CN102267003A - Resistance spot-welding servo pressurization system - Google Patents
Resistance spot-welding servo pressurization system Download PDFInfo
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- CN102267003A CN102267003A CN2011102145181A CN201110214518A CN102267003A CN 102267003 A CN102267003 A CN 102267003A CN 2011102145181 A CN2011102145181 A CN 2011102145181A CN 201110214518 A CN201110214518 A CN 201110214518A CN 102267003 A CN102267003 A CN 102267003A
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Abstract
The invention discloses a resistance spot-welding servo pressurization system, which comprises a welding machine power supply, a human-machine interaction system, a control system and an execution mechanism, wherein the control system comprises a motion controller for setting and feeding back a parameter; the execution mechanism comprises a driver, an encoder, a servo motor, a shaft coupler, a connection mechanism, an upper electrode, a lower electrode and a limiting switch; the driver is connected with the motion controller, the encoder and the servo motor respectively; the encoder is further connected with the motion controller; the shaft coupler is connected with the pressurization connection mechanism; and the motion controller is provided with the limiting switch for controlling an up-and-down stroke of the connection mechanism. The resistance spot-welding servo pressurization system controls the displacement, the speed and the pressure of the electrodes through servo pressurization; matching between the resistance spot-welding servo pressurization system and a welding parameter is realized by using signal output and feedback of the welding power supply and the motion controller; and the resistance spot-welding servo pressurization system has the advantages that: an impact force to electrode tips is small, the pressure change response speed is high, and the pressure, the displacement and the speed of the electrodes can be controlled precisely.
Description
Technical field
The present invention relates to the welder technical field, relate in particular to the servo compression system of a kind of resistance spot welding.
Background technology
Resistance spot welding is being brought into play the effect that becomes more and more important as a kind of important solder technology at industrial circles such as automobile, household electrical appliances, electronics, space flight.Resistance spot welding is the result of combined factors effects such as the electricity, heat, power of complexity, and the factor that influences point quality is a lot, and wherein principal element has welding current, weld interval and welding pressure.In order to improve the control accuracy of welding current and weld interval, comparatively general method is by adopting main circuit the inverter form of intermediate frequency to realize, and domestic the high-precision control point weldering power supply that reverse frequency reaches 25kKHz appearred, so reaching certain level aspect the precision control of welding current and weld interval.But the welding pressure aspect, people have often ignored the requirement of its precision control.
What resistance spot welding power supply was continued to use basically at present is traditional pressuring method, as pneumatic pressurization, hydraulic pressurization and spring servo-actuated pressurization etc., all there is its intrinsic defective in these modes, can't guarantee the stability of electrode pressure and the accurate control of electrode displacement, in spot welding, particularly in the welding of miniature parts, be difficult to the welding quality that reaches satisfied.Therefore how accurately welding process to be exerted pressure, become the major issue that welding manufacturing enterprise faces.
Summary of the invention
The objective of the invention is to overcome the shortcoming and defect of above-mentioned prior art, provide a kind of resistance spot welding servo compression system, have, pressure little and change the advantage that the fast and electrode pressure of response speed, displacement, speed can accurately be controlled, and the pressure that satisfies on the different process changes requirement the electrode tip impulsive force.
The present invention is achieved through the following technical solutions:
The servo compression system of a kind of resistance spot welding comprises welding machine electric power, man-machine interactive system, control system, executing agency, and described control system comprises the motion controller that is used to set with feedback parameter; Described executing agency comprises driver, encoder, servomotor, shaft coupling, bindiny mechanism, top electrode, bottom electrode, limit switch, described driver is connected with motion controller, encoder, servomotor respectively, described encoder also is connected with motion controller, described shaft coupling is connected with pressurization bindiny mechanism, and described motion controller is provided with and is used for the control connection mechanism limit switch of stroke up and down.
Described top electrode is connected with bindiny mechanism, and described bottom electrode is provided with a pedestal; Described man-machine interactive system comprises LCD display, the keyboard that is connected with welding machine electric power; Described bindiny mechanism is connected with shaft coupling by screw mandrel.
Job step of the present invention is as follows:
1) searching of mechanical origin carried out in start, and keeping each top electrode all is from same position setting in motion, guarantees that the position of top electrode can accurately be controlled.Before the servomotor running, welding power source system sends to motion controller to the displacement, speed, the pressure and other parameters that set by serial communication circuit, and the control servomotor is by spot welding control requirement running.
2) source of welding current is ready to just send enabling signal to motion controller, motion controller receives and just begins to send the command pulse signal to pulse conversion circuit, the passages through which vital energy circulates red switch is changed circuit function and is produced the pulse signal drive motors running that driver needs, the displacement of control electrode and speed.Simultaneously, motion controller is to D/A change-over circuit output data, becomes the running torque of the torque limit signal control motor that driver needs through the D/A change-over circuit, thus the pressure of control electrode.
3) send signal to the source of welding current after top electrode puts in place, the source of welding current begins output current, and welding process begins.Welding finishes, and the source of welding current sends end signal to motion controller, sends the counter-rotating of pulse signal control motor after single-chip microcomputer receives, and when electrode is got back to original position, turn-offs all outputs, and motor stops the rotation, and waits for the signal that is next time sent by the source of welding current.
Telecommunication circuit can adopt the RS232 serial communication circuit, and control circuit and input circuit can adopt the switching mode light-coupled isolation.
Impulse circuit adopts AM26LS31 chip commonly used, and the torque control circuit adopts the DAC0832 chip to produce aanalogvoltage control, and pulse adopts the I/O mouth of AM26LS31 chip and DSP to finish jointly.
Motion controller is to adopt the dsPIC30F3011 chip of microchip company as core.Mainly be responsible for, accept predetermined value, accept operational order (enabling signal, alarm signal), gather signal and the control signal sent by certain sequential (as upper/lower electrode position, pulse signal, the number of notifying etc. clearly).DsPIC30F3011 has abundant peripheral module, comprises a large amount of I/O mouths.Have 5 16 bit timing devices, wherein can also be combined into 32 bit timing devices and use.DsPIC30F3011 has the high-speed a/d modular converter of 9 tunnels analogy inputs, 10 precision.6 road PWM output, three duty cycle register can be made as independence or compensation model, and PWM output can be rewritten, and Dead Time is able to programme.45 interrupt sources, 5 external interrupt, 7 programmable Interrupt priority, have orthogonal coding interface (QEI) module, the QEI module can provide the simple interface with the increment optical-electricity encoder, thereby can obtain to have the relative position information of symbol rate and rotor from motor or mechanical system, the QEI module is accepted to be connected with index from the B of incremental encoder, and base is preserved the count pulse that adds up during with special-purpose 16.Can come measuring speed and positional information with X2 or X4 resolution ratio.
Beneficial effect compared with prior art of the present invention is:
Because AC servo motor can be realized the accurately control in real time to the output torque, but the size control determining electrode pressure by motor torque is exported in real time, therefore, and by the servo pressurization of servomotor, obtain high-precision welding pressure, thereby further improve the welding quality of spot welding.
Description of drawings
Fig. 1 is the servo compression system structured flowchart of resistance spot welding of the present invention.
The specific embodiment
Below in conjunction with specific embodiment the present invention is done further concrete detailed description the in detail, but embodiments of the present invention are not limited thereto, the technological parameter for not indicating especially can carry out with reference to routine techniques.
Embodiment
As shown in Figure 1, the servo compression system of resistance spot welding of the present invention comprises welding machine electric power, man-machine interactive system, control system, executing agency, and described control system comprises the motion controller that is used to set with feedback parameter; Described executing agency comprises driver, encoder, servomotor, shaft coupling, bindiny mechanism, top electrode, bottom electrode, limit switch, described driver is connected with motion controller, encoder, servomotor respectively, described encoder also is connected with motion controller, described shaft coupling is connected with pressurization bindiny mechanism, and described motion controller is provided with and is used for the control connection mechanism limit switch of stroke up and down.
Top electrode is connected with bindiny mechanism, and the bottom of this bottom electrode also is provided with a pedestal that is used to support; Described man-machine interactive system comprises LCD display, the keyboard that is connected with welding machine electric power.Described bindiny mechanism is connected with shaft coupling by screw mandrel.
This patent is main with the pressure between displacement, speed and the upper/lower electrode of controlling top electrode by servo pressurization by servomotor, utilizes the signal interaction of the source of welding current and motion controller to reach the coupling of welding parameter.Servomotor uses shaft coupling to drive the ball screw rotation, realize the feeding (moving back and forth up and down) of electrode by bindiny mechanism by the feed screw nut, the rotation amount of servomotor and rotary speed have determined the amount of feeding and the feed speed of top electrode, and the torque of servomotor has determined the pressure between the upper/lower electrode.
Encoder, employing be the MSMD Series AC servo that has the incremental photoelectric encoder of MAT; Supporting with it driver MINASA4.Its upper/lower electrode rotating speed and feed speed, screw mandrel pitch are closed and are:
N refers to servomotor rotating speed (r/min) in the fast travel; Vm refers to table stroke speed (m/s); I refers to system's gearratio; P refers to screw mandrel pitch (mm).
In the concrete enforcement of this patent, described single-chip microcomputer adopts the dsPIC30F3011 chip of microchip company as core.
In the concrete enforcement of this patent, the periphery design pulse-generating circuit adopts AM26LS31 chip commonly used, and described pulse signal has position signalling to produce, and the command pulse signal that AC servo driver needs is that a pair of phase difference is 180 ° a signal.System adopts the PWM mode of dsPIC30F3011 to export pulse, every road PWM can only export one road signal, for saving resource and realizing control more accurately, here designed a change-over circuit, adopt difference input Linear Driving circuit, its differential driving chip is selected AM26LS31 for use, by the processing through chip AM26LS31 of the one-channel signal of single-chip microcomputer output, just can obtain a pair of phase difference and be 180 ° signal; Because pulse signal is a high-frequency signal, so when the design hardware interface circuit, need to consider the anti-interference of circuit.Adopt high speed optoelectronic isolating chip 6N137 to realize the electrical isolation of control section and drive part.
Described start initial point is searched the application controls system at first makes the feed screw nut fast towards the direction motion near Zero-point switch, after Zero-point switch is depressed by the feed screw nut, motor braking is zero to speed, then the counter motion of control system control feed screw nut low velocity; When Zero-point switch is decontroled, when control system detects first pulse of encoder at zero point, feed screw nut's stop motion, feed screw nut's position is actual zero point this moment.
In the concrete enforcement of this patent, the control signal circuit adopts the DAC0832 chip to produce aanalogvoltage control, and the control of servomotor torque adopts the mode of torque limit under the Position Control mode to control, and needs 2 road analog voltage signals, and one the tunnel for just, and one the tunnel for bearing.Adopt 28 DAC0832, produce generating positive and negative voltage respectively, be used to limit the torque of CCW and CW direction.Wherein, the torque of positive voltage restriction CCW direction, pact+3V/ nominal torque; The torque of negative voltage restriction CW direction, pact-3V/ nominal torque.
Man-machine interface shows the lattice type LCD display of selecting built-in T6963C controller for use, and this display has adopted the screen of 240 * 128 dot matrix; Keyboard adopts the nonencoded keyboard of 8 buttons.
The master-plan of this patent control system, adopt serial ports to communicate between source of welding current control system and the servo pressurizing control system, searching of mechanical origin carried out in start, and keeping each electrode all is from same position setting in motion, guarantees that the position of electrode can accurately be controlled.Before motor rotation, the host computer welding power source system sends to kinetic control system to parameters such as the displacement that sets, speed, pressure parameters by serial communication circuit, and the control motor is by spot welding control requirement running.The source of welding current is ready to just send enabling signal to single-chip microcomputer, single-chip microcomputer receives and just begins to send the command pulse signal to pulse conversion circuit, the passages through which vital energy circulates red switch is changed circuit function and is produced the pulse signal drive motors running that driver needs, the displacement of control electrode and speed.Simultaneously, single-chip microcomputer is to D/A change-over circuit output data, becomes the running torque of the torque limit signal control motor that driver needs through the D/A change-over circuit, thus the pressure of control electrode.Send signal to the source of welding current after electrode puts in place, the source of welding current begins output current, and welding process begins.Welding finishes, and the source of welding current sends end signal to single-chip microcomputer, sends the counter-rotating of pulse signal control motor after single-chip microcomputer receives, and when electrode is got back to original position, turn-offs all outputs, and motor stops the rotation, and waits for the signal that is next time sent by the source of welding current.
This patent has that electrode tip impulsive force to upper/lower electrode is little, pressure changes the advantage that pressure, displacement, speed between the fast and upper/lower electrode of response speed can accurately be controlled, and the pressure that satisfies on the different process changes requirement.
In this specification, this patent is described with reference to certain embodiments.But, still can make various modifications and conversion obviously and not deviate from the spirit and scope of this patent.Therefore, specification and accompanying drawing should be considered to illustrative and nonrestrictive.
Claims (4)
1. the servo compression system of resistance spot welding comprises welding machine electric power, man-machine interactive system, control system, executing agency, it is characterized in that, described control system comprises the motion controller that is used to set with feedback parameter; Described executing agency comprises driver, encoder, servomotor, shaft coupling, bindiny mechanism, top electrode, bottom electrode, limit switch, described driver is connected with motion controller, encoder, servomotor respectively, described encoder also is connected with motion controller, described shaft coupling is connected with pressurization bindiny mechanism, and described motion controller is provided with and is used for the control connection mechanism limit switch of stroke up and down.
2. the servo compression system of resistance spot welding according to claim 1 is characterized in that described top electrode is connected with bindiny mechanism, and bottom electrode is provided with a pedestal.
3. the servo compression system of resistance spot welding according to claim 2 is characterized in that described man-machine interactive system comprises LCD display, the keyboard that is connected with welding machine electric power.
4. the servo compression system of resistance spot welding according to claim 3 is characterized in that described bindiny mechanism is connected with shaft coupling by screw mandrel.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104070278A (en) * | 2013-03-28 | 2014-10-01 | 发那科株式会社 | Spot welding system including spot welding gun |
| CN104668760A (en) * | 2013-11-29 | 2015-06-03 | 成都焊研科技有限责任公司 | Control system of resistance welding machine |
| CN107414275A (en) * | 2017-09-26 | 2017-12-01 | 广东工业大学 | A kind of precision resistance mash welder and its resistance spot-welding servo system |
| CN107745176A (en) * | 2017-10-31 | 2018-03-02 | 天津七所高科技有限公司 | A kind of resistance spot welding control method and system for exempting from parameter setting |
| CN108907427A (en) * | 2018-09-18 | 2018-11-30 | 优尼恩电机（大连）有限公司 | Multiple layer metal welder and its welding method |
| CN109352147A (en) * | 2018-11-12 | 2019-02-19 | 东莞理工学院 | A kind of robot servo soldering turret |
| CN109623116A (en) * | 2017-10-06 | 2019-04-16 | 发那科株式会社 | Spot welding system |
| CN112171040A (en) * | 2019-07-03 | 2021-01-05 | 罗伯特·博世有限公司 | Welding control device for a welding tool and method for force adjustment of a welding tool |
| CN113543919A (en) * | 2019-03-05 | 2021-10-22 | Ｅｃｏ－Ａ株式会社 | Electric diffusion bonding device |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104070278A (en) * | 2013-03-28 | 2014-10-01 | 发那科株式会社 | Spot welding system including spot welding gun |
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| CN107414275A (en) * | 2017-09-26 | 2017-12-01 | 广东工业大学 | A kind of precision resistance mash welder and its resistance spot-welding servo system |
| CN109623116A (en) * | 2017-10-06 | 2019-04-16 | 发那科株式会社 | Spot welding system |
| CN107745176A (en) * | 2017-10-31 | 2018-03-02 | 天津七所高科技有限公司 | A kind of resistance spot welding control method and system for exempting from parameter setting |
| CN108907427A (en) * | 2018-09-18 | 2018-11-30 | 优尼恩电机（大连）有限公司 | Multiple layer metal welder and its welding method |
| CN109352147A (en) * | 2018-11-12 | 2019-02-19 | 东莞理工学院 | A kind of robot servo soldering turret |
| CN113543919A (en) * | 2019-03-05 | 2021-10-22 | Ｅｃｏ－Ａ株式会社 | Electric diffusion bonding device |
| CN112171040A (en) * | 2019-07-03 | 2021-01-05 | 罗伯特·博世有限公司 | Welding control device for a welding tool and method for force adjustment of a welding tool |
| EP3760359A1 (en) * | 2019-07-03 | 2021-01-06 | Robert Bosch GmbH | Welding control for a welding tool and method for controlling the force of a welding tool |
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