CN103231197A - NC (numerical control) welding positioner system - Google Patents
NC (numerical control) welding positioner system Download PDFInfo
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- CN103231197A CN103231197A CN2013101396849A CN201310139684A CN103231197A CN 103231197 A CN103231197 A CN 103231197A CN 2013101396849 A CN2013101396849 A CN 2013101396849A CN 201310139684 A CN201310139684 A CN 201310139684A CN 103231197 A CN103231197 A CN 103231197A
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Abstract
The invention discloses an NC welding positioner system which includes a positioner rotating shaft, a rotating shaft servo motor driver, a rotating shaft AC (alternating current) servo motor and a computer control site which controls the working of the positioner rotating shaft, the rotating shaft servo motor driver and the rotating shaft AC servo motor. The NC welding positioner system further includes a touch screen and a PLC (Programmable Logic Controller). The NC welding positioner system is simple in control structure, easy to control programme due to the fact that the NC welding positioner system is based on the PLC, easy and convenient to maintain, and capable of performing station setting and changing, working speed setting, pointing control and position teaching and payback, and can perform cooperative work with a welding machine robot to improve the work efficiency of welding workstations.
Description
Technical field
The present invention relates to Automation of Welding control field, specifically, relate to a kind of digital controlled welding positioning apparatus system.
Background technology
Positioner is the special welding auxiliary equipment, is applicable to the welding displacement of revolution work, to obtain desirable Working position and speed of welding.Can with manipulator, the supporting use of welding machine, form automatic welding center, the workpiece displacement when also can be used for handwork.Work table rotation adopts frequency converter stepless speed regulation, adjusting speed accuracy height.Remote-control box can be realized the operated from a distance to workbench, also can link to each other with manipulator, bonding machine control system, realizes combined operation.Along with modern times processing is deepened the requirement of precision, the control accuracy of the positioner control system of transmission is difficult to satisfy the requirement of processing all the more.Tradition is based on the control system of motion control card, and precision is enough, but control system is relatively complicated, so operation and maintenance is all cumbersome.
Summary of the invention
The present invention is directed to digital controlled welding positioning apparatus of the prior art system, accuracy is low, and the control system complicated problems provides a kind of digital controlled welding positioning apparatus system to address the above problem.
The solution of the present invention is by such realization: construct a kind of digital controlled welding positioning apparatus system, comprise positioner rotating shaft, rotating shaft motor servo driver, rotating shaft AC servo motor and control the computer control end that their are worked, wherein, above-mentioned positioner rotating shaft comprises gyroaxis and trip shaft, also comprise touch-screen and PLC, the main interface of described touch-screen comprises following options interface:
1. the parameter of carrying out the communication adjustment with welding robot arranges option;
2. the reset reset options of positioner rotating shaft, reset options circle comprises gyroaxis and trip shaft reset key simultaneously, and the diaxon indicator lamp that puts in place that resets; Also comprise the gyroaxis reset key, the gyroaxis indicator lamp that puts in place that resets; Also comprise the trip shaft reset key, the trip shaft indicator lamp that puts in place that resets;
3. the station that can preserve positioner rotating shaft operating position arranges option, and station arranges the interface provides a plurality of stations that option is set, and only need import required station positional information in the above, this station can be preserved memory;
4. a teaching option that can be used for the control of a some position, in teach mode following time, touch-screen reads the positional information of motor, and the variation of display position in real time on display box;
But the 5. crawl options interface adjusted of countershaft speed, the crawl options interface arranges frame by gyroaxis forward crawl button and gyroaxis crawl speed, gyroaxis opposite direction crawl button and the reverse crawl speed of gyroaxis arrange frame, trip shaft forward crawl button and trip shaft forward crawl speed arrange frame, and main interface buttons composition is returned in the lower right;
Described computer control end bottom also is provided with control panel, described control panel comprises start button, scram button, rotating shaft SR, crawl button, if control panel is partly organized in order to set some mechanical keys commonly used, prevent from when the touch-screen contact can't be worked, operating.
Among the present invention, as further improvement, described touch-screen also is connected with buzzer siren, the main interface of touch-screen also comprises the warning interface, described warning interface comprises the error message prompting, points out contact information and stop the buzzing alarm button, also is provided with on the described control panel to remove the buzzer warning button.
Among the present invention, the execution of described station setting can be controlled by touch-screen or control panel, thereby makes that reliable operation is stronger in the operating process.
Among the present invention, described teaching option provides 1-10 taught point, and the upper left side at interface is the positional information of two signalling channels, be provided with the setting button of taught point, each is made as the display box that there is the positional value of current axis taught point button back, and the back is that teaching speed is set frame, is divided into X-axis and Y-axis.The back, interface is that button is reproduced in teaching.
Among the present invention, also include linear interpolation dot pattern and circular arc in the described teaching option and insert some complementary modulus formula, the positional information of interpolated point can obtain by reading the motor position value behind the crawl and directly importing this dual mode at touch-screen.Under the linear interpolation pattern, PLC reads the information of the interpolated point that storage imports from touch-screen, the positional information of this interpolated point, can by read behind the crawl motor position value and directly this dual mode of input obtain.Need to import starting point and the terminal point of required interpolation straight line at touch-screen, these two inputs need starting point input frame and terminal point input frame on the linear interpolation interface be imported.After the information that obtains linear interpolation, carry out linear interpolation, the inner linear interpolation module of PLc subprogram is carried out, and gyroaxis and trip shaft carry out interpolation.The execution of linear interpolation can realize with the mechanical key of operation panel on touch-screen; Under the circular interpolation pattern, PLC reads the information of the interpolated point that storage imports from touch-screen, the positional information of this interpolated point, can by read behind the crawl motor position value and directly this dual mode of input obtain.Under the situation of directly input, the user need be at the relevant parameter of touch-screen input circular interpolation, the starting point of circular arc, terminal point, arc radius.After the input of finishing parameter and arranging, can realize required circular interpolation by the circular interpolation button on the touch-screen or on the guidance panel;
Among the present invention, the data of the pulse output number register of described computer control end by preserving and read PLC pulse output channel are to realize the function that reads and remember of station information.The communication modes of described touch-screen and welding robot is the control mode of PLC switching value.After the state of welding robot changes, need become machine and change attitude, only need positioner to send a signal, after PLc receives control signal, carry out next one action, so interlock is finished in circulation.
The invention has the beneficial effects as follows:
1. control structure of the present invention is simple, and based on PLC control programming easily, the more existing large-scale programming computer of cost of manufacture is low, safeguards simple and convenient.
2. setting and the change that can carry out station of the present invention, the setting of operating rate, crawl control, position teaching and reproduction can also be carried out collaborative work with the welding machine robot, have improved the efficient of robot welding.
3. the equipment that uses of the present invention, program is simple, is convenient to apply in the same industry.
Description of drawings
Fig. 1 is the theory diagram of digital controlled welding positioning apparatus of the present invention system;
Fig. 2 is the teaching principle flow chart among the present invention
Among Fig. 3, a figure is the physical interface schematic diagram of positioner and robot, and b figure is the schematic diagram of shaking hands between positioner and the robot;
Fig. 4 is the action schematic diagram of positioner and robot interlock;
Fig. 5 is positioner all clear schematic diagram.
The specific embodiment
Describe digital controlled welding positioning apparatus of the present invention system below in conjunction with drawings and Examples, these descriptions are not that content of the present invention is done further to limit.
Embodiment 1:
As shown in Figure 1, it is the theory diagram among the present invention, this digital controlled welding positioning apparatus system comprises positioner rotating shaft, rotating shaft motor servo driver, rotating shaft AC servo motor and controls the computer control end of their work, wherein, above-mentioned positioner rotating shaft comprises gyroaxis and trip shaft, gyroaxis and trip shaft be positioner commonly used turn to axis body, the actuation means that is connected with the computer control end has comprised touch-screen and PLC, the main interface of touch-screen comprises following options interface:
1. the parameter of carrying out the communication adjustment with welding robot arranges option, and parameter arranges the option the inside setting with welding robot communication and some relevant parameters, for example controls sensitivity and arranges etc.
2. the reset reset options of positioner rotating shaft, reset options circle comprises gyroaxis and trip shaft reset key simultaneously, and the diaxon indicator lamp that puts in place that resets; Also comprise the gyroaxis reset key, the gyroaxis indicator lamp that puts in place that resets; Also comprise the trip shaft reset key, the trip shaft indicator lamp that puts in place that resets;
3. the station that can preserve positioner rotating shaft operating position arranges option, station arranges the interface provides a plurality of stations that option is set, and only need import required station positional information in the above, this station can be preserved memory, in the present embodiment, it is eight that available station arranges option.
4. a teaching option that can be used for the control of a some position, in teach mode following time, touch-screen reads the positional information of motor, and the variation of display position in real time on display box, and in the present embodiment, the teaching interface provides the some position taught point of 10 points; The upper left side at interface is the positional information of two signalling channels, and 10 buttons that are made as taught point are arranged, and from 1 to 10 order is arranged.Each is made as the display box that there is the positional value of current axis taught point button back, and the back is that teaching speed is set frame, is divided into X-axis and Y-axis.The back, interface is that button is reproduced in teaching.
But the 5. crawl options interface adjusted of countershaft speed, the crawl options interface arranges frame by gyroaxis forward crawl button and gyroaxis crawl speed, gyroaxis opposite direction crawl button and the reverse crawl speed of gyroaxis arrange frame, trip shaft forward crawl button and trip shaft forward crawl speed arrange frame, and main interface buttons composition is returned in the lower right;
6. touch-screen also is connected with buzzer siren, the main interface of touch-screen also comprises the warning interface, the warning interface comprises the error message prompting, points out contact information and stop the buzzing alarm button, as shown in Figure 5, this system when occur when wrong can be on touch-screen the code of inquiry error, and can under the help of prompting, remove this false alarm, make system recover normal operating conditions.
Also be provided with control panel in computer control end bottom, control panel comprises start button, scram button, gyroaxis and trip shaft SR, crawl button, control the button that above-mentioned eight stations start or close in addition, also be provided with on the control panel and remove the buzzer warning button.
If control panel is partly organized in order to set some mechanical keys commonly used, prevent from when the touch-screen contact can't be worked, operating.
In the present embodiment, also include linear interpolation dot pattern and circular arc in the teaching option and insert some complementary modulus formula, the positional information of interpolated point can obtain by reading the motor position value behind the crawl and directly importing this dual mode at touch-screen.Under the linear interpolation pattern, PLC reads the information of the interpolated point that storage imports from touch-screen, the positional information of this interpolated point, can by read behind the crawl motor position value and directly this dual mode of input obtain.Need to import starting point and the terminal point of required interpolation straight line at touch-screen, these two inputs need starting point input frame and terminal point input frame on the linear interpolation interface be imported.After the information that obtains linear interpolation, carry out linear interpolation, the inner linear interpolation module of PLc subprogram is carried out, and gyroaxis and trip shaft carry out interpolation.The execution of linear interpolation can realize with the mechanical key of operation panel on touch-screen; Under the circular interpolation pattern, PLC reads the information of the interpolated point that storage imports from touch-screen, the positional information of this interpolated point, can by read behind the crawl motor position value and directly this dual mode of input obtain.Under the situation of directly input, the user need be at the relevant parameter of touch-screen input circular interpolation, the starting point of circular arc, terminal point, arc radius.After the input of finishing parameter and arranging, can realize required circular interpolation by the circular interpolation button on the touch-screen or on the guidance panel.
In the present embodiment, can inlet point dynamic model formula in the crawl interface, control mode is as follows under the crawl pattern, and PLc accepts the crawl speed input on the touch-screen, and when carrying out crawl, PLc controls motor according to the velocity amplitude of Set For Current.The input of this operation crawl speed realizes at touch-screen, carries out crawl and can realize at guidance panel and touch-screen.The point flowing mode has four kinds of patterns, is respectively gyroaxis normal inching turning, gyroaxis reverse inching turning, trip shaft normal inching turning, trip shaft reverse inching turning.
Under station setting/execution pattern, PLc and touch-screen communicate, and the positional information of the input of touch-screen is remembered, and preserve.When carrying out a certain station, PLc reads this station value of information of preserving, and then carries out corresponding; The input of station information needs to realize on the touch-screen again, and executing state can realize at touch-screen, also can realize at the mechanical key of operation panel.
As shown in Figure 2, when the teach mode of some position, touch-screen reads the positional information of motor, and the variation of display position in real time on display box.In the time will carrying out the position teaching, crawl is to this point, and it is made as is position taught point one, and the speed of each teaching is set then, and after finishing teaching speed and arranging, taught point is namely finished input.This equipment provides maximum position taught points at 10, sequence number to ten; Teaching is line again, can realize also can realizing at the mechanical key of operation panel at touch screen.As can be seen from Figure 2, taught point mainly adopts register as measuring point.
As shown in Figure 3-4, the communication mode of digital controlled welding positioning apparatus system and welding robot mainly adopts the control mode of switching value.After the state of welding robot changes, need become machine and change attitude, only need positioner to send a signal, after PLc receives control signal, carry out next one action, so interlock is finished in circulation.Be that positioner and welding robot (Automation of Welding equipment) carry out communication by RS-232, RS-485 interface, these interfaces all are the serial communication interfaces of present main flow.
Embodiment 2:
In the present embodiment, difference from Example 1 is that it is ten that station arranges option, and control station the execution control also relative set be ten, all the other operation principles are identical with embodiment 1.
Among the present invention, that adopts in the system becomes means and all can pass through existing techniques in realizing.Above-described embodiment is only described the optimum occupation mode of existing equipment, uses the element in the similar conventional means replacement present embodiment, all falls into protection domain.It should be noted that at last: obviously, above-described embodiment only is for example of the present invention clearly is described, and is not the restriction to implementing.For the those of ordinary skill in described field, can also make other changes in different forms on the basis of the above description.Here need not also can't be to all embodiment with exhaustive.And the apparent variation of being amplified out thus or change still are among protection scope of the present invention.
Claims (7)
1. digital controlled welding positioning apparatus system, comprise positioner rotating shaft, rotating shaft motor servo driver, rotating shaft AC servo motor and control the computer control end that their are worked, it is characterized in that: also comprise touch-screen and PLC, the main interface of described touch-screen comprises following options interface:
1. the parameter of carrying out the communication adjustment with welding robot arranges option;
2. the reset options of positioner rotating shaft resets;
3. the station that can preserve positioner rotating shaft operating position arranges option;
4. a teaching option that can be used for the control of a some position, in teach mode following time, touch-screen reads the positional information of motor, workbench encoder, and the variation of display position in real time on display box;
But the 5. crawl options interface adjusted of countershaft speed;
Described computer control end bottom also is provided with control panel, and described control panel comprises start button, scram button, rotating shaft SR, crawl button.
2. digital controlled welding positioning apparatus according to claim 1 system, it is characterized in that: described touch-screen also is connected with buzzer siren, the main interface of touch-screen also comprises the warning interface, described warning interface comprises the error message prompting, points out contact information and stop the buzzing alarm button, also is provided with on the described control panel to remove the buzzer warning button.
3. digital controlled welding positioning apparatus according to claim 1 and 2 system, it is characterized in that: the execution of described station setting can be controlled by touch-screen or control panel.
4. digital controlled welding positioning apparatus according to claim 3 system, it is characterized in that: described teaching option provides 1-10 taught point, the upper left side at interface is the positional information of two signalling channels, be provided with the setting button of taught point, each is made as the display box that there is the positional value of current axis taught point button back, the back is that teaching speed is set frame, is divided into X-axis and Y-axis, and the back, interface is that button is reproduced in teaching.
5. digital controlled welding positioning apparatus according to claim 4 system, it is characterized in that: also include linear interpolation dot pattern and circular arc in the described teaching option and insert some complementary modulus formula, the positional information of interpolated point can obtain by reading the motor position value behind the crawl and directly importing this dual mode at touch-screen.
6. according to claim 4 or 5 described digital controlled welding positioning apparatus systems, it is characterized in that: the data of the pulse output number register of described computer control end by preserving and read PLC pulse output channel, to realize the function that reads and remember of station information.
7. digital controlled welding positioning apparatus according to claim 6 system, it is characterized in that: the communication modes of described touch-screen and welding robot is the control mode of PLC switching value.
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| CN201310139684.9A CN103231197B (en) | 2013-04-22 | 2013-04-22 | NC (numerical control) welding positioner system |
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| CN201310139684.9A CN103231197B (en) | 2013-04-22 | 2013-04-22 | NC (numerical control) welding positioner system |
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| CN103231197B CN103231197B (en) | 2015-06-24 |
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Cited By (5)
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| CN103737211A (en) * | 2013-12-23 | 2014-04-23 | 芜湖常瑞汽车部件有限公司 | Robot automatic welding tool system |
| CN104625545A (en) * | 2015-02-11 | 2015-05-20 | 丹阳市石油机械配件二厂有限公司 | Double-station robot welding positioner |
| WO2016165051A1 (en) * | 2015-04-13 | 2016-10-20 | 叶成源 | Method and apparatus for numerical control welding using spatial high-order interpolation |
| CN107355944A (en) * | 2017-06-21 | 2017-11-17 | 珠海格力电器股份有限公司 | The control method and device of air-conditioning |
| CN108687747A (en) * | 2017-04-03 | 2018-10-23 | 发那科株式会社 | The teaching apparatus of robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2016165051A1 (en) * | 2015-04-13 | 2016-10-20 | 叶成源 | Method and apparatus for numerical control welding using spatial high-order interpolation |
| CN108687747A (en) * | 2017-04-03 | 2018-10-23 | 发那科株式会社 | The teaching apparatus of robot |
| CN107355944A (en) * | 2017-06-21 | 2017-11-17 | 珠海格力电器股份有限公司 | The control method and device of air-conditioning |
| US11585550B2 (en) | 2017-06-21 | 2023-02-21 | Gree Electric Appliances (Wuhan) Co., Ltd | Control method and control device for air conditioner |
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