CN105643177A - Regulating device and control method for turnover angle of working table of welding robot - Google Patents
Regulating device and control method for turnover angle of working table of welding robot Download PDFInfo
- Publication number
- CN105643177A CN105643177A CN201610125067.7A CN201610125067A CN105643177A CN 105643177 A CN105643177 A CN 105643177A CN 201610125067 A CN201610125067 A CN 201610125067A CN 105643177 A CN105643177 A CN 105643177A
- Authority
- CN
- China
- Prior art keywords
- welding robot
- working platform
- angle
- slave unit
- workbench
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
-
- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
Landscapes
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Resistance Welding (AREA)
Abstract
The invention provides a regulating device for a turnover angle of a working table of a welding robot. The regulating device comprises a transmission mechanism, a power mechanism, a detecting mechanism and a control mechanism, wherein the transmission mechanism is connected to the working table of the welding robot; the detecting mechanism is coaxially connected to the working table of the welding robot; and the control mechanism is separately in signal connection to the transmission mechanism, the power mechanism and the detecting mechanism. The regulating device is simple in structure, is easy to operate, is low in production cost, and can carry out high-precision regulation control on the turnover angle and a turnover position of the working table of the welding robot, so that the welding operation quality and the welding operation precision, on the working table, of the welding robot are improved. The invention further provides a control method for the turnover angle of the working table of the welding robot, wherein a real-time detected turnover angle is compared with a preset angle, so that the state of turning over or stopping turning over the working table of the welding robot is controlled to be switched in an alternative switching manner, and therefore, the regulation control on the turnover angle of the working table of the welding robot is realized.
Description
Technical field
The present invention relates to welding processing field of mechanical technique, more particularly, it relates to the adjustment device of a kind of welding robot working platform overturning angle and control method thereof.
Background technology
Reporting title according to the world is robot combined, within 2014, global industry machine man-year sales volume is 22.5 ten thousand, increases by 27% than 2013, and wherein Asia sales volume accounts for 2/3rds. Within 2013, China has become the biggest market of global industry robot, and the industrial robot sales volume of Chinese market in 2014 still surges 54%, reaches 5.6 ten thousand. Wherein, the whole world has been used for the welding robot of various weld job and has accounted for more than the 45% of whole robot. The application of welding robot, not only improve work situation, reduce labor intensity, improve production efficiency, the more important thing is the concordance of stability that welding robot works and welding product quality, this is most important for the Product jointing quality ensureing batch production. And positioner is one of key equipment playing welding robot advantage, supporting a kind of displacement equipment matched with robot, seem extremely important to efficiently controlling welding quality with improving welding efficiency.
At present, at home in welding profession, for controlling welding quality preferably, improve production efficiency, it is common to use two axle positioners are as holder's station of welding workpiece. But, this product quality domestic is uneven at present, and the good product price of external quality is general higher, is often applied in the exigent occasion of welding quality, such as auto production line, pressure vessels for the chemical industry welding profession etc. For the occasion that some welding process requirement are relatively low, such as common wealth furniture welding, hardware welding, bicycle welding occasion etc., if using this type of positioner, the heavy compression profit margin of finished product, cause that welding robot is difficult to extensive use in these occasions.
In like product, the displacement equipment realizing welding post conversion is generally based on control class motor and realizes, it is characterized in utilizing servomotor or motor to drive actuator to realize angular displacement and speed controlling, its advantage is kinematic accuracy height and exports reliable and stable, even can weld with the linkage of international top-brand industrial robot, ensure that welding process requirement, improve welding quality. But, this solution is substantially more expensive, and requires higher to motor performance, and around corollary equipment is huge, adds equipment maintenance cost, employee's specialized capability of plant maintenance also be there are certain requirements simultaneously, can not be accepted by major part user.
Zeng Zhaowen etc. devise a kind of small complex weldment automatic welding universal head.In addition, also have some displacement equipment based on the comparatively low side of stopping means, its principle is to install travel switch or proximity switch at certain several special station, after displacement equipment completes corresponding shifting movement, travel switch or proximity switch obtain position signalling, feed back to control end, stopped power output by controlling end, it is achieved deflection function. This displacement equipment cost is low, it is simple and reliable to control, but its kinematic accuracy is very low, and station arranges limited, flexible relatively low, than the displacement equipment or some architectural workpieces not having required precision and some the specific furniture weldment etc. that are more suitable for large-scale weld assembly.
Therefore, now need to design adjustment device and the control method thereof of the low welding robot working platform overturning angle of a kind of cost, realize the high accuracy regulable control of welding robot working platform overturning angle and upturned position, it is intended that the welding professions such as common wealth furniture, hardware and construction material provide a kind of lower-cost welding robot application solution, expand industrial robot range of application, reduce domestic welding profession cost, improve welding production efficiency.
Summary of the invention
It is an object of the invention to overcome shortcoming of the prior art with not enough, the adjustment device of a kind of welding robot working platform overturning angle is provided, this adjustment device is not only simple in structure, processing ease and production cost low, and butt welding machine device people's workbench flip angle and upturned position can carry out high accuracy regulable control, to ensure the accuracy of the soldering angle of welding robot, thus improving quality and the precision of welding robot welding operation on the table, and improve welding production efficiency. The present invention also provides for the control method of a kind of welding robot working platform overturning angle, thus realize welding robot working platform overturning angle and upturned position quick, accurately and accurately control.
In order to achieve the above object, the technical scheme is that: the adjustment device of a kind of welding robot working platform overturning angle, the flip angle for butt welding machine device people's workbench is adjusted controlling; It is characterized in that: including:
For realizing the drive mechanism driving welding robot working platform overturning or braking welding robot workbench to stop in the way of alternately switching, described drive mechanism is connected with welding robot workbench;
Actuating unit for drive transmission device motion; Described actuating unit is connected with drive mechanism;
For detecting the testing agency of welding robot working platform overturning angle in real time, described testing agency is coaxially connected with welding robot workbench;
Flip angle for detecting in real time according to testing agency compares with predetermined angle, controls drive mechanism and drives welding robot working platform overturning or braking welding robot workbench to stop and for controlling the controlling organization of actuating unit; Wherein, described predetermined angle refers to: the angle that welding robot workbench need to overturn; Described controlling organization is connected with drive mechanism, actuating unit and testing agency's signal respectively.
In such scheme, whether the difference of the flip angle that the controlling organization of the present invention detects in real time according to testing agency and predetermined angle is in range of error, control drive mechanism in the way of alternately switching, then can realize welding robot working platform overturning or the stopping upset of welding robot workbench, make in welding robot working platform overturning process, it is accurately controlled it when working platform overturning is to predetermined angle to stop, reach butt welding machine device people's workbench flip angle and upturned position to carry out the effect of high accuracy regulable control, thus improving quality and the precision of welding robot welding operation on the table, and improve welding production efficiency.
More specifically, described drive mechanism includes the driving part and the push mechanism that are connected with the Worm Wheel System part of worm gear and worm screw, brake component, slave unit with actuating unit;Described Worm Wheel System part is connected with welding robot workbench; Described brake component and slave unit are coaxially connected with the worm screw in Worm Wheel System part respectively, and slave unit is between brake component and driving part; Described push mechanism is connected with slave unit and is connected with controlling organization signal, to promote slave unit engage with driving part respectively in an alternating fashion or engage with brake component, it is achieved Worm Wheel System part drives welding robot working platform overturning or braking welding robot workbench to stop.
Drive mechanism simple in construction of the present invention, ingenious and production cost is low, can pass through push mechanism and promote slave unit alternately switch joint between driving part and brake component, realize motion and the locking locking of Worm Wheel System part. The present invention can realize working platform overturning without increasing extra mechanism and stop the conversion of upset two states so that this adjustment device produces and low cost of manufacture, economical and practical.
The Worm Wheel System part of this drive mechanism has big speed ratio, and this adjustment device can be made to make high-precision dividing apparatus.
Described push mechanism includes the actuating cylinder and the connecting rod that are connected with controlling organization signal; The middle part of described connecting rod is hinged with brake component, and its one end is connected with actuating cylinder, and the other end is connected with slave unit. The push mechanism of the present invention utilizes lever principle, produces the thrust needed for a normal transmission of slave unit so that slave unit is toward left movement or right motion, it is achieved with the alternately switching of brake component and driving part.
Described brake component includes braking dish and the fixing plate for fixing braking dish; Described braking dish is connected with fixing plate and to be located on worm screw coaxially connected with worm screw. The brake component of the present invention is mainly used in secure ratcs when upset workbench stops, and brake component also functions as the effect of clutch simultaneously.
Described slave unit includes driven friction pulley and driven friction pulley slip ring; Described driven friction pulley is connected with driven friction pulley slip ring and to be located on worm screw coaxially connected with worm screw. In the middle part of the connecting rod of push mechanism of the present invention hinged with fixing plate, its one end and driven friction pulley slip ring, the other end is connected with actuating cylinder. This driven friction pulley slip ring can drive driven friction pulley to slide on worm screw, it is achieved driven friction pulley is alternately switching between brake component and slave unit.
Described worm gear is provided with baffle plate near one end of slave unit, is provided with flexible member between described baffle plate and driven friction pulley. In whole control process, how accurately to control working platform overturning stopping upset in predetermined angle range of error, realize the accurate control of upturned position and flip angle, be the process of a high accuracy control. Therefore to make slave unit switch to brake component from moving with driving part joint rapidly, and the function realizing power cut and parking locking is engaged with brake component, the present invention is provided with the flexible member of spring between baffle plate and driven friction pulley, driven friction pulley is made to compress rapidly braking dish under the effect of push mechanism driving force and spring-compressed bounce, realize rapidly power cut and the function of parking locking, such that it is able to accurately realize the accurate control of upturned position.
Described driving part is active friction wheel, and active friction wheel is connected with actuating unit and is positioned at slave unit side. The actuating unit of the present invention is air motor, can be rotated and reverse by the control realization of controlling organization.
Described Worm Wheel System part also includes output flange, and described output flange one end is coaxially connected with worm gear, and the other end is connected with welding robot workbench;Described testing agency is coaxially connected with worm gear. The testing agency of the present invention can adopt photoelectric encoder.
A kind of control method of welding robot working platform overturning angle, it is characterized in that: by the flip angle detected in real time and predetermined angle are compared, control in the way of alternately switching, realize welding robot working platform overturning or stop the State Transferring of upset, it is achieved the regulable control of welding robot working platform overturning angle; Described predetermined angle refers to: the angle that welding robot workbench need to overturn.
In such scheme, the present invention controls welding robot working platform overturning by the mode of alternately switching or welding robot workbench stops upset, thus realize welding robot working platform overturning angle and upturned position quick, accurately and accurately control.
It is described by the flip angle detected in real time and predetermined angle are compared, control in the way of alternately switching, realize welding robot working platform overturning or stop the State Transferring of upset, realize the regulable control of welding robot working platform overturning angle, comprise the following steps:
The first step, controls welding robot working platform overturning, and obtains the flip angle that welding robot workbench is real-time;
Second step, real-time flip angle and predetermined angle are compared and obtains difference, to whether difference judges in the range of error set: if difference is in the range of error set, then control slave unit and move switching from driving part joint, realize slave unit to engage with brake component and brake the Worm Wheel System part coaxially connected with slave unit and stop, control welding robot workbench and stop upset, wait that welding job carries out the 3rd step after completing; Otherwise, control welding robot workbench and continue upset, return the first step;
3rd step, controls slave unit and moves switching from brake component joint, it is achieved slave unit engages with driving part and drives the Worm Wheel System part coaxially connected with slave unit to rotate, and controls the reset upset of welding robot workbench.
The adjustment apparatus structure of welding robot working platform overturning angle of the present invention is simple, processing ease and production cost low, the operation principle of this adjustment device is: utilize air motor to export power as actuating unit, active friction wheel transmission is primary speed-down, simultaneously driven friction crop rotation clutch action. When working platform overturning to predetermined angle, the actuating cylinder of push mechanism promotes driven friction pulley slip ring that driven friction pulley is separated with active friction wheel, cuts off power; Meanwhile, driven friction pulley rebounds at the spring element returns of holddown spring and compresses braking dish under actuating cylinder driving force effect, engages with braking dish, is braked by driven friction pulley rapidly, and worm screw is locked, it is achieved precise angle stops upset. When overturning workbench and needing reversion to reset, controlling organization controls air motor reversion, the actuating cylinder of push mechanism promotes driven friction pulley slip ring that driven friction pulley is separated with braking dish, driven friction pulley engages with active friction wheel simultaneously, power ON, it is achieved upset workbench needs reversion to reset. The adjustment installation cost of the present invention is cheap, safeguards simple, processing ease, and has certain kinematic accuracy.
The present invention regulates being used as power output based on air motor of device, and worm and gear big speed ratio drive system makes high-precision dividing apparatus, utilizes photoelectric encoder to make positional information acquisition device, realizes high accuracy flip-flop movement by closed loop control.
The work process that the present invention is concrete is such that air motor and starts, and exports power, and active friction wheel rotates. Under normality, driven friction pulley compresses braking dish under the flexible member rebound effect of holddown spring, therefore under normality, worm screw is in locking state, simultaneously because adopt the Worm Wheel System with self-locking property, therefore improves the reliability of worm screw locking performance. When overturning workbench and needing rotary movement, this adjustment device drives driven friction pulley slip ring by push mechanism, it is made to slide to the right, driven friction pulley slides to the right under its effect simultaneously, and the active friction wheel rotated is compressed with certain thrust, thus worm screw rotates under the drive of driven friction pulley, having certain output, welding bench realizes rotating. Additionally, for allowing worm-drive have self-locking performance and to improve the response characteristic of system, the present invention can adopt the big speed ratio transmission scheme of secondary transmission, and resultant gear ratio is 112. Relatively corner is had calibration effect by big speed ratio simultaneously, improves alliance precision. The present invention regulates the controlling organization of device and constantly obtains corresponding corner displacement output from photoelectric encoder, and make comparisons with predetermined angle (aim parameter), when its difference is within the scope of allowable error, namely under the state that welding bench is rotated in place, controlling organization controls push mechanism and drives driven friction pulley slip ring, it is made to slide to the left, driven friction pulley compresses rapidly braking dish under the effect that driving force and former spring compression force rebound simultaneously, realize rapidly power cut and the function of parking locking, such that it is able to accurately realize position control. Now, air motor stops during can utilizing industrial robot weld job, to prepare forward or reverse operation next time. But, the response time of worm screw during in order to reduce braking, improve control accuracy, the rotary inertia of worm screw and driven friction pulley is as far as possible little; Due to Worm Wheel System select exposed drive, so Intensity Design must take into thorough, it is to avoid cause safety issue.
Compared with prior art, the invention have the advantages that and beneficial effect:
1, the adjustment device of welding robot working platform overturning angle of the present invention be not only simple in structure, processing ease and production cost low, and butt welding machine device people's workbench flip angle and upturned position can carry out high accuracy regulable control, to ensure the soldering angle of welding robot, thus improving quality and the precision of welding robot welding operation on the table, and improve welding production efficiency.
2, the control method of the welding robot working platform overturning angle of the present invention can realize welding robot working platform overturning angle and upturned position quick, accurately and accurately control.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that the present invention regulates that device is connected with welding robot workbench;
Fig. 2 is the Facad structure schematic diagram regulating device of welding robot working platform overturning angle of the present invention;
Fig. 3 is the side structure schematic diagram regulating device of welding robot working platform overturning angle of the present invention;
Fig. 4 is the part-structure schematic diagram that the present invention regulates drive disk assembly in device;
Fig. 5 is the control principle drawing of air motor of the present invention;
Fig. 6 is the control principle drawing of actuating cylinder of the present invention;
Fig. 7 is the schematic diagram of connecting rod of the present invention;
Wherein, 1 it is welding robot workbench, 2 is air motor, 3 is photoelectric encoder, 4 is active friction wheel, 5 is worm screw, 6 is worm gear, 7 is actuating cylinder, 8 is connecting rod, 9 is braking dish, 10 is fixing plate, 11 is driven friction pulley, 12 is driven friction pulley slip ring, 13 is baffle plate, 14 is holddown spring, 15 is output flange, 16 casings, 17 is hinged place.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail with detailed description of the invention.
Embodiment
If Fig. 1 is to shown in 7, the adjustment device of welding robot working platform overturning angle of the present invention, is that the flip angle for butt welding machine device people's workbench 1 is adjusted controlling; Comprising: casing 16 and be separately positioned on the following mechanism in casing 16:
For realizing driving welding robot workbench 1 to overturn or brake the drive mechanism that welding robot workbench 1 stops in the way of alternately switching, this drive mechanism is connected with welding robot workbench 1;
For drive transmission device motion air motor 2 as actuating unit, this air motor 2 is connected with drive mechanism;
For detecting the photoelectric encoder 3 of welding robot working platform overturning angle in real time as testing agency, this testing agency is coaxially connected with welding robot workbench 1;
Flip angle for detecting in real time according to photoelectric encoder 3 compares with predetermined angle, control drive mechanism drive welding robot workbench 1 overturn or brake welding robot workbench 1 stop and for controlling air motor 2 and stopping, the controlling organization of forward or reverse; Wherein, predetermined angle refers to: the angle that welding robot workbench 1 need to overturn; This controlling organization is connected with drive mechanism, air motor 2 and photoelectric encoder 3 signal respectively. This controlling organization may be disposed in casing 16 or outside casing 16.
The drive mechanism of the present invention includes the active friction wheel 4 and the push mechanism that are connected and are positioned at slave unit side with the Worm Wheel System part of worm gear 6 and worm screw 5, brake component, slave unit with air motor 2, wherein, brake component includes braking dish 9 and the fixing plate 10 for fixing braking dish 9, and braking dish 9 is connected with fixing plate 10 and to be located on worm screw 5 coaxially connected with worm screw 5. Slave unit includes driven friction pulley 11 and driven friction pulley slip ring 12, and driven friction pulley 11 is connected with driven friction pulley slip ring 12 and to be located on worm screw 5 coaxially connected with worm screw 5. Push mechanism includes the actuating cylinder 7 and the connecting rod 8 that are connected with controlling organization signal, connecting rod 8 is in bending-like, one of them bending position of connecting rod 8 and the fixing plate 10 of brake component hinged (hinged place 17 in Fig. 7), its one end is connected with actuating cylinder 7, and the other end is connected with the driven friction pulley slip ring 12 of slave unit. The driven friction pulley 11 of slave unit of the present invention is between braking dish 9 and active friction wheel 4, the actuating cylinder 7 of push mechanism is connected with controlling organization signal, driven friction pulley 11 is made to engage with active friction wheel 4 respectively in an alternating fashion or engage with braking dish 9 to promote driven friction pulley 11 to slide, it is achieved Worm Wheel System part drive welding robot workbench 1 overturns or brake welding robot workbench 1 to be stopped.
So that driven friction pulley 11 switches to braking dish 9 from moving with active friction wheel 4 joint rapidly, and the function realizing power cut and parking locking is engaged with braking dish 9, the present invention is provided with baffle plate 13 at worm gear 6 near one end of slave unit, is provided with holddown spring 14 between baffle plate 13 and driven friction pulley 11. The present invention is provided with holddown spring 14 between baffle plate 13 and driven friction pulley 11, driven friction pulley 11 is made to compress rapidly braking dish 9 under the effect that driving force and the holddown spring 14 of actuating cylinder 7 compresses bounce, realize rapidly power cut and the function of parking locking, such that it is able to accurately realize the accurate control of upturned position.
The Worm Wheel System part of the present invention also includes output flange 15, and this output flange 15 one end is coaxially connected with worm gear 6, and the other end is connected with welding robot workbench 1. The photoelectric encoder 3 of the present invention is coaxially connected with worm gear 6, and to realize it coaxially connected with welding robot workbench 1.
A kind of control method of the welding robot working platform overturning angle of the present invention, it is by the flip angle detected in real time and predetermined angle are compared, control to realize, in the way of alternately switching, the State Transferring that welding robot workbench 1 overturns or stops upset, it is achieved the regulable control of welding robot workbench 1 flip angle.
Wherein, by the flip angle detected in real time and predetermined angle are compared, control to realize, in the way of alternately switching, the State Transferring that welding robot workbench 1 overturns or stops upset, it is achieved the regulable control of welding robot workbench 1 flip angle, comprise the following steps:
The first step, controls welding robot workbench 1 and overturns, and obtain the flip angle that welding robot workbench 1 is real-time;
Second step, real-time flip angle and predetermined angle are compared and obtains difference, to whether difference judges in the range of error set: if difference is in the range of error set, then control slave unit and move switching from driving part joint, realize slave unit to engage with brake component and brake the Worm Wheel System part coaxially connected with slave unit and stop, control welding robot workbench 1 and stop upset, wait that welding job carries out the 3rd step after completing; Otherwise, control welding robot workbench 1 and continue upset, return the first step;
3rd step, controls slave unit and moves switching from brake component joint, it is achieved slave unit engages with driving part and drives the Worm Wheel System part coaxially connected with slave unit to rotate, and controls welding robot workbench 1 reset upset.
The adjustment apparatus structure of welding robot working platform overturning angle of the present invention is simple, processing ease and production cost low, the operation principle of this adjustment device is: utilize air motor 2 to export power as actuating unit, active friction wheel 4 transmission is primary speed-down, and driven friction pulley 11 makes clutch action simultaneously. When working platform overturning to predetermined angle, the actuating cylinder 7 of push mechanism promotes driven friction pulley slip ring 12 that driven friction pulley 11 is separated with active friction wheel 4, cuts off power; Meanwhile, driven friction pulley 11 compresses braking dish 9 under the reset bounce-back and actuating cylinder 7 driving force effect of holddown spring 14, engages with braking dish 9, is braked by driven friction pulley 11 rapidly, and worm screw 5 is locked, it is achieved precise angle stops upset. When overturning workbench and needing reversion to reset, controlling organization controls air motor 2 and reverses, the actuating cylinder 7 of push mechanism promotes driven friction pulley slip ring 12 that driven friction pulley 11 is separated with braking dish 9, driven friction pulley 11 engages with active friction wheel 4 simultaneously, power ON, it is achieved upset workbench needs reversion to reset. The adjustment installation cost of the present invention is cheap, safeguards simple, processing ease, and has certain kinematic accuracy.
The present invention regulates being used as power output based on air motor 2 of device, and worm and gear big speed ratio drive system makes high-precision dividing apparatus, utilizes photoelectric encoder 3 to make positional information acquisition device, realizes high accuracy flip-flop movement by closed loop control.
The work process that the present invention is concrete is such that air motor 2 and starts, and exports power, and active friction wheel 4 rotates.Under normality, driven friction pulley 11 compresses braking dish under the flexible member rebound effect of holddown spring 14, therefore worm screw is in locking state under normality, simultaneously because adopt the Worm Wheel System with self-locking property, therefore improve the reliability of worm screw 5 locking performance. When overturning workbench and needing rotary movement, this adjustment device drives driven friction pulley slip ring 12 by push mechanism, it is made to slide to the right, driven friction pulley 11 slides to the right under its effect simultaneously, and the active friction wheel 4 rotated is compressed with certain thrust, thus worm screw 5 rotates under the drive of driven friction pulley 11, having certain output, welding robot workbench 1 realizes rotating. Additionally, for allowing worm screw 5 transmission have self-locking performance and to improve the response characteristic of system, the present invention can adopt the big speed ratio transmission scheme of secondary transmission, and resultant gear ratio is 112. Relatively corner is had calibration effect by big speed ratio simultaneously, improves alliance precision. The present invention regulates the controlling organization of device and constantly obtains corresponding corner displacement output from photoelectric encoder 3, and make comparisons with predetermined angle (aim parameter), when its difference is within the scope of allowable error, namely under the state that welding bench is rotated in place, controlling organization controls push mechanism and drives driven friction pulley slip ring 12, it is made to slide to the left, driven friction pulley 11 compresses rapidly braking dish 9 under the effect that driving force and former holddown spring 14 compression stress rebound simultaneously, realize rapidly power cut and the function of parking locking, such that it is able to accurately realize position control. Now, air motor 2 stops during can utilizing industrial robot weld job, to prepare forward or reverse operation next time. But, the response time of worm screw 5 during in order to reduce braking, improve control accuracy, the rotary inertia of worm screw 5 and driven friction pulley 11 is as far as possible little; Due to Worm Wheel System select exposed drive, so Intensity Design must take into thorough, it is to avoid cause safety issue.
The present invention is for the control of air motor 2:
The present invention adopts the air motor 2 of TAM2-405FB model, and this air motor 2 has the braking function carried, therefore without considering its control for brake. Operation principle according to air motor 2, the air motor 2 of design controls shown in pneumatic system Fig. 5. When a system is powered up, A1 and A2 does not give electricity, and reversal valve is in middle position, and air motor does not start, if in system operation during system power failure, and air motor hard stop, protect machine. When A1 is to signal, A2 does not give signal, and air motor rotates forward; A1 is to signal, and A2 does not give signal, and air motor reverses.
The present invention is for the control of drive mechanism:
The brake component of drive mechanism is mainly used in secure ratcs when upset workbench stops, brakes also functions as the effect of clutch simultaneously, and when workbench needs rotary movement, driven friction pulley 11 accesses right position, compress active friction wheel 4, thus producing rotary movement. The driving of driven friction pulley 11 adopts air cylinder driven, i.e. actuating cylinder 7, utilizes lever principle, produces the thrust needed for a driven normal transmission of friction pulley 11. Similarly, the atmospheric control of this actuating cylinder 7 is as shown in Figure 6. When B electromagnetic valve obtains electric, access loop, reversal valve left position, actuating cylinder 7 action, stretch out to the right, drive driven friction pulley 11 to turn right motion by connecting rod 8, compress active friction wheel 4 and obtain power, upset workbench carries out rotary movement; When B electromagnetic valve dead electricity, access loop, reversal valve right position, driven friction pulley 11 is retracted under the action of the spring, and with compress braking dish 9, carry out mechanism's locking.Therefore, realizing, according to control circuit and relevant control variable, the turn over function that welding upset work is predetermined, controlling organization requires difference depending on user, and catalyst, Control or PLC control, its electric hookup and program can be adopted to omit.
Above-described embodiment is the present invention preferably embodiment; but embodiments of the present invention are also not restricted to the described embodiments; the change made under other any spirit without departing from the present invention and principle, modification, replacement, combination, simplification; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (10)
1. an adjustment device for welding robot working platform overturning angle, the flip angle for butt welding machine device people's workbench is adjusted controlling; It is characterized in that: including:
For realizing the drive mechanism driving welding robot working platform overturning or braking welding robot workbench to stop in the way of alternately switching, described drive mechanism is connected with welding robot workbench;
Actuating unit for drive transmission device motion; Described actuating unit is connected with drive mechanism;
For detecting the testing agency of welding robot working platform overturning angle in real time, described testing agency is coaxially connected with welding robot workbench;
Flip angle for detecting in real time according to testing agency compares with predetermined angle, controls drive mechanism and drives welding robot working platform overturning or braking welding robot workbench to stop and for controlling the controlling organization of actuating unit; Wherein, described predetermined angle refers to: the angle that welding robot workbench need to overturn; Described controlling organization is connected with drive mechanism, actuating unit and testing agency's signal respectively.
2. the adjustment device of welding robot working platform overturning angle according to claim 1, it is characterised in that: described drive mechanism includes the driving part and the push mechanism that are connected with the Worm Wheel System part of worm gear and worm screw, brake component, slave unit with actuating unit; Described Worm Wheel System part is connected with welding robot workbench; Described brake component and slave unit are coaxially connected with the worm screw in Worm Wheel System part respectively, and slave unit is between brake component and driving part; Described push mechanism is connected with slave unit and is connected with controlling organization signal, to promote slave unit engage with driving part respectively in an alternating fashion or engage with brake component, it is achieved Worm Wheel System part drives welding robot working platform overturning or braking welding robot workbench to stop.
3. the adjustment device of welding robot working platform overturning angle according to claim 2, it is characterised in that: described push mechanism includes the actuating cylinder and the connecting rod that are connected with controlling organization signal; The middle part of described connecting rod is hinged with brake component, and its one end is connected with actuating cylinder, and the other end is connected with slave unit.
4. the adjustment device of welding robot working platform overturning angle according to claim 2, it is characterised in that: described brake component includes braking dish and the fixing plate for fixing braking dish; Described braking dish is connected with fixing plate and to be located on worm screw coaxially connected with worm screw.
5. the adjustment device of welding robot working platform overturning angle according to claim 2, it is characterised in that: described slave unit includes driven friction pulley and driven friction pulley slip ring; Described driven friction pulley is connected with driven friction pulley slip ring and to be located on worm screw coaxially connected with worm screw.
6. the adjustment device of welding robot working platform overturning angle according to claim 5, it is characterised in that: described worm gear is provided with baffle plate near one end of slave unit, is provided with flexible member between described baffle plate and driven friction pulley.
7. the adjustment device of welding robot working platform overturning angle according to claim 2, it is characterised in that: described driving part is active friction wheel, and active friction wheel is connected with actuating unit and is positioned at slave unit side.
8. the adjustment device of welding robot working platform overturning angle according to claim 2, it is characterized in that: described Worm Wheel System part also includes output flange, described output flange one end is coaxially connected with worm gear, and the other end is connected with welding robot workbench; Described testing agency is coaxially connected with worm gear.
9. the control method of a welding robot working platform overturning angle, it is characterized in that: by the flip angle detected in real time and predetermined angle are compared, control in the way of alternately switching, realize welding robot working platform overturning or stop the State Transferring of upset, it is achieved the regulable control of welding robot working platform overturning angle; Described predetermined angle refers to: the angle that welding robot workbench need to overturn.
10. the control method of welding robot working platform overturning angle according to claim 9, it is characterized in that: described by the flip angle detected in real time and predetermined angle are compared, control in the way of alternately switching, realize welding robot working platform overturning or stop the State Transferring of upset, realize the regulable control of welding robot working platform overturning angle, comprise the following steps:
The first step, controls welding robot working platform overturning, and obtains the flip angle that welding robot workbench is real-time;
Second step, real-time flip angle and predetermined angle are compared and obtains difference, to whether difference judges in the range of error set: if difference is in the range of error set, then control slave unit and move switching from driving part joint, realize slave unit to engage with brake component and brake the Worm Wheel System part coaxially connected with slave unit and stop, control welding robot workbench and stop upset, wait that welding job carries out the 3rd step after completing; Otherwise, control welding robot workbench and continue upset, return the first step;
3rd step, controls slave unit and moves switching from brake component joint, it is achieved slave unit engages with driving part and drives the Worm Wheel System part coaxially connected with slave unit to rotate, and controls the reset upset of welding robot workbench.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610125067.7A CN105643177B (en) | 2016-03-04 | 2016-03-04 | A kind of adjusting means and its control method of welding robot working platform overturning angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610125067.7A CN105643177B (en) | 2016-03-04 | 2016-03-04 | A kind of adjusting means and its control method of welding robot working platform overturning angle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105643177A true CN105643177A (en) | 2016-06-08 |
| CN105643177B CN105643177B (en) | 2017-06-27 |
Family
ID=56492205
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610125067.7A Active CN105643177B (en) | 2016-03-04 | 2016-03-04 | A kind of adjusting means and its control method of welding robot working platform overturning angle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105643177B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106914869A (en) * | 2017-03-31 | 2017-07-04 | 上汽通用五菱汽车股份有限公司 | Roll-over table automatic retarding brake system and method |
| CN107752727A (en) * | 2017-11-03 | 2018-03-06 | 深圳市创新先进科技有限公司 | A kind of pan control device of cooking machine |
| CN108296682A (en) * | 2018-03-30 | 2018-07-20 | 江苏铭纳阳智能装备有限公司 | A kind of new energy motor stator coil bonding machine |
| CN109058728A (en) * | 2018-06-04 | 2018-12-21 | 辽宁省交通规划设计院有限责任公司 | Industrial camera pedestal and Tunnel testing vehicle |
| CN109249176B (en) * | 2018-10-24 | 2020-07-03 | 苏州富力丰汽车部件有限公司 | Intelligent fixing device for automatic welding equipment |
| CN112756829A (en) * | 2020-12-29 | 2021-05-07 | 苏州阿甘机器人有限公司 | Automatic workpiece welding device and working method thereof |
| CN113953620A (en) * | 2021-10-14 | 2022-01-21 | 中船九江精达科技股份有限公司 | Novel slip ring welding device |
| CN115229677A (en) * | 2022-07-21 | 2022-10-25 | 武汉市科迈机械制造有限责任公司 | High-stability rail wagon part clamping device and clamping method thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001198697A (en) * | 2000-01-13 | 2001-07-24 | Honda Motor Co Ltd | Working table for welding |
| CN102425634A (en) * | 2011-12-27 | 2012-04-25 | 山东潍坊鲁中拖拉机有限公司 | Clutch with braking function |
| CN202668045U (en) * | 2012-05-14 | 2013-01-16 | 平高集团有限公司 | Rotating and assembling apparatus of working cylinder |
| CN203541501U (en) * | 2013-10-18 | 2014-04-16 | 张家港万富安化工设备铸件装备有限公司 | Sand box overturning device |
| CN203751682U (en) * | 2014-04-03 | 2014-08-06 | 延锋伟世通(烟台)汽车饰件系统有限公司 | Turnover support for automotive interior instrument panel assembly |
| CN104625771A (en) * | 2014-12-26 | 2015-05-20 | 燕山大学 | Precise dual-driving heavy-load cutting dislodgement machine |
| CN205393911U (en) * | 2016-03-04 | 2016-07-27 | 佛山科学技术学院 | Welding robot workstation rotation angle's adjusting device |
-
2016
- 2016-03-04 CN CN201610125067.7A patent/CN105643177B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001198697A (en) * | 2000-01-13 | 2001-07-24 | Honda Motor Co Ltd | Working table for welding |
| CN102425634A (en) * | 2011-12-27 | 2012-04-25 | 山东潍坊鲁中拖拉机有限公司 | Clutch with braking function |
| CN202668045U (en) * | 2012-05-14 | 2013-01-16 | 平高集团有限公司 | Rotating and assembling apparatus of working cylinder |
| CN203541501U (en) * | 2013-10-18 | 2014-04-16 | 张家港万富安化工设备铸件装备有限公司 | Sand box overturning device |
| CN203751682U (en) * | 2014-04-03 | 2014-08-06 | 延锋伟世通(烟台)汽车饰件系统有限公司 | Turnover support for automotive interior instrument panel assembly |
| CN104625771A (en) * | 2014-12-26 | 2015-05-20 | 燕山大学 | Precise dual-driving heavy-load cutting dislodgement machine |
| CN205393911U (en) * | 2016-03-04 | 2016-07-27 | 佛山科学技术学院 | Welding robot workstation rotation angle's adjusting device |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106914869A (en) * | 2017-03-31 | 2017-07-04 | 上汽通用五菱汽车股份有限公司 | Roll-over table automatic retarding brake system and method |
| CN106914869B (en) * | 2017-03-31 | 2023-07-25 | 上汽通用五菱汽车股份有限公司 | Automatic deceleration braking system and method for overturning platform |
| CN107752727A (en) * | 2017-11-03 | 2018-03-06 | 深圳市创新先进科技有限公司 | A kind of pan control device of cooking machine |
| WO2019085214A1 (en) * | 2017-11-03 | 2019-05-09 | 深圳市创新先进科技有限公司 | Cooking vessel control device for stir fry machine |
| CN108296682A (en) * | 2018-03-30 | 2018-07-20 | 江苏铭纳阳智能装备有限公司 | A kind of new energy motor stator coil bonding machine |
| CN109058728A (en) * | 2018-06-04 | 2018-12-21 | 辽宁省交通规划设计院有限责任公司 | Industrial camera pedestal and Tunnel testing vehicle |
| CN109058728B (en) * | 2018-06-04 | 2024-01-19 | 辽宁省交通规划设计院有限责任公司 | Industrial camera base and tunnel detection vehicle |
| CN109249176B (en) * | 2018-10-24 | 2020-07-03 | 苏州富力丰汽车部件有限公司 | Intelligent fixing device for automatic welding equipment |
| CN112756829A (en) * | 2020-12-29 | 2021-05-07 | 苏州阿甘机器人有限公司 | Automatic workpiece welding device and working method thereof |
| CN113953620A (en) * | 2021-10-14 | 2022-01-21 | 中船九江精达科技股份有限公司 | Novel slip ring welding device |
| CN113953620B (en) * | 2021-10-14 | 2022-10-04 | 中船九江精达科技股份有限公司 | Novel slip ring welding device |
| CN115229677A (en) * | 2022-07-21 | 2022-10-25 | 武汉市科迈机械制造有限责任公司 | High-stability rail wagon part clamping device and clamping method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105643177B (en) | 2017-06-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105643177A (en) | Regulating device and control method for turnover angle of working table of welding robot | |
| CN205393911U (en) | Welding robot workstation rotation angle's adjusting device | |
| CN200942410Y (en) | Automatic shaft straihtener | |
| CN202087732U (en) | Automatic double-end steel wire bending machine | |
| CN201613425U (en) | Laser equipment Z-axis adjusting device | |
| CN101890643A (en) | Movable processing machine tool of overlarge member | |
| CN104191093B (en) | A kind of laser cutting machine with automatic positioning function | |
| WO2017202153A1 (en) | Modularized robot for bending wire rod | |
| US4430923A (en) | Wrist mechanism in an industrial robot | |
| WO2012126378A1 (en) | Reciprocating servo control device for mainshaft of honing machine | |
| CN108557493A (en) | A kind of metamorphic mechanisms formula robot palletizer | |
| CN110253550A (en) | A kind of multi-functional dexterous handgrip of robot for grabbing workpiece | |
| CN202021540U (en) | Linear motor driving device for reciprocating follow-up control of spindle of honing machine | |
| CN202571046U (en) | Small precision squeeze riveter | |
| CN206105137U (en) | Automatic weld device | |
| CN102848250A (en) | Telescopic automatic stop device | |
| CN209125610U (en) | The automatic control system of valve core of servo valve face grinding machine | |
| CN201881438U (en) | Photoelectric reaction type woodworking dual-oscillating-angle milling head device | |
| CN206899277U (en) | A kind of robotic stamping system based on positive and negative rotation circuit | |
| CN203913194U (en) | Full-automatic bone sawing machine retraction mechanism | |
| CN107695580B (en) | A kind of six degree of freedom via Self-reconfiguration change cell type parallel connection welding robot | |
| CN201998043U (en) | Cog belt driving device for controlling reciprocating follow-up of main shaft of honing machine | |
| CN102189481A (en) | Honing machine spindle reciprocating follow-up control toothed belt driving device | |
| CN102189480B (en) | Reciprocating follow-up control linear motor driving device for main shaft of honing machine | |
| CN103480763A (en) | Rotation linear composite electromagnetic servo direct drive feed device for covering part stamping production line |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |