CN110901079A - Clamping mechanism, welding machine, and clamping force control method and device - Google Patents
Clamping mechanism, welding machine, and clamping force control method and device Download PDFInfo
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- CN110901079A CN110901079A CN201811103730.9A CN201811103730A CN110901079A CN 110901079 A CN110901079 A CN 110901079A CN 201811103730 A CN201811103730 A CN 201811103730A CN 110901079 A CN110901079 A CN 110901079A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
- B29C65/02—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor by heating, with or without pressure
- B29C65/14—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor by heating, with or without pressure using wave energy, i.e. electromagnetic radiation, or particle radiation
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Abstract
The invention provides a clamping mechanism, a welding machine, a control method of clamping force and a device, wherein the clamping mechanism comprises: the workbench is arranged on a frame of the welding machine; one or more force sensors arranged on the workbench and used for detecting the clamping force between the workpieces to be welded; the actuating mechanism is connected with the force sensor, and the driving force sensor and the workbench move back and forth; and the motion controller controls the motion displacement of the workbench according to the signal of the clamping force fed back by the one or more force sensors so as to control the magnitude of the clamping force between the workpieces to be welded, wherein the motion controller controls the actuating mechanism according to the signal so as to adjust the motion displacement of the workbench. The invention solves the problem that the welding can not be carried out by the micro clamping force in the related technology, thereby realizing the technological requirement of welding by adopting the micro clamping force and improving the welding quality.
Description
Technical Field
The invention relates to the field of welding, in particular to a clamping mechanism, a welding machine, a clamping force control method and a clamping force control device.
Background
The laser welding plastic technology is a technology applied to thermoplastic welding. The working principle is as follows: for a laser with a wavelength, it can penetrate some kinds of plastics, if some elements, such as carbon, etc., are added to the plastics, the laser can not penetrate the plastics, and the energy of the laser is absorbed by the materials. The plastic workpiece which can penetrate the laser and the plastic workpiece which cannot penetrate the laser are jointed together, laser is irradiated from one side of the plastic workpiece which can penetrate the laser, heat is generated on the contact surface of the two workpieces, and the contact surface is melted, so that the two workpieces are welded together.
With the development of science and technology, in the field of laser plastic welding, the types of welded workpieces are continuously expanded. The appearance of work piece is more and more small and exquisite, and is more and more frivolous. In order to weld such light, thin and small workpieces, the clamping force which can be controlled by the welding machine is required to be smaller and smaller, and the force control precision is required to be higher and higher. Some welded workpieces require clamping forces in the range of 1-10 newtons, with precision requirements that the actual force deviation is within + -10% (i.e., + -0.1 newtons) at a force setting of 1 newton. This is the precision of clamping force control that has not been possible with previous plastic welding machines.
In a laser welding machine in the related art, a frame 1, a lifting actuator 2 and a base 3 which control a workpiece to move up and down are shown in the attached drawing 1, the actuator is an air cylinder, the air pressure of the air cylinder is controlled by a manual pressure regulating valve or a proportional pressure regulating valve, the up-and-down movement logic of the air cylinder is controlled by an electromagnetic directional valve, and the pneumatic schematic diagram is shown in the attached drawing 2. A force sensor is generally installed at the output end of the cylinder and used for detecting actual clamping force. Fig. 3 is a schematic view of a pneumatic structure in the related art, and as shown in fig. 3, the pneumatic structure includes a slider 31 for pushing the upper die, a force sensor 32 is disposed on the slider 31, the slider 31 for pushing the upper die is connected to a guide rail 34, and the force sensor 32 is connected to a cylinder 35.
According to the air cylinder scheme, the clamping force is controlled by air pressure, the inherent sliding friction resistance exists in the air cylinder, and in addition, when the sliding block is pushed to move downwards, the friction force between the guide rail and the sliding block needs to be overcome, so that the air pressure needs to be adjusted to be larger than the friction force of the air cylinder and the friction force of the guide rail, and the air cylinder can push the sliding block out. Because the friction is nonlinear, the static friction is large, and the dynamic friction is small, the initial thrust is inevitably larger than the static friction, and the clamping force cannot be controlled to be small in the final die assembly, generally the minimum clamping force is dozens of newtons, and the control precision of the clamping force is not good because the friction is influenced by temperature and the like. With the solutions of the related art, it is not possible to use them for welding small plastic parts, since these small plastic parts have a slightly larger clamping force and are deformed or crushed.
Aiming at the problem that the welding can not be carried out by micro clamping force in the related technology, an effective solution is not provided at present.
Disclosure of Invention
In order to solve the above problems, an embodiment of the present invention provides a clamping mechanism, a welding machine, a method and an apparatus for controlling a clamping force.
In one aspect, a clamping mechanism is provided in a welding machine, comprising:
the workbench is arranged on a frame of the welding machine;
one or more force sensors arranged on the workbench and used for detecting the clamping force between the workpieces to be welded;
the actuating mechanism is connected with the force sensor and pushes the force sensor and the workbench to move back and forth;
and the motion controller controls the motion displacement of the workbench according to the signal of the clamping force fed back by the one or more force sensors so as to control the magnitude of the clamping force between the workpieces to be welded, wherein the motion controller controls the actuating mechanism according to the signal so as to adjust the motion displacement of the workbench.
Preferably, the method further comprises the following steps:
the displacement sensor is used for detecting the displacement of the motion of the actuating mechanism;
and the servo driver is communicated with the motion controller and controls the motion displacement and/or the stepping displacement of the actuating mechanism according to the displacement given signal sent by the motion controller and the actual displacement signal of the displacement sensor.
Preferably, the actuator comprises:
a servo motor, the servo motor comprising one of: linear motor, servo electronic jar, linear module.
Preferably, the one or more force sensors are disposed on an upper surface of the table and/or a lower surface of the table.
Preferably, the method further comprises the following steps: and the actuating mechanism moves along the guide rail, and a gap with a preset distance is reserved between the guide rail and the workbench.
Preferably, the area of the detection range of the one or more force sensors is greater than or equal to the area of the table.
Preferably, a non-contact welding depth sensor is arranged on the workbench.
Preferably, the execution period of the motion controller is less than or equal to 1 millisecond.
Preferably, the resolution of the displacement sensor is less than or equal to 1 micron.
Preferably, the servo driver and the motion controller are integrally provided, or the servo driver and the motion controller communicate through an industrial bus.
Preferably, the actuator comprises: linear motors or servo motors.
In another aspect, an embodiment of the present invention also provides a welding machine including the clamping mechanism described above.
In another aspect, an embodiment of the present invention further provides a method for controlling a clamping force, including:
a motion controller of the welding machine receives signals of the clamping force fed back by one or more force sensors;
the motion controller controls the motion displacement of a workbench of the welding machine so as to control the magnitude of clamping force between workpieces to be welded of the welding machine, wherein the motion controller controls an actuating mechanism of the welding machine according to the signal so as to adjust the motion displacement of the workbench.
Preferably, before the motion controller of the welding machine receives the signal of the clamping force fed back by the one or more force sensors, the method further comprises the following steps:
one or more force sensors disposed on the table detect a clamping force between the workpieces to be welded.
Preferably, after the motion controller controls the motion displacement of the workbench of the welding machine, the method further comprises:
and the actuating mechanism is connected with the force sensor and is used for pushing the force sensor and the workbench to move back and forth.
Preferably, after the motion controller controls the motion displacement of the workbench of the welding machine, the method further comprises:
the displacement sensor detects the displacement of the motion of the actuating mechanism;
and the servo driver is communicated with the motion controller and controls the motion displacement and/or the stepping displacement of the actuating mechanism according to the displacement given signal sent by the motion controller and the actual displacement signal of the displacement sensor.
Preferably, the one or more force sensors are disposed on an upper surface of the table and/or a lower surface of the table.
Preferably, the actuating mechanism moves along a guide rail, and a gap with a preset distance is reserved between the guide rail and the workbench.
Preferably, the area of the detection range of the one or more force sensors is greater than or equal to the area of the table.
Preferably, a non-contact welding depth sensor is arranged on the workbench.
Preferably, the execution period of the motion controller is less than or equal to 1 millisecond.
Preferably, the resolution of the displacement sensor is less than or equal to 1 micron.
Preferably, the servo driver and the motion controller are integrally provided; or,
the servo driver and the motion controller communicate via an industrial bus.
In another aspect, a control device for clamping force is provided, which is located in a welding machine, and comprises:
the motion controller is used for receiving signals of the clamping force fed back by the one or more force sensors;
the motion controller is further used for controlling the motion displacement of a workbench of the welding machine so as to control the clamping force between the workpieces to be welded of the welding machine, wherein the motion controller controls an actuating mechanism of the welding machine according to the signal to adjust the motion displacement of the workbench.
Preferably, one or more force sensors are provided on the table for detecting the clamping force between the workpieces to be welded.
Preferably, the actuating mechanism is connected with the force sensor and used for pushing the force sensor and the workbench to move back and forth.
Preferably, the above apparatus further comprises:
the displacement sensor is used for detecting the displacement of the motion of the actuating mechanism;
and the servo driver is communicated with the motion controller and is used for controlling the motion displacement and/or the stepping displacement of the actuating mechanism according to the displacement given signal sent by the motion controller and the actual displacement signal of the displacement sensor.
According to the technical scheme provided by the invention, the workbench provided with the force sensors is adopted, and the motion controller controls the actuating mechanism to adjust the motion displacement of the workbench according to the clamping force signals sent by one or more force sensors, so that the clamping force between the workpieces to be welded is controlled. The technical scheme solves the problem that the welding can not be carried out by the micro clamping force in the related technology, thereby realizing the technological requirement of welding by adopting the micro clamping force and improving the welding quality.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic illustration of a laser plastic welder according to the related art;
FIG. 2 is a schematic view of a pneumatic principle according to the related art;
FIG. 3 is a schematic view of a pneumatic structure in the related art;
FIG. 4 is a schematic view of a clamping mechanism according to an embodiment of the present invention;
FIG. 5 is a first schematic diagram of a force sensor and guide rail arrangement according to an embodiment of the present invention;
FIG. 6 is a second schematic diagram of a force sensor and guide rail arrangement according to an embodiment of the invention;
FIG. 7 is a top view of a single arrangement of force sensors according to an embodiment of the present invention;
FIG. 8 is a top view of a plurality of arrangements of force sensors according to an embodiment of the present invention;
FIG. 9 is a flow chart of a method of controlling clamping force according to an embodiment of the present invention;
fig. 10 is a block diagram of a control device of clamping force according to an embodiment of the present invention;
FIG. 11 is a block diagram of a preferred construction of a control device for clamping force according to an embodiment of the present invention;
fig. 12 is a flowchart of a control method of clamping force according to a preferred embodiment of the present invention.
Detailed Description
The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
This embodiment provides a clamping mechanism located on a welding machine, and fig. 4 is a schematic diagram of a clamping mechanism according to an embodiment of the invention, as shown in fig. 4, comprising:
a worktable 41 arranged on the frame 40 of the welding machine;
one or more force sensors 42, disposed below the table 41, which detect the clamping force between the workpieces to be welded;
an actuator 43 connected to the force sensor, the force sensor and the table moving back and forth;
and a motion controller 44 for controlling the motion displacement of the worktable 41 according to the signal of the clamping force fed back by the force sensor 42 to control the magnitude of the clamping force between the workpieces to be welded, wherein the motion controller 44 controls the actuator 43 according to the signal to adjust the motion displacement of the worktable 41.
Preferably, the method further comprises the following steps: a displacement sensor 51 for detecting the displacement of the actuator movement;
and a servo driver 52, which is communicated with the motion controller and controls the motion displacement and/or the step displacement of the actuating mechanism according to the signal of the clamping force fed back by the motion controller and the signal of the displacement sensor.
As a preferred embodiment, the servo driver includes: a servo motor. The skilled person can select the servo motor in the related art according to the actual needs, for example: linear motor, servo electronic jar, linear module.
For example: (1) linear motor systems, linear motors in the related art, may generally have a U-shaped slot type, a flat plate type, or a cylindrical type.
(2) The rotary servo motor converts rotary motion into linear motion through a screw rod, and generally comprises a servo electric cylinder and a linear module.
Compared with other actuators, the linear motor has the advantages of high position response speed and high linear position control precision. The actuators are provided with high-precision linear displacement sensors, such as grating scales or magnetic grating scales, so that the position and the speed can be controlled very accurately. The position control resolution of the control system combined in the way can reach the resolution of a linear displacement sensor, such as 1 micron, even 0.1 micron. These mechanisms can be selected to perform clamping of the welded workpiece, depending on the application.
As another preferred embodiment, one or more force sensors may be provided on the upper surface of the table and/or the lower surface of the table for measuring the clamping force. Preferably, the area of the detection range of the one or more force sensors is greater than or equal to the area of the worktable.
Depending on the size of the table area and the detection area of the selected force sensor, the arrangement of the force sensors may be a single arrangement or a plurality of arrangements.
Generally, the detection range of a single force sensor is limited, for example, a certain force sensor is a circular range with the center as the center and the diameter of 100mm, when the area of the workbench is smaller than the range, the force sensor only needs to be arranged at the center of the workbench, as shown in fig. 7, the dashed circle with a larger radius shows the detection range of the force sensor, and the detection range is larger than the area of the workbench.
A single arrangement is suitable where one force sensor sensing area can cover the table.
When the area of the workbench is large and the detection area of a single force sensor cannot be covered, in order to accurately measure the force, the arrangement of a plurality of force sensors is needed. For example, when the worktable is a 300 × 300mm square, four force sensors (whose coverage area is shown by the circle with a smaller radius in fig. 8) can be used and arranged at the four corners of the worktable, so that the system can accurately detect a large circular plane (shown by the circle with a larger radius in fig. 8) passing through the centers of the four sensors, as shown in fig. 8. Through the arrangement of a plurality of force sensors, the area for detecting force is greatly increased, and the workbench is basically covered.
It should be noted that, a person skilled in the art can set the number of the force sensors according to actual needs, and the arrangement of the four force sensors is only an example and is not intended to limit the present application.
As another preferred embodiment, the method may further include: and a guide rail 60, wherein the actuating mechanism moves along the guide rail 60, and a gap with a preset distance is reserved between the guide rail 60 and the workbench.
In order to control the small clamping force, the force signal detected by the force sensor is of great importance, and it is necessary to transmit the clamping force applied to the actual workpiece to the force sensor accurately and to avoid other interfering force signals, such as friction, etc.
For this reason, when the force sensor is mounted on the moving mechanism, the design of the force sensor detection system has the following points:
on an upward moving clamped machine, the table above the force sensor cannot be connected to the rail mechanism, avoiding the detection of additional friction, as shown in fig. 5.
Similarly, on a machine that moves the clamp down, the table below the force sensor cannot be connected to the rail mechanism, avoiding the detection of additional friction, as shown in FIG. 6.
Preferably, a non-contact welding depth sensor is arranged on the workbench. The welding depth sensor arranged on the workbench in the preferred embodiment is in a non-contact type, and can accurately measure the welding depth and simultaneously avoid the sensor from contacting to generate force to interfere the clamping force detection.
It should be noted that, if the jig is installed on the table with an electric wire or an air pipe connected to the outside, it is necessary to prevent the pulling force from being generated during the lifting and lowering process and to allow the force sensor to detect the pulling force.
Preferably, the execution period of the motion controller is less than or equal to 1 millisecond, and the control precision is more accurate.
Preferably, the resolution of the displacement sensor is less than or equal to 1 micron, improving the displacement control accuracy.
Preferably, the servo driver and the motion controller are integrally provided, or the servo driver and the motion controller communicate through an industrial bus.
As can be seen from fig. 4, the servo driver controls the lifting speed and position of the worktable through the signal feedback of the displacement sensor. And the motion controller controls the pressing force of the workpiece according to the signal of the force sensor arranged below the workbench. And the motion controller and the servo driver communicate through an industrial bus to transmit commands and feedback signals. In yet another case, the motion controller and the servo driver are integrated and communicate with each other via an internal bus.
Preferably, the actuator comprises: linear motors or servo motors.
The preferred embodiment provides a method for controlling the lifting motion of a vehicle, which uses a servo motor system as an actuating mechanism and a servo driver to drive the servo motor system.
The motors are driven by servo drives and the main controller is a motion controller, the motion control period of which can reach the millisecond level or faster. The control block diagram of this system is shown in fig. 4.
The laser welding machine lifting actuator comprises: servo motor, servo driver, motion controller, displacement sensor. The following is a detailed description:
the servo motor can adopt a linear motor system or a servo electric cylinder or a linear module which converts rotary motion into linear motion through a screw rod, and has the advantage that the displacement control resolution can reach the micron level or higher.
The controller is run with execution cycles of up to 1 millisecond or faster.
The servo drive and motion controller may be an integrated component or may be separate components.
The displacement feedback device can be a linear displacement sensor with resolution up to 1 micron or less, a non-contact grating ruler or a magnetic grating ruler and the like.
The force sensor detection system can adopt a friction-free design, and the influence of friction force on a detection force signal is avoided.
The welding depth sensor can be installed on the workbench of the force sensor detection system, preferably, a non-contact depth sensor can be adopted, so that the phenomenon that friction force is generated when the depth sensor is used for measuring is avoided (the welding depth sensor is used for detecting displacement in a welding process, if the welding depth sensor is a contact displacement sensor, some friction force is generated during measurement, the force can be transmitted to the force sensor to interfere the detection of clamping force, and therefore the non-contact depth sensor is required to be used), and the detection of the clamping force is interfered.
The force sensor detection system and the force sensors can be arranged in a single arrangement or a plurality of arrangements, and the plurality of arrangements comprise an arrangement that more than two sensors jointly detect the clamping force. Different force sensor arrangements are adopted according to actual needs so as to achieve the purpose of accurately measuring the clamping force.
In another aspect, an embodiment of the present invention also provides a welding machine including the clamping mechanism described above. The structure of the clamping mechanism of the welding machine is the same as that of the above embodiments and the preferred embodiments thereof, and the details are not repeated herein.
On the other hand, an embodiment of the present invention further provides a method for controlling a clamping force, and fig. 9 is a flowchart of the method for controlling a clamping force according to the embodiment of the present invention, as shown in fig. 9, including the following steps S902 to S904.
In step S902, the motion controller of the welder receives a signal of the clamping force fed back by one or more force sensors.
And step S904, controlling the movement displacement of the workbench of the welding machine by the movement controller so as to control the magnitude of the clamping force between the workpieces to be welded of the welding machine, wherein the movement controller controls the actuating mechanism of the welding machine according to the signal of the clamping force so as to adjust the movement displacement of the workbench.
Through the steps, the motion controller of the welding machine controls the actuating mechanism to adjust the motion displacement of the workbench according to the signal of the clamping force sent by the one or more force sensors, so as to control the size of the clamping force between the workpieces to be welded, namely, the motion controller adjusts the size of the clamping force between the workpieces to be welded by controlling the motion displacement of the actuating mechanism according to the signal of the clamping force, thus overcoming the problem that the welding with small clamping force can not be realized in the related technology,
as a preferred embodiment, before step S902, the method may further include: one or more force sensors, disposed on the table, can detect the clamping force between the workpieces to be welded. With this preferred embodiment, the force sensor detects the clamping force between the workpieces to be welded before the motion controller controls, a signal of the clamping force can be generated and fed back to the motion controller for control. By this embodiment, the accuracy of the control of the motion controller can be improved.
As another preferred embodiment, after step S904, the method may further include: and the actuating mechanism is connected with the force sensor and is used for driving the force sensor and the workbench to reciprocate. In the preferred embodiment, the motion controller controls and adjusts the motion displacement of the actuating mechanism according to the clamping force signal to adjust the clamping force between the workpieces to be welded, and the actuating mechanism can drive the force sensor and the workbench to move back and forth to adjust.
Preferably, one or more force sensors may be provided on the upper surface of the table and/or the lower surface of the table. By means of the preferred embodiment, the accuracy of the force sensor in detecting the clamping force can be improved.
As another preferred embodiment, after the motion controller controls the motion displacement of the worktable of the welding machine, the method may further include:
the displacement sensor detects the displacement of the motion of the actuating mechanism;
and the servo driver is communicated with the motion controller and controls the motion displacement and/or the stepping displacement of the actuating mechanism according to the displacement given signal sent by the motion controller and the actual displacement signal of the displacement sensor. By the preferred embodiment, after the motion controller controls the motion displacement of the workbench, the servo driver controls the motion displacement and/or the stepping displacement of the actuating mechanism according to the displacement given signal sent by the motion controller and the actual displacement detected by the displacement sensor, so that the precision of displacement control is improved, namely, the precision of clamping force control is improved.
In the implementation process, the actuating mechanism moves along the guide rail, and a gap with a preset distance is reserved between the guide rail and the workbench. As described in the above embodiments, in order to control a small clamping force, the force signal detected by the force sensor is important, and it is necessary to accurately transmit the clamping force applied to the actual workpiece to the force sensor and to avoid other interfering force signals, such as friction, etc. For this reason, when the force sensor is mounted on the moving mechanism, the design of the force sensor detection system has the following points: on an upward moving clamped machine, the table above the force sensor cannot be connected to the rail mechanism, avoiding the detection of additional friction, as shown in fig. 5. Similarly, on a machine that moves the clamp down, the table below the force sensor cannot be connected to the rail mechanism, avoiding the detection of additional friction, as shown in FIG. 6.
Preferably, the area of the detection range of the one or more force sensors is greater than or equal to the area of the table.
Preferably, a non-contact welding depth sensor is arranged on the workbench.
Preferably, the execution period of the motion controller is less than or equal to 1 millisecond.
Preferably, the resolution of the displacement sensor is less than or equal to 1 micron.
Preferably, the servo driver and the motion controller are integrally provided; or,
the servo driver and the motion controller communicate via an industrial bus.
Based on the same inventive concept, this embodiment further provides a control device of clamping force, fig. 10 is a block diagram of the control device of clamping force according to the embodiment of the present invention, as shown in fig. 10, the control device of clamping force is located in the welding machine and includes a motion controller 1002 and an actuator 1004, which will be described in detail below with reference to the accompanying drawings.
A motion controller 1002 for receiving signals of clamping force fed back by one or more force sensors;
and the motion controller 1004 is connected to the actuator 1004 and is further used for controlling the motion displacement of the workbench of the welding machine so as to control the magnitude of the clamping force between the workpieces to be welded of the welding machine, wherein the motion controller controls the actuator 1004 of the welding machine according to the signal so as to adjust the motion displacement of the workbench.
This embodiment provides a preferred implementation of a control device for clamping force, fig. 11 is a block diagram of a preferred structure of the control device for clamping force according to the embodiment of the present invention, and as shown in fig. 11, the control device for clamping force may further include: force sensor 1102, displacement sensor 1104 and servo driver 1106 are described in detail below with reference to the figures.
In a preferred embodiment of this embodiment, one or more force sensors 1102 are provided on the table of the welder for detecting the clamping force between the workpieces to be welded.
Preferably, the force sensor 1102 is coupled to the actuator 1004 for reciprocating movement with the table under the force of the actuator 1004.
Preferably, the above apparatus further comprises:
a displacement sensor 1104, connected to the actuator and the servo driver, for detecting the displacement of the actuator 1004;
and a servo driver 1106, connected to the motion controller 1002, the actuator 1004 and the displacement sensor 1104, and in communication with the motion controller 1002, for controlling the motion displacement and/or the step displacement of the actuator 1004 according to a displacement setting signal sent by the motion controller 1002 and an actual displacement signal of the displacement sensor 1104.
The preferred embodiment further provides a method for controlling clamping force, and fig. 12 is a flowchart of the method for controlling clamping force according to the preferred embodiment of the present invention, as shown in fig. 12, the method includes:
step S1202, the motion controller receives a clamping force command;
step S1204, the motion controller carries on the closed-loop control of the force under the participation of force transducer;
step S1206, the motion controller sends a position command to the servo driver;
step S1208, the servo driver performs position closed-loop control under the participation of the linear position sensor according to the position instruction;
step S1210, the servo driver performs speed closed-loop control;
in step S1212, the servo driver performs current closed-loop control.
In the preferred embodiment, the motion controller receives the clamping force command, sends a position command to the servo driver, and accurately converts the clamping force command into position control through position closed loop, speed closed loop and current closed loop control, thereby accurately realizing clamping force control.
Through the embodiment, the clamping mechanism, the welding machine, and the clamping force control method and device are provided. Through this technical scheme, following technological effect has been reached: the accuracy of force control is significantly improved so that welding applications requiring control of minute forces can be realized by laser welding machines. The linear module driven by the linear motor or the servo rotating motor has the advantages that the running speed and the acceleration are obviously higher than those of an air cylinder, the positioning is more accurate, the welding cycle time is shortened, the welding quality is improved, and the yield is increased. It should be noted that these technical effects are not possessed by all the embodiments described above, and some technical effects are obtained only by some preferred embodiments.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (26)
1. A clamping mechanism is positioned on a welding machine and is characterized in that,
the workbench is arranged on a frame of the welding machine;
one or more force sensors arranged on the workbench and used for detecting the clamping force between the workpieces to be welded;
the actuating mechanism is connected with the force sensor and pushes the force sensor and the workbench to move back and forth;
and the motion controller controls the motion displacement of the workbench according to the signal of the clamping force fed back by the one or more force sensors so as to control the magnitude of the clamping force between the workpieces to be welded, wherein the motion controller controls the actuating mechanism according to the signal so as to adjust the motion displacement of the workbench.
2. The clamping mechanism of claim 1, further comprising:
the displacement sensor is used for detecting the displacement of the motion of the actuating mechanism;
and the servo driver is communicated with the motion controller and controls the motion displacement and/or the stepping displacement of the actuating mechanism according to the displacement given signal sent by the motion controller and the actual displacement signal of the displacement sensor.
3. The clamping mechanism as recited in claim 1, wherein said actuator comprises:
a servo motor, the servo motor comprising one of: linear motor, servo electronic jar, linear module.
4. The clamping mechanism of claim 1, wherein the one or more force sensors are disposed on an upper surface of the table and/or a lower surface of the table.
5. The clamping mechanism of claim 1, further comprising: and the actuating mechanism moves along the guide rail, and a gap with a preset distance is reserved between the guide rail and the workbench.
6. The clamping mechanism as recited in any one of claims 1 to 5,
the area of the detection range of the one or more force sensors is greater than or equal to the area of the worktable.
7. The clamping mechanism as recited in any one of claims 1 to 5, characterized in that a contactless weld depth sensor is provided on said work table.
8. The clamping mechanism as recited in any one of claims 1 to 5, wherein an execution period of the motion controller is less than or equal to 1 millisecond.
9. The clamping mechanism as recited in any of claims 1 to 5, wherein a resolution of said displacement sensor is less than or equal to 1 micron.
10. The clamping mechanism as recited in any one of claims 2 to 5,
the servo driver and the motion controller are integrally arranged; or,
the servo driver and the motion controller communicate via an industrial bus.
11. A welding machine, characterized in that it comprises a clamping mechanism according to any one of claims 1 to 10.
12. A method for controlling a clamping force,
a motion controller of the welding machine receives signals of the clamping force fed back by one or more force sensors;
the motion controller controls the motion displacement of a workbench of the welding machine so as to control the magnitude of clamping force between workpieces to be welded of the welding machine, wherein the motion controller controls an actuating mechanism of the welding machine according to the signal so as to adjust the motion displacement of the workbench.
13. The method of claim 12, further comprising, prior to the motion controller of the welder receiving the signal of the clamping force fed back by the one or more force sensors:
one or more force sensors disposed on the table detect a clamping force between the workpieces to be welded.
14. The method of claim 12, further comprising, after the motion controller controls the motion displacement of the stage of the welder:
and the actuating mechanism is connected with the force sensor and is used for pushing the force sensor and the workbench to move back and forth.
15. The method of claim 12, further comprising, after the motion controller controls the motion displacement of the stage of the welder:
the displacement sensor detects the displacement of the motion of the actuating mechanism;
and the servo driver is communicated with the motion controller and controls the motion displacement and/or the stepping displacement of the actuating mechanism according to the displacement given signal sent by the motion controller and the actual displacement signal of the displacement sensor.
16. The method of claim 12,
the one or more force sensors are arranged on the upper surface of the workbench and/or the lower surface of the workbench.
17. The method of claim 12,
the actuating mechanism moves along the guide rail, and a gap with a preset distance is reserved between the guide rail and the workbench.
18. The method according to any one of claims 12 to 17,
the area of the detection range of the one or more force sensors is greater than or equal to the area of the worktable.
19. A method according to any one of claims 12 to 17, characterized in that a contactless weld depth sensor is provided on the work table.
20. The method of any of claims 12 to 17, wherein an execution period of the motion controller is less than or equal to 1 millisecond.
21. The method of any one of claims 12 to 17, wherein the displacement sensor has a resolution of less than or equal to 1 micron.
22. The method according to any one of claims 12 to 17,
the servo driver and the motion controller are integrally arranged; or,
the servo driver and the motion controller communicate via an industrial bus.
23. A control device for clamping force in a welding machine, comprising:
the motion controller is used for receiving signals of the clamping force fed back by the one or more force sensors;
the motion controller is further used for controlling the motion displacement of a workbench of the welding machine so as to control the clamping force between the workpieces to be welded of the welding machine, wherein the motion controller controls an actuating mechanism of the welding machine according to the signal to adjust the motion displacement of the workbench.
24. The apparatus of claim 23, further comprising:
one or more force sensors disposed on the table for detecting a clamping force between the workpieces to be welded.
25. The apparatus of claim 23, further comprising:
and the actuating mechanism is connected with the force sensor and is used for pushing the force sensor and the workbench to move back and forth.
26. The apparatus of claim 23, further comprising:
the displacement sensor is used for detecting the displacement of the motion of the actuating mechanism;
and the servo driver is communicated with the motion controller and is used for controlling the motion displacement and/or the stepping displacement of the actuating mechanism according to the displacement given signal sent by the motion controller and the actual displacement signal of the displacement sensor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811103730.9A CN110901079A (en) | 2018-09-14 | 2018-09-14 | Clamping mechanism, welding machine, and clamping force control method and device |
| PCT/CN2019/080967 WO2020052226A1 (en) | 2018-09-14 | 2019-04-02 | Clamping mechanism, welding machine, and method and device for controlling clamping force |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811103730.9A CN110901079A (en) | 2018-09-14 | 2018-09-14 | Clamping mechanism, welding machine, and clamping force control method and device |
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| Publication Number | Publication Date |
|---|---|
| CN110901079A true CN110901079A (en) | 2020-03-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811103730.9A Pending CN110901079A (en) | 2018-09-14 | 2018-09-14 | Clamping mechanism, welding machine, and clamping force control method and device |
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| CN (1) | CN110901079A (en) |
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