CN100395067C - Electrode dressing on-line distinguishing method based on spot-welding of servo torch - Google Patents
Electrode dressing on-line distinguishing method based on spot-welding of servo torch Download PDFInfo
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- CN100395067C CN100395067C CNB2006100279725A CN200610027972A CN100395067C CN 100395067 C CN100395067 C CN 100395067C CN B2006100279725 A CNB2006100279725 A CN B2006100279725A CN 200610027972 A CN200610027972 A CN 200610027972A CN 100395067 C CN100395067 C CN 100395067C
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Abstract
The present invention relates to an electrode dressing on-line distinguishing method based on spot-welding of servo torches, which belongs to the technical field of weld. The present invention makes use of a servo torch to acquire squeeze mark depth on line and realizes the on-line extraction of the squeeze mark depth of each electrode abrasion stage in the process of resistor spot welding. According to the variation regularity of the squeeze mark depth with electrode abrasion, the squeeze mark depth is deep in the starting weld stage, and electrode end area is gradually enlarged with the increase of the electrode abrasion. When the current density and the electrode pressure of the electrode end surface are reduced, the squeeze mark depth is gradually shallow, and the present invention can realize the on-line judgment of the electrode abrasion dressing according to squeeze mark depth information so as to determine whether the electrode needs dressing or not. The present invention contrasts and analyzes the variation characteristics of the squeeze mark depth of different electrode abrasion stages and can realize the on-line judgment of electrode dressing via the extracted squeeze mark depth information, and the present invention determines whether the electrode needs dressing and reduces the influence of uncertain electrode abrasion on welding spot quality.
Description
Technical field
What the present invention relates to is a kind of method of welding technology field, specifically is the online method of discrimination of a kind of electrode dressing based on spot-welding of servo torch.
Background technology
Resistance spot welding is a kind of important thin plate interconnection technique, is the main welding assembly method that vehicle body is made.In order to satisfy the needs of automobile lightweight, security and fuel economy, a large amount of high strength, light material such as galvanized sheet, aluminium alloy etc. are applied in the vehicle body manufacturing.Because special material properties, the welding conditions that this class material require of spot welding is stronger and easy and electrode generation alloying make wear to electrodes serious, and be uncertain big.Serious and uncertain wear to electrodes has increased the electrode end surface area, the current density and the electrode pressure of electrode and workpiece contact-making surface have been reduced, the butt welding point quality makes a big impact, and the electrode end surface area increase that wear to electrodes causes is to cause the quality of welding spot main reasons for decrease.
The general at present method that increases progressively electric current that adopts reduces with the current density that the compensating electrode wearing and tearing cause, but this method need expend bigger energy, aggravated wear to electrodes on the contrary, and can only weld according to the current increase process program that is determined by experiment in advance, can't solve because the quality of welding spot that uncertain wear to electrodes causes descends.The other method that reduces wear to electrodes butt welding point quality influence is to carry out electrode dressing, be that electrode is with set welding parameter welding, because wear to electrodes causes the electrode end surface area to increase, and has reduced the current density of electrode end surface, low excessively current density can make defective solder joint probability increase greatly.Utilize electrode dressing device reconditioning electrode tip this moment, makes the face area of electrode and surface state return to new electrode state.This method need not expend bigger energy, but must provide online differentiation to the wear to electrodes degree, and then determines when needs reconditioning of electrode according to the wear to electrodes degree.And just constantly at present, be applied to actual production then according to the electrode dressing of testing in advance definite certain material, also there is not the online method of discrimination of simple and direct feasible electrode dressing.
Through new, find no the bibliographical information that closes the online differentiation of servo torch electrode dressing to looking into of prior art.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, provide a kind of electrode dressing online method of discrimination based on spot-welding of servo torch.Make it utilize the characteristic that servo torch can online detection solder joint depth of cup, by the Changing Pattern of research depth of cup with wear to electrodes, utilize depth of cup information to realize electrode dressing online differentiation has constantly been reduced the influence of uncertain wear to electrodes butt welding point quality.
The present invention is achieved by the following technical solutions, the present invention utilizes the online depth of cup of obtaining of servo torch, the depth of cup that realizes each wear to electrodes stage in the resistance spot welding process is at line drawing, according to the Changing Pattern of depth of cup with wear to electrodes, realize the online differentiation of wearing and tearing electrode dressing is determined whether electrode needs reconditioning by depth of cup information.Described depth of cup is specially with the Changing Pattern of wear to electrodes: in the electrode running-in wear stage, depth of cup is darker, along with the increase of wear to electrodes, has reduced the current density and the electrode pressure of electrode end surface, and depth of cup is descended fast; Along with the further increase of wear to electrodes, depth of cup descends no longer fast, but stable fluctuation.
Specific implementation step of the present invention is as follows:
(1) robot controller control robot moves to servo torch and specifies the welding position.The bottom electrode of servo torch is fixed on the bottom arm, and top electrode can move up and down as a motion control axle of robot.After the servomotor of servo torch receives the controller movement instruction, by the motion of transmission device control top electrode.Under the instruction effect of robot controller, make upper and lower electrode closed and with set electrode force workpiece pressing.
(2) reach predetermined electrode pressure after, robot controller sends the energising welding signal to welding controller, welding controller makes upper and lower electrifying electrodes finish the welding of a solder joint by the transformer that is fixed on the servo torch with set welding parameter.After welding finishes, in the coupling of heat, electricity, power that workpiece is welded together, and stay the solder joint impression at surface of the work.
(3) robot controller operation depth of cup trace routine, encoder writes down the depth of cup information of current solder joint and stores in the controller.Wear to electrodes increases the electrode end surface area, and the electrode end surface area of increase has reduced the current density and the electrode pressure of electrode and workpiece contact-making surface, and depth of cup and current density and electrode pressure have confidential relation.Therefore, depth of cup is along with the increase of wear to electrodes is the certain rules variation.Find by the spot-welding test to dissimilar galvanized sheets: when beginning to weld, because higher current density and electrode pressure, depth of cup is darker.Along with the increase that welding is counted, the electrode end surface area increases gradually, and depth of cup is descended fast.Along with the further increase of wear to electrodes, depth of cup no longer reduces, but stable fluctuation.By the quality of welding spot of several galvanized sheets in the different wear to electrodes stage be the analysis showed that, when depth of cup be initially located in stablize the fluctuation stage after, though the solder joint maximum of this moment draws shearing significantly not descend, but metallographic test the analysis showed that, the nugget of solder joint has had defectives such as rosin joint, and the probability of defective solder joint improves greatly.According to testing depth of cup and quality of welding spot (the solder joint maximum is drawn shearing, nugget size, the fatigue strength) relational model of being set up, because the effect of attrition of electrode, depth of cup be in stablize the fluctuation stage after, the probability of defective solder joint improves greatly, this moment need carry out electrode dressing.
(4) according to the Changing Pattern of depth of cup, by the change information that obtains different wear to electrodes stage depth of cup with servo torch realize the wearing and tearing online differentiation of electrode dressing with wear to electrodes.After recording depth of cup and being in the stabilization sub stage, robot controller operation electrode dressing program, in the cutter groove of the electrode dressing device that the upper and lower electrode of servo torch is moved, make upper and lower electrode under set electrode pressure, compress the upper and lower cutter of coping device, with set reconditioning parameter the upper and lower electrode that weares and teares is carried out reconditioning simultaneously, make physical dimension and surface state before upper/lower electrode returns to welding.
The characteristics that the present invention becomes certain rule to change according to depth of cup with wear to electrodes, utilize servo torch can onlinely obtain the technical characteristic of depth of cup, by online obtain depth of cup realized to wearing and tearing electrode dressing online differentiation, to determine whether electrode needs reconditioning, has reduced the influence of uncertain wear to electrodes butt welding point quality.
Description of drawings
The spot welding system structural representation of the integrated control of Fig. 1 embodiment of the invention servo torch and robot
Solder joint impression figure behind Fig. 2 embodiment of the invention spot-welding of servo torch
Fig. 3 embodiment of the invention solder joint depth of cup is with the Changing Pattern figure of wear to electrodes
The specific embodiment
Provide following examples in conjunction with technical scheme of the present invention:
(1) present embodiment adopts the spot welding system of servo torch and the integrated control of robot to begin welding, as shown in Figure 1, robot controller 1 is passed to robot 3 by signal optical cable 2 with motion control instruction, the servo torch 21 that robot 3 execution movement instructions will be fixed on the robots arm moves to the appointment welding position, makes the bottom electrode 12 that is fixed on the bottom arm 13 be adjacent to workpiece 11.Servomotor 6 is passed in the instruction that robot controller 1 will be controlled top electrode 9 motions by signal optical cable 4, the top electrode 9 that servomotor 6 is fixed on the upper electrode arm 8 by transmission device 7 controls runs to assigned address with set speed, make top electrode 9 and bottom electrode 12 under set electrode pressure, clamp welding work pieces 10 and welding work pieces 11, the displacement information of top electrode 9 is transmitted and is stored in the robot controller 1 by signal optical cable 4 by encoder 5 feedbacks.
(2) robot controller 1 is passed to welding controller 17 by signal optical cable 18 with welding signal, and welding controller 17 operation welding procedures weld with set welding parameter.The electric current that welding controller 17 comes out is the elementary alternating current of high voltage, low current, passes to the transformer 15 that is fixed on the servo torch by power supply optical cable 16, is converted to the secondary alternating current of low-voltage, high electric current through transformer 15.Secondary current after the conversion passes to top electrode 9 by power supply optical cable 14, make itself and bottom arm 13, bottom electrode 12, workpiece 11 and workpiece 10 form welding circuits jointly, under the coupling of electricity, heat, power, finish the welding of a solder joint, workpiece 11 is connected together with workpiece 10.After welding is finished, as shown in Figure 2, top electrode 9 stays next solder joint impression 22 and solder joint impression 23 with bottom electrode 12 respectively on the workpiece 10 and the surface of workpiece 11, I among Fig. 2 is the degree of depth of solder joint impression, workpiece 10 can form a nugget 24 with workpiece 11 molten metal under high temperature, high pressure, this nugget connects together workpiece 10 with workpiece 11, the D among Fig. 2 is the diameter of formed nugget 24.
(3) after welding is finished, operation depth of cup trace routine, make top electrode 9 and bottom electrode 12 be pushed down into impression 22 and impression 23 at set electrode force, the electrode displacement information of postwelding is fed back by encoder 5 and is sent to preservation in the welding controller 17 by signal optical cable 4, electrode displacement information during the workpiece pressing state before this displacement information and the weldering is compared, and then depth of cup (I) can online acquisition.By wear to electrodes test to dissimilar galvanized sheets, find the increase that depth of cup (I) is counted along with welding and be the certain rules variation, its Changing Pattern as shown in Figure 3, beginning the welding stage, because the electrode tip area is less, make the current density and the electrode pressure of electrode end surface bigger, (I) is darker for depth of cup.Along with the increase that welding is counted, wear to electrodes increases the electrode tip area gradually, has reduced the current density and the electrode pressure of electrode end surface, and depth of cup (I) is reduced gradually.Along with the further increase of wear to electrodes, depth of cup (I) no longer reduces, but stable fluctuation.Quality of welding spot by stage to this analysis showed that, depth of cup be in stablize the fluctuation stage after, the probability of defective solder joint improves greatly.
(4) after servo torch records solder joint depth of cup (I) and is in the stabilization sub stage, welding controller 17 sends the electrode dressing instruction, robot 3 moves to top electrode 9 and bottom electrode 12 in the upper and lower cutter groove of electrode dressing device 20, by signal optical cable 19 control electrode coping devices 20 under set reconditioning parameter simultaneously to top electrode 9 and bottom electrode 12 reconditionings, make geometric electrode size and surface state return to the preceding new electrode state of welding.
Claims (2)
1. online method of discrimination of the electrode dressing based on spot-welding of servo torch, it is characterized in that, utilize the online depth of cup of obtaining of servo torch, the depth of cup that realizes each wear to electrodes stage in the resistance spot welding process is at line drawing, according to the Changing Pattern of depth of cup with wear to electrodes, by the online differentiation of depth of cup information realization to the wearing and tearing electrode dressing, determine whether electrode needs reconditioning, described depth of cup is specially with the Changing Pattern of wear to electrodes: beginning the welding stage, depth of cup is darker, increase along with wear to electrodes, the electrode tip area increases gradually, has reduced the current density and the electrode pressure of electrode end surface, and depth of cup is descended fast; Along with the further increase of wear to electrodes, depth of cup no longer reduces, but stable fluctuation.
2. the online method of discrimination of the electrode dressing based on spot-welding of servo torch according to claim 1 is characterized in that the specific implementation step is as follows:
(1) robot controller control robot moves to servo torch and specifies the welding position, the bottom electrode of servo torch is fixed on the bottom arm, top electrode is as a motion control axle of robot, can move up and down, after the servomotor of servo torch receives the controller movement instruction, by the motion of transmission device control top electrode, under the instruction effect of robot controller, make upper and lower electrode closed and with set electrode force workpiece pressing;
(2) reach predetermined electrode pressure after, robot controller sends the energising welding signal to welding controller, welding controller makes upper and lower electrifying electrodes finish the welding of a solder joint by the transformer that is fixed on the servo torch with set welding parameter, after welding finishes, coupling in heat, electricity, power is welded together with workpiece, and stays the solder joint impression at surface of the work;
(3) robot controller operation depth of cup trace routine, encoder writes down the depth of cup information of current solder joint and stores in the controller, obtains the Changing Pattern of depth of cup with wear to electrodes;
(4) according to the Changing Pattern of depth of cup with wear to electrodes, by the change information that obtains each wear to electrodes stage depth of cup with servo torch realize the wearing and tearing online differentiation of electrode dressing, after recording depth of cup and being in the stabilization sub stage, robot controller operation electrode dressing program, on servo torch, in the cutter groove of the electrode dressing device that bottom electrode moves, make, bottom electrode compress under the set electrode pressure coping device on, bottom tool, with set reconditioning parameter to wearing and tearing on, bottom electrode carries out reconditioning simultaneously, makes physical dimension and surface state before upper/lower electrode returns to welding.
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Cited By (1)
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| WO2011123980A1 (en) * | 2010-04-07 | 2011-10-13 | Gm Global Technology Operations, Inc. | Method of controlling indentation depth of electrode into metal substrate during welding |
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| KR101393964B1 (en) | 2009-10-27 | 2014-05-12 | 가부시키가이샤 키렉스 | Electrode inspection device for spot welding |
| CN103128433A (en) * | 2011-11-25 | 2013-06-05 | 上海拖拉机内燃机有限公司 | Robot servo welding-gun compensation method |
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