CN106239514B - A kind of vibrational feedback system being welded robot - Google Patents
A kind of vibrational feedback system being welded robot Download PDFInfo
- Publication number
- CN106239514B CN106239514B CN201610811918.3A CN201610811918A CN106239514B CN 106239514 B CN106239514 B CN 106239514B CN 201610811918 A CN201610811918 A CN 201610811918A CN 106239514 B CN106239514 B CN 106239514B
- Authority
- CN
- China
- Prior art keywords
- vibration
- feedback system
- output unit
- frequency
- impulse modulation
- 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.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- 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
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Resistance Welding (AREA)
- Numerical Control (AREA)
Abstract
The present invention relates to electric welding robot fields, and in particular to a kind of vibrational feedback system for being welded robot, comprising: electric welding robot, the electric welding robot include the mechanical arm and multiple motors being arranged between each joint shaft of multiple joint shaft compositions；Control unit is used to control the running of mechanical arm；Vibrating sensor, for detecting the vibration frequency of joint shaft；Impulse modulation output unit, the impulse modulation output unit are output to the pulse frequency of motor rotation according to vibration frequency adjustment.The vibrational feedback system that the present invention passes through design electric welding robot, when control unit control mechanical arm carries out cutting or thermal spraying, the vibration frequency of joint shaft is detected by vibrating sensor, impulse modulation output unit is output to the pulse frequency of motor rotation according to vibration frequency adjustment, the operating rate of mechanical arm when reducing cutting or thermal spraying, vibration is maintained to a proper range, welding precision is improved.
Description
Technical field
The present invention relates to electric welding robot fields, and in particular to a kind of vibrational feedback system for being welded robot.
Background technique
Welding robot is the industrial robot for being engaged in welding (including cutting and spraying).According to International Organization for standardization
(ISO) industrial robot belongs to the definition of standard welding robot, and industrial robot is a kind of multiduty, repeatable programming
It automatically controls operation machine (Manipulator), there are three or more programmable axis, be used for industrial automation.In order to
Adapt to different purposes, the mechanical interface of the last one axis of robot, usually a connecting flange, can be hinged with different tools or
Claim end effector.Welding robot makes it in the last shaft flange attaching soldering turret or weldering (cutting) rifle of industrial robot
It is welded, cutting or thermal spraying.
But during cutting or thermal spraying, mechanical arm can be made to vibrate, when vibrating excessive, will lead to cutting or heat
Spraying is inaccurate, influences product quality.
Summary of the invention
The technical problem to be solved in the present invention is that in view of the above drawbacks of the prior art, providing a kind of electric welding robot
Vibrational feedback system, improve welding precision.
The technical solution adopted by the present invention to solve the technical problems is: providing a kind of vibrational feedback system for being welded robot
System, comprising:
It is welded robot, which includes the mechanical arm that multiple joint shafts form and multiple settings in each pass
Motor between nodal axisn；
Control unit, the control unit are connected to motor respectively, for controlling the running of mechanical arm；
Vibrating sensor, which is arranged on joint shaft, for detecting the vibration frequency of joint shaft；
Impulse modulation output unit, the impulse modulation output unit are connect with control unit and motor respectively, the pulse tune
Output unit processed is output to the pulse frequency of motor rotation according to vibration frequency adjustment.
Wherein, preferred version is: the impulse modulation output unit includes a threshold value comparison module, and the threshold value comparison module is pre-
If several vibration classes, the corresponding threshold range of each vibration class, the threshold value comparison module receives vibration frequency and is compared
Compared with current vibration frequency being divided into corresponding vibration class according to threshold range, the impulse modulation output unit is according to vibration
Dynamic level adjustment is output to the pulse frequency of motor rotation.
Wherein, preferred version is: the impulse modulation output unit includes several pulse frequency gears, the pulse frequency gear
A vibration class is respectively corresponded, which is provided with a pulse frequency, and the impulse modulation output unit is according to vibration
Level adjustment is output to the pulse frequency gear of motor rotation.
Wherein, preferred version is: the threshold value comparison module includes an emergency braking grade, the vibration corresponding to the vibration frequency
Dynamic grade is emergency braking grade, which opens emergency braking, stops output pulse frequency.
Wherein, preferred version is: the control unit includes several motion models, the motion model be provided with it is different most
Excellent vibration class, the impulse modulation output unit are output to the pulse frequency of motor rotation according to current vibration level adjustment, directly
It is optimal vibration class to preceding vibration class.
Wherein, preferred version is: the motion model is provided with different emergency braking grades.
Wherein, preferred version is: the motion model includes cutting, thermal spraying.
Wherein, preferred version is: the motor is servo motor.
The beneficial effects of the present invention are compared with prior art, the present invention is anti-by the vibration of design electric welding robot
When control unit control mechanical arm carries out cutting or thermal spraying, the vibration frequency of joint shaft is detected by vibrating sensor for feedback system
Rate, impulse modulation output unit are output to the pulse frequency of motor rotation according to vibration frequency adjustment, reduce cutting or thermal spraying
When mechanical arm operating rate, vibration is maintained to a proper range, welding precision is improved.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is the structural schematic diagram of mechanical arm of the present invention；
Fig. 2 is the control block diagram of vibrational feedback system of the present invention；
Fig. 3 is the control block diagram of impulse modulation output unit of the present invention.
Specific embodiment
Now in conjunction with attached drawing, elaborate to presently preferred embodiments of the present invention.
As depicted in figs. 1 and 2, the present invention provides a kind of preferred embodiment of vibrational feedback system for being welded robot.
A kind of vibrational feedback system being welded robot, including electric welding robot, control unit 20,30 and of vibrating sensor
Impulse modulation output unit 40, specifically, the electric welding robot include the mechanical arm that multiple joint shafts 11 form and multiple set
Set the motor 12 between each joint shaft 11；The control unit 20 is connect with motor 12 respectively, for controlling the running of mechanical arm；
The vibrating sensor 30 is arranged on joint shaft 11, for detecting the vibration frequency of joint shaft 11；The impulse modulation output unit
40 connect with control unit 20 and motor 12 respectively, which is output to motor according to vibration frequency adjustment
The pulse frequency of 12 rotations.
Specifically, vibrational feedback system includes two main control lines, and first is that control unit 20 refers to according to preset control
It enabling, the control instruction of the control instruction of user or Emergency time, control electric welding machine is manually made, i.e. control motor 12 operates,
To control the work of joint shaft 11.Second is the vibration frequency that impulse modulation output unit 40 incudes according to vibrating sensor 30, is adjusted
Section is output to the pulse frequency of motor 12, is precisely controlled vibration in a certain range, improves stabilization when electric welding robot welding
Property.
Wherein, which is servo motor, and the swing of adjacent segment axis 11 is controlled by motor 12.
As shown in figure 3, the present invention provides the preferred embodiment of impulse modulation output unit.
Impulse modulation output unit 40 includes a threshold value comparison module 41, which presets several vibrations etc.
Grade, the corresponding threshold range of each vibration class, the threshold value comparison module 41 receive vibration frequency and are compared, will currently shake
Dynamic frequency is divided into corresponding vibration class according to threshold range, which adjusts according to vibration class
It is output to the pulse frequency of the rotation of motor 12.
Further, which includes several pulse frequency gears 42, the pulse frequency gear 42
A vibration class is respectively corresponded, which is provided with a pulse frequency, 40 basis of impulse modulation output unit
Vibration class adjustment is output to the pulse frequency gear 42 of the rotation of motor 12.
Wherein, which includes an emergency braking grade, and the vibration class corresponding to the vibration frequency is
Emergency braking grade, the impulse modulation output unit 40 open emergency braking, stop output pulse frequency.
Specifically, different vibration frequencies correspond to different vibration classes, and impulse modulation output unit 40 is obtained according to feedback
Vibration class (including emergency braking grade) control be output to motor 12 rotation pulse frequency, realize coarse adjustment, certainly shake
Dynamic grade is arranged more, and degree of regulation is more accurate.It is adjusted, is avoided due to time changing arteries and veins by the pulse frequency of vibration class
Rush frequency and influence be welded robot welding when stability.
Further, vibration class includes five grades, and the first estate corresponds to most slight vibration, and the 5th grade is tight
Anxious brake rating will may be selected the according to different work in pulse frequency control to corresponding vibration class, when such as thermal spraying
Three grades and the fourth estate, cutting are maintained at the first estate.
In the present invention, a kind of preferred embodiment of motion model is provided.
The control unit 20 includes several motion models, which is provided with different optimal vibration classes, should
Impulse modulation output unit 40 is output to the pulse frequency of the rotation of motor 12 according to current vibration level adjustment, until preceding vibration etc.
Grade is optimal vibration class.
Wherein, which is provided with different emergency braking grades.
Wherein, which includes cutting, thermal spraying.
As described above, only preferred embodiment is not intended to limit the scope of the present invention, Fan Yibenfa
Equivalent change or modification made by bright claim is all that the present invention is covered.
Claims (6)
1. a kind of vibrational feedback system for being welded robot characterized by comprising
It is welded robot, which includes the mechanical arm that multiple joint shafts form and multiple settings in each joint shaft
Between motor；
Control unit, the control unit are connected to motor respectively, for controlling the running of mechanical arm；
Vibrating sensor, which is arranged on joint shaft, for detecting the vibration frequency of joint shaft；
Impulse modulation output unit, the impulse modulation output unit are connect with control unit and motor respectively, and the impulse modulation is defeated
Unit includes a threshold value comparison module out, which presets several vibration classes, the corresponding threshold of each vibration class
It is worth range, which receives vibration frequency and be compared, current vibration frequency is divided into according to threshold range
In corresponding vibration class, which is output to the pulse frequency of motor rotation according to vibration class adjustment；
Wherein, which includes several motion models, which is provided with different optimal vibration classes, the arteries and veins
Modulated output unit is output to the pulse frequency of motor rotation according to current vibration level adjustment, until current vibration grade
For optimal vibration class.
2. vibrational feedback system according to claim 1, it is characterised in that: the impulse modulation output unit includes several arteries and veins
Frequency gear is rushed, which respectively corresponds a vibration class, which is provided with a pulse frequency, should
Impulse modulation output unit is output to the pulse frequency gear of motor rotation according to vibration class adjustment.
3. vibrational feedback system according to claim 1, it is characterised in that: the threshold value comparison module includes an emergency braking
Grade, the vibration class corresponding to the vibration frequency are emergency braking grade, which opens emergency braking,
Stop output pulse frequency.
4. vibrational feedback system according to claim 1, it is characterised in that: the motion model is provided with different urgent
Brake rating.
5. vibrational feedback system according to claim 1, it is characterised in that: the motion model includes cutting, thermal spraying.
6. vibrational feedback system according to claim 1, it is characterised in that: the motor is servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610811918.3A CN106239514B (en) | 2016-09-08 | 2016-09-08 | A kind of vibrational feedback system being welded robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610811918.3A CN106239514B (en) | 2016-09-08 | 2016-09-08 | A kind of vibrational feedback system being welded robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106239514A CN106239514A (en) | 2016-12-21 |
| CN106239514B true CN106239514B (en) | 2019-06-07 |
Family
ID=57599689
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610811918.3A Active CN106239514B (en) | 2016-09-08 | 2016-09-08 | A kind of vibrational feedback system being welded robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106239514B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108687768B (en) * | 2018-04-02 | 2022-08-05 | 深圳臻迪信息技术有限公司 | Wading robot and wading robot information input method |
| CN110932622A (en) * | 2019-12-17 | 2020-03-27 | 广州星迪智能光电科技有限公司 | Method for overcoming motor shake |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103406801A (en) * | 2013-08-21 | 2013-11-27 | 苏州市合昌电器有限公司 | Vibrating detection and protection device of milling machine |
| CN103538065A (en) * | 2012-07-09 | 2014-01-29 | 发那科株式会社 | Vibration control robot system |
| CN204867859U (en) * | 2015-08-06 | 2015-12-16 | 苏州五圣通机器人自动化有限公司 | Automatic welder of high accuracy robot |
| CN105269579A (en) * | 2015-11-19 | 2016-01-27 | 南京航空航天大学 | Embedded vibration control device for flexible mechanical arm |
| CN206029903U (en) * | 2016-09-08 | 2017-03-22 | 肇庆市小凡人科技有限公司 | Electric welding machine people's vibration feedback system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08155647A (en) * | 1994-11-29 | 1996-06-18 | Komatsu Ltd | Weaving controller of welding robot |
-
2016
- 2016-09-08 CN CN201610811918.3A patent/CN106239514B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103538065A (en) * | 2012-07-09 | 2014-01-29 | 发那科株式会社 | Vibration control robot system |
| CN103406801A (en) * | 2013-08-21 | 2013-11-27 | 苏州市合昌电器有限公司 | Vibrating detection and protection device of milling machine |
| CN204867859U (en) * | 2015-08-06 | 2015-12-16 | 苏州五圣通机器人自动化有限公司 | Automatic welder of high accuracy robot |
| CN105269579A (en) * | 2015-11-19 | 2016-01-27 | 南京航空航天大学 | Embedded vibration control device for flexible mechanical arm |
| CN206029903U (en) * | 2016-09-08 | 2017-03-22 | 肇庆市小凡人科技有限公司 | Electric welding machine people's vibration feedback system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106239514A (en) | 2016-12-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103163829B (en) | Servo-controller and adjusting method thereof | |
| JP2013248681A (en) | Device and method for elastic deformation compensation control of articulated robot | |
| JP5409844B2 (en) | Trajectory control apparatus and control method for articulated robot | |
| US8203299B2 (en) | Machine tool or production machine with signal generation by means of direct drive and method for generating signals in such a machine | |
| CN106239514B (en) | A kind of vibrational feedback system being welded robot | |
| US7902785B2 (en) | Method and device for guiding the movement of a moveable machine element of a machine | |
| JP2013055751A (en) | Motor controller | |
| CN206029903U (en) | Electric welding machine people's vibration feedback system | |
| CN110601624B (en) | Servo control device | |
| JP6017595B2 (en) | Motor control device that suppresses vibration | |
| WO2014167852A1 (en) | Motor drive device | |
| CN105932930B (en) | Control device of electric motor | |
| US20170277150A1 (en) | Motor controller having function of reducing vibration | |
| JP2009303432A (en) | Position controller using motor | |
| JP2013118817A (en) | Motor control apparatus | |
| Iwasaki et al. | Vibration suppression for angular transmission errors in harmonic drive gearings and application to industrial robots | |
| CN110125517B (en) | Submerged arc welding machine moving trolley and control method and control device thereof | |
| CN103978483B (en) | Industrial joint robot body | |
| JP6474460B2 (en) | Motor control device | |
| KR20010062446A (en) | Method of automatically adjusting the speed loop gain of speed feedback control system | |
| JP2011224694A (en) | Method for generating speed command profile of multi-joint robot | |
| JP2016005296A (en) | Control method of motor drive device, motor drive device and robot device | |
| JP5316424B2 (en) | Motor control device | |
| JP2006302201A (en) | Servo controller | |
| WO2020261649A1 (en) | Parameter adjustment method |
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 | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221024 Address after: 213000 Huashan Road, Xinbei District, Changzhou, Jiangsu Province, No. 18 Patentee after: Hongkai Intelligent Equipment (Jiangsu) Co.,Ltd. Address before: 526000 5A218 room, fifth story building, Guangdong Zhaoqing hi tech Zone Chuang Chuang Service Center Patentee before: ZHAOQING XIAOFANREN TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right |