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Spot welding system and method of controlling pressing force of spot welding gun
Spot welding system and method of controlling pressing force of spot welding gun
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机译:点焊系统及控制点焊枪按压力的方法
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摘要
A spot welding system using a spot welding gun having a servomotor for driving welding tips capable of suppressing variation of pressing force due to influence of heat generated by welding current to obtain an uniform pressing force. A difference between the temperature T detected by a temperature sensor and an initial temperature T0 is multiplied by a coefficient A to obtain a pressing force compensation amount α. A pressing force d estimated by an observer is subtracted from the compensated command pressing force p′ and an obtained difference is multiplied by a constant K2 to obtain a torque command (current command) τ for driving the servomotor to press the objects by the welding tips. Since the commanded pressing force is compensated in accordance with the temperature, a constant and stable pressing force is produced without influence of the temperature variation.
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机译:使用具有伺服电动机的点焊枪的点焊系统,该伺服电动机用于驱动焊接头,该焊接头能够抑制由于焊接电流产生的热的影响而导致的压力变化,从而获得均匀的压力。将温度传感器检测到的温度T与初始温度T B 0之间的差乘以系数A,以获得按压力补偿量α。从补偿指令压力p'中减去观察者推定的压力d,将得到的差乘以常数K 2 B>,得到用于驱动伺服电动机的转矩指令(电流指令)τ。通过焊接技巧按压物体。由于命令的按压力是根据温度来补偿的,因此可以产生恒定而稳定的按压力,而不受温度变化的影响。
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