CN101774058A - Double-drive device for cutting robot and control method thereof - Google Patents
Double-drive device for cutting robot and control method thereof Download PDFInfo
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- CN101774058A CN101774058A CN 201010128644 CN201010128644A CN101774058A CN 101774058 A CN101774058 A CN 101774058A CN 201010128644 CN201010128644 CN 201010128644 CN 201010128644 A CN201010128644 A CN 201010128644A CN 101774058 A CN101774058 A CN 101774058A
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Abstract
The invention relates to a double-drive device for a cutting robot and a control method thereof. The double-drive device comprises a right pedestal guide rail, a left pedestal guide rail, a right cross beam bracket, a left cross beam bracket, a cross beam and a PLC control unit, wherein the left and right cross beam brackets are provided with left and right servo motors respectively; the PLC control unit is electrically connected with the left and right servo motors respectively; encoder units on the left and right servo motors are electrically connected with the PLC control unit; the encoder units on the left and right servo motors transmit current coded disc values to the PLC control unit and compare the coded disc values; the PLC control unit is provided with an alarm; and when the difference value is more than or equal to a threshold pre-stored in the PLC control unit, the alarm sends an alarm message to pause the work of the left and right servo motors. The device and the method radically eliminate the lag due to movement of the rail on one side by keeping the two servo motors in synchronous movement so as to eliminate the oscillation. The alarm on the double-drive device can alarm for positional deviation of the two servo motors.
Description
Technical field
The present invention relates to a kind of double-drive device for cutting robot and control method thereof.
Background technology
Nowadays,, carry out cutting processing, often need to adopt rail mounted Numerical control cutting machine people as hull plate to large ship for adapting to the cutting processing requirement of large-sized sheet material.The typical structure of this cutting robot is: be positioned at cutting head (dolly) on the gate-type crossbeam by the motor-driven of directions X; Be positioned at gate-type crossbeam (cart) on the track by the motor-driven of the Z direction that is installed on track one side.Two motors link under the commander of digital control system, make cutting head realize in the processing plane orbiting motion arbitrarily, finish the cutting processing task.
Be positioned at the structure of track one side for this cart drive motors, when cart moves, motor will at first drive and motor with the mechanical part motion of siding track top, make it to drag crossbeam.Owing to all have non-linear factors such as gap and frictional resistance inevitably in the two track machine driving-chains, add that mechanical inertia is to the influence of crossbeam strain in the motion, the mechanical part motion that is positioned at non-drive side track top when crossbeam moves must lag behind the motion of motor side track top mechanical part.The hysteresis of this non-drive side motion, the machinery that is easy to bring out when cart is done variable motion above the non-drive side track produces vibration, forms the shake of cutting track.The servo drive system that is positioned at opposite side becomes very faint to the inhibition ability of this vibration along with the increase of crossbeam span, vibration is in case formation will be difficult to disappearance, and span is big more, the easy more generation of this oscillatory occurences also will be serious more to the influence of cut quality.
Therefore in actual motion, in order to improve crudy, Numerical control cutting machine people avoids bringing out vibration as far as possible or reduces amplitude than strict restriction by the percentage speed variation to cart usually, but this will significantly reduce the working (machining) efficiency of system, and the mechanical precision to the track non-drive side requires also higher simultaneously.
Be 210821056032.3 patent with reference to the patent No.: " being used for the two driving servomotor gear teeth side clearance guiding mechanisms of laser cutting machine ", it is a kind of mechanism that is used for two driving servomotor gear teeth side clearances adjustment of laser cutting machine.This mechanism comprises crossbeam, servomotor, decelerator, is fixed on described decelerator lower end and is positioned at the gear of installing hole lower end, the tooth bar that is connected with described gears engaged.In addition, also comprise decelerator seat, a pair of branch head screw and a pair of screw that draws.Described decelerator is inserted into by the decelerator seat on the cell wall in the installation through hole of described crossbeam; Offer a pair of screwed hole on one side of the described relatively beam vertical of described decelerator seat portion, and on the end face of described beam vertical portion to should screwed hole offering a pair of through hole that draws screw to pass of being used to, describedly be screwed in the screwed hole of described decelerator seat after drawing screw to pass this through hole; On the end face of described beam vertical portion described relatively decelerator seat one side, offer a pair of tapped through hole, described branch head screw spin and pass this tapped through hole after replace on a side of described decelerator seat.But this device is just mentioned the guiding mechanism of the servomotor gear teeth side clearance on the laser cutting machine, and solves the hysteresis derive from the non-drive side motion and the relative out of control and vibration that causes fully.
Summary of the invention
The purpose of this invention is to provide a kind of double-drive device for cutting robot.
Another object of the present invention provides a kind of control method of double-drive device for cutting robot.
For reaching an above-mentioned purpose, the technical solution used in the present invention is:
A kind of double-drive device for cutting robot, this device comprise right base rail, the left base rail that parallels with described right base rail, be fixed on right overarm brace on the described right base rail, be fixed on left overarm brace, both ends on the described left base rail is fixed on crossbeam, PLC control module on described right overarm brace and the left overarm brace respectively.Described left overarm brace is equipped with left servomotor, on the described right overarm brace right servomotor is installed, the specification of described left servomotor and right servomotor is identical, described PLC control module is electrically connected to control its work with described left servomotor and right servomotor respectively, cell encoder on the described left servomotor and described PLC control module are electrically connected, cell encoder on the described right servomotor and described PLC control module are electrically connected, cell encoder on the described left servomotor is transferred to described PLC control module with current code-disc value, cell encoder on the described right servomotor is transferred to described PLC control module with current code-disc value, described PLC control module compares the code-disc value of described left servomotor and the code-disc value of described right servomotor, described PLC control module is provided with alarm, when the difference of the code-disc value of the code-disc value of described left servomotor and described right servomotor during more than or equal to the threshold values that is pre-stored in the PLC control module, alarm unit on the described PLC control module begins to report to the police, described left servomotor and right servomotor break-off, when both difference during less than the threshold values that is pre-stored in the described PLC control module, described left servomotor and right servomotor operate as normal.
For reaching an above-mentioned purpose, the technical solution used in the present invention is:
A kind of control method of double-drive device for cutting robot may further comprise the steps:
Step 1, described cutting robot dual drive system is carried out initial configuration, make that two position deviations of driving of described left servomotor and right servomotor are zero;
Current code-disc value is transferred to described PLC control module on step 2, the cell encoder with described left servomotor, meanwhile also on the cell encoder with described right servomotor current code-disc value be transferred to described PLC control module, described PLC control module compares the code-disc value of described left servomotor and the code-disc value of described right servomotor; When the difference of two code-disc values during more than or equal to threshold values, the alarm on the described PLC control module begins to report to the police, and stops to drive described left servomotor and described right servomotor work; When the difference of two code-disc values during less than threshold values, described left servomotor, right servomotor and PLC control module operate as normal.
Because technique scheme utilization, the present invention compared with prior art has following advantage and effect: the present invention is by adopting two drive schemes of each driven by servomotor of two rail side to cart, and guarantee to keep at the volley two servomotors to be synchronized with the movement, just can fundamentally eliminate hysteresis because of siding track motion, thus oscillation-damped.Position configuration system of installing on this external double-drive device and position deviation warning system can be reported to the police and automatic deviation correction for the position deviation that two servomotors occur.
Description of drawings
Accompanying drawing 1 is the left view of double-drive device for cutting robot of the present invention;
Accompanying drawing 2 is the right view of double-drive device for cutting robot of the present invention;
Accompanying drawing 3 is a left servomotor installation diagram of the present invention;
Accompanying drawing 4 is the method for configuring location flow chart of double-drive device of the present invention;
Wherein: 1, right base rail; 2, crossbeam; 3, gas current divider box; 4, first drag chain cable; 5, X-axis and Z axial brake device; 6, gas nozzle; 7, right overarm brace; 8, operating desk; 9, gas control valve; 10, touch-screen; 11, left overarm brace; 12, left servomotor; 13, industrial computer switch board; 14, gas flow divider; 15, PLC switch board; 16, second drag chain cable; 17, left base rail; 18, right servomotor; 19, fixed head; 20, bolt; 21, servomotor support; 22, gear; 24, pad; 25, spring; 26, reductor.
The specific embodiment
Below in conjunction with drawings and Examples the present invention is further described:
A kind of double-drive device for cutting robot shown in accompanying drawing 1,2, this device comprise right base rail 1, the left base rail 17 that parallels with right base rail 1, be fixed on right overarm brace 7 on the right base rail 1, be fixed on left overarm brace 11, both ends on the left base rail 17 is fixed on crossbeam 2 on right overarm brace 7 and the left overarm brace 11 respectively, is arranged on the PLC control module in the PLC switch board 15.
Left side overarm brace 11 is equipped with left servomotor 12, and right servomotor 18 is installed on the right overarm brace 7, and the specification of left servomotor 12 and right servomotor 18 is identical.
As shown in Figure 3, the servomotor in the present embodiment is an example with left servomotor 12, and its structure is: left servomotor 12 is fixed on the reductor 26, and by 22 transmissions of reductor 26 driven wheels.Left side servomotor 12 and reductor 26 all are fixed on the servomotor support 21,21 hinge joints of servomotor support are on fixed head 19, fixed head 19 is fixed on the left overarm brace 11 by several bolts 20, and makes the teeth groove engagement that is provided with on gear 22 and the left base rail 17.In addition, there are a pad 24 and spring 25 to be enclosed within on the bolt 20 and are fixed on the servomotor support 21, be used to compress the teeth groove engagement on gear 22 and the left base rail 17.
PLC control module in the PLC switch board 15 is used to control crossbeam 2, left overarm brace 11 and right overarm brace 7 and moves, drive X-axis and 5 motions of Z axial brake device on the base rail of cutting robot, and the electromagnetic valve switch in control gas flow divider 14 and the gas current divider box 3.Operating personnel are on operating desk 8, by regulating the cutting of touch-screen 10 and gas control valve 9 control cutting robots.Touch-screen 10 links to each other by the industrial computer in serial ports and the industrial computer switch board 13, and serial ports and the PLC switch board 15 interior PLC control modules that were connected of the industrial computers in the industrial computer switch board 13 link to each other.
During work, the PLC control module is electrically connected to control its work with left servomotor 12 and right servomotor 18 respectively in the PLC switch board 15, and cell encoder and PLC control module on the left servomotor 12 are electrically connected; Cell encoder and PLC control module on the right servomotor 18 are electrically connected.Cell encoder on the servomotor 12 of a left side is transferred to the PLC control module with current code-disc value, cell encoder on the right servomotor 18 is transferred to the PLC control module with current code-disc value, and the PLC control module compares the code-disc value of left servomotor 12 and the code-disc value of right servomotor 18.
The PLC control module is provided with alarm, when the difference of the code-disc value of the code-disc value of left servomotor 12 and right servomotor 18 during more than or equal to the threshold values that is pre-stored in the PLC control module, alarm unit on the PLC control module begins to report to the police left servomotor 12 and 18 break-ofves of right servomotor; When both difference during less than the threshold values that is pre-stored in the PLC control module, left servomotor 12 and right servomotor 18 operate as normal.
In cutting process, the low perforation oxygen snorkel that is used to cut, high perforation oxygen snorkel, cutting oxygen snorkel, acetylene gas snorkel are connected with cutting robot by second drag chain cable 16 with 380 alternating current cables, wherein 380 alternating current cables provide power supply for PLC switch board 15, and 15 power supply provides power supply for industrial computer switch board 13 again in the PLC switch board.Low perforation oxygen snorkel, high perforation oxygen snorkel, cutting oxygen snorkel, acetylene gas snorkel are once shunted for gas by gas flow divider 14, and by gas current divider box 3 be the gas second diffluence, gas flow divider 14 also links to each other by snorkel with gas current divider box 3.Snorkel in the gas current divider box 3 is supplied gas for gas nozzle 6 by first drag chain cable 4.In addition, the control signal of being exported by industrial computer switch board 13 and PLC switch board 15 also links to each other with Z axial brake device 5 with X-axis by first drag chain cable 4 with the driving signal cable, and the motion of control X-axis and Z axial brake device 5.Gas nozzle 6 also is fixed on X-axis and the Z axial brake device 5, and is cut by X-axis and Z axial brake device 5 drive gas nozzles 6.
As shown in Figure 4, below the concrete control method of double-drive device for cutting robot down of setting forth, may further comprise the steps:
Step 1, the cutting robot dual drive system is carried out initial configuration, make that left servomotor 12 and two position deviations of driving of right servomotor 18 are zero;
Code-disc value current on step 2, the cell encoder with left servomotor 12 is transferred to the PLC control module, meanwhile also on the cell encoder with right servomotor 18 current code-disc value be transferred to described PLC control module, the PLC control module compares the code-disc value of left servomotor 12 and the code-disc value of right servomotor 18;
When the difference of two code-disc values during more than or equal to threshold values, the alarm on the PLC control module begins to report to the police, and stops to drive the work of left servomotor 12 and right servomotor 18; When the difference of two code-disc values during less than threshold values, left servomotor 12, right servomotor 18 and PLC control module operate as normal.
Whether the absolute value that is judged as two position deviation amounts of driving of this threshold values is more than or equal to 10mm in the present embodiment, when the absolute value of two position deviations of driving during more than or equal to 10mm, alarm on the PLC control module begins to report to the police, and left servomotor 12 or right servomotor 18 carry out front and back adjusting respectively and drive pairing until two.In addition, in cutting process, the position deviation warning system is carried out once every 20ms.
The foregoing description only is explanation technical conceive of the present invention and characteristics, and its purpose is to allow the personage who is familiar with this technology can understand content of the present invention and enforcement according to this, can not limit protection scope of the present invention with this.All equivalences that spirit essence is done according to the present invention change or modify, and all should be encompassed within protection scope of the present invention.
Claims (2)
1. double-drive device for cutting robot, this device comprises right base rail (1), the left base rail (17) that parallels with described right base rail (1), be fixed on the right overarm brace (7) on the described right base rail (1), be fixed on the left overarm brace (11) on the described left base rail (17), both ends are fixed on the crossbeam (2) on described right overarm brace (7) and the left overarm brace (11) respectively, PLC control module (15), it is characterized in that: described left overarm brace (11) is equipped with left servomotor (12), right servomotor (18) is installed on the described right overarm brace (7), the specification of described left servomotor (12) and right servomotor (18) is identical, described PLC control module (15) is electrically connected to control its work with described left servomotor (12) and right servomotor (18) respectively, cell encoder on the described left servomotor (12) and described PLC control module (15) are electrically connected, cell encoder on the described right servomotor (18) and described PLC control module (15) are electrically connected, cell encoder on the described left servomotor (12) is transferred to described PLC control module (15) with current code-disc value, cell encoder on the described right servomotor (18) is transferred to described PLC control module (15) with current code-disc value, described PLC control module (15) compares the code-disc value of described left servomotor (12) and the code-disc value of described right servomotor (18), described PLC control module (15) is provided with alarm, when the difference of the code-disc value of the code-disc value of described left servomotor (12) and described right servomotor (18) during more than or equal to the threshold values that is pre-stored in the PLC control module, alarm unit on the described PLC control module (15) begins to report to the police, described left servomotor (12) and right servomotor (18) break-off, when both difference during less than the threshold values that is pre-stored in the described PLC control module, described left servomotor (12) and right servomotor (18) operate as normal.
2. control method that realizes double-drive device for cutting robot as claimed in claim 1 is characterized in that:
Step 1, described cutting robot dual drive system is carried out initial configuration, make that described left servomotor (12) and two position deviations of driving of right servomotor (18) are zero;
Current code-disc value is transferred to described PLC control module (15) on step 2, the cell encoder with described left servomotor (12), meanwhile also on the cell encoder with described right servomotor (18) current code-disc value be transferred to described PLC control module (15), described PLC control module (15) compares the code-disc value of described left servomotor (12) and the code-disc value of described right servomotor (18); When the difference of two code-disc values during more than or equal to threshold values, the alarm on the described PLC control module (15) begins to report to the police, and stops to drive described left servomotor (12) and described right servomotor (18) work; When the difference of two code-disc values during less than threshold values, described left servomotor (12), right servomotor (18) and PLC control module (15) operate as normal.
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| CN 201010128644 CN101774058A (en) | 2010-03-17 | 2010-03-17 | Double-drive device for cutting robot and control method thereof |
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| CN 201010128644 CN101774058A (en) | 2010-03-17 | 2010-03-17 | Double-drive device for cutting robot and control method thereof |
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Cited By (9)
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| CN102091945A (en) * | 2011-01-25 | 2011-06-15 | 北京灿烂阳光科技发展有限公司 | Light-duty gantry numerical control cutting machine |
| CN102528209A (en) * | 2010-12-15 | 2012-07-04 | 中国科学院沈阳自动化研究所 | Curved panel measurement marking-off cutter |
| CN103084904A (en) * | 2011-11-02 | 2013-05-08 | 梅塞尔切割焊接(中国)有限公司 | Longitudinal driving device for extra-large-span cutting machine |
| CN106354101A (en) * | 2016-11-30 | 2017-01-25 | 哈尔滨理工大学 | Derusting wall-climbing robot electrical control system |
| CN109226946A (en) * | 2018-10-17 | 2019-01-18 | 上海气焊机厂有限公司 | A kind of cutting machine and production line |
| CN109291943A (en) * | 2017-07-25 | 2019-02-01 | 株洲时代新材料科技股份有限公司 | Synchronous walking method and device on large span two-orbit |
| CN109396539A (en) * | 2018-11-15 | 2019-03-01 | 长沙思胜智能设备有限公司 | Broaching machine and its workbench |
| CN110464592A (en) * | 2019-08-05 | 2019-11-19 | 上海医疗器械股份有限公司 | The control device and its control method of waist panel, operating table and its waist panel mechanism |
| CN111966030A (en) * | 2020-06-28 | 2020-11-20 | 徐州恒辉编织机械有限公司 | Synchronous control system and control method for multiple servo motors of main machine of braiding machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102528209A (en) * | 2010-12-15 | 2012-07-04 | 中国科学院沈阳自动化研究所 | Curved panel measurement marking-off cutter |
| CN102091945A (en) * | 2011-01-25 | 2011-06-15 | 北京灿烂阳光科技发展有限公司 | Light-duty gantry numerical control cutting machine |
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| CN103084904A (en) * | 2011-11-02 | 2013-05-08 | 梅塞尔切割焊接(中国)有限公司 | Longitudinal driving device for extra-large-span cutting machine |
| CN106354101A (en) * | 2016-11-30 | 2017-01-25 | 哈尔滨理工大学 | Derusting wall-climbing robot electrical control system |
| CN109291943A (en) * | 2017-07-25 | 2019-02-01 | 株洲时代新材料科技股份有限公司 | Synchronous walking method and device on large span two-orbit |
| CN109291943B (en) * | 2017-07-25 | 2021-01-26 | 株洲时代新材料科技股份有限公司 | Synchronous walking method and device for large-span double-track |
| CN109226946A (en) * | 2018-10-17 | 2019-01-18 | 上海气焊机厂有限公司 | A kind of cutting machine and production line |
| CN109396539A (en) * | 2018-11-15 | 2019-03-01 | 长沙思胜智能设备有限公司 | Broaching machine and its workbench |
| CN110464592A (en) * | 2019-08-05 | 2019-11-19 | 上海医疗器械股份有限公司 | The control device and its control method of waist panel, operating table and its waist panel mechanism |
| CN111966030A (en) * | 2020-06-28 | 2020-11-20 | 徐州恒辉编织机械有限公司 | Synchronous control system and control method for multiple servo motors of main machine of braiding machine |
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Application publication date: 20100714 |