts to be welded. During welding, the robot moves the welding gun to two or more parts to be welded fixed in the equipment such that the second electrode welding gun touches one of the parts to be welded at a right angle to the surface of this part to be welded. Then, in response to a command from the control system, e.g., of the robot, the EMA brings the first electrode at a high speed, preferably a maximum speed, to the parts to be welded, then the speed of movement of this electrode is reduced to a contact speed. After the movable electrode contacts one of the parts to be welded, the welding gun clamps the parts to be welded between the electrodes, and then electric current is passed through the electrodes, in particular, through caps on the ends thereof that contact the parts to be welded, and through the parts to be welded, which causes local heating, melts the metal in the clamped area and forms a weld nugget. After the welding current is no longer supplied, the metal cools and hardens, the parts become joined at the weld nugget and the welding gun opens. Several robots with welding guns for welding vehicle parts are joined into a welding workcell. It is important that an increase in the capacity of a welding workcell on a body line is facilitated by a reduction of the welding cycle duration which is directly influenced by the speed of movement of the electrodes of a welding gun.

To avoid the second electrode colliding with a part to be welded and damaging parts to be welded or the electrode, the welding gun needs to be brought to parts to be welded at a low speed, since the robot has high inertia. Accordingly, a smooth delivery of the electrode to parts to be welded takes time and, consequently, increases the welding duration which also includes the robot moving the welding gun.

In addition, when the welding gun compresses, the electrodes flex elastically under the force, wherein each of the electrodes flexes to a different degree, which displaces the contact point between the electrodes and the parts to be welded. Since there are parts to be welded fixed in the equipment between the electrodes, the displacement of the electrodes contact point causes the undesirable flexing and damage to the parts to be welded. Parts to be welded in the equipment are arranged with a certain tolerance, i.e., parts to be welded can be in different positions along an axis of the electrodes of the welding gun. In this case, the robot puts the welding gun in a position relative to parts to be welded, in which the fixed electrode should touch one of the parts to be welded, and not in the position in which the fixed electrode effectively touches one of the parts to be welded. The caps on the ends of the electrodes are subject to wear during welding from cycle to cycle. Uneven wear of the caps on two electrodes increases the displacement of the actual contact point from the expected point of contact between the electrodes and the parts to be welded. Compressing the welding gun with this position of the caps also leads to the flexing of the parts to be welded and to damage thereto. To avoid damaging the parts to be welded, various methods and devices are used to equalize forces on both electrodes, the so-called equalizing. Welding without equalizing leads to uneven forces on two electrodes and the bending of the parts to be welded. It should be considered that force that is too weak will lead to the molten metal from the center of the welding spot spilling between sheets to be welded from underneath the electrodes, consequently, the welding spot will be less robust. Conversely, applying force that is too strong increases the contact area of the metal sheets and reduces resistance in the welding spot, which reduces the heating of the metal in the welding spot and reduces the welding spot nugget. Thus, uneven forces on the electrodes reduces the welding quality.

An equalizing method disclosed in <CIT> includes moving, by a robot, a welding gun in space a distance that equals to elastic deformation of the welding gun, which corresponds to the predetermined force, when the parts to be welded are clamped, in order to avoid deforming the parts. With that, the displacement of the actual point of contact between the electrodes and the parts to be welded relative to the reference contact point is taken into account. The direction of the movement of the welding gun coincides with the longitudinal axis of the electrodes. However, this variant of equalizing increases the duration of the welding process, since the robot, as was mentioned above, has high inertia and, consequently, takes a long time to accelerate and slow down, which prevents the robot from achieving the speed of movement of the welding gun equal to the speed of movement of the first electrode. It can result in a situation, in which the robot is still moving the welding gun to a target coordinate, while the first electrode has already stopped, and the welding of the parts to be welded could have been already performed.

Welding gun configurations are known, comprising a second EMA located, for example, between a welding gun base by which the welding gun is attached to the robot and a part of the welding gun frame on which the first and second (fixed) electrodes are fastened. Such C-type and X-type welding guns are known from <CIT>. In this welding gun construction, said EMA can move a part of the welding gun until the second electrode contacts the parts to be welded faster that the robot. For equalization, said EMA moves a part of the welding gun a distance equal to an amount of elastic deformation of the electrodes. However, due to the large weight of the welding gun part connected to the EMA rod, the acceleration and, consequently, the speed the EMA can develop are reduced. It is also important that the EMA, when positioned like this, is susceptible to damage in the case welding gun collides with obstacles while the robot is configured (trained). For example, an operator, with a control unit of a controller of the robot, can set the movement of the robot along the path that has an obstacle in the form of the equipment for the parts to be welded or another welding gun. In this case, a collision against the frame part being moved by the EMA will impact the EMA, which will cause it to break. It is possible to add various reinforcements for the EMA, for example, a radial support of the rod of this EMA as a guide that will take the impact, but it will not prevent damage caused by the impact along the EMA rod axis and also will increase the weight of the welding gun and inertia of the robot.

Furthermore, a welding gun construction is known from <CIT>, wherein each electrode, a first electrode <NUM> and a second electrode <NUM>, drives a separate EMA, which allows performing equalization, i.e., achieving equal forces on each of the electrodes when the parts to be welded are clamped by the welding gun during welding. However, this construction tends to damage the EMA of the second electrode <NUM> when the welding gun collides with an obstacle. It should be noted that due to a significant length of the second electrode <NUM>, which moves the EMA, a large bending moment is applied to the rod thereof, which is caused by the bend of this electrode when the welding gun is compressed. In addition, in order to open the welding gun, the EMA rod that moves the electrode <NUM> has to be extended, which further increases the lever at which a bending moment occurs. Furthermore, in this construction, the EMA moves the second electrode <NUM> that apparently has a substantial length and weight, which increases the acceleration time of the second electrode <NUM> and, consequently, increases the welding cycle duration. This welding gun is less rigid than a welding gun without the EMA that moves the second electrode <NUM>, which requires the installation of an EMA rod guide for decreasing the welding gun bend. It increases the weight of the welding gun. Without a guide, due to lower rigidity, the stroke of the EMA rod that drives the second electrode <NUM> has to be increased, which also increases the weight of the welding gun due to the increase in the weight of the EMA. Increasing the weight of the welding gun increases its inertia, which reduces acceleration and, therefore, the speed that the robot on which the welding gun is mounted can achieve.

<CIT> discloses a welding gun construction with two electric magnets to which electrodes are attached, the electrodes clamping the parts to be welded in the welding gun. To enable the welding gun to open more (i.e., to enable a greater stroke of at least one of the electrodes of the welding gun), one of the electric magnets has to be moved by a linear actuator, to a rod of which linear actuator an electric magnet is attached. It increases the weight and size of these welding guns and reduces the ease of manufacturing due to more parts. Also, this construction requires more electronic components for controlling each actuator and electric magnet. The current consumed by the electric magnet is determined based on the target force which is determined by the feedback from a force sensor. The current consumed by the electric magnet changes depending on the heat rate of the electric magnet, which changes the ratio of the current to the force developed by the electric magnet, and, therefore, increases an error of the force developed by the electric magnet at set current. The increased error of the force makes additional adjustment of the current of the electric magnet necessary until the target force is reached. The process of adjusting the current also takes time. Recording and estimating the temperature of the electric magnet complicates the system, since it requires processing more parameters, and also does not provide for the stability of the force-current ratio during the operating life of the welding gun. Hence, the electric magnet needs to be calibrated more often in order to determine the ratio of the force on the electrode to the current consumed by the electric magnet. Thus, some of the drawbacks of these welding guns are reduced response time, increased welding cycle duration, more frequent maintenance, which reduces the performance of the welding workcell. It should be noted that it is impossible to set a predetermined speed to the electrode driven by the electric magnet. If current is supplied to the electric magnet when the electrode is a certain distance away from the part to be welded, the electrode will move toward the part to be welded and collide with it at a speed it will develop while passing said distance. The speed can be too high, and the electrode will damage the part to be welded. Thus, the welding gun needs to be brought to parts to be welded until the electrode touches the part to be welded using a robot, which reduces the performance of the welding workcell.

Therefore, there is an objective to provide a welding gun with a higher second electrode movement speed and improved protection of the EMA that moves the second electrode from damage caused by the welding gun colliding with obstacles while the robot is configured.

To solve the indicated problem, a welding gun is proposed, which comprises a first electrode, a second electrode having a fixed part and a movable part, wherein the movable part of the second electrode and the first electrode are movable towards each other, an electromechanical linear actuator of the first electrode fixedly attached relative to the fixed part of the second electrode, wherein the electromechanical linear actuator of the first electrode comprises a first force sensor, wherein a rod of the electromechanical linear actuator of the first electrode is connected to the first electrode, and an electromechanical linear actuator of the movable part of the second electrode, comprising a housing, an electric motor, an inverted roller-screw gear for transforming rotary movement of the electric motor into translational movement of the rod of the electromechanical linear actuator of the movable part of the second electrode, a bevel gear for transferring rotation of the electric motor to the inverted roller-screw gear, and a position sensor used for determining a position of the movable part of the second electrode. An axis of the inverted roller-screw gear coincides with an axis of the rod of the electromechanical linear actuator of the movable part of the second electrode and is angled relative to an axis of the electric motor. The electromechanical linear actuator of the movable part of the second electrode is fixedly attached on the fixed part of the second electrode with a part of the housing of the electromechanical linear actuator of the second electrode, in which the electric motor is located. The rod of the electromechanical linear actuator of the movable part of the second electrode is connected to the movable part of the second electrode. The welding gun also comprises a second force sensor configured to measure force on the second electrode.

Since a movable part of an electrode is attached to the EMA rod of the movable part of the second electrode (hereinafter, the EMA of the second electrode), and the EMA of the second electrode is fixed on the fixed part of the second electrode by a part of the body of the EMA of the second electrode, wherein an inverted roller-screw gear and the electric motor are arranged at an angle to each other, and the weight of the movable part of the second electrode, which is moved by the EMA of the second electrode, can be significantly reduced. Consequently, the speed and acceleration said EMA achieves can be significantly increased. It allows shortening the welding cycle duration at the stage of bringing the movable part of the second electrode to the parts to be welded, when the robot brings the welding gun to the parts to be welded. Increasing the speed and acceleration of the movable part of the second electrode also speeds up the determination of a zero position of the second electrode and spatial coordinates of the welding gun, which reduces the duration of the welding gun configuration process at startup and also reduces the welding workcell stand still time during maintenance of the welding gun, for example, when the zero position of the second electrode is determined after worn caps are sharpened or replaced.

Also, since the inverted roller-screw gear and electric motor are not coaxial but angled to each other, the length of the EMA of the second electrode in the direction along the axis of the second electrode is reduced, which reduces the length of the protruding portion of the fixed part of the second electrode from the end of the electrode, as the EMA of the second electrode is arranged in the bent portion of the fixed part of the second electrode. It reduces the space taken up by the welding gun near the welding spot, which allows for welding in tight spaces and also reduces the risk of one welding gun colliding with another welding gun performing the welding in adjacent areas on the vehicle body in the same welding workcell. Moreover, the presence of a bevel gear for transferring rotation from the electric motor to the inverted roller-screw gear facilitates reduction of the size of the electric motor and, therefore, of the EMA, which is very important for the possibility of welding through working apertures in vehicle body parts and in places near bent portions of the parts (parts to be welded).

Providing a reducer as a bevel gear facilitates reduction in torque that needs to be developed by the electric motor to achieve a high acceleration of the second electrode of the welding gun. Thus, the size of the EMA of the second electrode is reduced. On the other hand, it allows increasing the acceleration of the second electrode and increasing the performance of the welding workcell, while maintaining the same size. It should be noted that the bevel gear can be made with various angles of inclination of axes of toothed gears to one another, which allows positioning the roller-screw gear and the electric motor not only at a right angle to each other, but also at a different angle, if the fixed part of the second electrode is arranged not at a right angle to the movable part of the second electrode, which is required for welding parts to be welded near bent portions thereof. For example, the fixed part of the second electrode can be arranged at an obtuse or acute angle to the movable part of the second electrode.

Due to the fact that both electrodes are movable in the suggested welding gun structure, wherein they can be set to move with the same speed, the electrodes can be brought to parts to be welded at the same time, rather than successively, which reduces the welding cycle duration.

Due to the fact that the EMA of the second electrode comprises an electric motor, a position sensor, and to the fact that a force sensor configured for measuring the force on the second electrode is mounted on the welding gun, a coordinate of the second electrode can be determined, at which coordinate this electrode touches one of the parts to be welded, and also a dependence of the position of the second electrode to the force on that electrode, i.e., the rigidity of the welding gun, can be determined. It allows moving the second electrode to the coordinate corresponding to the predetermined force while compensating for the bend of the welding gun (by equalization), caused by the compression thereof, the bend being determined in each welding cycle. Determining the rigidity of the welding gun also prevents the temperature of the EMA from affecting the accuracy of the force. Additionally, control in the position circuit allows speeding up the equalization process and, consequently, reducing the welding cycle duration. A force sensor on the second electrode of the welding gun also allows periodically check the force sensor in the first EMA without using outside force sensors which usually are mounted manually between the electrodes of the welding gun, which reduces the welding gun stand still time and increases the performance of the welding workcell.

Due to the fact that the EMA of the second electrode comprises an inverted roller-screw gear (hereinafter, the roller-screw gear) for transforming rotary movement of the electric motor into translational movement of the rod, the size of the second EMA that drives the second electrode can be reduced, which allows creating working apertures though which the welding gun or only the second electrode of the welding gun, of a smaller size, passes, and also welding in locations close to the bent portions of the parts to be welded, for example, at a right angle. It can reduce the size of the overlap of the parts to be welded, reduce their weight and, therefore, the weight of the vehicle.

Also, the level of protection of the EMA of the second electrode from damage from the welding gun colliding with an obstacle during, for example, the training of the robot is increased, since the movable part of the second electrode is short, and, consequently, a large bending moment applied to the rod of the EMA of the second electrode and, therefore, to the inverted roller-screw gear does not occur during an impact on the second electrode in the direction transversal to its axis. It should be noted that the risk of the welding gun colliding with an obstacle such that the impact is directed along the EMA of the second electrode axis is almost completely eliminated, which prevents the breakdown of the roller-screw gear of the EMA of the second electrode, which would cause production line stand still time.

Advantageously, an angle between the axes of the inverted roller-screw gear and the electric motor can be right, obtuse or acute.

Advantageously, the rod of the electromechanical linear actuator of the movable part of the second electrode can be coaxial or parallel to the movable part of the second electrode.

Advantageously, the movable part of the second electrode can be angled relative to the rod of the electromechanical linear actuator of the movable part of the second electrode.

Advantageously, the welding gun further can further comprises an anti-rotation assembly of the movable part of the second electrode and a channel for cooling fluid that cools the movable part of the second electrode,.

Advantageously, the channel for cooling fluid that cools the movable part of the second electrode can be partially located in the anti-rotation assembly.

Supply channels for cooling fluid, such as water, to the second electrode are within the anti-rotation assembly, which not only reduces the size of the EMA of the second electrode, but also makes it possible not to use tubes for supplying cooling around the EMA, thus lowering the risk of damage thereto, which would cause the electrode and the EMA to overheat and the welding gun to break down. Furthermore, it reduces the heating of friction parts of the anti-rotation assembly, which increases their operating life and, therefore, the operating life of the welding gun. Advantageously, the cooling liquid supply channels pass in close proximity to the electric motor, which reduces the heating of the latter and reduces the size of the EMA to enable welding in locations close to the bent portions of the parts to be welded. The cooling of the EMA further increases the performance of the welding workcell, since the EMA can consume more current, therefore, can accelerate and decelerate faster without overheating.

It should be noted that the improved performance of the EMA of the second electrode reduces the welding gun stand still time during periodic check of the welding gun e.g. the check of the force sensor of the first EMA.

Advantageously, the anti-rotation assembly can comprises two tubes slidably contacting the sleeves and the channel for cooling fluid is partially located in the tubes and openings in the housing, wherein the tubes and said openings are parallel to the rod.

Advantageously, the anti-rotation assembly can comprises two projections slidably contacting the housing and the channel for cooling fluid is partially located in the tubes and openings in said projections, wherein the tubes and said openings are parallel to the rod.

Advantageously, the electromechanical linear actuator of the first electrode can be fixedly attached relative to the fixed part of the second electrode.

In another embodiment, advantageously, the fixed part of the second electrode is can be angled relative to the movable part of the second electrode.

Advantageously, the movable part of the second electrode is can be coaxial or parallel to the first electrode.

In another embodiment, advantageously, the movable part of the second electrode can be angled relative to the first electrode.

Advantageously, the movable part of the second electrode can comprise a mounting base having cylindrical projection, wherein the movable part of the second electrode and the fixed part of the second electrode are connected to each other using the mounting base.

Advantageously, the second force sensor can comprise a resistive-strain sensor or a piezo-electric force sensor mounted to a surface of the fixed part of the second electrode.

Advantageously, the welding gun can comprise a control system having a computation unit to calculate positions of the first electrode and the movable part of the second electrode.

<FIG> shows a welding gun comprising a frame <NUM>, a first electrode <NUM> (hereinafter, the electrode <NUM>) and a second electrode having a fixed part <NUM> of the second electrode and a movable part <NUM> of the second electrode (hereinafter, the electrode <NUM>). The welding gun is fixedly attached on a movable arm of a six-axis robot (not shown in the drawings) by a flange <NUM> and mounting screws (not shown in the drawings). An EMA <NUM> of the first electrode, to a rod <NUM> of which the first electrode <NUM> is fixedly attached, is fixedly mounted on the frame <NUM> of the welding gun. The EMA <NUM> of the first electrode comprises an electric motor (not shown in the drawings), a roller-screw gear (not shown in the drawings) and a position sensor (not shown in the drawings). It should be noted that any other transmission that transforms rotational movement of the electric motor into translation movement of the EMA rod can be used instead of the roller-screw gear, for example, a ball screw. Also, the EMA <NUM> of the first electrode can be a linear electric motor. The rod of the EMA <NUM> of the first electrode is connected to a moving reciprocating element of the roller-screw gear - a roller-screw gear screw (not shown in the drawings), which achieves reciprocating movement of the electrode <NUM>. The EMA <NUM> of the first electrode comprises a force sensor (not shown in the drawings) configured to measure force on the first electrode <NUM>.

Caps <NUM> and <NUM> are mounted at the ends of the electrodes of the welding gun, and these caps <NUM> and <NUM> contact the parts <NUM> to be welded. For simplicity, the contact between the caps <NUM>, <NUM> and the parts <NUM> to be welded is referred to as the contact of the electrode <NUM> and the electrode <NUM> with the parts <NUM> to be welded. The second electrode has the fixed part <NUM> fixedly mounted on the frame <NUM> of the welding gun. The EMA <NUM> of the second electrode is fixedly attached on the fixed part <NUM> of the second electrode. The rod <NUM> of the EMA <NUM> of the second electrode (<FIG>) is fixedly attached to the electrode <NUM> coaxial to the first electrode <NUM>. In the suggested embodiment, the movable part <NUM> of the second electrode is connected to the rod <NUM> of the EMA through a transition piece <NUM> to make it easy to replace the movable part <NUM> of the second electrode due to wear of a retaining cone on which the cap <NUM> is mounted. The electrode <NUM> is connected to the transition piece <NUM> with mounting screws <NUM>. The transition piece <NUM> is connected to the rod <NUM> with a mounting screw <NUM> coaxial to the rod <NUM>. To improve robustness of the connection between the rod <NUM> and the transition piece <NUM>, longitudinal teeth that cut into the smooth surface of the cylindrical opening in the transition piece <NUM> causing this surface to deform are provided on the rod <NUM>. In the suggested embodiment, the rod <NUM> is coaxial to the electrode <NUM>. However, to weld the parts <NUM> to be welded in locations near to the bent portions of the parts <NUM> to be welded at a right angle, the electrode <NUM> may be slightly eccentric relative to rod <NUM>, which eccentricity will allow for the desired operating life of the EMA <NUM> of the second electrode. It should be noted that in order to reduce working apertures in vehicle body parts, the electrodes <NUM> and <NUM> may be non-coaxial to each other, but, for example, be angled relative to each other. The electrodes <NUM> and <NUM> can be also not coaxial relative to each other if the welding spot of the parts <NUM> to be welded is too close to the bent portions of the parts <NUM> to be welded to prevent the welding gun from hitting the parts <NUM> to be welded and damaging the latter. In this case, the rod <NUM> is angled with respect to the electrode <NUM>. The EMA <NUM> of the second electrode, the cross-section of which is shown in <FIG>, comprises an electric motor, an inverted roller-screw gear, a bevel gear and a position sensor <NUM> within housings <NUM> and <NUM>. The electric motor is comprised of a stator <NUM> fixed on an inner surface of an opening in the housing <NUM> and a rotor <NUM> having permanent magnets <NUM> which are fixedly attached on a surface of the rotor <NUM>. The rotor <NUM> is mounted on two bearing supports <NUM> and <NUM>, which are radial bearings but also can be other known bearings configured to receive load, such as needle bearings. A shaft of the position sensor <NUM>, which is an inductive encoder, is fixed on the rotor <NUM>. The position sensor also can be an optical encoder or a resolver, or any other known position sensor, which is used to determine the angular position of the rotor <NUM> of the electric motor. The position sensor <NUM> is fixed on a transition part <NUM>, which is fixed to the housing <NUM>. The position sensor <NUM> and the stator <NUM> are connected to the control system of the EMA <NUM> of the second electrode by cables (not shown in the drawings), and the control system can be performed as a frequency converter (not shown in the drawings). The frequency converter receives signals from the position sensor <NUM> and forms supply voltage of the stator <NUM>.

The roller-screw gear comprises a nut <NUM> having internal threading, rollers <NUM> with external threading, and a part of the rod <NUM> on which a portion with external threading is positioned. In another embodiment, the rod <NUM> can be comprised of two separate parts, a roller-screw gear screw with a portion of external thread and a rod. When the nut <NUM> rotates, the rollers <NUM> roll around the rod <NUM> in planetary motion and move together with the rod <NUM> along the axis of the nut <NUM>. The rod <NUM> of the EMA <NUM> of the second electrode is fixedly connected to the screw. Thus, the electrode <NUM> and the rod <NUM> moves in a reciprocating manner within the stroke restricted by the length of the internal threading of the nut <NUM>. The nut <NUM> is arranged to rotate in a bearing support, which represents two radial thrust bearings <NUM>. A bevel gear is configured to transfer the rotary movement from the rotor <NUM> of the electric motor to the nut <NUM>. The bevel gear is configured to transfer rotary movement and torque from the rotor <NUM> of the electric motor to the nut <NUM> and also to position the nut <NUM> and the rotor <NUM> such that their axes are perpendicular to each other. Generally, the fixed electrode of the welding gun has several bends. Arranging the roller-screw gear and the electric motor at an angle to each other allows placing the EMA in the bent portion of the fixed electrode without substantially increasing the length of the welding gun. In other words, this arrangement of the roller-screw gear and the electric motor reduces the length of the EMA <NUM> of the second electrode in the direction along the axis of the electrode <NUM>, which reduces the distance from the end of the electrode <NUM> to an outer protruding portion of the fixed part <NUM> of the second electrode. This feature reduces the space the welding gun takes up near a welding spot, which lowers the risk of one welding gun colliding with another welding gun performing welding in adjacent areas on a vehicle body in one welding wok cell. The toothed gears <NUM> and <NUM> are engaged with each other and transfer the rotary movement and torque from the rotor <NUM> of the electric motor to the nut <NUM>. The reduction ratio of the bevel gear is selected such as to provide the desired linear speed of movement of the electrode <NUM> and the force on that electrode, while maintaining a small size of the electric motor and small dimensions of the EMA <NUM> of the second electrode. It is important that, depending on the configuration of parts <NUM> to be welded, the welding gun has a corresponding shape of the fixed part <NUM> of the second electrode, e.g., arranged at an acute or obtuse angle to the movable part of the second electrode. In this case, the toothed gears <NUM> and <NUM> have the same angle between the axes as the fixed part <NUM> of the second electrode and the electrode <NUM>. It minimizes the size of the protruding portion of the welding gun.

It should be noted that the stroke of the rod <NUM> of the EMA <NUM> of the second electrode is significantly less than the stroke of the EMA <NUM> of the first electrode, since the EMA <NUM> of the second electrode moves the second electrode <NUM> only over a small distance. This is the distance that is formed between the end of the electrode <NUM> and one of the parts <NUM> to be welded when the robot brings the welding gun to the parts <NUM> to be welded. The distance is selected with consideration of the tolerance for the parts <NUM> to be welded in the equipment.

The welding current is supplied to the electrodes <NUM> and <NUM> using a welding transformer <NUM>, which is controlled by a welding controller (not shown in the drawings). Current from the welding transformer <NUM> is supplied to the first electrode <NUM> via a current lead <NUM>, the ends of which are fixed on the first electrode and on a current-conducting element (not shown in the drawings) connected to the welding transformer <NUM>. The electrode <NUM> receives the welding current through the fixed part <NUM> of the second electrode connected to the welding transformer <NUM> and along a current lead <NUM>, the ends of which are fixed on a mounting base <NUM> and the transition piece <NUM>. The current leads <NUM> and <NUM> are made of a set of thin copper sheets for providing flexibility and avoiding additional load on the EMA <NUM> of the first electrode and the EMA <NUM> of the second electrode when both electrodes move. The mounting base <NUM> is configured to be connected with the fixed part <NUM> of the second electrode. In the suggested embodiment, the mounting base <NUM> has a cylindrical projection. This connection of the parts of the fixed electrode is typical for welding guns of known constructions that have a single movable electrode <NUM>. This feature provides for modernization of this welding gun by further fitting them with the EMA for moving the second electrode <NUM> without changing the main part of the welding gun construction. The mounting base <NUM> is clamped with a clamp <NUM> incorporated into the fixed part <NUM> of the second electrode of the welding gun. The clamp <NUM> is compressed with mounting screws <NUM>, which fixedly fasten the mounting base <NUM> relative to the fixed part <NUM> of the second electrode accordingly. Due to the frictional fixation of the housing of the EMA <NUM> of the second electrode relative to the fixed part <NUM> of the second electrode, the electrode <NUM> can be placed coaxially to the first electrode <NUM> during assembly. There is a projection on the fixed part <NUM> of the second electrode instead of on the mounting base <NUM> of a flattened surface coupled to this projection. Due to this, the electrode <NUM> takes a precise angular position during welding gun assembly. The mounting base <NUM> can be made without the projection such that the angular position of the electrode <NUM> can be adjusted so that the end thereof coincides with the end of the electrode <NUM>. The mounting base <NUM> is connected to the housing <NUM> with mounting screws (not show in the drawings) and is replaceable to allow mounting the electrode <NUM> with the EMA <NUM> of the second electrode on the welding gun, which has the mounting area for the electrode <NUM> of different diameters and forms. It should be noted that the electrode <NUM>, the fixed part <NUM> of the second electrode, the electrode <NUM>, the caps <NUM> and <NUM>, and the transition piece <NUM> are made of a current-conducting material, such as copper.

There is a force sensor <NUM>, which is a resistive-strain sensor adhered to the surface of the fixed part <NUM> of the second electrode so that the former deforms and the resistance thereof changes when the fixed part <NUM> of the second electrode bends. The force sensor <NUM> is calibrated on the welding gun by compressing an outer force sensor, which is placed between the electrodes <NUM> and <NUM> during calibration, and plotting the ratio of the force on the outer force sensor to a signal of the force sensor <NUM>. The force sensor <NUM> can be also presented as a piezoelectric force sensor mounted to the fixed part <NUM> of the second electrode with mounting screws. The signal of the force sensor <NUM> is transmitted through a cable (not shown in the drawings) to a frequency converter that controls the EMA <NUM> of the second electrode. In another embodiment, the force sensor <NUM> is positioned within the EMA.

The caps <NUM> and <NUM> heat up during welding of the parts <NUM> to be welded. The caps are cooled with water cooling. For this, within the electrode <NUM>, there is a channel in the form of a longitudinal aperture in the electrode <NUM> and a tube <NUM>, through which water passes. There is also a similar channel and a tube <NUM> for water inside the first electrode <NUM>. A channel and a cooling liquid flow tube pass within the mounting base <NUM>. To cool the cap <NUM>, the water enters through the first channel formed inside the fixed part <NUM> of the second electrode (not shown in the drawings), then through the first opening in the mounting base <NUM> (<FIG>), then through one of the tubes <NUM> in the housing <NUM>, then through the first opening in the housing <NUM>, then through a tube <NUM> which is in communication with the first opening of the housing <NUM>, then through the first opening in the transition piece <NUM> (not shown in the drawings), then through the tube <NUM>. After that, the water enters the second opening of the transition piece <NUM> through the internal volume of the cap <NUM> along the channel in the opening of the electrode <NUM>. Then, heated by the heat of the cap <NUM>, the water passes through the second tube <NUM> which is in communication with the second opening in the transition piece <NUM>, then through the second opening in the housing <NUM>, then through the second tube <NUM> (not shown in the drawings) in the housing <NUM>, then through the second opening in the mounting base <NUM> into the second channel inside the fixed part <NUM> of the second electrode. To improve the ease of manufacturing of the water flow openings, the housing <NUM> can be comprised of a main part and a cover <NUM>, between which rubber sealing rings <NUM> and <NUM> are arranged to seal the channels. The cover <NUM> is attached to the housing <NUM> with mounting screws (not shown in the drawings). The joint of the housings <NUM> and <NUM> is protected from leaks in the area of the tube <NUM> by rubber sealing rings <NUM> and <NUM>. The tubes <NUM> are protected from leaks by rubber rings <NUM>. The tubes <NUM> are fixedly mounted on the transition piece <NUM> e.g., with a press fit achieved by providing the tubes <NUM> with a diameter slightly exceeding the diameter of the opening for receiving them in the transition piece <NUM>. The tubes <NUM> move together with the transition piece <NUM> and the electrode <NUM> relative to the housing <NUM>. To reduce friction when the tube <NUM> moves, sleeves <NUM> are provided through which the tubes <NUM> are arranged to pass. It should be noted that the channels arranged for water to flow to the cap <NUM> and back from it are laid inside the tubes <NUM> that do not exceed the dimensions of the EMA <NUM> of the second electrode, which eliminates the need to provide the water flow tubes outside the EMA <NUM> of the second electrode, which tubes can be damaged when the welding gun collides with an obstacle during robot training.

Optionally, in order to prevent the nut <NUM> and the rod <NUM> of the EMA <NUM> of the second electrode from rotating together and to achieve linear movement of the rod <NUM>, the EMA <NUM> of the second electrode comprises an anti-rotation assembly. In one of the embodiments, the anti-rotation assembly is a current lead <NUM>, which can bend in the direction along the axis of the electrode <NUM> but is sufficiently rigid in the direction across the axis of the electrode <NUM>, which causes the rod <NUM> to remain in the same axial position and achieves translation movement of the rod <NUM>. In another embodiment shown in <FIG>, the anti-rotation assembly is comprised of a spline shaft <NUM> fixedly attached on the cover <NUM>, and longitudinal slots <NUM> in the opening of the rod <NUM>. The slots <NUM> mate with the longitudinal slots on the spline shaft <NUM>. Thus, linear movement of the rod <NUM> and, consequently, of the electrode <NUM> is achieved. It is important that, according to another embodiment (<FIG>), when the tubes <NUM> are sufficiently robust, i.e., if the tubes have a sufficient diameter and a wall thickness to receive torque applied to the rod <NUM>, the anti-rotation assembly is comprised of two tubes <NUM> and sleeves <NUM>. The tubes slidably contact the sleeves <NUM>. The tubes <NUM> are fixedly attached to the transition piece <NUM> and are parallel to the rod <NUM>. The water passing through the tubes <NUM> improves the cooling of the sleeves <NUM>, which reduces the amount of wear thereof and increases the operating life of the anti-rotation assembly and, therefore, the operating life of the welding gun.

To increase the maximum force of the EMA <NUM> of the second electrode, the anti-rotation assembly has to be reinforced, since the rod <NUM> receives increased torque. For this, in another embodiment, cylindrical rods <NUM> configured to be received in the openings of the sleeves <NUM> are fixedly attached on the housing <NUM>. The sleeves <NUM> are pressed in the openings in the transition piece <NUM>, and the rods <NUM> have the form of pins and are pressed into the housing <NUM>. At the same time, the diameter of the rods <NUM> is slightly less than the internal diameter of the sleeves <NUM> to allow them to move freely relative to each other parallel to the axis of the rod <NUM>. In another embodiment, the rods <NUM> may be connected to the housing <NUM> through threading on the surface thereof and a threaded opening in the housing <NUM>. The transition piece <NUM> moves together with the tubes <NUM> and sleeves <NUM> relative to the sleeves <NUM> and the rods <NUM>, respectively, wherein the rods <NUM> and the sleeves <NUM> contact the sleeves <NUM> and the rods <NUM> across the entire stroke of the rod <NUM> and of the transition piece <NUM> and the electrode <NUM>, respectively. Thus, the rod <NUM>, the transition piece <NUM> and the electrode <NUM> are fixed around their axis relative to the housing of the EMA <NUM> of the second electrode, and their reciprocating movement is achieved.

As stated above, in an embodiment, the electrode <NUM> can be arranged at an angle to the electrode <NUM>, and the rod <NUM> can be arranged at an angle to the electrode <NUM>, correspondingly. In this case, when the parts are welded, a radial (lateral) load occurs that acts on the electrode <NUM>. The radial load acting on the electrode <NUM> also occurs when the welding gun collides with an obstacle, if the collision impacts the electrode <NUM>, for example, when training the robot. The tubes <NUM> and the rods <NUM> in corresponding embodiments take the radial load to prolong the operating life of the roller-screw gear. Due to the fact that the short length of the electrode <NUM> prevents forming of a large bending moment acting on the electrode <NUM>, the tubes <NUM>, the sleeves <NUM>, the rods <NUM>, the sleeves <NUM> and parts of the roller-screw gear, the size of said parts and units, as well as the size of coupling elements of the transition piece <NUM> and the electrode <NUM> can be reduced and, therefore, the size of the EMA <NUM> of the second electrode can be reduced. In another embodiment shown in <FIG>, the transition piece <NUM> on the end surface facing the housing <NUM> has two projections <NUM>. Each projection <NUM> has an opening parallel to the tubes <NUM> fixed in the housing <NUM>, wherein said opening is slightly larger than the tube <NUM> to allow them to move freely relative to each other parallel to the axis of the rod <NUM>. The water is supplied to and drawn from the cap <NUM> through the tubes <NUM>. The tubes are sealed with sealing rings <NUM>. The projections <NUM> slidably contact the housing <NUM> so that the transition piece <NUM> can freely move parallel to the axis of the rod <NUM> but cannot rotate around own axis. Thus, the transition piece <NUM> and the electrode <NUM> in this embodiment are prevented from rotating to enable linear movement of the electrode <NUM>. The wear-resistant pads (not shown in the drawings) are placed between projections <NUM> and the housing <NUM>. The improved cooling of the said pads because of water passing through the openings in projections <NUM> decreases the wear of said pads. In case of increased torque required for increased force on the electrode <NUM>, rods <NUM> fixed on the housing <NUM> and the sleeves <NUM> fixed on the transition piece <NUM> are further provided, where the rods <NUM> and the sleeves <NUM> are linearly movable relative to each other.

The EMA <NUM> of the first electrode is controlled by a separate frequency converter but can be controlled by the same frequency converter as the EMA <NUM> of the second electrode, if it is capable of connecting to and controlling at least two EMAs, for example, in a two-channel implementation. A signal from the force sensor of the EMA <NUM> of the first electrode is supplied to the frequency converter.

The suggested welding gun operates as follows. When configuring the robot, an operator, using a control unit of the robot controller, moves the welding gun to a testing plate (a steel plate fixedly mounted relative to the robot) such that the electrode <NUM> is facing the testing plate, is perpendicular to the testing plate and is at a distance from the nearest surface not exceeding the stroke length of the rod of the EMA <NUM> of the second electrode. At the same time, the rod <NUM> is fully retracted, which minimizes the risk of damaging the EMA <NUM> of the second electrode when the welding gun collides with an obstacle, such as the equipment with parts <NUM> to be welded or another welding gun. With the rod <NUM> fully retracted, the gap between the housing <NUM> and the transition piece <NUM> disappears, which causes the force that may be applied to the electrode <NUM> upon impact to be transferred to the housing <NUM> and not to the threaded portion of the rod <NUM>, other details of the roller-screw gear or bearings <NUM>. In response to a command from the operator, the controller records the current spatial coordinate of the welding gun in a controller memory. Then the operator sends a command to move the electrode <NUM> via the control unit. The stator <NUM> receives supply voltage from the frequency converter, wherein a rotating magnetic field is generated in the stator, which engages the rotor <NUM> and, thus, rotates the toothed gear <NUM>. The toothed gear <NUM> drives the toothed gear <NUM> and the nut <NUM>. When the nut <NUM> rotates, the rollers <NUM> engaged with the internal threading thereof roll in planetary motion around the threaded portion of the rod <NUM> and extend together with the rod <NUM> and the electrode <NUM>. The electrode <NUM> moves towards the testing plate until it contacts the latter, wherein the time of contact is determined based on a signal from the force sensor <NUM>, which changes when the force starts acting on the electrode <NUM>. Using the position sensor <NUM>, a coordinate of the electrode <NUM> is determined, in which the signal from the force sensor <NUM> achieved a pre-determined force, the value of which can be used to conclude that the electrode <NUM> touched the testing plate. When this force is reached, the electrode <NUM> stops. The distance which the electrode <NUM> has passed from the coordinate of the welding gun is added to the coordinate of the welding gun recorded earlier along the axis along which the electrode <NUM> has moved. The resulting coordinate is a coordinate of the end of the electrode <NUM> (Tool Center Point) with the rod <NUM> fully retracted relative to the robot. Thus, a spatial position of the welding gun relative to the robot becomes known, and a zero position of the electrode <NUM> is determined. Then, the spatial coordinate of the welding gun needs to be determined when the welding gun is brought to each welding spot intended to be welded by this welding gun. The process is performed in the same way as the process of determining the coordinate of the end of the electrode <NUM> and the zero position thereof, except the electrode <NUM> touches one of the parts <NUM> to be welded instead of the testing plate. By moving the electrode <NUM> instead of the welding gun and due to the small weight of the electrode <NUM>, the configuration process of the welding gun is performed faster. It reduces the cost of configuring the welding gun, which is particularly relevant for vehicle factories, which use hundreds of welding guns.

To weld the parts <NUM> to be welded, a welding workcell robot brings the welding gun to the welding spot placing the welding gun such that the electrode <NUM> is facing one of the parts <NUM> to be welded, wherein the electrode <NUM> is perpendicular to the parts <NUM> to be welded. The stator <NUM> receives supply voltage from the frequency converter, wherein a rotating magnetic field is generated in the stator, which engages the rotor <NUM> and, thus, rotates the toothed gear <NUM>. The toothed gear <NUM> drives the toothed gear <NUM> and the nut <NUM>. When the nut <NUM> rotates, the rollers <NUM> engaged with the internal threading thereof roll in a planetary motion around the threaded portion of the rod <NUM> and extend together with the rod <NUM> and the electrode <NUM>. The electrode <NUM> moves towards the parts <NUM> to be welded until it contacts the latter, and this time of contact is determined based on a signal from the force sensor <NUM>, which changes when the force starts acting on the electrode <NUM>. However, the electrode <NUM> can begin moving before the full stop of the robot that moves the welding gun in order to reduce the welding cycle duration. After this, the frequency converter moves the electrode <NUM> coupled to the EMA <NUM> of the first electrode towards the parts <NUM> to be welded, at first, at a high speed and, starting from a certain coordinate at which the electrode <NUM> still does not contact the parts <NUM> to be welded, at a reduced speed that prevents damage to the parts <NUM> to be welded upon a collision with the electrode <NUM>.

It should be noted that it is possible to start moving the electrode <NUM> to the parts <NUM> to be welded when the electrode <NUM> is moving to the part to be welded to shorten the welding cycle duration. Then, the electrode <NUM> contacts the parts <NUM> to be welded and the clamping of the parts <NUM> to be welded by the welding gun between the electrode <NUM> and the electrode <NUM> begins. When the parts <NUM> to be welded are clamped, both electrodes are moved at the same speed. In response to a signal from the position sensors of the EMA <NUM> of the first electrode and the EMA <NUM> of the second electrode, the ratio of the force on the electrodes of the welding gun to the position of these electrodes (a signal from the position sensors) is determined, and the coordinate of each electrode, at which the preset force will be reached in the welding cycle, is predicted. The electrodes <NUM> and <NUM> stop at the preset coordinates, and the control system checks if the force is reached based on the signal from the force sensor <NUM> and the force sensor of the EMA <NUM> of the first electrode. Then, the welding controller supplies current to the electrodes <NUM> and <NUM> through the welding transformer <NUM>, and the welding of the parts <NUM> to be welded is performed. After the welding is complete, the EMA <NUM> of the first electrode and the EMA <NUM> of the second electrode move the electrodes <NUM> and <NUM> away from the welded parts. The robot then moves the welding gun to the next welding spot.

In the course of welding, the caps <NUM> and <NUM> wear out and a procedure for restoring the shape thereof, such as sharpening, is performed. After several sharpening procedures, the caps <NUM> and <NUM> become extremely short, and the caps are replaced. In this case, the procedure of determining the coordinate of the end of the electrode <NUM> should be repeated. Therefore, not only the configuration at startup time of the welding gun is reduced, but also time on the welding gun maintenance is saved, therefore, inefficient stand still time of the welding workcell is reduced.

Also, an embodiment is possible, in which a control system is presented by a controller (not shown in the drawings) and a two-channel frequency converter or two frequency converters. A computation unit is integrated in the controller to calculate a position of the electrodes <NUM> and <NUM>. This control system avoids redundancy of the calculation functions in the frequency converters and simplifies said frequency converters. The functionality of this controller may be also performed by a robot controller.

It should be noted that the suggested welding gun can be stationary arranged, i.e., fixedly attached to, e.g., a base fixed on the floor of the manufacturing facility, and the parts <NUM> to be welded may be brought to them using a robot having equipment, on the moving axis thereof, for capturing these parts to be welded.

Claim 1:
A welding gun comprising:
a first electrode (<NUM>);
a second electrode having a fixed part (<NUM>) and a movable part (<NUM>), wherein the movable part (<NUM>) of the second electrode and the first electrode (<NUM>) are movable towards each other;
an An electromechanical linear actuator (<NUM>) of the first electrode, wherein the electromechanical linear actuator (<NUM>) of the first electrode (<NUM>) comprises a first force sensor, wherein a rod (<NUM>) of the electromechanical linear actuator (<NUM>) of the first electrode is connected to the first electrode (<NUM>); and characterized in that the said welding gun further comprises:
an electromechanical linear actuator (<NUM>) of the movable part (<NUM>) of the second electrode, the said electromechanical linear actuator (<NUM>) of the movable part (<NUM>) comprising:
- a housing (<NUM>, <NUM>);
- an electric motor;
- an inverted roller-screw gear for transforming rotary movement of the electric motor into translational movement of the rod (<NUM>) of the electromechanical linear actuator (<NUM>) of the movable part (<NUM>) of the second electrode;
- a bevel gear (<NUM>, <NUM>) for transferring rotation of the electric motor to the inverted roller-screw gear;
- wherein an axis of the inverted roller-screw gear coincides with an axis of the rod (<NUM>) of the said electromechanical linear actuator (<NUM>) of the movable part (<NUM>) of the second electrode and with said axis of the inverted roller-screw gear angled relative to an axis of the electric motor; and
- a position sensor (<NUM>) used for determining a position of the movable part (<NUM>) of the second electrode;
wherein the said electromechanical linear actuator (<NUM>) of the movable part (<NUM>) of the second electrode is fixedly attached on the fixed part (<NUM>) of the second electrode with a part of the housing of the said electromechanical linear actuator (<NUM>) of movable part (<NUM>) of the second electrode, in which the electric motor is located;
the rod (<NUM>) of the electromechanical linear actuator (<NUM>) of the movable part (<NUM>) of the second electrode being connected to the movable part (<NUM>) of the second electrode and;
the welding gun also comprising a second force sensor (<NUM>) configured to measure force on the second electrode.