EP3233359A1 - Procédé d'étalonnage de la force de pression d'une pince de fabrication à commande automatique - Google Patents

Procédé d'étalonnage de la force de pression d'une pince de fabrication à commande automatique

Info

Publication number
EP3233359A1
EP3233359A1 EP15804525.2A EP15804525A EP3233359A1 EP 3233359 A1 EP3233359 A1 EP 3233359A1 EP 15804525 A EP15804525 A EP 15804525A EP 3233359 A1 EP3233359 A1 EP 3233359A1
Authority
EP
European Patent Office
Prior art keywords
drive
target
force
tongs
pressing force
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP15804525.2A
Other languages
German (de)
English (en)
Inventor
Franz Pecher
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Deutschland GmbH
Original Assignee
KUKA Roboter GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by KUKA Roboter GmbH filed Critical KUKA Roboter GmbH
Publication of EP3233359A1 publication Critical patent/EP3233359A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/10—Spot welding; Stitch welding
    • B23K11/11—Spot welding
    • B23K11/115—Spot welding by means of two electrodes placed opposite one another on both sides of the welded parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/36—Auxiliary equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D39/00—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders
    • B21D39/03—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal otherwise than by folding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/24—Electric supply or control circuits therefor
    • B23K11/25—Monitoring devices
    • B23K11/252—Monitoring devices using digital means
    • B23K11/255—Monitoring devices using digital means the measured parameter being a force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/30—Features relating to electrodes
    • B23K11/31—Electrode holders and actuating devices therefor
    • B23K11/311—Electrode holders and actuating devices therefor the actuating device comprising an electric motor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39024—Calibration of manipulator

Definitions

  • the invention relates to a method for calibrating the forceps force of an automatically controllable production tool in the reversing operation, which has two mutually adjustable mounted, each having a pair of pliers tip pliers halves for generating a pliers pressing force, and having a drive which is adapted to move at least one of the pliers halves, in order to build a pincer pressing force between the two pliers tips, wherein the drive can be driven position-controlled automatically, such that a desired pliers pressing force is controlled by automatically adjusting ei ⁇ ner the target pliers pressing force associated target drive position of the drive by a closing movement of the pliers halves.
  • the invention also relates to an associated method for the automatic control of a production tongs in reversing operation and a system of welding tongs, a clinching tongs, a crimping tool, and / or a gripper tool with a control device.
  • DE 44 32 573 C2 discloses a method for controlling the pressing force of a resistance welding machine, which is equipped with a numerically controlled electric motor and a screw drive, in which it may be necessary to ensure in certain phases of the welding process, that the welding electrodes on the workpieces to be welded exert a predetermined force, against a Sch healthpro- the electric motor via the screw drive and the welding ⁇ ßelektroden process exerts sequentially two different forces on the workpieces, the associated angle of rotation will be indicative ⁇ net, and the spring constant of the power transmission structure of the welding machine is determined from these values by means of which desired a unique relationship between each during each phase of the subsequent welding process ⁇ th force and the corresponding angle of rotation to be performed by the electric motor.
  • the object of the invention is to be able to adjust the forceps force in a reverberating operation more accurately in a manufacturing tongs, which has two mutually adjustable mounted pliers halves, which are to be adjusted by a position-controlled drive against each other.
  • the object of the invention is achieved by a method for calibrating the forceps force of an automatically controlled manufacturing pliers in reversing, which has two mutually adjustable mounted, each having a pair of pliers tip pliers halves for generating a pliers pressing force, and having a drive which is formed at least one of To move pliers halves to build a forceps force between the two pliers tips, the drive can be driven position-controlled automatically, such that a desired pliers pressing force is automatically controlled by automatically setting one of the desired forceps force associated target drive position of the drive by a closing movement of the pliers halves comprising the steps of: - positioning a pressure force-measuring device between the two open forceps halves as a normal force measuring for measuring the tongs pressing force Zvi ⁇ rule the two tongs tips; - closing the opened position pincers by controlled movement of the drive in a start-drive position of the drive, in which the Zangenspit ⁇ zen of the two pincers one
  • a reversing a drive of the drive corresponds to an opening movement of the clamp halves, wherein the pincers are not completely geöff ⁇ net, but the pincers only be adjusted such that the forceps tips on an interposed, to be pressed part, such as two under Pressing force to be welded sheets, starting from a momentarily exercised ⁇ high pressing force are brought into a state in which exert the pliers halves a relation to the high pressing force reduced pressing force on the part.
  • the drive can be in particular an electric drive. This can have at least one electric motor and at least one associated power electronics.
  • the motor and the power electronics can be components of a position-controlled electric drive.
  • the position-controlled drive may include a drive controller, which is designed to control according to the engine due to an input, such as a predetermined position value, an angle value and / or egg ⁇ nes incremental value so that the motor shaft of the corresponding position (number of revolutions and the angular position) occupies.
  • the motor shaft can be connected to a spindle of a gear associated with the production tool, which converts the rotations of the motor shaft into an opening movement or a closing movement of the pliers halves of the production tool.
  • the present invention un ⁇ ter the target tongs pressing force that the pressing force hen to be understood that in accordance with the assumed linear relationship with an associated drive position, the target driving position, non-reversing by driving the actuator with the target value, the target drive position in one, ie closing operation of manufacturing tongs is to be built.
  • the pressure force measuring device may be, for example, a load cell, a piezoelectric element, a load cell or the like.
  • the pressure force measuring device can be used to form a As accurate as possible Kraftmessnormals be a calibrated pressure force ⁇ measuring device, in particular calibrated load cell.
  • a high pressing force is reduced to a lower pressing force, without the pliers halves being completely opened and closed again. It is only the drive position of the drive from a starting driving position, in which the production pliers, brought to the high pressing force, that is, the start target exerts tongs pressing force in a power-reduced target driving position of the drive, in which the Ferti ⁇ supply pincer the lower pressing force, that is, to have the target setpoint gun force.
  • the invention is now concerned with the problem that when using the linear relationship between the drive position and the forceps force in a reversing operation known from a forward operation of the production gun, ie a non-reversing, ie closing operation of the production gun, significant deviations of the actually exerted Target actual plier press force of the desired target plier press force supplies.
  • Target actual forceps pressing force on the production tongs can be ⁇ sets.
  • the tongs pressing force deviation that is the error of the actually set target actual tongs pressing force to the desired target setpoint tongs pressing force is greater, the higher the output ⁇ pressing force, that is, a start actual tongs pressing force is from which the forceps force is reduced.
  • the error manifests itself in relation to the desired or assumed one Nominal forceps force to low target actual forceps force.
  • the higher the reduction of the initial pressing force, ie, the jump in magnitude from the start actual the greater the pincer force deviation, ie, the error of the actual set target pincer pressing force to the desired target pincer pressing force
  • Pliers press force is in the force-reduced target target forceps press force.
  • the higher gear pressing force the off ⁇ and / or the greater the Kraftreduktionsbe- is carrying the more causes the saved by the tongs pressing force potential energy in the production pliers, that the forceps halves are opened more than required and resulted in too low a set reduced target actual forceps force.
  • the production pliers can be for example a welding gun, egg ⁇ ne clinching pliers or crimp tool.
  • a gripper tool or a gripper in particular for assembly in the context of the production of a product can be understood as manufacturing tongs.
  • Each pliers half has a pliers tip.
  • the position-controlled drive may be provided for hen, for example, comprises an electric motor and a transmission.
  • the electric motor can be controlled or regulated by means of a drive control.
  • a calibration and / or an automated activation of the production tongs in reversing operation takes place in particular without force sensors, ie without the use of a separate force sensor. That is, the manufacturing gun may be formed without a separate force sensor, which would otherwise be required for detecting a gun pressing force.
  • Servo-motor manufacturing tools in particular welding tongs, use almost exclusively rotary motors whose rotary motion is transformed by means of a gear into a linear movement of the movable nipper tips, in particular of electrodes. In the spindle gearboxes used in this case, the usual gear stick-slip effects and a gear play occur.
  • Position offset ((force_direct - force_after_reduction) * path_pro_force Inventive measurements showed that it was a linear
  • the deviation of the force also scales with the force delta between a first and a second power stage. If one carries the position offsets correlating to these force deviations, the game, sets above the target forces and by the points Regressi ⁇ onsgeraden, we obtain a family of curves increasing with the force Delta. This shows that the regression lines can be laid with sufficient accuracy through the zero point without the inclines of the lines changing too much. This simplifies the white ⁇ direct modeling of the effect according to the invention considerably.
  • This procedure describes the passing of a production pliers on ⁇ effects without modeling in detail since it is superimposed type-setting, games and elasticity effects throughout the mechanics of production pliers and Zangenmo ⁇ tors.
  • Position Offset (((Istkraft_l * Weg_pro_Kraft) +
  • Weg_pro_Kraft Linear factor from the path / force Zangenkalib ⁇ turing
  • Zero_position offset position value from the path / force Zan ⁇ genkalibricic
  • a method comprising the step of determining a force press force deviation value from the difference between the target pressure force and the measured force value force.
  • a method comprising the step of multiple carrying out the procedure as described, with different start target tongs pressing force values, in particular with different starting target tongs pressing force values in steps equal steps distance and storing in each case one associated with the jeweili ⁇ gene start target tongs pressing force value pliers Press force deviation value per start-set gun force value.
  • a method comprising the step of executing the method multiple times as described, with different force-reduced target drive position values of the drive, in which the tong tips of the two tong halves have a target force assigned to the respective target drive position of the drive and reduced in force relative to the start-target forceps force.
  • Target gun force is to apply to the pressure force measuring device, in particular with different kraftredu ⁇ ed target drive position values of the drive in stages equal pitch and the storage of each of the respective target drive position value associated Zangen- press force deviation value per target drive position value.
  • a method comprising the step of determining a respective one of each pliers pressing-force deviation value supplied ⁇ associated drive position deviation value, in particular on the basis of a linear relationship of the various drive positions of the drive and the associated target tongs pressing forces during the closing of the pliers halves.
  • a method comprising the step of linearly interpolating between a plurality of vertices of the drive position deviation values resulting from the plurality of different target pressure force values and / or storing linearly interpolated intermediate values, in particular in the form of a table or function, for reversing drive the manufacturing tongs a required, the desired start-Zangenkraftkraftwert zugeord ⁇ neter drive position deviation value is shown.
  • a method for the automatic control of a production gun in reversing operation which has two mutually adjustable mounted, each having a pliers tip comprising pliers halves for generating a pliers press force, and having a drive which is formed at least one of To move pliers halves to build a pincer pressing force between the two pliers tips, the drive can be driven position controlled automatically, such that a desired pliers pressing force by automatically adjusting ei ⁇ ner the desired pliers pressing force associated target drive position of the drive by a closing movement of the pliers halves is controlled, comprising the steps:
  • a target-target-forceps press force which is gerin ⁇ ger, as a momentarily exerted by the manufacturing tongs Actual tong press force;
  • Target drive position is determined and corrected by the specific drive position deviation value, and on the Based on a reversing movement of the pliers halves is driven to adjust the target set plier press force.
  • control device comprises a memory in the drive position deviation values, insbesonde ⁇ re intermediate values, obtained according to a table or according to a function ⁇ on, the force for a method of calibrating the Zangenpress-, as described, are stored and this drive position deviation values, in particular Zvi ⁇ rule values from the memory for performing a method for automatically controlling a production pliers, as described, are available.
  • Fig. 1 is a schematic representation of a welding gun as an exemplary embodiment of a Ferti ⁇ supply tong
  • 2 shows an industrial robot with a multiple limbs and joints having robotic arm
  • FIG. 3 shows a schematic diagram of measured target / actual gun force forces achieved in a reversing operation from associated start / target gun pressing forces in four different target / target gun press forces
  • FIG. 4 shows a schematic diagram of drive position deviation values as a function of dependency various start-target forceps force and force-reduced target force forceps forceps
  • FIG. 5 shows a schematic diagram representation of gain factors of the drive position deviation values as a function of different force reduction values from the start-set forceps force forces into the target target value.
  • the tongs halves 14, 16 each have, for example, one electrode as an example of a tongs tip 13a, 13b.
  • the first collet half 14 is movably mounted about a pivot axis 18.
  • the second tong half 16 may be fixed or movable.
  • a position ⁇ controlled drive 20 is provided.
  • the drive 20 is at ⁇ example an electric drive, such as an electric motor.
  • Means of the drive 20 can be moved to the second tong half 16 between a gesche ⁇ NEN position and an open position, the first tong half 14 rela tively ⁇ .
  • the two tong halves 14, 16 are so far approximated that they are on under ⁇ different sides with, for example, two sheets to be welded 15a, 15b or for example a pressure force ⁇ measuring device 17 in pressing contact.
  • FIG. 2 shows an exemplary industrial robot 1 which has a robot arm 2.
  • the robot arm 2 comprises, in the case of the present embodiment a plurality of nacheinan ⁇ disposed and connected by means of joints LI to L6 members Gl to G7. If a link is particular to a frame 3 and a relative to the frame 3 about a vertically extending axis AI rotatably mounted carousel 4.
  • Rocker 5 is pivotally mounted on the carousel 4 about a preferably horizontal axis of rotation A2 at the lower end, ie at the joint L2 of the rocker 5, which may also be referred to as swingarm head.
  • the rocker 5 is in turn pivotally mounted on the first joint L3 about a likewise preferably horizontal axis A3 of the arm extension 6.
  • This end carries the robot hand 7 with its preferably three axes of rotation A4, A5, A6.
  • the joints LI to L6 are each connected by an electromotive Driven Ml to M6 via a robot controller 10 Programmgesteu ⁇ ert drivable.
  • a manufacturing tool 11 such as the welding gun 12 shown in FIG. 1, be ⁇ strengthened and calibrated according to the method described below with reference to FIG. 3 and / or operated.
  • FIG. 3 shows a plurality of results from multiple penetrations of invention shown SEN method for calibrating the tongs pressing force of the bumper ⁇ cally drivable manufacturing pliers 11 in reverse, which for generating a pair of pliers pressing force the two mutually adjustably mounted, each having a forceps tip 13a, 13b comprehensive pliers halves 14, 16 has.
  • the manufacturing ⁇ pliers 11 also instructs the drive 20, which is formed, at least one of the clamp halves 14, 16 to move to drive automatically between the two tongs tips 13a, 13b establish a Zangenpress- force, the drive 20 is ert positionsgesteu- leaves such that a desired forceps pressing force is controlled by automatically setting a target drive position of the drive 20 associated with the desired forceps force by a closing movement of the forceps halves 14, 16.
  • the multiple executing the procedure is carried out a ⁇ hand from different start-target tongs pressing force values of 2000 N (Newton), 2500 N, 3000 N, 3500 N and 4000 N, in particular in the example illustrated in steps of equal devisnab- article of 500 N.
  • the multiple executing the procedure is performed with various alterations ⁇ hand, by virtue of reduced target driving position values of the drive 20, in particular with different force reduced target drive position values of the drive 20 in steps of equal step spacing of 250 N.
  • a start-to-set forceps force force value of 2000 N is assumed, and from there is reduced to four different target target forceps forces.
  • the force is reduced by 250 N, ie to 1750 N.
  • the second target setpoint gun force is reduced by 500 N, ie to 1500 N.
  • At the third target setpoint gun force is reduced by 750 N, ie to 1250 N.
  • In the fourth target-set gun force is reduced by 1000 N, ie to 1000 N.
  • the desired actual target gun forces of 1750 N, 1500 N, 1250 N and 1000 N do not set, but in fact about 1700 N, 1490 N, 1200 N and 900 N.
  • Each time closing of the open pliers halves 14, 16 takes place by position-controlled movement of the drive 20 in a start-drive position of the drive 20, in which the plier tips 13a, 13b of the two pliers halves 14, 16 one of the start-drive position associated start-target forceps pressing force apply to the pressure force measuring device 17.
  • each reversing of the closed pliers halves 14, 16 takes place by position-controlled movement of the drive 20 in a relation to the start-target forceps force force-reduced target drive position of the drive 20, in which the pliers tips 13 a, 13 b of the two pliers halves 14, 16 one of the target drive position of the drive 20 associated, compared to the start-target forceps press force force-reduced target-target-forceps pressing force is to apply to the pressure force measuring device 17.
  • Compressive force measuring device 17 measured.
  • a saving of the target-actual forceps pressing force associated with the force-reduced target drive position of the drive 20 takes place.
  • the obtained nip force force deviations are the difference between the target set nipper force and the measured target nip force in the form of drive position deviation values (0-2-4-6-8- 10-12- 14) applied.
  • This Antriebspositions- deviation values are obtained by a process, aufwei ⁇ send the step of determining in each case one associated with the respective pincers pressing-force deviation value Antriebsposi- tions deviation value, in particular based on a li ⁇ -linear relationship of the various drive positions of the drive 20 and the associated setpoint Pliers press forces when closing the pliers halves 14, 16.
  • interpolation points and / or interpolated intermediate points or the straight lines can be in the form of a table or a function, from which a required, for reversing actuation of the production tongs, the desired one Start-Soll-Zangenpresskraftwert assigned Antriebssports-subtungswert is to be stored.
  • the gradients ZI, Z2, Z3 and Z4 of the interpolated lines S1, S2, S3 and S4 can be determined and likewise stored for later retrieval.
  • slopes ZI, Z2, Z3 and Z4 are plotted as a base in a diagram of FIG.
  • an approximate straight line GG can again be laid, which thus provides a function of the slope of the game factor as a function of the force difference.
  • the tongs pressing force deviation that is the error of the actually set target actual tongs pressing force to the desired target setpoint tongs pressing force is greater, the higher the output ⁇ pressing force, that is, a start actual tongs pressing force is from which the forceps force is reduced.
  • the error manifests itself in relation to the desired or assumed one
  • Nominal forceps force to low target actual forceps force It can also be said that the higher the reduction of the initial pressing force, ie, the jump in magnitude from the start actual, the greater the pincer force deviation, ie, the error of the actual set target pincer pressing force to the desired target pincer pressing force Pliers press force is in the force-reduced target target forceps press force.
  • the higher gear, the pressing force from ⁇ and / or the greater the Kraftreduktionsbe- support is, the more effected by the tongs pressing force stored potential energy in the manufacturing tongs 11 that the pliers halves are opened more than desired and set in consequence of a too low reduced target-actual forceps press force.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un procédé d'étalonnage de la force de pression d'une pince de fabrication à commande automatique (11) en mode réversible qui présente pour la production d'une force de pression deux moitiés de pince (14, 16) mobiles l'une par rapport à l'autre et comprenant chacune une extrémité de pince (13a, 13b). La pince présente un entraînement (20) qui est configuré pour déplacer au moins une des moitiés de pince (14, 16) pour établir une force de pression entre les deux extrémités de pince (13a, 13b). L'entraînement (20) peut fonctionner en commande automatique de position de telle manière qu'une force de pression théorique est commandée par l'ajustement automatique d'une position d'entraînement théorique de l'entraînement (20) associée à la force de pression théorique sous l'effet d'un mouvement de fermeture des moitiés de pince (14, 16). L'invention concerne par ailleurs un procédé associé permettant la commande automatique d'une pince de fabrication (11) en mode réversible, et un système de pince de soudage, de pince de rivetage, de pince de sertissage et/ou d'outil de préhension muni d'un dispositif de commande (10).
EP15804525.2A 2014-12-19 2015-12-03 Procédé d'étalonnage de la force de pression d'une pince de fabrication à commande automatique Withdrawn EP3233359A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014226655.6A DE102014226655A1 (de) 2014-12-19 2014-12-19 Verfahren und System zum Kalibrieren der Zangenpresskraft einer automatischen ansteuerbaren Fertigungszange
PCT/EP2015/078599 WO2016096469A1 (fr) 2014-12-19 2015-12-03 Procédé d'étalonnage de la force de pression d'une pince de fabrication à commande automatique

Publications (1)

Publication Number Publication Date
EP3233359A1 true EP3233359A1 (fr) 2017-10-25

Family

ID=54780332

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15804525.2A Withdrawn EP3233359A1 (fr) 2014-12-19 2015-12-03 Procédé d'étalonnage de la force de pression d'une pince de fabrication à commande automatique

Country Status (4)

Country Link
EP (1) EP3233359A1 (fr)
CN (1) CN107249829A (fr)
DE (1) DE102014226655A1 (fr)
WO (1) WO2016096469A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6490032B2 (ja) * 2016-08-10 2019-03-27 ファナック株式会社 組立ロボットのロボット制御装置
CN107953019A (zh) * 2017-12-13 2018-04-24 苏州小男孩智能科技有限公司 电极压力计、点焊装置及测试并调整电极压力的方法
SE542275C2 (en) * 2018-07-04 2020-03-31 Car O Liner Group Ab A method for controlling a spot welding arrangement and a spot welding arrangement

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2709994B1 (fr) 1993-09-13 1995-11-24 Aro Procédé de commande d'effort sur pince à souder par résistance ou analogue; machine à souder par résistance faisant application de ce procédé.
DE50201529D1 (de) * 2001-07-12 2004-12-16 Kuka Schweissanlagen Gmbh Widerstandsschweisseinrichtung und steuerverfahren
DE10338176A1 (de) * 2003-08-20 2005-03-24 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Steuern der Andruckkraft einer Schweißzange
DE102004015704B3 (de) * 2004-03-29 2005-10-20 Cosytronic Computer System Ele Verfahren zum elektrischen Widerstandsschweißen sowie zur Beurteilung der Qualität einer Schweißverbindung
DE202010005418U1 (de) * 2009-05-12 2010-09-30 Kuka Systems Gmbh Kalibriereinrichtung

Non-Patent Citations (2)

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Title
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See also references of WO2016096469A1 *

Also Published As

Publication number Publication date
WO2016096469A1 (fr) 2016-06-23
DE102014226655A1 (de) 2016-06-23
CN107249829A (zh) 2017-10-13

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