CN106514235B - A kind of multiple-shaft tightening machine synchronization mechanism and control method - Google Patents
A kind of multiple-shaft tightening machine synchronization mechanism and control method Download PDFInfo
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- CN106514235B CN106514235B CN201611270003.2A CN201611270003A CN106514235B CN 106514235 B CN106514235 B CN 106514235B CN 201611270003 A CN201611270003 A CN 201611270003A CN 106514235 B CN106514235 B CN 106514235B
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- tightening machine
- isochronous controller
- screwing
- movement velocity
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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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- Control Of Conveyors (AREA)
Abstract
The invention discloses a kind of multiple-shaft tightening machine synchronization mechanism and control methods, on the one hand, the present invention provides a kind of multiple-shaft tightening machine synchronisation control means, detect the movement velocity of conveying device in real time and send a signal to isochronous controller；Isochronous controller sends out control signal control device for screwing up and is moved synchronously with workpiece, and the motion rate signals of isochronous controller real-time reception device for screwing up according to the motion rate signals of conveying device；After the movement velocity of conveying device changes, isochronous controller sends control signal according to the real time kinematics speed signal of the real time kinematics speed signal of conveying device and device for screwing up simultaneously, so that the movement velocity for receiving device for screwing up follows the variation of the movement velocity of workpiece and changes, realization moves synchronously.On the other hand, the present invention provides a kind of multiple-shaft tightening machine synchronization mechanisms.The present invention can effectively improve multiple-shaft tightening technique, and cap success is once recognized when multiple-shaft tightening machine being made to twist bolt, improves production efficiency.
Description
Technical field
The present invention relates to assembly field 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
Currently, during existing engine assembly, to improve Engine Assembling Quality, keeps manufacture superior, ensure production
Moral character can consistency, engine cylinder bonnet bolt (multiple) while tightening and just become necessary item in diesel engine assembly technology
Part, but some assembly lines are continuous the board-like conveying assembly line of flowing water, and assembly line can not position cylinder bolt.Meanwhile
If the cylinder bolt of four cylinder engine has as many as 18, tightening axle adds some auxiliary devices, and whole multiple-shaft tightening machine just has 1 ton
Multiple, such multiple-shaft tightening machine can not also use on continuous assembly belt to carry out multiple-shaft tightening at all.Cause
This, if without a set of mechanism with the synchronous operation of continuous assembly belt, so more bolt will once recognize cap success, be
Very difficult thing.This not only influences the quality of product, also results in economic loss.
Invention content
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 improves production efficiency.
The object of the invention two is to provide a kind of lazy-tongs of this method.
To achieve the above object one, a kind of multiple-shaft tightening machine synchronisation control means is provided, this method includes following processing
Process：
Step 1.1：Start work, conveyor belts start building part movement, in real time detect conveying device movement velocity and
Send a signal to isochronous controller；
Step 1.2：Isochronous controller sends out control signal control device for screwing up according to the motion rate signals of conveying device
It is moved synchronously with workpiece, and the motion rate signals of isochronous controller real-time reception device for screwing up；
Step 1.3：It is synchronous after the movement velocity of isochronous controller real-time reception to conveying device changed signal
Controller sends control according to the real time kinematics speed signal of the real time kinematics speed signal of conveying device and device for screwing up simultaneously
Signal so that receive device for screwing up movement velocity follow workpiece movement velocity variation and change, realization moves synchronously.
Preferably, in step 1.2 and step 1.3, the isochronous controller must be set out by proportional plus integral control algorithm
Give the control signal of device for screwing up, wherein after the movement velocity of conveying device is multiplied by the speed ratio of setting by isochronous controller
Input parameter as 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 quantity.
Preferably, in step 1.2 and step 1.3, a bound is equipped with during the motion control of the device for screwing up,
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 correcting tightening machine speed.
In order to realize that purpose two provides a kind of multiple-shaft tightening machine synchronization mechanism, including pipeline motor, further include have it is 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 synchronous 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
Walk controller, tightening machine movable motor and tightening machine walking sensor signal connects, tightening machine sensor of walking again sends out signal
It sends isochronous controller back to and forms closed loop.
Preferably, the tightening machine movable motor is connect with a tightening machine, and tightening machine movable motor also with a sliding rail
Connection, wherein the tightening machine movable motor can drive tightening machine to be moved along sliding rail.
Preferably, the pipeline motor and transmission band connection, conveyer belt installation parallel with above and below sliding rail.
Compared with prior art, beneficial effects of the present invention are as follows：
Isochronous controller is walked according to pipeline sensor for countering, workpiece positioning sensors and tightening machine and is sensed in the present invention
The signal of device synchronizes operation control to tightening machine movable motor and feeder 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, makes multiple-shaft tightening machine twist
Cap success is once recognized when bolt.
Description of the drawings
Fig. 1 is the structure diagram of the present invention；
Fig. 2 is the structural schematic diagram of the present invention.
Specific implementation mode
The embodiment of the present invention described referring now to the drawings, similar element numbers represent similar element in attached drawing.
As shown in Figure 1, a kind of multiple-shaft tightening machine synchronisation control means, this method includes following processing procedure：
Step 1.1：Start work, conveyor belts start building part movement, in real time detect conveying device movement velocity and
Send a signal to isochronous controller 4；
Step 1.2：Isochronous controller 4 sends out control signal control and tightens dress according to the motion rate signals of conveying device
It sets and is moved synchronously with workpiece, and the motion rate signals of 4 real-time reception device for screwing up of isochronous controller；
Step 1.3：After the movement velocity of isochronous controller 4 real-time reception to conveying device changed signal, together
It walks controller 4 and control is sent according to the real time kinematics speed signal of the real time kinematics speed signal of conveying device and device for screwing up simultaneously
Signal processed so that receive device for screwing up movement velocity follow workpiece movement velocity variation and change, realization moves synchronously.
In the present embodiment, conveying device and device for screwing up opposite installation and parallel relative motion up and down.
In step 1.2 and step 1.3, the isochronous controller 4 obtained by proportional plus integral control algorithm be sent to it is stubborn
The control signal of tight device, wherein isochronous controller 4 movement velocity of conveying device is multiplied by after the speed ratio of setting as than
The input parameter 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 quantity.
In the present embodiment, Kp and Ti can be set, and 1 is constant.
In step 1.2 and step 1.3, conveying dress is limited to equipped with about one during the motion control of the device for screwing up
5% of speed than rear gained speed that the movement velocity set is multiplied by setting is that the movement velocity of conveying device is multiplied by the speed of setting
The 5% of gained speed than after, to real-time limit transport device movement velocity be multiplied by after the speed ratio of setting 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 correcting tightening machine speed.
In addition, bound be alternatively conveying device movement velocity be multiplied by the speed of setting than rear gained speed 3% or
4% or 6% or 7%.
Multiple-shaft tightening technique can be effectively improved by this method, improves production efficiency.The synchronization accuracy of the present invention is higher,
So that it is guaranteed that the stability of this control system, once recognizes cap success when multiple-shaft tightening machine being made to twist bolt.
As shown in Figure 1 to Figure 2, the present invention also provides a kind of multiple-shaft tightening machine synchronization mechanism, including pipeline motor 1,
Further include having pipeline sensor for countering 2, isochronous controller 4, workpiece positioning sensors 3, tightening machine traveling controller 5, tightening
Machine movable motor 6 and tightening machine are walked sensor 7, and pipeline motor 1 is by pipeline sensor for countering 2 by motion rate signals
Send isochronous controller 4 to, the workpiece positioning sensors 3 send 9 position signal of workpiece to isochronous controller 4, synchronous control
Device 4 processed is connect 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 again and forms closed loop by machine walking sensor 7.
In this embodiment, pipeline sensor for countering 2 is detecting the transmission speed of pipeline motor 1.The location of workpiece passes
To detect workpiece position signal and be sent to isochronous controller 4, the walking to control tightening machine movable motor 6 rises sensor 3
Point.Tightening machine walks sensor 7 to detect the speed of service of tightening machine movable motor 6.
Tightening machine movable motor 6 is connect with a tightening machine 8, and tightening machine movable motor 6 is also connect with a sliding rail 10,
In, tightening machine movable motor 6 can drive tightening machine 8 to be moved along sliding 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
It sets.The tightening axle number of tightening machine 8 is corresponding with the screw rod number of workpiece 9.
Pipeline motor 1 is connect with conveyer belt 11, the installation parallel with about 10 sliding rail of conveyer belt 11.
The course of work of the present embodiment：Starting work, pipeline motor 1 drives conveyer belt 11 to drive workpiece 9 to move,
Pipeline sensor for countering 2 detects the movement velocity of pipeline motor 1 and sends a signal to isochronous controller 4 in real time；Together
Step controller 4 determines the movement starting point of tightening machine movable motor 6, and synchronous control according to the signal of workpiece positioning sensors 3
Device 4 sends control signals to tightening machine traveling controller 5, tightening machine travelling control according to the signal of pipeline sensor for countering 2
Device 5 is converted to the voltage and current of corresponding size to tightening machine movable motor 6 according to received signal so that tightening machine 8 and work
Part 9 moves synchronously, and the signal of 4 real-time reception tightening machine of isochronous controller walking sensor 7；When isochronous controller 4 is real-time
After the signal intensity for receiving 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
It moves the variation of speed and changes, realize Synchronous motion control, after tightening, tightening machine movable motor 6 returns to first motion
Position.
Multiple-shaft tightening technique can be effectively improved by the mechanism, improves production efficiency.The synchronization accuracy of the present invention is higher,
So that it is guaranteed that the stability of this control system, once recognizes cap success when multiple-shaft tightening machine being made to twist bolt.
Above in association with most preferred embodiment, invention has been described, but the invention is not limited in implementations disclosed above
Example, and modification, equivalent combinations that various essence according to the present invention carry out should be covered.
Claims (6)
1. a kind of multiple-shaft tightening machine synchronisation control means, which includes pipeline motor (1), which is characterized in that also
Include pipeline sensor for countering (2), isochronous controller (4), workpiece positioning sensors (3), tightening machine traveling controller
(5), tightening machine movable motor (6) and tightening machine walking sensor (7), the pipeline motor (1) are counted by pipeline and are passed
Sensor (2) sends motion rate signals to isochronous controller (4), and the workpiece positioning sensors (3) believe workpiece (9) position
Number send isochronous controller (4) to, isochronous controller (4) successively with tightening machine traveling controller (5), tightening machine movable motor
(6) it is connected with tightening machine walking sensor (7) signal, signal is sent back isochronous controller by tightening machine walking sensor (7) again
(4) closed loop is formed；
This method includes following processing procedure：
Step 1.1：Start work, conveyor belts start building part movement, in real time detect conveying device movement velocity and will letter
Number it is sent to isochronous controller (4)；
Step 1.2：Isochronous controller (4) sends out control signal control device for screwing up according to the motion rate signals of conveying device
It is moved synchronously with workpiece, and the motion rate signals of isochronous controller (4) real-time reception device for screwing up；
Step 1.3：It is synchronous after the movement velocity of isochronous controller (4) real-time reception to conveying device changed signal
Controller (4) at the same according to the real time kinematics speed signal of the real time kinematics speed signal of conveying device and device for screwing up send control
Signal processed so that receive device for screwing up movement velocity follow workpiece movement velocity variation and change, realization moves synchronously.
2. a kind of multiple-shaft tightening machine synchronisation control means as described in claim 1, it is characterised in that：In step 1.2 and step
In 1.3, the isochronous controller (4) obtains the control signal for being sent to device for screwing up by proportional plus integral control algorithm, wherein
The movement velocity of conveying device is multiplied by the speed of setting than the rear input as proportional plus integral control algorithm by 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 quantity.
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 is equipped with during the motion control of the device for screwing up, to the movement speed of real-time limit transport device
Degree is multiplied by size of the difference of the speed than rear gained speed and device for screwing up movement velocity of setting, when difference exceeds upper lower limit value
Then basis is set for correcting tightening machine speed.
5. a kind of multiple-shaft tightening machine synchronization mechanism of method as described in claim 1, it is characterised in that：The tightening machine walking electricity
Machine (6) is connect with a tightening machine (8), and tightening machine movable motor (6) is also connect with a sliding rail (10), wherein described to tighten
Machine movable motor (6) can drive tightening machine (8) to be moved along sliding rail (10).
6. a kind of multiple-shaft tightening machine synchronization mechanism as claimed in claim 5, it is characterised in that：The pipeline motor (1) with
Conveyer belt (11) connects, conveyer belt (11) and sliding rail (10) parallel installation up and down.
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 |
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| 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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| CN106514235A CN106514235A (en) | 2017-03-22 |
| CN106514235B true CN106514235B (en) | 2018-11-02 |
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Families Citing this family (7)
| 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 |
| 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 |
| 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 |
| 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 |
| CN111250964A (en) * | 2020-02-11 | 2020-06-09 | 中山市科力高自动化设备有限公司 | A lazytongs for rear overhang volume tightening machine |
| CN112959044B (en) * | 2021-02-08 | 2022-09-09 | 广西玉柴机器股份有限公司 | Cylinder head bolt tightening 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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| US5207309A (en) * | 1992-08-18 | 1993-05-04 | Simpkin Steven W | Concomitant motion control device |
| DE4313407A1 (en) * | 1993-04-23 | 1994-10-27 | Kuka Schweissanlagen & Roboter | Automatic joining process and assembly installation |
| CN2900066Y (en) * | 2006-05-25 | 2007-05-16 | 上海市激光技术研究所 | On-line dripping pipe belt laser punching device |
| CN103970069A (en) * | 2013-01-25 | 2014-08-06 | 上海微电子装备有限公司 | Biaxial synchronous and differential motion system and control compensation method thereof |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5207309A (en) * | 1992-08-18 | 1993-05-04 | Simpkin Steven W | Concomitant motion control device |
| DE4313407A1 (en) * | 1993-04-23 | 1994-10-27 | Kuka Schweissanlagen & Roboter | Automatic joining process and assembly installation |
| CN2900066Y (en) * | 2006-05-25 | 2007-05-16 | 上海市激光技术研究所 | On-line dripping pipe belt laser punching device |
| CN103970069A (en) * | 2013-01-25 | 2014-08-06 | 上海微电子装备有限公司 | Biaxial synchronous and differential motion system and control compensation method thereof |
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| CN106514235A (en) | 2017-03-22 |
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