摘要
Abstract
Flexible welding fixtures involve multiple clamping points,and the clamping force at each clamping point is affected by factors such as changes in workpiece shape,environmental vibration,and impact,resulting in unstable clamping force.In order to achieve automatic control of multiple clamping forces in flexible welding fixtures and complete welding tasks with high quality,a method for automatic control of multiple clamping forces in flexible welding fixtures based on improved joint spectral embedding clus-tering algorithm is studied.The clamping force signals of each clamping point of the fixture are collected by pressure sensors and transmitted to the PLC control end.The PLC control end uses an improved joint spectrum embedding clustering algorithm to cluster and identify abnormal clamping force signals.After clustering,it drives a PID based multiple clamping force automatic control model to analyze the clamping force deviation and adjust the opening of the high-speed air switch to control the intake or exhaust volume of the fixture cylinder,change the piston movement speed and thrust of the cylinder,gradually approach the target value,and achieve automatic control of multiple clamping forces of flexible welding fixtures.After testing:being controlled by this method,the deform-ation increment of the welded workpiece±0.5mm,and under the sudden disturbance cordition,the automatic control error of multi-ple clamping force is still kept below 0.01N.关键词
改进联合谱嵌入/聚类算法/柔性焊装夹具/多重夹紧力/自动控制/PID控制Key words
improved joint spectral embedding/clustering algorithm/flexible welding fixture/multiple clamping forces/auto-control/PID control分类
通用工业技术
