Spot welding apparatus that judges welding state
A spot welding apparatus includes a spot welding gun and a welding gun control apparatus. The welding gun control apparatus includes a pressurizing force control part controlling the pressurizing force, a position control part controlling the position of at least one electrode, and a determination part determining whether or not the welding is performed in a normal state. The position control part controls an electrode drive motor so as to hold the electrodes, after the supply of the electric current is started, at positions when the initial pressurizing force is applied before the electric current is supplied. The determination part acquires the pressurizing force and determines whether or not the welding is performed in a normal state based on change tendency in the pressurizing force.
1. A spot welding apparatus comprising:
a spot welding gun including a pair of electrodes disposed opposite to each other and an electrode drive motor driving at least one electrode of the pair of electrodes; and
a welding gun controller including a processor for controlling the spot welding gun, the processor programmed to:
control a pressurizing force by commanding an electrode drive circuit to supply electric current to the electrode drive motor of at least one electrode of the pair of electrodes to control the position of the at least one electrode of the pair of electrodes, and by calculating the pressurizing force that the pair of electrodes apply to a workpiece based on a value of the electric current supplied to the electrode drive motor,
command the electrode drive circuit such that the electric current supplied by the electrode drive circuit controls the electrode drive motor to control the pressurizing force applied by the electrodes to be a predetermined initial pressurizing force before electric current is supplied,
command the electrode drive circuit such that the electric current supplied by the electrode drive circuit controls the electrode drive motor to hold the electrodes, after the supply of the electric current is started, at positions when the initial pressurizing force is applied before the electric current is supplied, and determine whether or not the welding is performed in a normal state based on change tendency including a rate of change of the pressurizing force during a period in which the pressurizing force increases or decreases,
when the rate of change of the pressurizing force is determined to be increasing at greater than or equal to a first threshold, command the electrode drive circuit such that the electric current supplied by the electrode drive circuit controls the electrode drive motor to stop holding the electrodes in a same position after the supply of the electric current is started while controlling the electrode drive motor to decrease the rate of change of the pressurizing force such that the pressurizing force is increasing at less than the first threshold, and
when the rate of change is determined to be decreasing at greater than or equal to a second threshold, command the electrode drive circuit such that the electric current supplied by the electrode drive circuit controls the electrode drive motor to stop holding the electrodes in a same position after the supply of the electric current is started while controlling the electrode drive motor to decrease the rate of change of the pressurizing force such that the pressurizing force is decreasing at less than the second threshold.
2. The spot welding apparatus according to claim 1 , wherein the processor is further configured to:
store a judgement range for the rate of change of the pressurizing force with respect to a magnitude of the pressurizing force during the period in which the pressurizing force increases or the period in which the pressurizing force decreases, and
determine that the welding is performed in an abnormal state when the rate of change of the pressurizing force with respect to a predetermined magnitude of the pressurizing force is out of the judgement range.
3. The spot welding apparatus according to claim 1 , wherein the processor is further configured to:
store a judgement range for the rate of change of the pressurizing force with respect to a predetermined time after the supply of the electric current is started, and
determine that the welding is performed in an abnormal state when the rate of change of the pressurizing force with respect to a time at which the supply of the electric current is started is out of the judgement range.
4. The spot welding apparatus according to claim 1 , wherein the processor is further configured to:
store a judgement range for the rate of change of the pressurizing force with respect to predetermined time interval after the supply of the electric current is started, and
determine whether or not the rate of change of the pressurizing force is out of the judgement range in the predetermined time interval, and determines that the welding is performed in an abnormal state when the rate of change of the pressurizing force is out of the judgement range.
5. The spot welding apparatus according to claim 1 , wherein the processor is further configured to set a judgement range for the change tendency by machine learning.
6. The spot welding apparatus according to claim 1 , wherein the processor is further configured to:
output a notification that the welding is performed in an abnormal state when the processor determines that the welding is performed in the abnormal state when the rate of change of the pressurizing force is out of a judgement range.