CN106514235A - Multi-shaft tightening machine synchronizing mechanism and control method - Google Patents
Multi-shaft tightening machine synchronizing mechanism and control method Download PDFInfo
- Publication number
- CN106514235A CN106514235A CN201611270003.2A CN201611270003A CN106514235A CN 106514235 A CN106514235 A CN 106514235A CN 201611270003 A CN201611270003 A CN 201611270003A CN 106514235 A CN106514235 A CN 106514235A
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- tightening machine
- isochronous controller
- signal
- shaft
- screwing
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Conveyors (AREA)
Abstract
The invention discloses a multi-shaft tightening machine synchronizing mechanism and a control method. On one hand, the multi-shaft tightening machine synchronizing control method provided by the invention includes the following steps that the movement speed of a conveying device is detected in real time, and signals are sent to a synchronous controller; the synchronous controller sends a control signal to control a tightening device and a workpiece to move synchronously according to the movement speed signals of the conveying device, and the synchronous controller receives movement speed signals of the tightening device in real time; and after the movement speed of the conveying device is changed, the synchronous controller sends control signals according to the real-time movement speed signals of the conveying device and the real-time movement speed signals of the tightening device, so that the movement speed of the tightening device is changed along with the change of the movement speed of the workpiece, and synchronous movement is achieved. On the other hand, the multi-shaft tightening machine synchronizing mechanism is provided. By means of the multi-shaft tightening machine synchronizing mechanism and the control method, the multi-shaft tightening process can be effectively improved, nuts can be recognized successfully at a time when a multi-shaft tightening machine is used for screwing bolts, and production efficiency is improved.
Description
Technical field
The present invention relates to field is assembled, more particularly to a kind of multiple-shaft tightening machine synchronisation control means, further relate to a kind of multiaxis
Tighten machine synchronization mechanism.
Background technology
At present, during existing engine assembly, it is to improve Engine Assembling Quality, makes manufacture superior, it is ensured that produce
The concordance of moral character energy, engine cylinder bonnet bolt (multiple) just become necessary bar in diesel engine assembly technology while tightening
Part, but some assembly lines are the board-like conveying assembly lines of continuous flowing water, and assembly line cannot be positioned to cylinder bolt.Meanwhile,
Cylinder bolt such as four cylinder engine has as many as 18, and tightening axle adds some auxiliary device, and whole multiple-shaft tightening machine just has 1 ton
Multiple, such multiple-shaft tightening machine on continuous assembly belt also cannot use to carry out multiple-shaft tightening at all.Cause
This, if not having a set of mechanism with the synchronous operation of continuous assembly belt, so many bolts will once be recognized cap success, be
Very difficult thing.This not only affects the quality of product, also results in loss economically.
The content of the invention
The purpose of the present invention one is to provide a kind of multiple-shaft tightening machine synchronisation control means, can effectively improve multiple-shaft tightening
Technique, improve production efficiency.
The object of the invention two is to provide a kind of lazy-tongs of the method.
For achieving the above object one, there is provided a kind of multiple-shaft tightening machine synchronisation control means, the method includes following process
Process：
Step 1.1：Start work, conveyor belts start building part movement, the movement velocity of real-time detection conveyer device and
Send a signal to isochronous controller；
Step 1.2：Motion rate signals of the isochronous controller according to conveyer device, send control signal control device for screwing up
It is synchronized with the movement with workpiece, and the motion rate signals of isochronous controller real-time reception device for screwing up；
Step 1.3：It is after the signal that the movement velocity of isochronous controller real-time reception to conveyer device changes, synchronous
Controller sends control according to the real time kinematics rate signal of the real time kinematics rate signal and device for screwing up of conveyer device simultaneously
Signal so that the movement velocity of receipts device for screwing up follows the change of the movement velocity of workpiece and changes, and realizes being synchronized with the movement.
Preferably, in step 1.2 and step 1.3, the isochronous controller passing ratio integral control algorithm must set out
The control signal of device for screwing up is given, wherein, isochronous controller is multiplied by the movement velocity of conveyer device after the speed ratio of setting
As the |input paramete of proportional plus integral control algorithm.
Preferably, the proportional plus integral control algorithm is：
Wherein, Kp is proportionality coefficient, and Ti is integral coefficient, and t is the time, and e (t) is input quantity, and u (t) is output.
Preferably, in step 1.2 and step 1.3, a bound during the motor control of the device for screwing up, is provided with,
The speed of setting is multiplied by than rear gained speed and device for screwing up movement velocity to the movement velocity of real-time limit transport device
Size of the difference, when difference exceeds upper lower limit value, then basis is set for amendment and tightens motor speed.
In order to realize that purpose two provides a kind of multiple-shaft tightening machine synchronization mechanism, including pipeline motor, also include defeated
Line sending sensor for countering, isochronous controller, workpiece positioning sensors, tightening machine traveling controller, tightening machine movable motor and twist
Tight machine walking sensor, the pipeline motor send motion rate signals to Synchronization Control by pipeline sensor for countering
Device, the workpiece positioning sensors send workpiece position signal to isochronous controller, isochronous controller successively with tightening machine row
The walking sensor signal connection of controller, tightening machine movable motor and tightening machine is walked, signal is sent out by tightening machine walking sensor again
Send isochronous controller back to and form closed loop.
Preferably, the tightening machine movable motor is connected with a tightening machine, and tightening machine movable motor also with a slide rail
Connection, wherein, the tightening machine movable motor can drive tightening machine to move along slide rail.
Preferably, the pipeline motor is connected with conveyer belt, the parallel installation up and down of conveyer belt and slide rail.
Compared with prior art, beneficial effects of the present invention are as follows：
In the present invention, isochronous controller is sensed according to the walking of pipeline sensor for countering, workpiece positioning sensors and tightening machine
The signal of device synchronizes operation control to tightening machine movable motor and conveying motor, can effectively improve multiple-shaft tightening technique,
Improve production efficiency.The synchronization accuracy of the present invention is higher, so that it is guaranteed that the stability of this control system, twists multiple-shaft tightening machine
Cap success is once recognized during bolt.
Description of the drawings
Fig. 1 is the structured flowchart of the present invention；
Fig. 2 is the structural representation of the present invention.
Specific embodiment
With reference now to Description of Drawings embodiments of the invention, the element numbers being similar in accompanying drawing represent similar element.
As shown in figure 1, a kind of multiple-shaft tightening machine synchronisation control means, the method includes following processing procedure：
Step 1.1：Start work, conveyor belts start building part movement, the movement velocity of real-time detection conveyer device and
Send a signal to isochronous controller 4；
Step 1.2：Motion rate signals of the isochronous controller 4 according to conveyer device, send control signal control and tighten dress
Put and be synchronized with the movement with workpiece, and the motion rate signals of 4 real-time reception device for screwing up of isochronous controller；
Step 1.3：After the signal that 4 real-time reception of isochronous controller changes to the movement velocity of conveyer device, together
Step controller 4 sends control according to the real time kinematics rate signal of the real time kinematics rate signal and device for screwing up of conveyer device simultaneously
Signal processed so that the movement velocity of receipts device for screwing up follows the change of the movement velocity of workpiece and changes, and realizes being synchronized with the movement.
In the present embodiment, conveyer device is mounted opposite up and down with device for screwing up and parallel relative motion.
In step 1.2 and step 1.3,4 passing ratio integral control algorithm of the isochronous controller draw be sent to it is stubborn
The control signal of tight device, wherein, isochronous controller 4 movement velocity of conveyer device is multiplied by the speed of setting than it is rear as than
The |input paramete of example integral control algorithm.
Proportional plus integral control algorithm is：
Wherein, Kp is proportionality coefficient, and Ti is integral coefficient, and e (t) is input quantity, and u (t) is output.
In the present embodiment, Kp and Ti can set, and 1 is constant.
In step 1.2 and step 1.3, about one is provided with during the motor control of the device for screwing up and is limited to conveying dress
The movement velocity put is multiplied by the speed that the movement velocity that the speed of setting is conveyer device than the 5% of rear gained speed is multiplied by setting
Than the 5% of rear gained speed, to the movement velocity of real-time limit transport device be multiplied by the speed of setting than rear gained speed with
The size of the difference of device for screwing up movement velocity, when difference exceeds upper lower limit value, then basis is set for amendment and tightens motor speed.
Additionally, bound be alternatively the movement velocity of conveyer device be multiplied by the speed of setting than rear gained speed 3% or
4% or 6% or 7%.
Multiple-shaft tightening technique, improve production efficiency can effectively be improved by the method.The synchronization accuracy of the present invention is higher,
So that it is guaranteed that the stability of this control system, makes multiple-shaft tightening machine once recognize cap success when twisting bolt.
As shown in Figure 1 to Figure 2, present invention also offers a kind of multiple-shaft tightening machine synchronization mechanism, including pipeline motor 1,
Also include pipeline sensor for countering 2, isochronous controller 4, workpiece positioning sensors 3, tightening machine traveling controller 5, tighten
Machine movable motor 6 and tightening machine walking sensor 7, pipeline motor 1 pass through pipeline sensor for countering 2 by motion rate signals
Send isochronous controller 4 to, the workpiece positioning sensors 3 send 9 position signalling of workpiece to isochronous controller 4, synchronous to control
Device processed 4 is connected with tightening machine traveling controller 5, tightening machine movable motor 6 and tightening machine walking 7 signal of sensor successively, is tightened
Signal is sent back isochronous controller 4 and forms closed loop by machine walking sensor 7 again.
In this embodiment, pipeline sensor for countering 2 is to detect the transmission speed of pipeline motor 1.The location of workpiece is passed
Sensor 3 is risen to the walking for controlling tightening machine movable motor 6 to detect workpiece position signal and be sent to isochronous controller 4
Point.Tightening machine walks sensor 7 to detect the speed of service of tightening machine movable motor 6.
Tightening machine movable motor 6 is connected with a tightening machine 8, and tightening machine movable motor 6 is also connected with a slide rail 10, its
In, tightening machine movable motor 6 can drive tightening machine 8 to move along slide rail 10.
In the present embodiment, after the completion of a workpiece screw rod is tightened, tightening machine movable motor 6 returns to initial set position
Put.The tightening axle number of tightening machine 8 is corresponding with the screw rod number of workpiece 9.
Pipeline motor 1 is connected with conveyer belt 11, conveyer belt 11 and slide rail parallel installation about 10.
The course of work of the present embodiment：Start work, pipeline motor 1 drives conveyer belt 11 so as to drive workpiece 9 to move,
The movement velocity of 2 real-time detection pipeline motor 1 of pipeline sensor for countering and send a signal to isochronous controller 4；Together
Step controller 4 determines the motion starting point of tightening machine movable motor 6, and Synchronization Control according to the signal of workpiece positioning sensors 3
Signal of the device 4 according to pipeline sensor for countering 2, sends control signals to tightening machine traveling controller 5, tightening machine travelling control
Device 5 is converted to the voltage and current of correspondence size to tightening machine movable motor 6 according to the signal for receiving so that tightening machine 8 and work
Part 9 is synchronized with the movement, and the signal of 4 real-time reception tightening machine of isochronous controller walking sensor 7；When isochronous controller 4 it is real-time
After receiving the signal intensity of pipeline sensor for countering 2, isochronous controller 4 according to pipeline sensor for countering 2 and is twisted simultaneously
The signal of tight machine walking sensor 7 sends control signal so that the movement velocity of tightening machine movable motor 6 follows the fortune of workpiece 9
The change of dynamic speed and change, realize Synchronous motion control, tighten terminate after, tightening machine movable motor 6 returns to first motion
Position.
Multiple-shaft tightening technique, improve production efficiency can effectively be improved by the mechanism.The synchronization accuracy of the present invention is higher,
So that it is guaranteed that the stability of this control system, makes multiple-shaft tightening machine once recognize cap success when twisting bolt.
Above in association with most preferred embodiment, invention has been described, but the invention is not limited in enforcement disclosed above
Example, and modification, the equivalent combinations that various essence of the invention are carried out should be covered.
Claims (7)
1. a kind of multiple-shaft tightening machine synchronisation control means, it is characterised in that the method includes following processing procedure：
Step 1.1：Start work, conveyor belts start building part movement, the movement velocity of real-time detection conveyer device and will letter
Number it is sent to isochronous controller (4)；
Step 1.2：Motion rate signals of the isochronous controller (4) according to conveyer device, send control signal control device for screwing up
It is synchronized with the movement with workpiece, and the motion rate signals of isochronous controller (4) real-time reception device for screwing up；
Step 1.3：It is after the signal that isochronous controller (4) real-time reception changes to the movement velocity of conveyer device, synchronous
Controller (4) is while send control according to the real time kinematics rate signal of the real time kinematics rate signal and device for screwing up of conveyer device
Signal processed so that the movement velocity of receipts device for screwing up follows the change of the movement velocity of workpiece and changes, and realizes being synchronized with the movement.
2. a kind of multiple-shaft tightening machine synchronisation control means as claimed in claim 1, it is characterised in that：In step 1.2 and step
In 1.3, isochronous controller (4) passing ratio integral control algorithm draws the control signal for being sent to device for screwing up, wherein,
The movement velocity of conveyer device is multiplied by the speed of setting than the rear input as proportional plus integral control algorithm for isochronous controller (4)
Parameter.
3. a kind of multiple-shaft tightening machine synchronisation control means as claimed in claim 2, it is characterised in that：The proportional plus integral control
Algorithm is：
Wherein, Kp is proportionality coefficient, and Ti is integral coefficient, and t is the time, and e (t) is input quantity, and u (t) is output.
4. a kind of multiple-shaft tightening machine synchronisation control means as claimed in claim 1 or 2, it is characterised in that：In step 1.2 and step
In rapid 1.3, a bound during the motor control of the device for screwing up, is provided with, to the motion speed of real-time limit transport device
Degree is multiplied by the speed of setting than rear gained speed and the size of the difference of device for screwing up movement velocity, when difference exceeds upper lower limit value
Then basis is set for amendment and tightens motor speed.
5. a kind of multiple-shaft tightening machine synchronization mechanism of method as claimed in claim 1, including pipeline motor (1), its feature exists
In：Pipeline sensor for countering (2), isochronous controller (4), workpiece positioning sensors (3), tightening machine travelling control are included also
Device (5), tightening machine movable motor (6) and tightening machine walking sensor (7), pipeline motor (1) are counted by pipeline
Sensor (2) sends motion rate signals to isochronous controller (4), and workpiece positioning sensors (3) are by workpiece (9) position
Signal sends isochronous controller (4) to, isochronous controller (4) successively with tightening machine traveling controller (5), tightening machine movable motor
(6) connect with tightening machine walking sensor (7) signal, signal is sent back isochronous controller by tightening machine walking sensor (7) again
(4) form closed loop.
6. a kind of multiple-shaft tightening machine synchronization mechanism as claimed in claim 5, it is characterised in that：The tightening machine movable motor
(6) it is connected with a tightening machine (8), and tightening machine movable motor (6) is also connected with a slide rail (10), wherein, the tightening machine
Movable motor (6) can drive tightening machine (8) to move along slide rail (10).
7. a kind of multiple-shaft tightening machine synchronization mechanism as described in claim 5 or 6, it is characterised in that：Pipeline motor (1)
It is connected with conveyer belt (11), the parallel installation up and down of conveyer belt (11) and slide rail (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611270003.2A CN106514235B (en) | 2016-12-30 | 2016-12-30 | A kind of multiple-shaft tightening machine synchronization mechanism and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611270003.2A CN106514235B (en) | 2016-12-30 | 2016-12-30 | A kind of multiple-shaft tightening machine synchronization mechanism and control method |
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| Publication Number | Publication Date |
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| CN106514235A true CN106514235A (en) | 2017-03-22 |
| CN106514235B CN106514235B (en) | 2018-11-02 |
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ID=58336421
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107443063A (en) * | 2017-09-22 | 2017-12-08 | 苏州华天视航智能装备技术有限公司 | A kind of online screw locking machine and its control system |
| CN110958563A (en) * | 2019-11-29 | 2020-04-03 | 龙铁纵横（北京）轨道交通科技股份有限公司 | Multi-axis robot intelligent fastening workshop networking system |
| CN110961898A (en) * | 2019-11-29 | 2020-04-07 | 龙铁纵横（北京）轨道交通科技股份有限公司 | Full-automatic intelligent fastening system and method for multi-axis robot |
| CN110989587A (en) * | 2019-11-29 | 2020-04-10 | 龙铁纵横（北京）轨道交通科技股份有限公司 | Intelligent robot fastening control system and method |
| CN112959044A (en) * | 2021-02-08 | 2021-06-15 | 广西玉柴机器股份有限公司 | Cylinder head bolt tightening method |
| CN115407714A (en) * | 2022-08-29 | 2022-11-29 | 深圳市智鼎自动化技术有限公司 | Multi-axis motion position synchronous control method |
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| DE4313407A1 (en) * | 1993-04-23 | 1994-10-27 | Kuka Schweissanlagen & Roboter | Automatic joining process and assembly installation |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107443063A (en) * | 2017-09-22 | 2017-12-08 | 苏州华天视航智能装备技术有限公司 | A kind of online screw locking machine and its control system |
| CN110958563A (en) * | 2019-11-29 | 2020-04-03 | 龙铁纵横（北京）轨道交通科技股份有限公司 | Multi-axis robot intelligent fastening workshop networking system |
| CN110961898A (en) * | 2019-11-29 | 2020-04-07 | 龙铁纵横（北京）轨道交通科技股份有限公司 | Full-automatic intelligent fastening system and method for multi-axis robot |
| CN110989587A (en) * | 2019-11-29 | 2020-04-10 | 龙铁纵横（北京）轨道交通科技股份有限公司 | Intelligent robot fastening control system and method |
| CN110961898B (en) * | 2019-11-29 | 2021-09-10 | 龙铁纵横（北京）轨道交通科技股份有限公司 | Full-automatic intelligent fastening system and method for multi-axis robot |
| CN110989587B (en) * | 2019-11-29 | 2023-11-17 | 龙铁纵横（北京）轨道交通科技股份有限公司 | Intelligent fastening control system and method for robot |
| CN112959044A (en) * | 2021-02-08 | 2021-06-15 | 广西玉柴机器股份有限公司 | Cylinder head bolt tightening method |
| CN115407714A (en) * | 2022-08-29 | 2022-11-29 | 深圳市智鼎自动化技术有限公司 | Multi-axis motion position synchronous control method |
| CN115407714B (en) * | 2022-08-29 | 2023-08-29 | 深圳市智鼎自动化技术有限公司 | Multi-axis motion position synchronous control method |
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| CN106514235B (en) | 2018-11-02 |
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