CN108415274A - The adjusting method and regulating system of the bracket of vehicle body lifting appliance - Google Patents
The adjusting method and regulating system of the bracket of vehicle body lifting appliance Download PDFInfo
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- CN108415274A CN108415274A CN201810085124.2A CN201810085124A CN108415274A CN 108415274 A CN108415274 A CN 108415274A CN 201810085124 A CN201810085124 A CN 201810085124A CN 108415274 A CN108415274 A CN 108415274A
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- screw
- nut
- bracket
- bindiny mechanism
- servo motor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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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)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Transmission Devices (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention discloses the adjusting method of the bracket of vehicle body lifting appliance and systems, including：Be of coupled connections first bindiny mechanism at servo motor end and the second bindiny mechanism of carrier end；First bindiny mechanism is nut, and second bindiny mechanism is screw；Or, first bindiny mechanism is screw, the second bindiny mechanism is nut；Control servomotor rotates, and by being of coupled connections for nut and screw, bracket is driven to run to mechanical zero；Control servomotor rotates, and by being of coupled connections for nut and screw, drives bracket from one fixed value of mechanical zero operation to first object position；According to the type of nut and screw, the angle for being determined to that nut is made to disengage with screw adjusts the bracket to the second target location according to the second target location of angle-determining bracket；Release being of coupled connections for nut and screw.The embodiment of the present invention can solve the accurate regulation problem of the bracket of vehicle body lifting appliance and servo motor releaseably connection bottom bracket.
Description
Technical field
The present invention relates to the adjusting method of the bracket of auto assembly technical field, especially vehicle body lifting appliance and regulating systems.
Background technology
In Automobile final assembly line, the bracket of vehicle body lifting appliance is required to realize the adjusting of size in X-direction and Y-direction, with
Adapt to the manufacture of a variety of different automobile types., and in the prior art, in the x-direction and the z-direction, vehicle body lifting appliance is main with servo motor
It is of coupled connections by lead screw holding.Wherein, X-direction is to be parallel to the direction of bracket frame, and Y-direction is perpendicular to the side of the bracket
To.
How to solve the bracket of vehicle body lifting appliance in Y-direction with servo motor by screw, nut releaseably
In the case of being coupled, the size of the bracket of vehicle body lifting appliance in the Y direction is further adjusted, it has also become urgently solve when previous
Certainly the technical issues of.
Invention content
In view of this, the adjusting method and regulating system of the bracket of vehicle body lifting appliance are proposed in the embodiment of the present invention, to
It solves in the prior art under the premise of releaseably being coupled by screw, nut with servo motor, to adjust vehicle
The problem of bracket of body suspender size in the Y direction.
According to the present invention embodiment in a first aspect, provide the adjusting method of the bracket of vehicle body lifting appliance, including：
Be of coupled connections the second bindiny mechanism of first bindiny mechanism at servo motor end and the carrier end of vehicle body lifting appliance；It is described
First bindiny mechanism is nut, and second bindiny mechanism is screw；Alternatively, first bindiny mechanism is screw, second connects
Connection mechanism is nut；
Control servomotor rotates, by being of coupled connections for the nut and the screw, drive the bracket run to
Mechanical zero；
Control servomotor rotates, and by being of coupled connections for the nut and the screw, drives the bracket from described
Mechanical zero runs a fixed value to first object position；
Release being of coupled connections for the nut and the screw.
In embodiments of the present invention, pass through the spiral shell of the be of coupled connections nut at servo motor end and the carrier end of vehicle body lifting appliance
Silk, and after the bracket to second target location for adjusting vehicle body lifting appliance, being of coupled connections for the nut and screw is released, it can
With solve in the prior art vehicle body lifting appliance in the premise releaseably coupled by screw, nut with servo motor
Under, the problem of adjusting the size of the bracket of vehicle body lifting appliance in the Y direction.Wherein, first bindiny mechanism and described second connects
Connection mechanism is regular polygon.
Further, control servomotor rotation drives institute by being of coupled connections for the nut and the screw
It states bracket and runs to mechanical zero and include：
In the mechanical zero of a setting, one photoelectric sensor is set；
Control servomotor rotates, and by being of coupled connections for the nut and the screw, drives the bracket towards described
Photoelectric sensor moves, and when triggering the photoelectric sensor, determines that the bracket is run to mechanical zero.
In embodiments of the present invention, the photoelectricity in the mechanical zero position of setting is arranged in the bracket triggering of the vehicle body lifting appliance
Sensor determines the mechanical zero position of the bracket, ensures the rotation of controller control servomotor, so that the bracket is transported
It goes to the first object position and second target location.
Further, second target location according to bracket described in the angle-determining includes：
According to the angle, a design factor K is determined；
When the bracket reaches first object position, the exhausted of the absolute value encoder being connect with the servo motor is read
To position M, wherein M is the integer not less than 1；
Taking the integer quotient A of the absolute position M and the design factor K, wherein K=Q/m, A are the integer not less than 1,
M is the number of edges of the nut and the screw, Q=10 × S, S be one circle of screw rotation drive bracket operation away from
From unit mm；
K × A is determined as to the second target location of the bracket.
In embodiments of the present invention, the institute that the nut connected according to the servo motor end is connect with the carrier end
The type for stating screw is determined to the angle for making the nut be disengaged with the screw, and then determines that the bracket is run to institute
Process is realized in the action for stating the second target location, to ensure that the bracket can accurately reach the first object position and described
The accurate adjusting of the bracket of the vehicle body lifting appliance is realized in second target location.
Further, the type according to the nut and the screw is determined to make the nut and the spiral shell
Silk disengage angle include：
When the nut is square nuts, and the screw is square head bolts, it is determined to make the nut and the spiral shell
Silk disengage angle be i × 90 °, i=1,2,3,4；
When the nut is hexagonal (hexagon)nut, and the screw is hex(agonal)screw, it is determined to make the nut and the spiral shell
Silk disengage angle be j × 60 °, j=1,2,3,4,5,6.
In embodiments of the present invention, according to the type of the nut and screw, it is in the selection nut and the screw
When the case where square nuts and square head bolts or hexagonal (hexagon)nut and hex(agonal)screw, the nut can be obtained and the screw is convenient for
Coupling or the angle disengaged are respectively the integral multiple of 90 ° or 60 °.When the angle is respectively 90 ° or 60 ° of multiple,
The coupling and disengagement for realizing the nut and screw can be facilitated.
Further, described according to the angle, determine that a design factor K includes：
It the angle ranging from i × 90 °, i=1 when 2,3,4, determines that the design factor K is K=Q/4；
It the angle ranging from j × 60 °, j=1 when 2,3,4,5,6, determines that the design factor K is K=Q/6.
Further, the screw of the carrier end of the nut and vehicle body lifting appliance at the servo motor end that is of coupled connections includes：
In the servo motor in initial position, the encoder of the servo motor is in electrical zero, the servo electricity
The nut of generator terminal and the screw of the carrier end of vehicle body lifting appliance are in disengaged condition, and the screw and the nut are in k/m
When × 360 ° of position, control servomotor rotation pushes the nut to be coupled with the screw；Wherein, k=1,2 ... ...,
M, m are the number of edges of the nut and the screw.
Further, after releasing being of coupled connections of the nut and the screw, the adjusting method further includes：Control
The servo motor is back to the initial position, and adjusts the encoder of the servo motor to electrical dead-center position.
In embodiments of the present invention, by carrying out rezero operation to the motor and encoder, ensure the servo motor
When the initial position of the nut at end and the screw of the carrier end of vehicle body lifting appliance is in the position of k/m × 360 °, wherein k=1,
2 ... ..., m, m are the number of edges of the nut and the screw, in order to which the nut and screw realization are of coupled connections, band
The bracket is moved to run to the first object position and second target location.
The second aspect of embodiment according to the present invention provides the regulating system of the bracket of vehicle body lifting appliance, including：One servo
Motor, a bracket, a controller, a frequency converter, a photoelectric sensor and an absolute value encoder.
Wherein, the driving end of servo motor is connected with the first bindiny mechanism, by driving first bindiny mechanism so that
Second bindiny mechanism of the carrier end of first bindiny mechanism and vehicle body lifting appliance is of coupled connections；First bindiny mechanism
For nut, second bindiny mechanism is screw；Alternatively, first bindiny mechanism is screw, the second bindiny mechanism is nut；
The controller is connect with the servo motor, for sending control signal to drive the servo motor (110)；
The frequency converter (140) is set between the controller (130) and the servo motor (110), is used for basis
The control signal that the controller (130) sends out drives the servo motor (110)；
At the mechanical zero for the setting that the photoelectric sensor (150) is set to the bracket, at itself by the bracket
(120) when triggering, triggering message is returned to the controller (130)；And
The absolute value encoder (160) connect with the servo motor (110), and the change is given for feedback position signal
Frequency device (140) is to drive the servo motor (110)；
In the servo motor (110) in initial position, the absolute value encoder (160) is in electrical zero, described
Second bindiny mechanism of first bindiny mechanism (111) and the bracket (120) end at servo motor (110) end
(121) be in disengaged condition, and first bindiny mechanism (111) and second bindiny mechanism (121) be in k/m ×
When 360 ° of position, the controller (130) sends first control signal and gives the frequency converter (140), drives the servo electricity
Machine (110) pushes first bindiny mechanism (111) the second bindiny mechanism (121) coupling；Wherein, k=1,2 ... ..., m,
M is the number of edges of the nut and the screw；
The controller (130) sends out the second control letter according to the position of a default mechanical zero of the bracket (110)
Number, the frequency converter (140) runs sensing station pattern, determines the bracket (120) operation to the mechanical zero position；
The bracket (120) reaches the mechanical zero, and the controller (130) sends according to the first object position
Third controls signal, and the frequency converter (140) runs relative position pattern, and the servo motor (110) is driven to drive the support
Frame (120) runs a fixed value to the first object position by mechanical zero；
The controller (130) is according to the class of first bindiny mechanism (111) and second bindiny mechanism (121)
Type is determined to the angle for making first bindiny mechanism (111) and second bindiny mechanism (121) disengage, to determine
The second target location of bracket is stated, and the 4th control signal, frequency converter (140) fortune are sent according to second target location
Row absolute position pattern, drive the servo motor (110) drive the bracket (120) by the first object fine position extremely
Second target location；
The controller (130) sends out when the bracket (120) reaches the second target location for releasing described first
The 5th control signal that bindiny mechanism (111) and second bindiny mechanism (121) are of coupled connections, the frequency converter (140) are driven
The dynamic servo motor (110) drives first bindiny mechanism (111) to release first bindiny mechanism (111) and described the
Two bindiny mechanisms (121) are of coupled connections in embodiments of the present invention, and the controller described in the transducer drive by watching
Motor is taken, realizes being of coupled connections for the nut at the servo motor end and the screw of the carrier end of vehicle body lifting appliance, and adjusting vehicle
After the bracket of body suspender to second target location, being of coupled connections for the nut and screw is released, to solve the prior art
Under the premise of releaseably being coupled by screw, nut with servo motor, the bracket of vehicle body lifting appliance is adjusted in Y
The problem of size on direction.
In embodiments of the present invention, the light in the mechanical zero of setting is arranged by triggering one for the bracket of the vehicle body lifting appliance
Electric transducer realizes the setting of bracket mechanical zero in the process of running.By the way that the mechanical zero is arranged, convenient for described
Controller control servomotor rotates, so that the bracket is accurately run to the first object position and second mesh
Cursor position.
Further, the controller is used for：
According to the angle, a design factor K is determined；
The bracket reaches first object position, reads the absolute position M for the encoder being connect with the servo motor,
In, M is the integer not less than 1；
Taking the integer quotient A of the absolute position M and the design factor K, wherein K=Q/m, A are the integer not less than 1,
M is the number of edges of the nut and the screw, Q=10 × S, S be one circle of screw rotation drive bracket operation away from
From unit mm；
K × A is determined as to the second target location of the bracket.
In embodiments of the present invention, the controller is determined to make institute according to the type of the nut and the screw
The angle that nut is disengaged with the screw is stated, to further determine that the bracket is run to the action of second target location
Realization process, it is ensured that the bracket can accurately reach the first object position and second target location, realize
The accurate adjusting of the bracket of the vehicle body lifting appliance.
Further, it when the nut is square nuts, and the screw is square head bolts, is determined to make the nut
With the screw disengage angle be i × 90 °, i=1,2,3,4；
When the nut is hexagonal (hexagon)nut, and the screw is hex(agonal)screw, it is determined to make the nut and the spiral shell
Silk disengage angle be j × 60 °, j=1,2,3,4,5,6.
In the embodiment of the present invention, the nut being connect with the servo motor end is square nuts, is connected with the bracket
When the screw connect is square head bolts, according to the number of edges 4 of the nut and the screw, it may be determined that the nut and described
It is one kind in 90 °, 180 °, 270 °, 360 ° that screw, which couples or disengage required angle,.In the nut and the screw
Position when being respectively a kind of in 90 °, 180 °, 270 °, 360 °, can facilitate the nut and the screw coupling or
It disengages.
Likewise, the nut being connect with the servo motor end be hexagonal (hexagon)nut, connect with the bracket described in
When screw is hex(agonal)screw, according to the number of edges 6 of the nut and the screw, it may be determined that the nut and screw coupling
Or it is one kind in 60 °, 120 °, 180 °, 240 °, 300 ° 360 ° to disengage required angle.In the nut and the spiral shell
When the position of silk is respectively a kind of in 60 °, 120 °, 180 °, 240 °, 300 °, 360 °, the nut and the spiral shell can be facilitated
The coupling or disengagement of silk.
The controller determines that a design factor K includes according to the angle：
It the angle ranging from i × 90 °, i=1 when 2,3,4, determines that the design factor K is K=Q/4；
It the angle ranging from j × 60 °, j=1 when 2,3,4,5,6, determines that the design factor K is K=Q/6.
In embodiments of the present invention, the institute that the nut connected according to the servo motor end is connect with the carrier end
The type for stating screw is determined to the value of the angle and design factor K that make the nut be disengaged with the screw.And then determine institute
It states the action that bracket is run to second target location and realizes process, to ensure that the bracket can accurately reach described first
Target location and second target location, realize the accurate adjusting of the bracket of the vehicle body lifting appliance.
Further, in the servo motor in initial position, the encoder of the servo motor is in the controller
The screw of electrical zero, the nut at the servo motor end and the carrier end of vehicle body lifting appliance is in disengaged condition, and the screw
When being in the position of k/m × 360 ° with the nut, the 5th control signal is sent out；
The frequency converter controls signal according to the described 5th and the servo motor is driven to push the nut and the screw
Coupling；Wherein, k=1,2 ... ..., m, m are the number of edges of the nut and the screw.
Further, the 4th control signal that the controller is of coupled connections in the releasing nut and the screw is completed
After releasing being of coupled connections of the nut and the screw, the 6th control letter resetted for controlling the servo motor is sent out
Number.
The frequency converter controls signal according to the described 6th and runs absolute position pattern, drive the servo motor to return
To the initial position, and the absolute value encoder of the servo motor is adjusted to electrical dead-center position.
As can be seen that the embodiment of the present invention, passes through the nut and vehicle body at the servo motor end that is of coupled connections from said program
The screw of the carrier end of suspender；Control servomotor rotates, by being of coupled connections for the nut and the screw, described in drive
Bracket is run to mechanical zero；Control servomotor rotates, by being of coupled connections for the nut and the screw, described in drive
Bracket is run from the mechanical zero to first object position；According to the type of the nut and the screw, it is determined to make
The angle that the nut is disengaged with the screw controls servo according to the second target location of bracket described in the angle-determining
Motor rotates, and adjusts the bracket to second target location；Release being of coupled connections for the nut and the screw.This hair
Bright embodiment solves the accurate tune of the bracket and servo motor killer's bracket under releasably connection of vehicle body lifting appliance
The problem of section.
Description of the drawings
Below will detailed description of the present invention preferred embodiment by referring to accompanying drawing, make those skilled in the art more
The above and other feature and advantage of the clear present invention, in attached drawing：
Fig. 1 is the adjusting method flow chart of the bracket of vehicle body lifting appliance in one embodiment of the invention；
Fig. 2 is to show the bracket of vehicle body lifting appliance and its structural schematic diagram of regulating system in one embodiment of the invention.
Wherein, reference numeral is as follows：
Specific implementation mode
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached in the embodiment of the present invention
Figure, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is the present invention
A part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
The every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
Term " comprising " and " having " in description and claims of this specification and their any deformation, meaning
Figure be to cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, system, product or equipment
Those of be not necessarily limited to clearly to list step or unit, but may include not listing clearly or for these processes,
The intrinsic other steps of method, product or equipment or unit.
The embodiment of the present invention provides the adjusting method and regulating system of the bracket of vehicle body lifting appliance, to solve the prior art
In under the premise of releaseably being coupled by screw, nut with servo motor, further adjust vehicle body lifting appliance
Bracket size in the Y direction the problem of.
In one embodiment of the invention, referring to Fig. 1, the support of vehicle body lifting appliance in one embodiment of the invention is shown in figure
The adjusting method of frame, including：
The screw of S01, the be of coupled connections nut at servo motor end and the carrier end of vehicle body lifting appliance.
In embodiments of the present invention, one end coupling nut for the servo motor being connect with controller and frequency converter, vehicle body are hung
The carrier end of tool is connected with the screw for being coupled with the nut.The nut is the first bindiny mechanism, and the screw is the
Two bindiny mechanisms, first bindiny mechanism and second bindiny mechanism are regular polygon.
Certainly, in other embodiments, first bindiny mechanism and second bindiny mechanism can also take it
The structure type of his regular polygon, such as the one end for the servo motor being connect with controller and frequency converter can be taken to connect spiral shell
Silk, the carrier end of vehicle body lifting appliance are connected with the structure type of the nut for being coupled with the screw, herein and are not limited.
By the screw of the be of coupled connections nut at servo motor end and the carrier end of vehicle body lifting appliance, and adjusting vehicle body lifting appliance
Bracket to second target location after, release being of coupled connections for the nut and screw, vehicle in the prior art can be solved
Body suspender adjusts vehicle body lifting appliance under the premise of releaseably being coupled by screw, nut with servo motor
The problem of bracket size in the Y direction.
In the servo motor in initial position, the encoder of the servo motor is in electrical zero, the servo electricity
The nut of generator terminal and the screw of the carrier end of vehicle body lifting appliance are in disengaged condition, and the screw and the nut are in 360 °
When the position of × k/m, control servomotor rotation pushes the nut to be coupled with the screw；Wherein, k=1,2 ... ..., m,
M is the number of edges of the nut and the screw.That is, the type of the nut and the screw can be to include triangle spiral shell
A variety of realities such as cap and triangle screw, square nuts and square head bolts, five jiaos of nuts and pentagonal screw, hexagonal (hexagon)nut and hex(agonal)screw
Existing form limits herein and without structure.
For example, the nut is square nuts, when the screw is square head bolts, it is determined to make the nut and institute
State screw coupling or disengage angle be i × 90 °, i=1,2,3,4.
When the nut is hexagonal (hexagon)nut, and the screw is hex(agonal)screw, it is determined to make the nut and the spiral shell
Silk coupling or disengage angle be j × 60 °, j=1,2,3,4,5,6.
S02, control servomotor rotation drive the bracket to transport by being of coupled connections for the nut and the screw
It goes to mechanical zero.
In embodiments of the present invention, can one photoelectric sensor, control servomotor be set in the mechanical zero of a setting
Rotation drives the bracket move towards the photoelectric sensor by being of coupled connections for the nut and the screw, and tactile
When sending out photoelectric sensor described, determine that the bracket is run to mechanical zero.To ensure that controller control servomotor rotates,
So that the bracket runs the accurate tune for realizing the bracket to the first object position and second target location
Section.
S03, control servomotor rotation, by being of coupled connections for the nut and the screw, drive the bracket from
The mechanical zero is run to first object position.
In embodiments of the present invention, the first object position is the target location of the coarse adjustment of the bracket, controller
Control servomotor rotates, and by being of coupled connections for the nut and the screw, the bracket is driven to run to described first
Target location.Only, it is caused in the first object position since system includes the related factors such as sensor
The relative position of the nut and the screw at the first object position is not necessarily in the disengagable shape of k/m × 360 °
State, and need further adjustment.Wherein, k=1,2 ... ..., m, m are the number of edges of the nut and the screw.
S04, according to the type of the nut and the screw, the angle that is determined to make the nut to be disengaged with the screw
Degree, according to the second target location of bracket described in the angle-determining, control servomotor rotation adjusts the bracket to described
Second target location.
In embodiments of the present invention, the type of corresponding different nuts and screw, can make the nut and the screw
The angle of disengagement can be different.For example, the nut is square nuts, when the screw is square head bolts, it is determined to make
The angle that the nut and the screw disengage can be i × 90 °, i=1,2,3,4；It is hexagonal (hexagon)nut in the nut, it is described
When screw is hex(agonal)screw, it is j × 60 ° to be determined to allow the nut and the angle that the screw disengages, j=1,2,3,
4,5,6.And so on, for other types of nut and screw, can have corresponding makes the nut be disengaged with the screw
Angle, no longer repeat one by one herein.
In embodiments of the present invention, can be had according to the method for the second target location of bracket described in the angle-determining more
Kind.Such as one of which is listed below.
First, a design factor K can be determined according to the angle.For example, being four for above-mentioned nut and the screw
The case where angle nut and square head bolts, the angle ranging from i × 90 ° when determining, i=1, when 2,3,4, it may be determined that the design factor
K is K=Q/4.Wherein, Q=10 × S, S are the distance that one circle of the rotation of the screw 121 drives the bracket operation.
The case where being hexagonal (hexagon)nut and hex(agonal)screw for the nut and the screw, when determine the angle ranging from j ×
60 °, j=1, when 2,3,4,5,6, it may be determined that the design factor K is K=Q/6.
For example, when for the case where nut and screw are square nuts and square head bolts, one circle of screw rotation
When to drive the distance of bracket operation be 2mm, it may be determined that the value of the design factor K is K=20/4=5.
Likewise, when the type of the nut and screw is other structures, the calculating of the design factor K is equally suitable
With details are not described herein.
Secondly, when the bracket reaches first object position, the encoder being connect with the servo motor can be read
Absolute position M, wherein M is the integer not less than 1.
Again, the integer quotient A of the absolute position M and the design factor K can be taken, wherein K=Q/m, A are not small
In 1 integer, m is the number of edges of the nut and the screw, and Q=10 × S, S are that one circle of screw rotation drives the support
The distance of frame operation.
For example, when for the case where nut and screw are square nuts and square head bolts, as previously mentioned, can must calculate
COEFFICIENT K=5.When the bracket reaches first object position, the absolute position for the encoder being connect with the servo motor is read
It is 24 to set M, then, the value that can obtain the integer quotient A of absolute position M and design factor K is 4.
Based on identical reason, the problem of being other structures form for the nut and the screw, herein also no longer
It repeats one by one.
Finally, K × A can be determined as to the second target location of the bracket.
In embodiments of the present invention, second target location refers to the screw convenient for coupling that the bracket is in
With the nut convenient for the target location disengaged, that is, by the target location residing for the bracket after fine adjustment.Brought forward
It is described, finally determine that the second target location of the bracket is K × A=5 × 4=20.That is, it is connect with the servo motor
The absolute position of encoder be the 20, bracket when running to second target location, the screw and the nut are just
In the target location of disengagement.
Based on identical reason, the problem of being other structures form for the nut and the screw, herein also no longer
It repeats.
S05, being of coupled connections for the nut and the screw is released.
In embodiments of the present invention, it in the state that the nut and the screw are of coupled connections, completes to drive the bracket
When operation is to second target location, being of coupled connections for the nut and screw is released, is convenient for the follow-up work of the bracket
The expansion of flow.
In addition, the expansion for ease of follow-up work carries out, and after the nut and screw releasing are of coupled connections, this hair
Bright embodiment also proposes that the control servo motor returns to initial position, and adjusts the encoder of the servo motor to electrical zero
The processing mode of point position.
In one embodiment of the invention, referring to Fig. 2, the support of vehicle body lifting appliance in one embodiment of the invention is shown in figure
Structural representation Figure 100 of frame and its regulating system, including：One servo motor 110, a bracket 120, a controller 130, frequency converter
140, a photoelectric sensor 150 and an absolute value encoder 160.
Wherein, the driving end of servo motor 110 is connected with the first bindiny mechanism 111, by driving the first connection machine
Structure 111 so that first bindiny mechanism 111 carries out the company of coupling with second bindiny mechanism 121 at 120 end of bracket of vehicle body lifting appliance
It connects；First bindiny mechanism 111 is nut, and second bindiny mechanism 121 is screw；Alternatively, first bindiny mechanism
111 be screw, and the second bindiny mechanism 121 is nut.Controller 130 is connect with the servo motor 110, for sending control letter
Number to drive the servo motor 110.Frequency converter 140 is set between the controller 130 and the servo motor 110, is used
The servo motor 110 is driven in the control signal sent out according to the controller 130.Photoelectric sensor 150 is set to described
At the mechanical zero of the setting of bracket, when itself is triggered by the bracket 120, triggering message is returned to the controller 130.
Absolute value encoder 160 is connect with the servo motor 110, for feedback position signal to the frequency converter 140 to drive
State servo motor 110.
In the servo motor 110 in initial position, the absolute value encoder 160 is in electrical zero, the servo
Second bindiny mechanism 121 at 120 end of first bindiny mechanism 111 and the bracket at 110 end of motor, which is in, disengages shape
State, and when first bindiny mechanism 111 and second bindiny mechanism 121 are in the position of k/m × 360 °, the control
Device 130 sends first control signal to the frequency converter 140, and the servo motor 110 is driven to push first bindiny mechanism
111 second bindiny mechanisms 121 couple；Wherein, k=1,2 ... ..., m, m are the number of edges of the nut and the screw.
The controller 130 sends out second control signal according to the position of a default mechanical zero of the bracket 110, institute
It states frequency converter 140 and runs sensing station pattern, determine the operation of the bracket 120 to the mechanical zero position.
The bracket 120 reaches the mechanical zero, and the controller 130 sends third according to the first object position
Signal is controlled, the frequency converter 140 runs relative position pattern, the servo motor 110 is driven to drive the bracket 120 by machine
Tool zero-bit runs a fixed value to the first object position.
The controller 130 is determined according to the type of first bindiny mechanism 111 and second bindiny mechanism 121
The angle that first bindiny mechanism 111 and second bindiny mechanism 121 can be made to disengage, with the second of the determination bracket
Target location, and the 4th control signal is sent according to second target location, the frequency converter 140 runs absolute position mould
Formula drives the servo motor 110 to drive the bracket 120 by the first object fine position to second target position
It sets.
The controller 130 is sent out when the bracket 120 reaches the second target location for releasing first connection
The 5th control signal that mechanism 111 and second bindiny mechanism 121 are of coupled connections, the frequency converter 140 drive the servo
Motor 110 drives first bindiny mechanism 111 to release first bindiny mechanism 111 and second bindiny mechanism 121
It is of coupled connections.
In embodiments of the present invention, the controller is for determining the bracket operating status.Wherein, the controller can
Think PLC (Programmable Logic Controller, programmable logic controller (PLC)) common at present, or PC
(Personal Computer, personal computer) etc. realizes the controller of the Serve Motor Control, herein not specific limit
System.
In embodiments of the present invention, the nut is the first bindiny mechanism, and the screw is the second bindiny mechanism, described the
One bindiny mechanism and second bindiny mechanism are regular polygon.Certainly, in other embodiments, the first connection machine
Structure and second bindiny mechanism can also take the structure type of other regular polygons, such as can take and controller and change
One end connecting screw of the servo motor of frequency device connection, the carrier end of vehicle body lifting appliance are connected with the spiral shell for being coupled with the screw
The structure type of cap herein and is not limited.
In the servo motor 110 in initial position, the encoder of the servo motor 110 is in electrical zero, described
First bindiny mechanism 111 at servo motor end and the second bindiny mechanism 121 of the carrier end 120 of vehicle body lifting appliance, which are in, disengages shape
State, and when the screw 111 and the nut 121 are in the position of k/m × 360 °, controller 130 sends out the first control letter
Number, the frequency converter 140 receives the first control signal and the servo motor 110 is driven to push first bindiny mechanism
111 couple with second bindiny mechanism 121；Wherein, k=1,2 ... ..., m, m are first bindiny mechanism 111 and described
The number of edges of second bindiny mechanism 121.
Also that is, in embodiments of the present invention, corresponding to the class of different the first bindiny mechanisms 111 and the second bindiny mechanism 121
Type can allow the angle that first bindiny mechanism 111 disengages from second bindiny mechanism 121 different.For example, described
The type of first bindiny mechanism 111 and second bindiny mechanism 121 can be include triangle nut and triangle screw, quadrangle spiral shell
Cap and square head bolts, five jiaos of nuts and pentagonal screw and a variety of ways of realization such as hexagonal (hexagon)nut and hex(agonal)screw, herein not into
Row structure limits.
For example, the number of edges of the square nuts and the square head bolts is 4, then the nut and the spiral shell can be determined
It is one kind in 90 °, 180 °, 270 °, 360 ° that silk, which couples or disengage required angle,.In the square nuts and described four
When the position of angle screw is respectively a kind of in 90 °, 180 °, 270 °, 360 °, the coupling of the nut and the screw can be facilitated
It closes or disengages.
The controller 130 sends out third according to first object position and controls signal, control servomotor described further
110 rotations drive the bracket by being of coupled connections for first bindiny mechanism 111 and second bindiny mechanism 121
120 run from the mechanical zero to first object position.
In addition, the controller 130 is used to determine the determination of the second target location of the bracket 120, including：According to institute
Angle is stated, determines a design factor K.The bracket 120 reaches first object position, and reading is connect with the servo motor 110
Encoder absolute position M, wherein M is integer not less than 1.Take that the absolute position M and design factor K's is whole
Number quotient A, wherein K=Q/m, A are the integer not less than 1, and m is first bindiny mechanism 111 and second bindiny mechanism
121 number of edges, Q=10 × S, S are the distance that second bindiny mechanism 121 rotation, one circle drives the bracket operation, finally
K × A is determined as to the second target location of the bracket 120.
For example, being square nuts and square head bolts for first bindiny mechanism 111 and second bindiny mechanism 121
The case where when, the angle ranging from i × 90 °, i=1 when 2,3,4, determines that the design factor K is K=Q/4, Q=10 × S, S are
One circle of the rotation of second bindiny mechanism 121 drives the distance that the bracket 120 is run.For first bindiny mechanism 111
When the case where with second bindiny mechanism 121 being hexagonal (hexagon)nut and hex(agonal)screw, j × 60 ° are being the angle ranging from, j=1,2,
When 3,4,5,6, determine that the design factor K is K=Q/6.
The case where with first bindiny mechanism 111 and second bindiny mechanism 121 being square nuts and square head bolts
For, when the distance that one circle of the rotation of the second bindiny mechanism 121 drives the bracket to run is 2mm, it may be determined that the meter
The value for calculating COEFFICIENT K is K=20/4=5.
When the bracket 120 reaches first object position, the exhausted of the encoder being connect with the servo motor 110 is read
It is 24 to position M, then, the value that can obtain the integer quotient A of absolute position M and design factor K is 4.
Finally, determine that the second target location of bracket described in the embodiment of the present invention is K × A=5 × 4=20.
That is, the controller 130 sends out according to the absolute position 20 for the encoder being connect with the servo motor 110
Four control signals, drive bracket of having a try to run to second target location.At this point, the screw 111 and the nut 121 are just
In the target location of disengagement.
Likewise, when the type of first bindiny mechanism, 111 and second bindiny mechanism 121 is other structures, it is described
The calculating of design factor K and second target location is equally applicable, and this is no longer going to repeat them.
In the embodiment of the present invention, carried out for ease of the expansion of follow-up work, in first bindiny mechanism 111 and described the
Two bindiny mechanisms 121 release be of coupled connections after, the controller 130 sends out for controlling the reset of the servo motor 110
Six control signals.The frequency converter 140 controls signal according to the described 6th and runs absolute position pattern, drives the servo motor
110 are back to the initial position, and adjust the encoder of the servo motor 110 to electrical dead-center position.
It is the preferred embodiment of the present invention above, it is noted that for those skilled in the art,
Without departing from the principle of the present invention, it can also make several improvements and retouch, these improvements and modifications also should be regarded as this
The protection domain of invention.
Claims (11)
1. the adjusting method of the bracket of vehicle body lifting appliance, which is characterized in that including：
Be of coupled connections the second bindiny mechanism of first bindiny mechanism at servo motor end and the carrier end of vehicle body lifting appliance；Described first
Bindiny mechanism is nut, and second bindiny mechanism is screw；Alternatively, first bindiny mechanism is screw, the second connection machine
Structure is nut；
Control servomotor rotates, and by being of coupled connections for the nut and the screw, the bracket is driven to run to machinery
Zero；
Control servomotor rotates, and by being of coupled connections for the nut and the screw, drives the bracket from the machinery
One fixed value of zero operation is to first object position；
According to the type of the nut and the screw, it is determined to the angle for making the nut be disengaged with the screw, according to
Second target location of bracket described in the angle-determining, control servomotor rotation, adjusts the bracket to second mesh
Cursor position；
Release being of coupled connections for the nut and the screw.
2. adjusting method according to claim 1, which is characterized in that the control servomotor rotation passes through the spiral shell
Cap and the screw are of coupled connections, and drive the bracket to run to mechanical zero and include：
In the mechanical zero of a setting, one photoelectric sensor is set；
Control servomotor rotates, and by being of coupled connections for the nut and the screw, drives the bracket towards the photoelectricity
Sensor moves, and when triggering the photoelectric sensor, determines that the bracket is run to mechanical zero.
3. adjusting method according to claim 1, which is characterized in that described according to of bracket described in the angle-determining
Two target locations include：
According to the angle, a design factor K is determined；
When the bracket reaches first object position, the absolute position for the absolute value encoder being connect with the servo motor is read
Set M, wherein M is the integer not less than 1；
Take the integer quotient A of the absolute position M and the design factor K, wherein K=Q/m, A are the integer not less than 1, and m is
The number of edges of the nut and the screw, Q=10 × S, S are the distance that one circle of screw rotation drives the bracket operation,
Unit is mm；
K × A is determined as to the second target location of the bracket.
4. adjusting method according to claim 3, which is characterized in that the class according to the nut and the screw
Type, the angle for being determined to that the nut is made to disengage with the screw include：
When the nut is square nuts, and the screw is square head bolts, it is determined to keep the nut de- with the screw
The angle opened be i × 90 °, i=1,2,3,4；
When the nut is hexagonal (hexagon)nut, and the screw is hex(agonal)screw, it is determined to keep the nut de- with the screw
The angle opened be j × 60 °, j=1,2,3,4,5,6.
5. adjusting method according to claim 4, which is characterized in that it is described according to the angle, determine a design factor K
Including：
It the angle ranging from i × 90 °, i=1 when 2,3,4, determines that the design factor K is K=Q/4；
It the angle ranging from j × 60 °, j=1 when 2,3,4,5,6, determines that the design factor K is K=Q/6.
6. adjusting method according to claim 1, which is characterized in that the nut and vehicle at the servo motor end that is of coupled connections
The screw of the carrier end of body suspender includes：
It is in electrical zero, the servo motor end in the encoder of the initial position of the servo motor, the servo motor
Nut and the screw of carrier end of vehicle body lifting appliance be in disengaged condition, and the screw and the nut be in k/m ×
When 360 ° of position, control servomotor rotation pushes the nut to be coupled with the screw；Wherein, k=1,2 ... ..., m, m
For the number of edges of the nut and the screw.
7. adjusting method according to claim 6, which is characterized in that connect in the coupling for releasing the nut and the screw
After connecing, the adjusting method further includes：
It controls the servo motor and is back to the initial position, and adjust the encoder of the servo motor to electrical zero position
It sets.
8. the regulating system of the bracket of vehicle body lifting appliance, which is characterized in that including：One servo motor (110), a bracket (120), one
Controller (130), a frequency converter (140), a photoelectric sensor (150) and an absolute value encoder (160)；
Wherein, the driving end of servo motor (110) is connected with the first bindiny mechanism (111), by driving the first connection machine
Structure (111) so that the second bindiny mechanism that the bracket (120) of first bindiny mechanism (111) and vehicle body lifting appliance is held
(121) it is of coupled connections；First bindiny mechanism (111) is nut, and second bindiny mechanism (121) is screw；Or
Person, first bindiny mechanism (111) are screw, and the second bindiny mechanism (121) is nut；
The controller (130) connect with the servo motor (110), for sending control signal to drive the servo motor
(110)；
The frequency converter (140) is set between the controller (130) and the servo motor (110), for according to
The control signal that controller (130) is sent out drives the servo motor (110)；
At the mechanical zero for the setting that the photoelectric sensor (150) is set to the bracket, at itself by the bracket (120)
When triggering, triggering message is returned to the controller (130)；And
The absolute value encoder (160) connect with the servo motor (110), and the frequency converter is given for feedback position signal
(140) to drive the servo motor (110)；
In the servo motor (110) in initial position, the absolute value encoder (160) is in electrical zero, the servo
At first bindiny mechanism (111) at motor (110) end and second bindiny mechanism (121) at the bracket (120) end
In disengaged condition, and first bindiny mechanism (111) and second bindiny mechanism (121) are in the position of k/m × 360 °
When setting, the controller (130) sends first control signal and gives the frequency converter (140), and the servo motor (110) is driven to push away
Dynamic first bindiny mechanism (111) the second bindiny mechanism (121) coupling；Wherein, k=1,2 ... ..., m, m are the spiral shell
The number of edges of cap and the screw；
The controller (130) sends out second control signal according to the position of a default mechanical zero of the bracket (110), institute
Frequency converter (140) operation sensing station pattern is stated, determines the bracket (120) operation to the mechanical zero position；
The bracket (120) reaches the mechanical zero, and the controller (130) sends third according to the first object position
Signal is controlled, the frequency converter (140) runs relative position pattern, and the servo motor (110) is driven to drive the bracket
(120) fixed value is run to the first object position by mechanical zero；
The controller (130) is according to the type of first bindiny mechanism (111) and second bindiny mechanism (121), really
The angle that first bindiny mechanism (111) and second bindiny mechanism (121) can surely disengaged, with the determination bracket
The second target location, and the 4th control signal is sent according to second target location, the frequency converter (140) operation is absolute
Mode position drives the servo motor (110) to drive the bracket (120) by the first object fine position to described the
Two target locations；
The controller (130) sends out when the bracket (120) reaches the second target location for releasing first connection
The 5th control signal that mechanism (111) and second bindiny mechanism (121) are of coupled connections, the frequency converter (140) drive institute
Stating servo motor (110) drives first bindiny mechanism (111) to release first bindiny mechanism (111) and second company
Connection mechanism (121) are of coupled connections.
9. regulating system according to claim 8, which is characterized in that the controller is used for：
According to the angle, a design factor K is determined；
The bracket (120) reaches first object position, reads the absolute value encoder being connect with the servo motor (110)
(160) absolute position M, wherein M is the integer not less than 1；
Take the integer quotient A of the absolute position M and the design factor K, wherein K=Q/m, A are the integer not less than 1, described
First bindiny mechanism (111) is nut, and second bindiny mechanism (121) is screw, and m is the side of the nut and the screw
Number, Q=10 × S, S are the distance that one circle of screw rotation drives the bracket operation, unit mm；
K × A is determined as to the second target location of the bracket.
10. regulating system according to claim 9, which is characterized in that in the nut be square nuts, the screw is
When square head bolts, it is i × 90 ° to be determined to make the nut and the angle that the screw disengages, i=1,2,3,4；
When the nut is hexagonal (hexagon)nut, and the screw is hex(agonal)screw, it is determined to keep the nut de- with the screw
The angle opened be j × 60 °, j=1,2,3,4,5,6；
Wherein, the controller determines that a design factor K includes according to the angle：
It the angle ranging from i × 90 °, i=1 when 2,3,4, determines that the design factor K is K=Q/4；
It the angle ranging from j × 60 °, j=1 when 2,3,4,5,6, determines that the design factor K is K=Q/6.
11. regulating system according to claim 9, which is characterized in that
The controller (130) sends out after the releasing that is of coupled connections of the nut (111) and the screw (121) for controlling
Make the 6th control signal of the servo motor (110) reset；
The frequency converter (140) controls signal according to the described 6th and runs absolute position pattern, drives the servo motor (110)
It is back to the initial position, and adjusts the absolute value encoders (160) of the servo motor (110) to electrical dead-center position.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810085124.2A CN108415274B (en) | 2018-01-29 | 2018-01-29 | Method and system for adjusting bracket of car body lifting appliance |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810085124.2A CN108415274B (en) | 2018-01-29 | 2018-01-29 | Method and system for adjusting bracket of car body lifting appliance |
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| CN108415274B CN108415274B (en) | 2020-05-19 |
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| WO2007077056A1 (en) * | 2005-12-28 | 2007-07-12 | Siemens Aktiengesellschaft | Conveying system |
| EP2767461A1 (en) * | 2013-02-15 | 2014-08-20 | Siemens Aktiengesellschaft | Transport device for a vehicle assembly device |
| CN104098031A (en) * | 2014-06-05 | 2014-10-15 | 上海卫星装备研究所 | Self-leveling lifter control system and control method thereof |
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| CN108415274B (en) | 2020-05-19 |
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