Technology of servo welding torch makes medium applied research in car automobile body

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Use belt of servo welding torch electric machinery of servo of pilot of word of know exactly about sth, it is the latest technology that uses on welder. The article undertakes contrasting analytic with respect to the new feature of servo welding torch and traditional pneumatic welding torch, include support of the people of servo welding torch, machine to solder in the introduction on this foundation the system of spot welding test of controller, and how to use implementation of system of test of servo welding torch to solder of parameter accurate get. Resistor spot welding is a kind of main laminose join method, apply extensively at car and department of industry of boat cool one's heels. Since the first car that basically finishs by spot welding join got offline 1933, the application of resistor spot welding had achieved the progress of advance rapidly. Although in recent years each country scholar offerred technologies of a lot of new-style and laminose join in succession, but resistor spot welding with its low cost, yi Shi shows the characteristic such as production of high speed automation, decide its remain the main join means that car white automobile body assembles. Welder is being nodded in spot welding process is in order to realize what what choose to solder of method and craft parameter solder equipment, solder the stand or fall of quality is decided by welder more. Among them, the most commonly used type is pneumatic welder, the welder of this kind of type still is applied in auto industry widely nowadays now. Although used pneumatic and liquid the new-style pneumatic welder that the technology applies at the same time to have more functions, but because the price of welder is mixed,maintain wait for a problem, this type welder did not receive very good application in auto industry. Servo welding torch assembles product line to car automobile body for opposite newer, the last few years, the Motor Corporation such as Renault, Mazda, Toyota, Ford already applied car automobile body to assemble product line to go up. Actual application makes clear: Servo welding torch is having the advantage that traditional pneumatic welder can not have, it is prospective car assembles the main spot welding on product line join equipment. The new technology of servo welding torch is characteristic in recent years the C of drive of electric machinery of cause communication servo or X servo welding torch (if pursue 1) embark to undertake on OK and mobile 7 axes robot equipment of spot welding of connective of automobile body thin plate is in grow in quantity. Compare pneumatic welding torch, the biggest characteristic of servo welding torch is with servo device replaces pneumatic unit, according to weave beforehand program, issue a statement by servo controller, control servo electric machinery according to feed of fixed rate, displacement, form the accurate control of pair of electrode displacement and speed, pulse amount and frequency decide electrode displacement and rate, electric machinery torsion decides electrode pressure. Graph sketch map of structure of 1 servo welding torch because servo welding torch is by drive of servo electric machinery, can to soldering the process undertakes be controllinged accurately, in the meantime, servo welding torch uses rod of pressurization of drive of servo electric machinery, consequently can the mobile axis of cooperative control good welding torch, implementation moves between significant solder drop, pneumatic welding torch cannot come true previously solder the position can come true now by servo welding torch. Control electrode motion rate accurately: The electrode motion of pneumatic welding torch relies on air cylinder to control, this makes electrode motion rate is controlled accurately very hard, the high speed that electrode moves is led, the impact when can causing electrode and workpiece contact is very big, cause electrode force to be able to produce the vibration of short time, affect electrode life thereby. And to servo welding torch, the motion of electrode is controlled by servo electric machinery, can control electrode motion rate well, make electrode and the impact when workpiece is contacted very little, improve electrode life thereby. If the graph is shown 2 times, before electrode force achieves stability, servo welding torch contacts force of the electrode in the process to do not have apparent oscillation phenomenon in electrode, electrode motion gained very good control. Graph the metabolic curve of the force when 2 pneumatic welder and electrode of servo welding torch contact improves spot welding productivity: Graph 3 showed pneumatic welder and servo welding torch are soldering the change of force of the electrode in the process, assume achieve set beforehand pressure, electrode force will keep constant. Can see from which, of pneumatic welder press time to be 30 Zhou Bo about beforehand (0.

6 seconds) , and servo welding torch used 8 Zhou Bo only (0.

16 seconds) pressed time to achieve set pressure beforehand. In light of contrast, the weld time that servo welding torch finishs a solder to nod place to use is 43 Zhou Bo (0.

86 seconds) , pneumatic welder needs 65 Zhou Bo (1.

3 seconds) . That is to say, finish dot of a solder to want to save with servo welding torch 0.

The weld time of 44 seconds. Nod at thousands of solder of a car relatively, every solder point is economic 0.

The weld time of 44 seconds is right assemble process productivity it is very important to rise, the productivity of assembly line of car automobile body can rise greatly. Additional, but journey of process designing electrode and speed also can shorten same work on many solder nod press duration beforehand, this also can raise yield of solder deliver a child. Graph of 3 pneumatic welder and servo welding torch press time contrast Nextpage to be able to gain v strength beforehand: Solder the can accuse a gender to want to be attributed to servo electric machinery and it control technology of the process. Because change electrode pressure easily, solder of force of the v in the process obtain become likely. Can obtain electrode force and electrode displacement: Torsion of servo electric machinery and speed regard electric machinery as the sendout of controller, its change measures easily change to be the change of electrode force and electrode position, and make the monitoring of online real time of electrode force and electrode displacement signal becomes feasible, electrode position, online invalidation is explored and electrode compensatory is accurate measure it is easier to also compare pneumatic welder. Technology of servo electric machinery is mixed to spot welding machine solder the process brings new technical character, basically be by servo electric machinery and the inherent character that control a technology accordingly place is decided. The main difference between servo welding torch and groovy pneumatic welding torch is inputting quantity and corresponding control model at theirs, to pneumatic welder it is constant baric, and to servo welding torch it is constant torsion. From the point of pilot viewpoint: Pneumatic welder is open loop control, servo welding torch is the closed-loop control that has feedback. Accordingly, the motion of electrode of servo welding torch and force can gain more accurate control. These new technology characteristics and function can make solder the process is controlled more easily, welder is operated more easily, can raise solder to nod quality. The place on put together is narrated, move welding torch photograph to compare compatibly, the advantage of servo welding torch is clearly. Above all, servo welding torch can rise solder the productivity of the process; Next, because solder process parameter, for example report does his utmost and electrode displacement can be obtained from inside servo electric machinery, servo welding torch is process monitoring, diagnose and compensation offerred new possibility; The 3rd, the forge pressure that servo welding torch can get soldering the place in the process needs, can raise solder to nod quality thereby; The 4th, can charge a sex as a result of what electrode moves, the impact when electrode and workpiece are contacted is little, noise is low, conduce to improvement working environment, improve electrode life. It is OK to use servo welding torch to reach its to control character parameter of standard of solder of point of safes, those who realize spot welding breakdown is online detect. Accordingly, the feature of servo welding torch and welding torch of advantage decision servo can be wonderful replace machine of existing spot welding. System of test of spot welding of welding torch of servo of system of test of spot welding of servo welding torch is main by servo welding torch, solder controller of robot, robot and solder 4 parts comprise controller (if pursue 4) . Through the system compositive (if pursue 5) implementation control signal is transmitted, initialization of the program that finish, implementation robot controller is controlled accurately to what electrode of servo welding torch moves. The servo welding torch that the system uses firm of Fanuc robot, Obara and solder controller. Through Fanuc company private cable joins between controller of robot and robot, include a robot power supply cord of power supply cord of power supply cord of 6 axes servo, servo of axis of line, welding torch, line, Device Net, line and ground wire. Robot controller and solder the Process I/O that offers through Fanuc company between controller board join, soldering deliver in the process solder signal, the program that includes 4 lines picks communication name, solder enabling signal, solder end receive signal, solder controller and robot are mixed through transformer power supply cord lukewarm accuse feedback circuitry join to wait. Graph 4 include support of the people of servo welding torch, machine to solder the system of spot welding test of controller pursues 5 robots controller and solder of controller compositive transmit solder the detailed configuration plan of signal is as follows: The SDO21~SDO24 opening that uses terminal station serves as solder program piece choose signal GO[1] , the power source that receives its 4 electromagnetism relay repeatedly respectively inputs the negative pole of end, and the anode that relay inputs end receives public end repeatedly + 24E, the output of electromagnetism relay often opens contact to join solder controller solders program piece choose signal to input end; The SDO25 of terminal station is solder enabling signal DI[5] , mix it + the negative pole that 24E joins electromagnetism relay is inputted respectively and anode, output often opens relay contact is received repeatedly solder controller solders enabling signal input carries SDI23 of; terminal station to end to solder signal, mix it + 24E is received repeatedly directly solder controller solders ending signal outputs end. After system of test of initialization of test system program is compositive, the control parameter that needs axes of pair of servo welding torch undertakes configuration, use robot controller TP will come true, flow of initialization of test system program is shown 6 times like the graph. Servo welding torch serves as the 7th axis of the robot, control by the servo unit of door of robot controller technical secondary school, to realize complex spot welding process, need undertakes a series of initialization setting: Include the 7th axle at 0 o'clock revert, fluctuation spacing is installed, autotune checks performance of orgnaization of instrument of solder rifle bolt, setting of General of servo welding torch, crucial setting move is as follows: Graph Nextpage1) of flow chart of initialization of 6 systems program at 0 o'clock revert: Use odd axis Mastering, will go up electrode moves to leave electrode position, measure repeatedly carry out ranking menu is returned after ending, revert was carried out at 0 o'clock end. 2) fluctuation spacing is installed, choose F1 (Type) , Axis Limits option, decide next spacing of welding torch axis, set into 2~5mm normally, fall in case the distance is too long cause lever of crack up electrode, when the spacing on the setting, will go up electrode moves to go up ultimate position, press Position bolts, observation go up right now the position of electrode, the numerical value that chooses to be less than this value serves as upper limit value, the setting ends, start a machine afresh. Function of 3) Autotune welding torch checks, press Menu, Utilities, F1 (Type) , Autotune option, enter operation interface, undertake installing stage by stage according to clew, after the setting ends, switch tone arrives below T2 mode, autotune program chooses below Select menu, run this program automatically to finish function to check. General of 4) servo welding torch is installed, in Menu, Setup, below Servo Gun menu, choose General Setup, undertake installing into Detail, install each option, among them: Must install Pressure Cal option correctly, if do not have this setting, cannot undertake welding torch pressurization is operated. Specific setting method is as follows, enter Detail, choose pressurization time, check the ply that pressure expresses, electric machinery outputs torsion (install with the per cent of rated torsion) , electrode falls, with pressure the watch checks electrode pressure, the record leaves the pressure value of each torsion place correspondence, according to same way, test as far as possible much set number, the record ends, finish this option setting according to clew, the system can show the operation is finished. System of test of welding torch of servo of implementation of process designing of spot welding of servo welding torch controls software program to realize spot welding to be operated basically through robot TP. Use Process I/O board join robot controller and solder controller, process of the spot welding that finish and solder of normative parameter choose. Instruction of spot welding process designing is Spot[P=m, s=n, BU=i] , main job is to set these 3 parameter, among them: P is pressure parameter, decision spot welding is whole the pressure curve of the process; S is solder program name, decide I/O mouth exports a worth, anthology solder in controller a certain solder program, implementation solders of electric current and time choose; BU is open welding torch parameter, decision welding torch is soldering after ending open a quantity, must install ability of these 3 option correctly to realize normal spot welding process designing to operate. Specific setting move is as follows: (1) P setting: In DATA, F1 (Type) , below Pressure menu, the electrode pressure that place of process of pitch on spot welding needs is worth, enter specific interface to install (if pursue 7) , in this setting ply of electrode pressure, workpiece, electrode presses workpiece deepness, welding torch to drift compensation, solder instruction delay time. Below Auto Route, the setting solders the immediateness of the electrode in the process the position, begin pressurization position, pressure position, pressurization to end the position to wait (if pursue 8) . Below Pressure Profile, the setting solders pressure and time hold after pressure and the pressure in pressing time, solder to receive electrify process beforehand and time, solder beforehand (if pursue 9) . Graph 5 level that process designing of spot welding of 8 servo welding torch operates chart of configuration of 7 pressure parameter pursue 9 electrode press add hold a parameter setting (2) S setting: Solder the program chooses to install, s connects to choose a certain solder program name. Particular operation is solder in the process, robot controller gives out solder program name is deposited in Weld Schedule register, this register installs the output that is Group1 through I/O mouth, group1 output is bound decided 4 I/O passageway to be a group, through electromagnetism relay corresponding at soldering 4 program choosing in controller connect switch, anthology book solder program. (3) BU setting: Open setting of welding torch date, in Data, what setting of welding torch date differs is open to open range for what differ below BackUp menu. CNC Milling CNC Machining