CN106238255B - A kind of spray robot Dual-encoder redundant system - Google Patents
A kind of spray robot Dual-encoder redundant system Download PDFInfo
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- CN106238255B CN106238255B CN201610827666.3A CN201610827666A CN106238255B CN 106238255 B CN106238255 B CN 106238255B CN 201610827666 A CN201610827666 A CN 201610827666A CN 106238255 B CN106238255 B CN 106238255B
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- encoder
- encoded signal
- signal
- redundant system
- spray robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
- B05B13/0452—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles the conveyed articles being vehicle bodies
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- Manipulator (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
A kind of spray robot Dual-encoder redundant system of the present invention, including the connecting component for the driving axis connection with chain, connecting component connects an input shaft so that input shaft and drive shaft link, which is characterized in that including the first encoder, second encoder and controller；The rotary shaft of first encoder and the rotary shaft of second encoder pass through input shaft with identical transmission ratio and transmission chain gearing, so that the first encoder and second encoder export the first encoded signal and the second encoded signal of instruction chain working condition respectively；Controller includes selecting module and processing module, and selecting module is for receiving and selecting the first encoded signal and the second encoded signal one to export, and processing module is for handling the received encoded signal of selecting module to obtain vehicle body location information.
Description
Technical field
The present invention relates to vehicle spray painting manufacture fields, and in particular to a kind of spray robot Dual-encoder redundant system.
Background technique
Passenger car manufactory Painting Shop mostly domestic at present has all used spray robot to carry out bottom to bodywork surface
The spraying of paint and finishing coat is divided into tracking mode spraying and fixed spraying according to carrier chain form, and wherein tracking mode spraying can be real
Existing vehicle body improves yield while advancing on carrier chain, so most of spray-painting production line all uses tracking mode spraying.With
The spraying of track formula needs to install encoder in the drive shaft of carrier chain, and encoder is connected to tracking board and the unit control of robot
The high speed counting module of device processed records drive shaft turns angle by encoder, realizes that robot and cell controller realize vehicle
The tracking of body position.If encoder system damages, robot and cell controller cannot then track vehicle body position, cause
Off-production and economic loss.
Summary of the invention
It is an object of the invention to a kind of spray robot Dual-encoder redundant systems, solve the above technical problem；
Technical problem solved by the invention can be realized using following technical scheme: a kind of spray robot dual coding
Device redundant system, the company including the conveyer chain to transmit vehicle body to be sprayed, for the driving axis connection with the chain
Relay part, the connecting component connects an input shaft so that the input shaft and the drive shaft link, including
First encoder, second encoder and controller；
The rotary shaft of first encoder passes through the input shaft with the rotary shaft of the second encoder with identical
Transmission ratio and the transmission chain gearing so that the first encoder and second encoder export respectively indicate chain working condition
The first encoded signal and the second encoded signal；
The controller includes selecting module and processing module, and the selecting module is compiled for receiving and selecting described first
Code signal and the second encoded signal one output, the processing module is for handling the received coding letter of the selecting module
Number to obtain the location information of the vehicle body.
Further, the selecting module includes
First input interface connects first encoder, for receiving first encoded signal；
Second input interface connects the second encoder, for receiving second encoded signal；
Output interface connects the processing module, for exporting the encoded signal to processing module；
Switch unit, for connecing first input interface or the second input interface one access output
Mouthful.
Further, first encoder is also connected with the first counting module, and first counting module receives first
Encoded signal and handle obtain first distance signal；
The second encoder is also connected with the second counting module, and second counting module receives the first encoded signal simultaneously
Processing obtains second distance signal.
Further, when the reception signal of the selecting module is switched to the second encoded signal from the first encoded signal,
According to the current first distance signal to correct the current second distance signal；
When the reception signal of the selecting module is switched to the first encoded signal from the second encoded signal, according to current
The second distance signal is to correct the current first distance signal.
Further, when the reception signal of the selecting module is switched to the second encoded signal from the first encoded signal,
Current second encoded signal is corrected according to current first encoded signal；
When the reception signal of the selecting module is switched to the first encoded signal from the second encoded signal, according to current
Second encoded signal is to correct current first encoded signal.
Further, the selecting module is set as pulse distribution plate.
Further, the output interface is set as multiple, the processing unit of the processing module setting corresponding number；Often
One processing unit is respectively connected to the different output interfaces.
Further, the switch unit is manual switching unit.
Further, the controller further includes alarm unit, when the received encoded signal of selecting unit occurs abnormal,
The alarm unit work is to warn user；Or the controller further includes alarm unit, when the received coding of selecting unit
When signal occurs abnormal, the alarm unit stops the work of the chain.
Further, further include
One master gear, the input shaft are fixed with the master gear；
One first driven gear, is engaged with the master gear；
One second driven gear, is engaged with the master gear；
The rotary shaft of first encoder is fixed with first driven gear；The rotary shaft of the second encoder with
Second driven gear is fixed；
The transmission ratio of first driven gear and the master gear, with second driven gear and the master gear
Transmission ratio is identical.
The utility model has the advantages that due to using the technology described above, two encoders are set, when an encoder occurs abnormal,
Another encoder can be directly switch to carry out using without stopping entire spray coating operations, and ensure that spray coating operations
Go on smoothly, realize bumpless transfer.
Detailed description of the invention
Fig. 1 is that Dual-encoder of the invention sprays detection structure three-dimensional structure diagram；
Fig. 2 is the cross-sectional view that Dual-encoder of the invention sprays detection structure side-looking direction；
Fig. 3 is that Dual-encoder of the invention sprays detection structure top view；
Fig. 4 is present system structure chart；
Fig. 5 is data process method figure of the present invention.
Appended drawing reference: 100, fixing seat；110, bearing；120, fixed bracket；130, flap；200, chain；210, even
Relay part；220, input shaft；230, master gear；311, the first encoder；312, second encoder；321, the first driven gear；
322, the second driven gear；331, the first intermediate gear；332, the second intermediate gear；340, shaft coupling.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without creative labor it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The present invention will be further explained below with reference to the attached drawings and specific examples, but not as the limitation of the invention.
A kind of spray robot Dual-encoder redundant system is switched by Dual-encoder and realizes bumpless transfer.
Referring to Fig.1 shown in -3, the mounting structure of Dual-encoder is introduced, including for the driving with chain 200
The connecting component 210 of axis connection, connecting component 210 connects an input shaft 220 so that input shaft 220 and drive shaft linkage, double volumes
Code device spray structure further includes a master gear 230, and input shaft 220 and master gear 230 are fixed；One first driven gear 321, with master
Gear 230 engages；One first encoder 311, the rotary shaft of the first encoder 311 and the first driven gear 321 are fixed；One second
Driven gear 322 is engaged with master gear 230；One second encoder 312, the rotary shaft of second encoder 312 and the second driven tooth
Wheel 322 is fixed；The transmission ratio of first driven gear 321 and master gear 230, the biography with the second driven gear 322 and master gear 230
It moves than identical.First driven gear 321 and master gear 230 are engaged by the first intermediate gear 331；Second driven gear, 322 He
Master gear 230 is engaged by the second intermediate gear 332.The radius of master gear 230 is greater than the radius of the first intermediate gear 331；It is main
The radius of gear 230 is greater than the radius of the second intermediate gear 332.The radius of first intermediate gear 331 is greater than the first driven gear
321 radius；The radius of second intermediate gear 332 is greater than the radius of the second driven gear 322, in this way, to realize coding
The high-precision of device detects feedback.It further includes fixing seat 100 that Dual-encoder, which sprays detection structure, and fixing seat 100 is provided with bearing
110；Input shaft 220 is arranged in bearing 110 and extends to the inside of fixing seat 100, the first driven gear 321, the first encoder
311, the second driven gear 322, second encoder 312 and master gear 230 are arranged at the inside of fixing seat 100.Fixing seat
100 are additionally provided with fixed bracket 120 and renovate, and the first driven gear 321 and the second driven gear 322 are provided with connecting rod,
Connecting rod penetrates fixed bracket 120 and is rotatably connected with fixed bracket 120, first intermediate gear 331 and described second
Described in intermediate gear 332 is both secured to, connecting component 210 is Hooks coupling universal coupling 340.First encoder 311 is disposed as explosion-proof
Encoder.Second encoder 312 is disposed as anti-explosion encoder.The rotary shaft of first encoder 311 and the first driven gear 321
It is connected by first shaft coupling 340.The rotary shaft of second encoder 312 and the second driven gear 322 pass through second shaft coupling 340
Connection.
It is circuit system introduction about the construction, including the first encoder, second encoder and control below referring to shown in Fig. 4
Device；The rotary shaft of first encoder and the rotary shaft of the second encoder are by the input shaft with identical transmission
Than with the transmission chain gearing so that the first encoder and second encoder export respectively instruction chain working condition first
Encoded signal and the second encoded signal；
The controller includes selecting module and processing module, and the selecting module is for receiving first encoded signal
Or second encoded signal, the processing module is for handling the received encoded signal of the selecting module to obtain vehicle body position
Confidence breath.
The selecting module is set as pulse distribution plate.The selecting module includes
First input interface connects first encoder, for receiving first encoded signal；
Second input interface connects the second encoder, for receiving second encoded signal；Input interface is all provided with
It is set on pulse input plate.
Output interface connects the processing module, for exporting the encoded signal to processing module；The output interface
It is set as multiple, the processing unit of the processing module setting corresponding number；Each processing unit is respectively connected to different institutes
State output interface.Output interface is set on pulse output board.
Switch unit, for connecing first input interface or the second input interface one access output
Mouthful.The switch unit is manual switching unit.Referring to diagram, knob can be set to, realize that first is defeated by rotation knob
The switching of incoming interface and the second input interface.
First encoder is also connected with the first counting module, and first counting module receives the first encoded signal simultaneously
Processing obtains first distance signal；The second encoder is also connected with the second counting module, and second counting module receives
First encoded signal and handle obtain second distance signal.Counting module is set as high-speed counter, logical for cell controller
It crosses high speed counting module and is directly connected to encoder, set per unit in a control program apart from corresponding umber of pulse, pass through number
It is worth exchange program for counted number of pulses, is converted to distance signal, represents the distance value of detection.
Referring to shown in Fig. 4, when the reception signal of the selecting module is switched to the second encoded signal from the first encoded signal
When, according to the current first distance signal to correct the current second distance signal；When connecing for the selecting module
When the collection of letters number is switched to the first encoded signal from the second encoded signal, corrected according to the current second distance signal current
The first distance signal.When the reception signal of the selecting module is switched to the second encoded signal from the first encoded signal
When, current second encoded signal is corrected according to current first encoded signal；When connecing for the selecting module
When the collection of letters number is switched to the first encoded signal from the second encoded signal, corrected according to current second encoded signal current
First encoded signal.Difficulty is that the current value of two high speed counting modules might not be identical, compiles in switching major-minor
When code device, using the subject encoder pulse value of current encoder current value and generation unit distance pulse, to reserved encoder
Generate next unit distance pulse subject encoder pulse value be modified after, continue according to conversion relation carry out numerical value change
It calculates, realizes bumpless transfer.
The controller further includes alarm unit, when the received encoded signal of selecting unit occurs abnormal, the alarm
Cell operation is to warn user；Or the controller further includes alarm unit, when the received encoded signal of selecting unit occurs
When abnormal, the alarm unit stops the work of the chain.And the exception of encoded signal passes through the reality of detection chain
Working condition realizes feedback, once actual working state is different from the result that encoded signal is fed back, is then judged as abnormal.So cutting
Encoder selection is changed, the signal source of location information is actually had switched, after being switched to secondary encoder, pulse distribution plate (206)
Signal source is switched to received second channel of pulse input plate, such received encoder arteries and veins of robot line tracking board
Punching is switched to secondary encoder from main encoder.
Referring to Figure 5, it in cell controller software, by numerical value exchange program, is encoded from counted number of pulses 1(first
Signal) value, the second encoded signal of pulse count value 2() value handled, in the first encoded signal of counted number of pulses 1()
With the second encoded signal of 2() it is different in the case where, guarantee to calculate correct distance value.
The foregoing is merely preferred embodiments of the present invention, are not intended to limit embodiments of the present invention and protection model
It encloses, to those skilled in the art, should can appreciate that all with made by description of the invention and diagramatic content
Equivalent replacement and obviously change obtained scheme, should all be included within the scope of the present invention.
Claims (10)
1. a kind of spray robot Dual-encoder redundant system, including the chain to transmit vehicle body to be sprayed, for
The connecting component of the driving axis connection of the chain, the connecting component connect an input shaft so that the input shaft with it is described
Drive shaft linkage, which is characterized in that including
First encoder, second encoder and controller；
The rotary shaft of first encoder and the rotary shaft of the second encoder are by the input shaft with identical biography
It is dynamic than with the transmission chain gearing so that the first encoder and second encoder export respectively indicates the of chain working condition
One encoded signal and the second encoded signal；
The controller includes selecting module and processing module, and the selecting module is for receiving and selecting the first coding letter
Number and the second encoded signal one output, the processing module for handle the received encoded signal of the selecting module with
Obtain the location information of the vehicle body.
2. a kind of spray robot Dual-encoder redundant system according to claim 1, which is characterized in that the selection mould
Block includes
First input interface connects first encoder, for receiving first encoded signal；
Second input interface connects the second encoder, for receiving second encoded signal；
Output interface connects the processing module, for exporting the encoded signal to processing module；
Switch unit, for first input interface or the second input interface one to be accessed the output interface.
3. a kind of spray robot Dual-encoder redundant system according to claim 1, which is characterized in that
First encoder is also connected with the first counting module, and first counting module receives the first encoded signal and handles
Obtain first distance signal；
The second encoder is also connected with the second counting module, and second counting module receives the first encoded signal and handles
Obtain second distance signal.
4. a kind of spray robot Dual-encoder redundant system according to claim 3, which is characterized in that
When the reception signal of the selecting module is switched to the second encoded signal from the first encoded signal, according to current
First distance signal is to correct the current second distance signal；
When the reception signal of the selecting module is switched to the first encoded signal from the second encoded signal, according to current
Second distance signal is to correct the current first distance signal.
5. a kind of spray robot Dual-encoder redundant system according to claim 4, which is characterized in that its feature exists
In,
When the reception signal of the selecting module is switched to the second encoded signal from the first encoded signal, according to current
First encoded signal is to correct current second encoded signal；
When the reception signal of the selecting module is switched to the first encoded signal from the second encoded signal, according to current
Second encoded signal is to correct current first encoded signal.
6. a kind of spray robot Dual-encoder redundant system according to claim 1, which is characterized in that the selection mould
Block is set as pulse distribution plate.
7. a kind of spray robot Dual-encoder redundant system according to claim 2, which is characterized in that the output connects
Mouth is set as multiple, the processing unit of the processing module setting corresponding number；Each processing unit is respectively connected to different
The output interface.
8. a kind of spray robot Dual-encoder redundant system according to claim 2, which is characterized in that the switching is single
Member is manual switching unit.
9. a kind of spray robot Dual-encoder redundant system according to claim 1, which is characterized in that the controller
It further include alarm unit, when the received encoded signal of selecting unit occurs abnormal, the alarm unit work is used with warning
Person；Or the controller further includes alarm unit, and when the received encoded signal of selecting unit occurs abnormal, the alarm unit
Stop the work of the chain.
10. a kind of spray robot Dual-encoder redundant system according to claim 1, which is characterized in that further include
One master gear, the input shaft are fixed with the master gear；
One first driven gear, is engaged with the master gear；
One second driven gear, is engaged with the master gear；
The rotary shaft of first encoder is fixed with first driven gear；The rotary shaft of the second encoder with it is described
Second driven gear is fixed；
The transmission ratio of first driven gear and the master gear, the transmission with second driven gear and the master gear
Than identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610827666.3A CN106238255B (en) | 2016-09-18 | 2016-09-18 | A kind of spray robot Dual-encoder redundant system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610827666.3A CN106238255B (en) | 2016-09-18 | 2016-09-18 | A kind of spray robot Dual-encoder redundant system |
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| CN106238255A CN106238255A (en) | 2016-12-21 |
| CN106238255B true CN106238255B (en) | 2019-01-15 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106955801A (en) * | 2017-03-06 | 2017-07-18 | 南通中港涂装设备有限公司 | 3D modeling vehicle bridge paint line paint robot |
| CN108111085B (en) * | 2018-01-24 | 2020-04-03 | 深圳市英威腾电气股份有限公司 | Electric transmission equipment, frequency converter and motor control method thereof |
| CN109178820B (en) * | 2018-09-19 | 2020-04-07 | 上汽大众汽车有限公司 | Short-distance redundant data transmission method and transmission device |
| CN109343465B (en) * | 2018-12-11 | 2024-04-30 | 淮南矿业(集团)有限责任公司 | Encoder switching device and method of auxiliary shaft double-tank elevator |
| CN115085875B (en) * | 2022-05-25 | 2024-05-28 | 上海卓昕医疗科技有限公司 | Device and method for realizing safe backup of double encoders |
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| CN106238255A (en) | 2016-12-21 |
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