METHOD AND APPARATUS FOR POSITIONING ELECTRODES RELATIVE TO A WELDING GUN
A method and apparatus for positioning electrodes relative to a welding gun and for providing equalization relative to the electrodes of an opposed welding device. The apparatus includes a servo driven linear actuator and a controller integrated into a single housing. The method is directed to a control for the servo actuator which maintains substantially equal pressures between the electrodes and the workpiece during a welding operation.
1 . An electrode positioning device for an opposed electrode welding apparatus comprising:
a housing;
a servo driven linear actuator;
a controller operatively connected to said actuator; and
said actuator and said controller contained within said housing.
2 . The equalization device of claim 1 wherein said servo driven actuator includes a servo motor and a linear screw actuator.
3 . The equalization device of claim 2 wherein said servo driven actuator includes a drive rod and a rod coupler operatively connected between said linear screw actuator and said drive rod.
4 . The equalization device of claim 1 wherein said controller includes control means for controlling movement of said servo driven actuator.
5 . The equalization device of claim 4 wherein said control means includes means for monitoring the following error of said servo driven actuator.
6 . An equalization actuator for an opposed electrode welding apparatus comprising:
a housing;
a linear screw actuator including an actuator rod rotationally fixed and axially moveable relative to said housing;
a servo drive including a servo motor, a drive nut and a drive rod, one of said drive nut and said drive rod being rotationally fixed and axially moveable relative to said housing and the other of said drive nut and said drive rod being axially fixed and rotationally moveable relative to said housing; and
a rod coupler operatively connected between said actuator rod and said one of said drive nut and said drive rod.
7 . The equalization actuator of claim 6 wherein said screw actuator, said servo motor, said drive rod and said rod coupler are contained within said housing.
8 . The equalization actuator of claim 6 wherein said screw actuator includes a longitudinal axis and said servo motor includes a rotational axis and wherein said screw actuator longitudinal axis and said servo motor rotational axis being substantially parallel to one another.
9 . The equalization actuator of claim 6 wherein said one of said drive nut and said drive rod is said drive nut, said drive rod includes an axial movement axis and said axial movement axis is parallel to and positioned between said screw actuator longitudinal axis and said servo motor rotational axis.
10 . The equalization actuator of claim 6 including a controller for the servo motor contained within said housing.
11 . An opposed electrode welding system comprising:
a welding gun assembly comprising;
a gun body,
a stationary electrode fixed relative to said gun body,
a moveable electrode moveable relative to said gun body and said fixed electrode, and
a squeeze actuator operatively connected between said gun body and said moveable electrode and
an equalization actuator assembly operatively connected to said gun body comprising;
a housing,
a servo driven actuator,
a controller operatively connected to said servo driven actuator, and
said servo driven actuator and said controller contained within said housing.
12 . A method of controlling movement of the electrodes in an opposed electrode welding apparatus comprising:
providing an equalization device with a servo driven actuator;
monitoring the following error of said servo driven actuator, and
controlling said servo driven actuator in response to a change in said following error.
13 . The method of claim 12 including accelerating said actuator at a predetermined rate to a predetermined speed and controlling said actuator in response to a change in said following error after said acceleration.
14 . The method of claim 13 including stopping or rapidly slowing movement of said actuator in response to an increase in said following error above a preset level.
15 . The method of claim 14 including using the following error immediately prior to said stopping or rapidly slowing movement step to establish the follow-up positional command/following error or current/force limit.
16 . The method of claim 12 wherein said monitoring step includes sampling and storing running averages of sets of following error.
17 . A method of controlling electrode movement for a spot welding apparatus which includes a welding gun body and operatively connected first and second welding electrodes comprising:
providing a servo driven equalization actuator, said equalization actuator being operatively connected to the welding gun body and including a linear actuator and a servo motor;
applying an electric power level to said servo motor to accelerate said servo motor to a predetermined speed;
monitoring the following error of said servo motor; and
controlling the power level to said servo motor in response to a said following error.
18 . The method of claim 17 including determining contact between one of said electrodes and a workpiece by detecting an increase in said following error.
19 . The method of claim 18 including reducing the power level to said servo motor upon determining said contact.
20 . The method of claim 17 including determining a first following error of said servo motor while said servo motor is at said predetermined speed and stopping or decelerating said servo motor when the following error of said servo motor increases to a predetermined level above said first following error.
21 . The method of claim 17 including determining the following error applied to said servo motor following said acceleration and while said servo motor is at said predetermined speed.
22 . The method of claim 18 including determining the following error prior to said increase in following error.
23 . The method of claim 22 including commanding a position/percentage of said following error prior to said increase in following error.
24 . The method of claim 23 wherein said percentage is less than 100 %.
25 . The method of claim 17 wherein said monitoring step includes sampling and storing running averages of sets of following error.
26 . A method of controlling movement of the electrodes in an opposed electrode welding apparatus comprising:
providing an equalization device with a servo driven actuator;
defining a desired position for said actuator;
determining an equalization force needed to maintain said actuator in said desired position; and
applying said equalization force to said actuator.
27 . The method of claim 26 wherein said determining step includes determining the direction of the force needed to maintain said actuator at said desired position.
28 . The method of claim 27 wherein said determining step includes determining the current needed to move said actuator from said desired position in a negative direction and the current needed to move said actuator from said desired position in a positive direction.
29 . The method of claim 28 including applying said equalization force in said direction.
30 . The method of claim 26 wherein said determining step is based on the force needed to move the actuator from said desired position in a negative direction and the force needed to move the actuator from said desired position in a positive direction.
31 . The method of claim 30 wherein said equalization force is the average of the force needed to move the actuator from said desired position in a negative direction and the force needed to move the actuator from said desired position in a positive direction.
32 . The method of claim 31 including applying said equalization force in said direction.