Welding gun with an actuator on a fixed electrode

A welding gun comprising:

• a first electrode;
• a second electrode having a fixed part and a movable part, wherein the first electrode and the movable part of the second electrode are movable toward each other;
• an electromechanical linear actuator of the first 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, the electromechanical linear actuator of the movable part 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,
• wherein 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 with the axis of the inverted roller-screw gear angled relative to an axis of the electric motor;
• and
• a position sensor configured to determine a position of the movable part of the second electrode,
• wherein 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 movable part of the second electrode, in which the electric motor is located,
• wherein 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, and
• wherein the welding gun further comprises a second force sensor configured to measure force on the second electrode.