十字滑块微动特性与焊缝跟踪

Modeling of the Cross Slipper for Seam Tracking

十字滑块的微动特性对焊缝跟踪系统中焊枪的运动有着重要影响。本文分析了十字滑块运动方程,指出了电机通电时间与滑块位移之间存在的对应关系。在此基础上提出了一种能在工业现场使用的快速测量方法,该方法可在几分钟内完成时间-位移的测量,并通过曲线拟合获得十字滑块的运动参数。在焊缝跟踪实验中,运用这些参数对十字滑块进行控制,取得了良好的跟踪效果。

In the seam tracking system, the motion of the cross slipper has an important effect on the torch movement. The slipper motion equations are established, and the relationship between the time constant of the motor and the displacement is given.A curve fitting method for slipper motion parameters is proposed. The experimental result shows that the welding seam can be tracked correctly with these parameters.