| 摘要 |
PROBLEM TO BE SOLVED: To realize a high-speed operation, to drastically reduce the cost, and to improve the reliability and the operability. SOLUTION: A servo motor driven spot welding gun has an equalizing mechanism 3 in which the pressurizing operation and the equalizing operation in a gun body 2 are performed by respective exclusive servo motors 4 and 11. Since each servo motor is controlled as each shaft of a robot, to make possible synchronous control with other shafts of the robot. The output torque of the motor 11 for the equalizing operation is controlled to have a desired value without going through steps even during the operation of other shafts according to the spot welding attitude of the gun. COPYRIGHT: (C)2004,JPO
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