CN114178673A - Welding method and system based on servo motor pressure control - Google Patents
Welding method and system based on servo motor pressure control Download PDFInfo
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- CN114178673A CN114178673A CN202111666981.XA CN202111666981A CN114178673A CN 114178673 A CN114178673 A CN 114178673A CN 202111666981 A CN202111666981 A CN 202111666981A CN 114178673 A CN114178673 A CN 114178673A
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- 238000003466 welding Methods 0.000 title claims abstract description 140
- 238000000034 method Methods 0.000 title claims abstract description 51
- 238000013459 approach Methods 0.000 claims abstract description 8
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000002604 ultrasonography Methods 0.000 claims description 3
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 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
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/10—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating making use of vibrations, e.g. ultrasonic welding
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- 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
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/26—Auxiliary equipment
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- Lining Or Joining Of Plastics Or The Like (AREA)
- Pressure Welding/Diffusion-Bonding (AREA)
Abstract
The invention discloses a welding method and a system based on servo motor pressure control, which comprises that a servo motor drives a welding head to approach a workpiece to be welded at a preset speed in a normal working state of the system; when the feedback pressure value reaches the preset welding pressure, the servo motor stops moving and switches the position mode; starting a PID position adjusting mode under the state that the servo motor switches the position mode; and carrying out welding treatment in a state of triggering an ultrasonic welding instruction, and stopping the PID position adjusting mode when the welding requirement is met. According to the welding method and system based on servo motor pressure control, the PID position adjusting mode is set in the welding process, the PID position adjusting mode controls the welding pressure of the workpiece to be welded in the welding process by utilizing servo motor position adjustment, and the deformation of the workpiece after welding in the welding process is effectively controlled.
Description
Technical Field
The invention relates to the technical field of servo control, in particular to a welding method and a welding system based on servo motor pressure control.
Background
Generally speaking, a welding machine operates in a pneumatic structure, the operation of the welding machine is unstable, and in a cylinder welding structure, although the welding machine can control pressure to weld stably, the deformation and welding pressure of a workpiece after welding can not be simultaneously and effectively controlled, so that the quality of the welded part is unstable, and the production efficiency is influenced.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a welding method and a welding system based on servo motor pressure control, and solves the problem that the existing welding machine can not control the welding pressure and the deformation after welding.
In order to achieve the purpose, the invention is realized by the following technical scheme:
in a first aspect, a welding method based on servo motor pressure control comprises:
under the normal working state of the system, the servo motor drives the welding head to approach to a workpiece to be welded at a preset speed;
when the feedback pressure value reaches the preset welding pressure, the servo motor stops moving and switches the position mode;
starting a PID position adjusting mode under the state that the servo motor switches the position mode;
and carrying out welding treatment in a state of triggering an ultrasonic welding instruction, and stopping the PID position adjusting mode when the welding requirement is met.
Preferably, when the feedback pressure value reaches the preset welding pressure, the servo motor stops moving and switches the position mode; and recording first current position information when the servo motor stops moving, wherein the first current position is used as a PID initial adjustment position.
Preferably, a PID position adjusting mode is started in a servo motor position mode switching state; specifically, the method comprises the following steps of,
acquiring PID initial adjustment position information under a servo motor switching position mode, wherein the PID initial adjustment position information is the height position before welding;
increasing a variable pressure value matched with the deformation of a workpiece to be welded on the basis of a preset welding pressure;
and setting the post-weld deformation of the workpiece to be welded as the maximum value of PID position adjustment, wherein the post-weld deformation of the workpiece to be welded is obtained according to the welding process requirement.
Preferably, welding treatment is carried out in a state of triggering an ultrasonic welding instruction, and the PID position adjusting mode is stopped when the welding requirement is met; specifically, the method comprises the following steps of,
starting ultrasonic welding treatment on a workpiece to be welded in a state of triggering an ultrasonic welding instruction;
the workpiece is subjected to displacement change in a PID position adjusting mode, and the stability of welding pressure is ensured;
and stopping the PID position adjusting mode when the position of the servo motor reaches the deformation position of the workpiece to be welded, and keeping the current position of the servo motor until the ultrasound stops.
Preferably, the method further comprises recording a second current position of the servo motor after the ultrasonic is stopped, wherein the second current position is a post-welding height, and the post-welding height is equal to the sum of the pre-welding height and the PID adjustment quantity.
Preferably, the servo motor maintains the second current position for 1 second after the ultrasonic is stopped, and the welding is finished after the servo motor returns to the set position.
Preferably, the variable pressure value is 200N.
Preferably, a 50ms delay command is provided before triggering the ultrasonic welding command.
In a second aspect, a welding system based on a servo motor pressure control system includes,
the motion module is used for driving the welding head to approach a workpiece to be welded at a preset speed by the servo motor under the normal working state of the system;
the mode switching module is used for stopping the servo motor and switching the position mode when the feedback pressure value reaches the preset welding pressure;
the PID position adjusting mode starting module is used for starting a PID position adjusting mode under the state that the position mode of the servo motor is switched;
and the processing module is used for carrying out welding processing in a state of triggering the ultrasonic welding instruction and stopping the PID position adjusting mode when the welding requirement is met.
The invention has the following beneficial effects:
by setting the PID position adjusting mode in the welding process, the PID position adjusting mode utilizes the position adjustment of the servo motor to control the welding pressure of the workpiece to be welded in the welding process, and the deformation of the workpiece after welding in the welding process is effectively controlled.
The variable pressure value matched with the deformation of the workpiece to be welded is increased on the basis of the preset welding pressure, the variable pressure value can be offset with the deformation of the workpiece in the welding process, the error of the deformation of the workpiece in the welding process is reduced, and the quality of the welded workpiece is improved.
Drawings
Fig. 1 is a flowchart of a welding method based on servo motor pressure control according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
The embodiment of the invention provides a welding method based on servo motor pressure control, and fig. 1 is a flow chart of the welding method based on servo motor pressure control.
S110, in a state that the system works normally, the servo motor drives a welding head to approach a workpiece to be welded at a preset speed;
specifically, upon pressing the start button, the servo-actuated horn approaches the workpiece at a predetermined speed, for example 20mm/s,
s120, when the feedback pressure value reaches the preset welding pressure, stopping the motion of the servo motor and switching the position mode;
specifically, when the feedback pressure value reaches a preset welding pressure set on the touch screen, the servo motor stops and switches the position mode, and the preset welding pressure is obtained according to the requirements of the welding process.
S130, starting a PID position adjusting mode under the state that the servo motor switches the position mode;
specifically, when the servo motor stops, a first current position is recorded, the first current position is a height position before welding, and the height position before welding is used as a PID initial adjustment position. When the position mode is switched by the servo, the PID position adjusting mode is started. The maximum value of the PID position adjustment quantity is the preset workpiece post-welding deformation quantity, the post-welding deformation quantity of the workpiece is obtained according to the welding process requirement, and the pressure before welding can be stabilized through the PID position adjustment effect. The variable pressure value is increased on the basis of preset welding pressure before an ultrasonic instruction is triggered to be started, the variable pressure value can be obtained according to welding process experience, 200N can be obtained, 50ms delay exists between the moment that a PLC sends an ultrasonic instruction and the moment that a generator starts to send ultrasonic waves, PID starts to actively adjust the position of a servo motor in the 50ms delay, and the servo displacement is not changed due to the problems of PID integration time and a program refreshing period.
The variable pressure value matched with the deformation of the workpiece to be welded is increased on the basis of the preset welding pressure, the variable pressure value can be offset with the deformation of the workpiece in the welding process, the error of the deformation of the workpiece in the welding process is reduced, and the quality of the welded workpiece is improved.
And S140, performing welding treatment in a state of triggering the ultrasonic welding instruction, and stopping the PID position adjusting mode when the welding requirement is met.
Specifically, the workpiece after ultrasonic opening is instantaneously deformed, and the welding pressure is reduced along with the deformation of the workpiece due to the compression deformation of the workpiece. But when the workpiece deforms, the servo motor starts to follow the workpiece deformation through PID position adjustment, and the welding pressure is not lower than the preset welding pressure. During the ultrasonic welding process, PID actively adjusts the servo position, the deformation of the workpiece can offset the pressure increased by 200N before welding, and therefore the welding pressure is maintained within a preset welding pressure range. The process requires a deformation amount of the workpiece due to deformation of the workpiece during welding. The servo position adjustment amount through the PID is the workpiece deformation amount. And stopping PID adjustment when the servo second current position minus the position before welding is equal to the set value of the deformation of the workpiece, and servo keeping the current position until the ultrasound is stopped.
And after the ultrasonic wave stops, recording the current position of the servo, namely the height after welding. The post-weld height is equal to the sum of the pre-weld height and the PID adjustment, wherein the PID adjustment output value is an output range which can be limited by setting the maximum value and the minimum value of the output value. And after the ultrasonic wave stops, the servo maintains the current position for 1s, then the set position is returned, and the welding process is finished.
The PID position adjusting mode is set in the welding process, the PID position adjusting mode utilizes the position adjustment of the servo motor to control the welding pressure in the welding process, the deformation of the workpiece after welding in the welding process is effectively controlled, the variable pressure value matched with the deformation of the workpiece to be welded is increased on the basis of the preset welding pressure, the variable pressure value can be offset with the deformation of the workpiece in the welding process, the error of the deformation of the workpiece in the welding process is reduced, and the quality of the welded workpiece is improved.
Example two
The embodiment provides a welding system based on a servo motor pressure control system, which comprises,
the motion module is used for driving the welding head to approach a workpiece to be welded at a preset speed by the servo motor under the normal working state of the system;
the mode switching module is used for stopping the servo motor and switching the position mode when the feedback pressure value reaches the preset welding pressure;
the PID position adjusting mode starting module is used for starting a PID position adjusting mode under the state that the position mode of the servo motor is switched;
and the processing module is used for carrying out welding processing in a state of triggering the ultrasonic welding instruction and stopping the PID position adjusting mode when the welding requirement is met.
The working principle of this embodiment is the same as that of the first embodiment, and therefore, the description thereof is not repeated.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. A welding method based on servo motor pressure control is characterized by comprising
Under the normal working state of the system, the servo motor drives the welding head to approach to a workpiece to be welded at a preset speed;
when the feedback pressure value reaches the preset welding pressure, the servo motor stops moving and switches the position mode;
starting a PID position adjusting mode under the state that the servo motor switches the position mode;
and carrying out welding treatment in a state of triggering an ultrasonic welding instruction, and stopping the PID position adjusting mode when the welding requirement is met.
2. The servo motor pressure control-based welding method according to claim 1, wherein when the feedback pressure value reaches a preset welding pressure, the servo motor stops moving and switches the position mode; and recording first current position information when the servo motor stops moving, wherein the first current position is used as a PID initial adjustment position.
3. The servo motor pressure control-based welding method according to claim 1, wherein a PID position adjusting mode is started in a servo motor position mode switching state; specifically, the method comprises the following steps of,
acquiring PID initial adjustment position information under a servo motor switching position mode, wherein the PID initial adjustment position information is the height position before welding;
increasing a variable pressure value matched with the deformation of a workpiece to be welded on the basis of a preset welding pressure;
and setting the post-weld deformation of the workpiece to be welded as the maximum value of PID position adjustment, wherein the post-weld deformation of the workpiece to be welded is obtained according to the welding process requirement.
4. The welding method based on servo motor pressure control as claimed in claim 1, wherein the welding process is performed in a state of triggering an ultrasonic welding command, and the PID position adjustment mode is stopped when the welding requirement is satisfied; specifically, the method comprises the following steps of,
starting ultrasonic welding treatment on a workpiece to be welded in a state of triggering an ultrasonic welding instruction;
the workpiece is subjected to displacement change in a PID position adjusting mode, and the stability of welding pressure is ensured;
and stopping the PID position adjusting mode when the position of the servo motor reaches the deformation position of the workpiece to be welded, and keeping the current position of the servo motor until the ultrasound stops.
5. The servo motor pressure control based welding method of claim 4, further comprising recording a second current position of the servo motor after the ultrasonic stop, wherein the second current position is a post weld height, and wherein the post weld height is equal to a sum of the pre-weld height and the PID adjustment.
6. The welding method based on servo motor pressure control as claimed in claim 4, wherein after the servo motor maintains the second current position for 1s after the ultrasonic is stopped, the welding is finished after returning to the set position.
7. The servo motor pressure control based welding method according to claim 3, wherein the variable pressure value is 200N.
8. The servo motor pressure control based welding method of claim 1, wherein a 50ms delay command is provided before triggering the ultrasonic welding command.
9. A welding system based on servo motor pressure control is characterized by comprising,
the motion module is used for driving the welding head to approach a workpiece to be welded at a preset speed by the servo motor under the normal working state of the system;
the mode switching module is used for stopping the servo motor and switching the position mode when the feedback pressure value reaches the preset welding pressure;
the PID position adjusting mode starting module is used for starting a PID position adjusting mode under the state that the position mode of the servo motor is switched;
and the processing module is used for carrying out welding processing in a state of triggering the ultrasonic welding instruction and stopping the PID position adjusting mode when the welding requirement is met.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111666981.XA CN114178673A (en) | 2021-12-31 | 2021-12-31 | Welding method and system based on servo motor pressure control |
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| CN202111666981.XA CN114178673A (en) | 2021-12-31 | 2021-12-31 | Welding method and system based on servo motor pressure control |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150158247A1 (en) * | 2013-12-05 | 2015-06-11 | Branson Ultraschall Niederlassung Der Emerson Technologies Gmbh & Co. Ohg | Ultrasonic welding device and ultrasonic welding method for controlling continuous ultrasonic welding processes |
| US20170129062A1 (en) * | 2015-11-11 | 2017-05-11 | Branson Ultrasonics Corporation | Work Piece Processing Device With Servo-Elastic Actuator System With Simultaneous Precision Force And Position Control |
| CN108356405A (en) * | 2018-03-13 | 2018-08-03 | 深圳市大七易科技有限公司 | A kind of control pressurer system of ultrasonic welding machine |
| CN111014941A (en) * | 2019-12-27 | 2020-04-17 | 上海交通大学 | Servo pressure device for regulating and controlling metal ultrasonic welding force |
| CN112721184A (en) * | 2020-12-16 | 2021-04-30 | 上海骄成机电设备有限公司 | Welding method and welding system |
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- 2021-12-31 CN CN202111666981.XA patent/CN114178673A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150158247A1 (en) * | 2013-12-05 | 2015-06-11 | Branson Ultraschall Niederlassung Der Emerson Technologies Gmbh & Co. Ohg | Ultrasonic welding device and ultrasonic welding method for controlling continuous ultrasonic welding processes |
| US20170129062A1 (en) * | 2015-11-11 | 2017-05-11 | Branson Ultrasonics Corporation | Work Piece Processing Device With Servo-Elastic Actuator System With Simultaneous Precision Force And Position Control |
| CN108356405A (en) * | 2018-03-13 | 2018-08-03 | 深圳市大七易科技有限公司 | A kind of control pressurer system of ultrasonic welding machine |
| CN111014941A (en) * | 2019-12-27 | 2020-04-17 | 上海交通大学 | Servo pressure device for regulating and controlling metal ultrasonic welding force |
| CN112721184A (en) * | 2020-12-16 | 2021-04-30 | 上海骄成机电设备有限公司 | Welding method and welding system |
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Application publication date: 20220315 |