CN105527989A - Industrial robot servo soldering pliers torque control method based on position control mode - Google Patents
Industrial robot servo soldering pliers torque control method based on position control mode Download PDFInfo
- Publication number
- CN105527989A CN105527989A CN201510954814.3A CN201510954814A CN105527989A CN 105527989 A CN105527989 A CN 105527989A CN 201510954814 A CN201510954814 A CN 201510954814A CN 105527989 A CN105527989 A CN 105527989A
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- China
- Prior art keywords
- motor
- torque
- pressure
- data
- industrial robot
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D17/00—Control of torque; Control of mechanical power
- G05D17/02—Control of torque; Control of mechanical power characterised by the use of electric means
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Resistance Welding (AREA)
Abstract
The present invention relates to an industrial robot servo soldering pliers torque control method based on a position control mode. The method comprises the steps of (1) carrying out pressure calibration of servo soldering pliers on a spot welding industrial robot and obtaining the data of soldering pliers pressure-motor torque-motor corner, (2) fitting the data of soldering pliers pressure-motor torque-motor corner by using the least squares method and carrying out backstepping to obtain the corresponding motor torque and motor corner of needed soldering pliers pressure, (3) according to the data obtained in step (2), gradually loading to a specific motor corner and monitoring the motor torque to realize the torque control of the servo soldering pliers. According to the method, the soldering pliers pressure data is processed and the fitting and backstepping of motor displacement data are carried out by using the least squares method, and thus the torque control of the servo soldering pliers by the rotor controller of a position control mode is realized.
Description
Technical field
The invention belongs to industrial robot control technology field, particularly a kind of industrial robot servo electrode holder Torque Control method of position-based control model.
Background technology
The soldering turret of current spot welding industrial robot has two types: pneumatic welding rod holder and servo electrode holder.Pneumatic welding rod holder completes spot welding action with the moving electrode of air cylinder driven soldering turret, and its advantage is that structure is simple, cost is lower, and shortcoming is the bad adjustment of pressure, can only be applicable to the product of a state.Servo electrode holder drives belt drives moving electrode to complete spot welding action by servomotor through reductor, and its advantage is pressure adjustable, speed is fast, efficiency is high.Now be applied to the spot welding industrial robot of vehicle complete vehicle, parts at present, adopt servo electrode holder more.
The course of work of servo electrode holder is as follows: 1. robot goes to position, respective point position (soldering turret moves to the front folding amount of weldering); 2. soldering turret moves to and pushes down welding plate; 3. soldering turret is pressurized to the pressure of specifying; 4., after pressure durations a period of time, welding gun is opened to appointment postwelding folding amount.In the above-mentioned spot welding course of work, being pressurized to specified pressure is critical process.For realizing the control to pressure, have two sets of plan at present in industry, one is use the robot controller can supporting moment control model, after nominal pressure and moment, can realize Stress control; Two is additional pressure sensor on soldering turret, also can realize Stress control.Above two schemes all has weak point, and the first scheme needs the robot controller supporting moment control model, so just limit the type selecting scope of controller, and the price of this kind of controller is higher; First scheme limits without the type selecting of controller, but needs additional pressure sensor, adds cost too.
Summary of the invention
Object of the present invention is exactly the deficiency in order to overcome above-mentioned background technology, and the method for the industrial robot servo electrode holder Torque Control of the position-based control model providing a kind of cost performance higher.
The controller of position control mode can directly control motor corner, can only by resolving the numerical value indirectly obtaining motor torque.
The method of the industrial robot servo electrode holder Torque Control of position-based control model involved in the present invention, its step is as follows:
1) spot welding industrial robot is carried out to the pressure calibration of servo electrode holder, obtain the data of soldering turret pressure-motor torque-motor corner;
2) utilize the Data Data of least square method to above-mentioned soldering turret pressure-motor torque-motor corner to carry out matching, and backstepping obtain corresponding motor torque and the motor corner of required soldering turret pressure;
3) according to the 2nd) data that step obtains, be progressively loaded into and specify motor corner, and monitoring motor moment, the Torque Control of servo electrode holder can be realized.
In actual use, adopt the technology of the present invention control motor corner and monitor motor torque, the pressure that position control mode controller controls servo electrode holder can be realized.
Tool of the present invention has the following advantages:
1, the controller of use location control model achieves the Torque Control of servo electrode holder;
2, compare the Torque Control scheme of two kinds of servo electrode holders in industry, the cost of the present invention program is lower, controls more accurate.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of this patent algorithm
Fig. 2 is the instance graph of this patent algorithm
Fig. 3 is the instance graph of this patent algorithm
Embodiment
Below in conjunction with drawings and Examples, the present invention is further described.
Embodiment
The present embodiment is the Torque Control that the controller of use location control model carries out spot welding industrial robot soldering turret, and its step as shown in Figure 1.
First the corresponding data group of soldering turret pressure and motor corner and the corresponding data group of soldering turret pressure and motor torque is obtained, by least square method, matching is carried out to data, then motor corner corresponding to appointment soldering turret pressure and motor torque is obtained by backstepping, on the basis obtaining these data, progressively load and monitor the Torque Control that motor torque can realize soldering turret.
Embodiment
The present embodiment is a bit weld the actual measurement soldering turret pressure data of industrial robot in table 1, and wherein motor corner data are converted to shift value.
Certain model spot welding industrial robot servo electrode holder pressure data of table 1
Obtain displacement-soldering turret pressure data table and motor torque-soldering turret pressure data table from upper table, utilize least square method to carry out matching to data, Fig. 2 and Fig. 3 is shown in matched curve.Backstepping obtains shift value under specified pressure 300N and motor torque is respectively: 0.524mm, 0.663Nm.Progressively load by these data and monitor the Torque Control that motor torque can realize soldering turret.
Claims (1)
1. a Torque Control technology for the spot welding industrial robot servo electrode holder of position-based control model, its feature is as follows:
1) spot welding industrial robot is carried out to the pressure calibration of servo electrode holder, obtain the data of soldering turret pressure-motor torque-motor corner;
2) utilize the Data Data of least square method to above-mentioned soldering turret pressure-motor torque-motor corner to carry out matching, and backstepping obtain corresponding motor torque and the motor corner of required soldering turret pressure;
3) according to the 2nd) data that step obtains, be progressively loaded into and specify motor corner, and monitoring motor moment, the Torque Control of servo electrode holder can be realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510954814.3A CN105527989A (en) | 2015-12-18 | 2015-12-18 | Industrial robot servo soldering pliers torque control method based on position control mode |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510954814.3A CN105527989A (en) | 2015-12-18 | 2015-12-18 | Industrial robot servo soldering pliers torque control method based on position control mode |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105527989A true CN105527989A (en) | 2016-04-27 |
Family
ID=55770271
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510954814.3A Pending CN105527989A (en) | 2015-12-18 | 2015-12-18 | Industrial robot servo soldering pliers torque control method based on position control mode |
Country Status (1)
| Country | Link |
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| CN (1) | CN105527989A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110757878A (en) * | 2019-10-31 | 2020-02-07 | 济宁科力光电产业有限责任公司 | Pressure fault detection system and method of servo press |
| CN112720478A (en) * | 2020-12-22 | 2021-04-30 | 深圳市优必选科技股份有限公司 | Robot torque control method and device, readable storage medium and robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007021573A (en) * | 2005-07-21 | 2007-02-01 | Fanuc Ltd | Servo control device for spot welding gun |
| CN101323046A (en) * | 2007-06-14 | 2008-12-17 | 发那科株式会社 | Spot welding system and method for adjusting welding-gun closing speed |
| CN201755719U (en) * | 2010-06-29 | 2011-03-09 | 珠海精易焊接设备有限公司 | Intelligent electronic spot welding machine |
| CN103624385A (en) * | 2012-08-27 | 2014-03-12 | 株式会社安川电机 | Spot welding apparatus |
| CN104070278A (en) * | 2013-03-28 | 2014-10-01 | 发那科株式会社 | Spot welding system including spot welding gun |
| CN204183128U (en) * | 2014-10-14 | 2015-03-04 | 湖南艾博特机器人***有限公司 | Auto parts and components multistation robot spot welding system |
-
2015
- 2015-12-18 CN CN201510954814.3A patent/CN105527989A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007021573A (en) * | 2005-07-21 | 2007-02-01 | Fanuc Ltd | Servo control device for spot welding gun |
| CN101323046A (en) * | 2007-06-14 | 2008-12-17 | 发那科株式会社 | Spot welding system and method for adjusting welding-gun closing speed |
| CN201755719U (en) * | 2010-06-29 | 2011-03-09 | 珠海精易焊接设备有限公司 | Intelligent electronic spot welding machine |
| CN103624385A (en) * | 2012-08-27 | 2014-03-12 | 株式会社安川电机 | Spot welding apparatus |
| CN104070278A (en) * | 2013-03-28 | 2014-10-01 | 发那科株式会社 | Spot welding system including spot welding gun |
| CN204183128U (en) * | 2014-10-14 | 2015-03-04 | 湖南艾博特机器人***有限公司 | Auto parts and components multistation robot spot welding system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110757878A (en) * | 2019-10-31 | 2020-02-07 | 济宁科力光电产业有限责任公司 | Pressure fault detection system and method of servo press |
| CN112720478A (en) * | 2020-12-22 | 2021-04-30 | 深圳市优必选科技股份有限公司 | Robot torque control method and device, readable storage medium and robot |
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Application publication date: 20160427 |
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| WD01 | Invention patent application deemed withdrawn after publication |