CN105643177B - A kind of adjusting means and its control method of welding robot working platform overturning angle - Google Patents
A kind of adjusting means and its control method of welding robot working platform overturning angle Download PDFInfo
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- CN105643177B CN105643177B CN201610125067.7A CN201610125067A CN105643177B CN 105643177 B CN105643177 B CN 105643177B CN 201610125067 A CN201610125067 A CN 201610125067A CN 105643177 B CN105643177 B CN 105643177B
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- welding robot
- working platform
- workbench
- angle
- slave unit
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Classifications
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- 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
Abstract
The present invention provides a kind of adjusting means of welding robot working platform overturning angle, and it includes：Transmission mechanism, transmission mechanism is connected with welding robot workbench；Actuating unit；Testing agency, the testing agency is coaxially connected with welding robot workbench；Controlling organization, the controlling organization is connected with transmission mechanism, actuating unit and testing agency's signal respectively.Adjusting means of the present invention is not only simple in structure, operate easily and low production cost, and can butt welding machine device people's workbench flip angle and upturned position carry out high accuracy regulation control, so as to improve the quality and precision of welding robot welding operation on the table.The present invention also provides a kind of control method of welding robot working platform overturning angle, its by real-time detection to flip angle be compared with predetermined angle, control to realize welding robot working platform overturning in the way of to replace switching or stop the State Transferring of upset, realize the regulation control of welding robot working platform overturning angle.
Description
Technical field
The present invention relates to welding processing field of mechanical technique, turned over more specifically to a kind of welding robot workbench
The adjusting means and its control method of gyration.
Background technology
Title can be reported according to the world is robot combined, global industry machine man-year sales volume is 22.5 ten thousand within 2014, than 2013
Year increases by 27%, and wherein Asia sales volume accounts for 2/3rds.China has turned into the biggest market of global industry robot within 2013,
The industrial robot sales volume of Chinese market in 2014 still surges 54%, reaches 5.6 ten thousand.Wherein, the whole world is used to complete each
The welding robot for planting weld job accounts for more than the 45% of whole robots.The application of welding robot, not only improves work
Environment, reduce labor intensity, improve production efficiency, it is often more important that welding robot work stability and welding product quality
Uniformity, this for ensure batch production Product jointing quality it is most important.And positioner is that performance welding robot is excellent
One of key equipment of gesture, supporting a kind of displacement equipment matched with robot, to efficiently controlling welding quality and raising
Welding efficiency seems extremely important.
At present, at home in welding profession, welding quality, improve production efficiency preferably are controlled, it is common to use two axles
Positioner as welding workpiece clamping workbench.But, this product quality of the country is uneven at present, and external quality is preferable
Product price it is universal higher, often apply in the exigent occasion of welding quality, such as auto production line, pressure vessels for the chemical industry welding
Industry etc..The welding of the occasion relatively low for some welding process requirements, such as common wealth furniture, hardware welding, bicycle
Welding occasion etc., the heavy compression profit margin of finished product, causes welding robot at these if such positioner is used
Conjunction is difficult to extensive use.
In like product, realize that the displacement equipment of welding post conversion is generally based on control class motor and realizes,
It is characterized in driving executing agency to realize angular displacement and speed control using servomotor or stepper motor, its advantage is fortune
Move high precision and export reliable and stable, it might even be possible to linked with international top-brand industrial robot and welded, it is ensured that welding procedure will
Ask, improve welding quality.But, this solution is substantially more expensive, higher to motor performance requirement, and surrounding is supporting
Equipment is huge, increased equipment maintenance cost, while also be there are certain requirements to employee's specialized capability of plant maintenance, can not be
Most of user is received.
Zeng Zhaowen etc. devises a kind of small complex weldment automatic welding universal head.Additionally, there is some to be based on
The displacement equipment of the more low side of stopping means, its principle is to install travel switches or approach in certain several special station to open
Close, after displacement equipment completes corresponding shifting movement, travel switch or proximity switch obtain position signalling, feed back to control
End, power output is stopped by control end, realizes deflection function.This displacement equipment low cost, control are simple and reliable, but
Its kinematic accuracy is very low, and station sets limited, flexible relatively low, than the displacement equipment or for being more suitable for large-scale weld assembly
A bit without the architectural workpieces of required precision and some specific furniture weldments etc..
Therefore, the adjusting means and its controlling party of the welding robot working platform overturning angle for now needing to design a kind of low cost
Method, realizes the high accuracy regulation control of welding robot working platform overturning angle and upturned position, it is intended to be common wealth furniture, hardware
The welding profession such as product and construction material provides a kind of lower-cost welding robot application solution, expands industrial machine
People's range of application, reduces domestic welding profession cost, improves welding production efficiency.
The content of the invention
It is an object of the invention to overcome shortcoming of the prior art with deficiency, there is provided a kind of welding robot workbench is turned over
The adjusting means of gyration, the adjusting means is not only simple in structure, operates easy and low production cost, and can butt welding machine device
People's workbench flip angle and upturned position carry out high accuracy regulation control, with ensure welding robot soldering angle it is accurate
Property, so as to improve the quality and precision of welding robot welding operation on the table, and improve welding production efficiency.This hair
It is bright that a kind of control method of welding robot working platform overturning angle is also provided, so as to realize welding robot working platform overturning angle
Degree is quick, accurate with upturned position and accurately controls.
In order to achieve the above object, the technical scheme is that：A kind of welding robot workbench
The adjusting means of flip angle, the flip angle for butt welding machine device people's workbench is adjusted control；It is characterized in that：Bag
Include：
For realizing driving welding robot working platform overturning or braking welding robot work in the way of alternately switching
The transmission mechanism that platform stops, the transmission mechanism is connected with welding robot workbench；
For the actuating unit of drive transmission device motion；The actuating unit is connected with transmission mechanism；
For the testing agency of real-time detection welding robot working platform overturning angle, the testing agency and welding robot
People's workbench is coaxially connected；
For according to testing agency's real-time detection to flip angle compare to control transmission mechanism to drive with predetermined angle
Welding robot working platform overturning or the stopping of braking welding robot workbench and the control machine for controlling actuating unit
Structure；Wherein, the predetermined angle refers to：The angle that welding robot workbench need to overturn；The controlling organization respectively with transmission
Mechanism, actuating unit and testing agency's signal connection.
In such scheme, flip angle and preset angle that controlling organization of the invention is arrived according to testing agency's real-time detection
Whether to control transmission mechanism, then achievable welding robot works the difference of degree in the way of alternately switching in error range
Platform is overturn or welding robot workbench stops upset so that during welding robot working platform overturning, working platform overturning is arrived
Its stopping is accurately controlled during predetermined angle, reach can butt welding machine device people's workbench flip angle and upturned position carry out it is high-precision
The effect of degree regulation control, so as to improve the quality and precision of welding robot welding operation on the table, and improves weldering
Connect production efficiency.
More specifically, the transmission mechanism include the Worm Wheel System part with worm gear and worm screw, brake component, from
Dynamic component and the driving part and pushing mechanism of actuating unit connection；The Worm Wheel System part works with welding robot
Platform is connected；The brake component and slave unit are coaxially connected with worm screw in Worm Wheel System part respectively, and slave unit
Between brake component and driving part；The pushing mechanism is connected with slave unit and is connected with controlling organization signal, with
Promote slave unit to engage or engaged with brake component with driving part respectively in an alternating fashion, realize Worm Wheel System part
Welding robot working platform overturning or braking welding robot workbench is driven to stop.
Transmission mechanism simple structure of the present invention, ingenious and low production cost, can promote slave unit to exist by pushing mechanism
Alternately switching engages to realize motion and the locking locking of Worm Wheel System part between driving part and brake component.This hair
It is bright to increase the conversion that extra mechanism is capable of achieving working platform overturning and stopping upset two states so that the adjusting means
Production and low cost of manufacture, it is economical and practical.
The Worm Wheel System part of the transmission mechanism has big speed ratio, may be such that the adjusting means makees precision round subsection dress
Put.
The pushing mechanism includes the actuating cylinder and connecting rod that are connected with controlling organization signal；The middle part of the connecting rod and system
Dynamic component is hinged, and its one end is connected with actuating cylinder, and the other end is connected with slave unit.Pushing mechanism of the invention utilizes lever
Principle, produces the thrust of slave unit normally needed for transmission so that slave unit toward left movement or right motion, realize with
The alternating switching of brake component and driving part.
The brake component includes brake disc and the fixed plate for fixing brake disc；The brake disc is connected with fixed plate
And be located in coaxially connected with worm screw on worm screw.Brake component of the invention is mainly used in overturning reliable lock when workbench stops
Only, while brake component also functions as the effect of clutch.
The slave unit includes driven friction pulley and driven friction pulley slip ring；The driven friction pulley and driven friction pulley
Slip ring is connected and is located in coaxially connected with worm screw on worm screw.The connecting rod middle part of pushing mechanism of the present invention is hinged with fixed plate
, its one end is connected with driven friction pulley slip ring, the other end with actuating cylinder.The driven friction pulley slip ring can be driven from dynamic friction
Wheel is slided on worm screw, realizes that driven friction pulley alternately switches between brake component and slave unit.
The worm gear is provided with baffle plate near one end of slave unit, and bullet is provided between the baffle plate and driven friction pulley
Property element.In whole control process, how precise control working platform overturning, to stopping upset in predetermined angle error range, comes
The precise control of upturned position and flip angle is realized, is a process for high-precision control.Therefore in order that obtaining slave unit
It is rapid to switch to brake component from being moved with driving part joint, and engaged with brake component and realize power cut and stop
The function of car locking, the present invention is provided with the flexible member of spring between baffle plate and driven friction pulley so that driven friction pulley
It is rapid in the presence of pushing mechanism driving force and spring-compressed bounce to compress brake disc, power cut and parking are realized rapidly
The function of locking, such that it is able to accurately realize the precise control of upturned position.
The driving part is active friction wheel, and active friction wheel is connected and positioned at slave unit side with actuating unit.
Actuating unit of the invention is air motor, can be rotated and reverse by the control realization of controlling organization.
The Worm Wheel System part also includes output flange, and described output flange one end is coaxially connected with worm gear, another
End is connected with welding robot workbench；The testing agency is coaxially connected with worm gear.Testing agency of the invention can use light
Photoelectric coder.
A kind of control method of welding robot working platform overturning angle, it is characterised in that：By what is arrived to real-time detection
Flip angle is compared with predetermined angle, controls to realize welding robot working platform overturning or stopping in the way of to replace switching
The State Transferring of upset, realizes the regulation control of welding robot working platform overturning angle；The predetermined angle refers to：Bonding machine
The angle that device people workbench need to overturn.
In such scheme, the present invention controls welding robot working platform overturning or bonding machine by way of alternately switching
Device people workbench stops upset, so as to realize quick, the accurate and height of welding robot working platform overturning angle and upturned position
The control of precision ground.
It is described by real-time detection to flip angle be compared with predetermined angle, control to replace switching in the way of
Realize welding robot working platform overturning or stop the State Transferring of upset, realize the tune of welding robot working platform overturning angle
Section control, comprises the following steps：
The first step, controls welding robot working platform overturning, and obtain the real-time flip angle of welding robot workbench；
Whether second step, real-time flip angle and predetermined angle is compared and obtains difference, to difference in setting
Judged in error range：If difference setting error range in, control slave unit from driving part joint
Switching is moved, realizes that slave unit engages to brake the Worm Wheel System coaxially connected with slave unit with brake component
Part stops, and control welding robot workbench stops upset, and the 3rd step is carried out after the completion of wait welding job；Otherwise, control weldering
Welding robot workbench continues to overturn, and returns to the first step；
3rd step, control slave unit moves switching from brake component joint, realizes slave unit with active
Part engages to drive the Worm Wheel System part coaxially connected with slave unit to rotate, and control welding robot workbench resets
Upset.
The adjusting means simple structure of welding robot working platform overturning angle of the present invention, operation are easily and production cost
Low, the operation principle of the adjusting means is：Power is exported as actuating unit by the use of air motor, active friction wheel transmission is one
Level is slowed down, while driven friction crop rotation clutch action.When working platform overturning is to predetermined angle, the actuating cylinder of pushing mechanism is pushed away
Move driven friction pulley slip ring and cause that driven friction pulley is separated with active friction wheel, cut off power；Meanwhile, driven friction pulley is being compressed
Brake disc is compressed under the spring element returns bounce-back of spring and actuating cylinder driving force effect, is engaged with brake disc, rapidly will be from
Dynamic friction wheel is braked, and worm screw is locked, realizes that precise angle stops upset.When workbench needs reversion reset is overturn, control machine
Structure control air motor reversion, the actuating cylinder of pushing mechanism promotes driven friction pulley slip ring to cause driven friction pulley and brake disc
Separate, driven friction pulley is engaged with active friction wheel simultaneously, power ON, realize that upset workbench needs reversion to reset.This hair
Bright adjusting means is with low cost, safeguards simple, and operation is easy, and with certain kinematic accuracy.
Adjusting means of the present invention is used as power output based on air motor, and worm and gear big speed ratio transmission system makees high-precision
Degree indexing means, positional information acquisition device is made using photoelectric encoder, and high accuracy flip-flop movement is realized by closed-loop control.
The specific course of work of the invention is such：Air motor starts, and exports power, active friction wheel rotation.Often
Under state, driven friction pulley compresses brake disc under the flexible member rebound effect of holddown spring, therefore worm screw is to be in embrace under normality
Death situation state, simultaneously because using the Worm Wheel System with self-locking property, therefore improve the reliability of worm screw locking performance.
When upset workbench needs rotary movement, the adjusting means drives driven friction pulley slip ring by pushing mechanism, makes it to the right
Slide, while driven friction pulley is slided to the right under its effect, and compresses the active friction wheel of rotation with certain thrust, from
And worm screw rotates under the drive of driven friction pulley, there is certain output quantity, welding bench realizes rotation.Additionally, being to allow snail
Bar is driven with self-locking performance and improves the response characteristic of system, and the present invention can use the big speed ratio transmission scheme of secondary transmission,
Resultant gear ratio is 112.There is indexing to act on corner compared with big speed ratio simultaneously, improve system place precision.Adjusting means of the present invention
Controlling organization constantly obtain corresponding corner displacement output quantity from photoelectric encoder, and make to compare with predetermined angle (aim parameter)
Compared with, when its difference is in the range of allowable error, i.e., in the state of welding bench is rotated in place, controlling organization control pushing mechanism
Driven friction pulley slip ring is driven, it is slided to the left, while driven friction pulley is in driving force and the work of former spring compression force bounce-back
With lower rapid compression brake disc, the function of power cut and parking locking is realized rapidly, such that it is able to accurately realize position control.
Now, air motor can using industrial robot weld job during stopped, with prepare next time forward or reverse transport
OK.But, in order to reduce the response time of worm screw during braking, improve the rotary inertia of control accuracy, worm screw and driven friction pulley
It is as far as possible small；Due to Worm Wheel System select exposed drive, so Intensity Design must take into consideration it is thorough, it is to avoid cause security to be asked
Topic.
Compared with prior art, the invention has the advantages that and beneficial effect：
1st, the adjusting means of welding robot working platform overturning angle of the present invention is not only simple in structure, operates easily and produce
Low cost, and can butt welding machine device people's workbench flip angle and upturned position carry out high accuracy regulation control, to ensure weldering
The soldering angle of welding robot, so as to improve the quality and precision of welding robot welding operation on the table, and improves
Welding production efficiency.
2nd, the control method of welding robot working platform overturning angle of the invention can realize that welding robot workbench is turned over
Gyration and upturned position quick, accurate and accurately control.
Brief description of the drawings
Fig. 1 is the schematic diagram that adjusting means of the present invention is connected with welding robot workbench；
Fig. 2 is the positive structure schematic of the adjusting means of welding robot working platform overturning angle of the present invention；
Fig. 3 is the side structure schematic diagram of the adjusting means of welding robot working platform overturning angle of the present invention；
Fig. 4 is the part-structure schematic diagram of drive disk assembly in adjusting means of the present invention；
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 be air motor, 3 be photoelectric encoder, 4 be active friction wheel, 5 is
Worm screw, 6 be worm gear, 7 be actuating cylinder, 8 be connecting rod, 9 be brake disc, 10 be fixed plate, 11 be driven friction pulley, 12 for driven
Friction pulley slip ring, 13 be baffle plate, 14 be holddown spring, 15 be output flange, 16 casings, 17 be hinged place.
Specific embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
As shown in Fig. 1 to 7, the adjusting means of welding robot working platform overturning angle of the present invention, is for butt welding machine
The flip angle of device people workbench 1 is adjusted control；It includes：Casing 16 and the following machine being separately positioned in casing 16
Structure：
For realizing driving welding robot workbench 1 to overturn or brake welding robot work in the way of alternately switching
The transmission mechanism that platform 1 stops, the transmission mechanism is connected with welding robot workbench 1；
For drive transmission device motion air motor 2 as actuating unit, the air motor 2 and transmission mechanism connect
Connect；
For real-time detection welding robot working platform overturning angle photoelectric encoder 3 as testing agency, the detection
Mechanism is coaxially connected with welding robot workbench 1；
For according to the real-time detection of photoelectric encoder 3 to flip angle compare to control transmission mechanism with predetermined angle
Drive welding robot workbench 1 to overturn or brake welding robot workbench 1 to stop and for controlling air motor 2 to stop
Only, the controlling organization of forward or reverse；Wherein, predetermined angle refers to：The angle that welding robot workbench 1 need to overturn；The control
Mechanism processed is connected with transmission mechanism, air motor 2 and the signal of photoelectric encoder 3 respectively.The controlling organization may be disposed at casing 16
Outside interior or casing 16.
Transmission mechanism of the invention includes Worm Wheel System part, brake component, follower with worm gear 6 and worm screw 5
Part and air motor 2 are connected and positioned at the active friction wheel 4 and pushing mechanism of slave unit side, wherein, brake component includes
Brake disc 9 and the fixed plate 10 for fixing brake disc 9, brake disc 9 are connected and are located on worm screw 5 and worm screw with fixed plate 10
5 is coaxially connected.Slave unit includes driven friction pulley 11 and driven friction pulley slip ring 12, driven friction pulley 11 and driven friction pulley
Slip ring 12 is connected and is located in coaxially connected with worm screw 5 on worm screw 5.Pushing mechanism includes the action being connected with controlling organization signal
Cylinder 7 and connecting rod 8, connecting rod 8 are in bending-like, and one of bending position and the fixed plate 10 of brake component of connecting rod 8 are hinged (as schemed
Hinged place 17 in 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 located between brake disc 9 and active friction wheel 4, the actuating cylinder 7 of pushing mechanism
Be connected with controlling organization signal, with promote driven friction pulley 11 slide cause driven friction pulley 11 in an alternating fashion respectively with master
Dynamic friction wheel 4 is engaged or engaged with brake disc 9, realizes that Worm Wheel System part drives welding robot workbench 1 to overturn or make
Dynamic welding robot workbench 1 stops.
In order that driven friction pulley 11 is rapid switches to brake disc 9 from being moved with the joint of active friction wheel 4, and
The function of realizing power cut and parking locking is engaged with brake disc 9, the present invention is set in worm gear 6 near one end of slave unit
There is baffle plate 13, holddown spring 14 is provided between baffle plate 13 and driven friction pulley 11.The present invention is in baffle plate 13 and driven friction pulley
Holddown spring 14 is provided between 11 so that driven friction pulley 11 compresses instead in the driving force and holddown spring 14 of actuating cylinder 7
It is rapid in the presence of elastic force to compress brake disc 9, the function of power cut and parking locking is realized rapidly, such that it is able to accurate realization
The precise control of upturned position.
Worm Wheel System part of the invention also includes output flange 15, and the one end of output flange 15 is coaxial with worm gear 6 to be connected
Connect, the other end is connected with welding robot workbench 1.Photoelectric encoder of the invention 3 realizes it with weldering with worm gear 6 is coaxially connected
Welding robot workbench 1 is coaxially connected.
A kind of control method of welding robot working platform overturning angle of the invention, be by real-time detection to turn over
Gyration is compared with predetermined angle, controls to realize that welding robot workbench 1 overturns or stops in the way of to replace switching
The State Transferring of upset, realizes the regulation control of the flip angle of welding robot workbench 1.
Wherein, by real-time detection to flip angle be compared with predetermined angle, control is replacing the side of switching
Formula realizes that welding robot workbench 1 overturns or stop the State Transferring of upset, realizes the flip angle of welding robot workbench 1
Regulation control, comprise the following steps：
The first step, control welding robot workbench 1 overturns, and obtains the real-time flip angle of welding robot workbench 1
Degree；
Whether second step, real-time flip angle and predetermined angle is compared and obtains difference, to difference in setting
Judged in error range：If difference setting error range in, control slave unit from driving part joint
Switching is moved, realizes that slave unit engages to brake the Worm Wheel System coaxially connected with slave unit with brake component
Part stops, and control welding robot workbench 1 stops upset, and the 3rd step is carried out after the completion of wait welding job；Otherwise, control weldering
Welding robot workbench 1 continues to overturn, and returns to the first step；
3rd step, control slave unit moves switching from brake component joint, realizes slave unit with active
Part is engaged to drive the Worm Wheel System part coaxially connected with slave unit to rotate, and control welding robot workbench 1 is answered
Bit flipping.
The adjusting means simple structure of welding robot working platform overturning angle of the present invention, operation are easily and production cost
Low, the operation principle of the adjusting means is：Power is exported as actuating unit by the use of air motor 2, the transmission of active friction wheel 4 is
Primary speed-down, while driven friction pulley 11 makees clutch action.When working platform overturning is to predetermined angle, the action gas of pushing mechanism
Cylinder 7 promotes driven friction pulley slip ring 12 so that driven friction pulley 11 is separated with active friction wheel 4, cuts off power；Meanwhile, it is driven to rub
Wipe wheel 11 and brake disc 9 compressed under the reset bounce-back of holddown spring 14 and the driving force effect of actuating cylinder 7, engaged with brake disc 9,
Driven friction pulley 11 is braked rapidly, worm screw 5 is locked, realize that precise angle stops upset.When upset workbench needs reversion multiple
During position, controlling organization control air motor 2 is inverted, the actuating cylinder 7 of pushing mechanism promote driven friction pulley slip ring 12 cause from
Dynamic friction wheel 11 is separated with brake disc 9, and driven friction pulley 11 is engaged with active friction wheel 4 simultaneously, power ON, realizes upset work
Making platform needs reversion to reset.Adjusting means of the invention is with low cost, safeguards simple, and operation is easy, and with certain fortune
Dynamic precision.
Adjusting means of the present invention is used as power output based on air motor 2, and worm and gear big speed ratio transmission system makees high
Precision indexing means, positional information acquisition device is made using photoelectric encoder 3, and high accuracy flip-flop movement is realized by closed-loop control
's.
The specific course of work of the invention is such：Air motor 2 starts, and exports power, and active friction wheel 4 rotates.
Under normality, driven friction pulley 11 compresses brake disc under the flexible member rebound effect of holddown spring 14, therefore worm screw is under normality
In locking state, simultaneously because using the Worm Wheel System with self-locking property, therefore improve the locking performance of worm screw 5
Reliability.When upset workbench needs rotary movement, the adjusting means drives driven friction pulley slip ring 12 by pushing mechanism,
It is slided to the right, while driven friction pulley 11 is slided to the right under its effect, and the master of rotation is compressed with certain thrust
Dynamic friction wheel 4, so that worm screw 5 rotates under the drive of driven friction pulley 11, there is certain output quantity, welding robot workbench
1 realizes rotation.Additionally, being the response characteristic for allowing worm screw 5 to be driven with self-locking performance and improve system, the present invention can be using two grades of biographies
Dynamic big speed ratio transmission scheme, resultant gear ratio is 112.There is indexing to act on corner compared with big speed ratio simultaneously, improve system position
Put precision.The controlling organization of adjusting means of the present invention constantly obtains corresponding corner displacement output quantity from photoelectric encoder 3, and
Made comparisons with predetermined angle (aim parameter), when its difference is in the range of allowable error, i.e., the state that welding bench is rotated in place
Under, controlling organization control pushing mechanism drives driven friction pulley slip ring 12, it is slided to the left, while driven friction pulley 11 is driving
It is rapid in the presence of power and the former compression stress of holddown spring 14 bounce-back to compress brake disc 9, realize that power cut and parking are embraced rapidly
Dead function, such that it is able to accurately realize position control.Now, air motor 2 can utilize the industrial robot weld job phase
Between stopped, with prepare next time forward or reverse run.But, in order to reduce the response time of worm screw 5 during braking, improve
The rotary inertia of control accuracy, worm screw 5 and driven friction pulley 11 is as far as possible small；Because Worm Wheel System selects exposed drive, institute
It is thorough to be must take into consideration with Intensity Design, it is to avoid cause safety issue.
Control of the present invention for air motor 2：
Air motor 2 using TAM2-405FB models of the invention, the air motor 2 has the braking function for carrying, therefore
Its control for brake need not be considered.According to the operation principle of air motor 2, the control pneumatic system Fig. 5 of air motor 2 institutes of design
Show.When a system is powered up, not to electricity, reversal valve is in middle position to A1 and A2, and air motor does not start, in system operation
If during system power failure, air motor hard stop protects machine.When A1 is to signal, A2 rotates forward to signal, air motor；
To signal, A2 does not give signal, air motor reversion to A1.
Control of the present invention for transmission mechanism：
The brake component of transmission mechanism is mainly used in secure ratcs when upset workbench stops, while brakes is also functioned as
The effect of clutch, when workbench needs rotary movement, driven friction pulley 11 accesses right position, compresses active friction wheel 4, so that
Produce rotary movement.The driving of driven friction pulley 11 uses an air cylinder driven, i.e. actuating cylinder 7, using lever principle, produces
One driven friction pulley 11 is normally driven required thrust.Similarly, the atmospheric control of the actuating cylinder 7 such as Fig. 6 institutes
Show.When B magnetic valves obtain electric, loop is accessed in the left position of reversal valve, and actuating cylinder 7 is acted, stretched out to the right, by connecting rod 8 drive from
Dynamic friction wheel 11 is turned right motion, is compressed active friction wheel 4 and is obtained power, and upset workbench carries out rotary movement；When B magnetic valves lose
When electric, loop is accessed in the right position of reversal valve, and driven friction pulley 11 is retracted under the action of the spring, and with compress brake disc 9, carry out machine
Structure locking.Therefore, the control variables according to control circuit and correlation can realize the predetermined turn over function of welding upset work, control
Mechanism regards user and requires difference, can be omitted using contactor, Control or PLC control, its electric hookup and program.
Above-described embodiment is the present invention preferably implementation method, but embodiments of the present invention are not by above-described embodiment
Limitation, it is other it is any without departing from Spirit Essence of the invention and the change, modification, replacement made under principle, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (8)
1. a kind of adjusting means of welding robot working platform overturning angle, for the flip angle of butt welding machine device people's workbench
It is adjusted control；It is characterized in that：Including：
For realizing driving welding robot working platform overturning or braking welding robot workbench to stop in the way of alternately switching
Transmission mechanism only, the transmission mechanism is connected with welding robot workbench；
For the actuating unit of drive transmission device motion；The actuating unit is connected with transmission mechanism；
For the testing agency of real-time detection welding robot working platform overturning angle, the testing agency is artificial with welding robot
Make platform coaxially connected；
For according to testing agency's real-time detection to flip angle compare with predetermined angle control transmission mechanism drive welding
Robotic workstation overturns or the stopping of braking welding robot workbench and the controlling organization for controlling actuating unit；Its
In, the predetermined angle refers to：The angle that welding robot workbench need to overturn；The controlling organization respectively with transmission mechanism,
Actuating unit and testing agency's signal connection；
The transmission mechanism includes the Worm Wheel System part with worm gear and worm screw, brake component, slave unit and engine
The driving part and pushing mechanism of structure connection；The Worm Wheel System part is connected with welding robot workbench；The braking
Part and slave unit are coaxially connected with worm screw in Worm Wheel System part respectively, and slave unit is located at brake component and master
Between dynamic component；The pushing mechanism is connected with slave unit and is connected with controlling organization signal, to promote slave unit to hand over
The mode replaced is engaged with driving part or engaged with brake component respectively, realizes that Worm Wheel System part drives welding robot artificial
Make platform upset or braking welding robot workbench stops.
2. the adjusting means of welding robot working platform overturning angle according to claim 1, it is characterised in that：It is described to push away
Dynamic component includes the actuating cylinder and connecting rod that are connected with controlling organization signal；The middle part of the connecting rod is hinged with brake component, its
One end is connected with actuating cylinder, and the other end is connected with slave unit.
3. the adjusting means of welding robot working platform overturning angle according to claim 1, it is characterised in that：The system
Dynamic component includes brake disc and the fixed plate for fixing brake disc；The brake disc is connected and is located on worm screw with fixed plate
It is coaxially connected with worm screw.
4. the adjusting means of welding robot working platform overturning angle according to claim 1, it is characterised in that：It is described from
Dynamic component includes driven friction pulley and driven friction pulley slip ring；The driven friction pulley is connected and wears with driven friction pulley slip ring
It is coaxially connected with worm screw on worm screw.
5. the adjusting means of welding robot working platform overturning angle according to claim 4, it is characterised in that：The snail
Wheel is provided with baffle plate near one end of slave unit, is set between the baffle plate and driven friction pulley and had elastic component.
6. the adjusting means of welding robot working platform overturning angle according to claim 1, it is characterised in that：The master
Dynamic component is active friction wheel, and active friction wheel is connected and positioned at slave unit side with actuating unit.
7. the adjusting means of welding robot working platform overturning angle according to claim 1, it is characterised in that：The snail
Worm and gear driving member also includes output flange, and described output flange one end is coaxially connected with worm gear, the other end and welding robot
Workbench is connected；The testing agency is coaxially connected with worm gear.
8. a kind of control method of welding robot working platform overturning angle, it is characterised in that：By to real-time detection to turn over
Gyration is compared with predetermined angle, controls to realize that welding robot working platform overturning or stopping are turned in the way of to replace switching
The State Transferring for turning, realizes the regulation control of welding robot working platform overturning angle；The predetermined angle refers to：Welding robot
The angle that people's workbench need to overturn；
It is described by real-time detection to flip angle be compared with predetermined angle, control to replace switching in the way of realize
Welding robot working platform overturning stops the State Transferring for overturning, and realizes the regulation control of welding robot working platform overturning angle
System, comprises the following steps：
The first step, controls welding robot working platform overturning, and obtain the real-time flip angle of welding robot workbench；
Whether second step, real-time flip angle and predetermined angle is compared and obtains difference, to difference in the error for setting
In the range of judged：If difference is in the error range of setting, control slave unit is carried out from driving part joint
Mobile handoff, realizes slave unit to be engaged with brake component braking the Worm Wheel System part coaxially connected with slave unit and stops
Only, control welding robot workbench stops upset, and the 3rd step is carried out after the completion of wait welding job；Otherwise, bonding machine is controlled
Device people workbench continues to overturn, and returns to the first step；
3rd step, control slave unit moves switching from brake component joint, realizes slave unit and driving part
Engage to drive the Worm Wheel System part coaxially connected with slave unit to rotate, control welding robot workbench resets and turns over
Turn.
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| Application Number | Priority Date | Filing Date | Title |
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| 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 |
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| 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 |
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| 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 |
| 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 |
| 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 |
| 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 |
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| JP3851044B2 (en) * | 2000-01-13 | 2006-11-29 | 本田技研工業株式会社 | Welding work table and welding work table setting method |
| CN102425634B (en) * | 2011-12-27 | 2013-03-27 | 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 |
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