CN108415274B - Method and system for adjusting bracket of car body lifting appliance - Google Patents
Method and system for adjusting bracket of car body lifting appliance Download PDFInfo
- Publication number
- CN108415274B CN108415274B CN201810085124.2A CN201810085124A CN108415274B CN 108415274 B CN108415274 B CN 108415274B CN 201810085124 A CN201810085124 A CN 201810085124A CN 108415274 B CN108415274 B CN 108415274B
- Authority
- CN
- China
- Prior art keywords
- screw
- nut
- servo motor
- bracket
- connecting mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
Landscapes
- 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 a method and a system for adjusting a bracket of a car body lifting appliance, wherein the method comprises the following steps: a first connecting mechanism coupled with the servo motor end and a second connecting mechanism coupled with the bracket end; the first connecting mechanism is a nut, and the second connecting mechanism is a screw; or, the first connecting mechanism is a screw, and the second connecting mechanism is a nut; controlling the servo motor to rotate, and driving the bracket to run to a mechanical zero point through the coupling connection of the screw cap and the screw; controlling a servo motor to rotate, and driving a bracket to operate from a mechanical zero point to a first target position through coupling connection of a nut and a screw; determining an angle capable of enabling the nut to be disengaged from the screw according to the types of the nut and the screw, determining a second target position of the bracket according to the angle, and adjusting the bracket to the second target position; and releasing the coupling connection of the nut and the screw. The embodiment of the invention can solve the problem of accurate adjustment of the bracket under the condition that the bracket of the car body lifting appliance is detachably connected with the servo motor.
Description
Technical Field
The invention relates to the technical field of automobile assembly, in particular to an adjusting method and an adjusting system for a bracket of a car body lifting appliance.
Background
In an automobile assembly line, a bracket of a body hanger needs to be capable of realizing size adjustment in the X direction and the Y direction so as to adapt to manufacture of various different automobile types. In the prior art, the vehicle body lifting appliance and the servo motor are mainly kept in coupling connection through the screw rod in the X direction and the Y direction. Wherein the X direction is a direction parallel to the carriage frame, and the Y direction is a direction perpendicular to the carriage.
How to solve the problem that the size of the bracket of the vehicle body lifting appliance in the Y direction is further adjusted under the condition that the bracket of the vehicle body lifting appliance in the Y direction is detachably coupled with the servo motor through a screw and a nut is a current technical problem to be solved urgently.
Disclosure of Invention
In view of this, the present invention provides an adjusting method and an adjusting system for a bracket of a vehicle body hanger, so as to solve the problem of adjusting the dimension of the bracket of the vehicle body hanger in the Y direction under the premise that the bracket is detachably coupled to a servo motor through a screw and a nut in the prior art.
According to a first aspect of embodiments of the present invention, there is provided a method of adjusting a carrier of a vehicle body spreader, comprising:
the first connecting mechanism is coupled and connected with the servo motor end and the second connecting mechanism is coupled and connected with the bracket end of the vehicle body lifting appliance; the first connecting mechanism is a nut, and the second connecting mechanism is a screw; or the first connecting mechanism is a screw, and the second connecting mechanism is a nut;
controlling a servo motor to rotate, and driving the bracket to run to a mechanical zero point through the coupling connection of the screw cap and the screw;
controlling a servo motor to rotate, and driving the bracket to operate from the mechanical zero point to a first target position through the coupling connection of the screw cap and the screw;
and releasing the coupling connection of the nut and the screw.
In the embodiment of the invention, the problem of adjusting the size of the bracket of the vehicle body lifting appliance in the Y direction on the premise that the vehicle body lifting appliance is detachably coupled with the servo motor through the screw and the nut in the prior art can be solved by coupling and connecting the screw cap at the servo motor end and the screw at the bracket end of the vehicle body lifting appliance and releasing the coupling connection of the screw cap and the screw after adjusting the bracket of the vehicle body lifting appliance to the second target position. The first connecting mechanism and the second connecting mechanism are both regular polygons.
Further, the control servo motor rotates, through the nut with the coupling of screw is connected, drives the bracket moves to mechanical zero point and includes:
arranging a photoelectric sensor at a set mechanical zero point;
and controlling a servo motor to rotate, driving the bracket to move towards the photoelectric sensor through the coupling connection of the screw cap and the screw, and determining that the bracket runs to a mechanical zero point when the photoelectric sensor is triggered.
In the embodiment of the invention, the bracket of the vehicle body lifting appliance triggers the photoelectric sensor arranged at the set mechanical zero position to determine the mechanical zero position of the bracket, and the controller is ensured to control the servo motor to rotate so that the bracket runs to the first target position and the second target position.
Further, the determining a second target position of the carriage according to the angle comprises:
determining a calculation coefficient K according to the angle;
reading an absolute position M of an absolute value encoder connected with the servo motor when the bracket reaches a first target position, wherein M is an integer not less than 1;
taking an integer quotient A of the absolute position M and the calculation coefficient K, wherein K is Q/M, A is an integer not less than 1, M is the number of edges of the nut and the screw, Q is 10 multiplied by S, S is the distance for driving the bracket to run by one rotation of the screw, and the unit is mm;
determining kxA as a second target position of the carriage.
In the embodiment of the invention, the angle which can enable the nut to be separated from the screw is determined according to the type of the nut connected with the servo motor end and the type of the screw connected with the bracket end, and then the action implementation process of the bracket to move to the second target position is determined, so that the bracket can accurately reach the first target position and the second target position, and the bracket of the vehicle body lifting appliance is accurately adjusted.
Further, the determining the angle at which the nut can be disengaged from the screw according to the types of the nut and the screw includes:
when the nut is a quadrangular nut and the screw is a quadrangular screw, determining that an angle which can enable the nut to be disengaged from the screw is i multiplied by 90 degrees, and i is 1, 2, 3 and 4;
when the nut is a hexagonal nut and the screw is a hexagonal screw, an angle at which the nut can be disengaged from the screw is determined to be j × 60 °, and j is 1, 2, 3, 4, 5, 6.
In the embodiment of the invention, according to the types of the screw cap and the screw, when the screw cap and the screw are selected to be a quadrangular screw cap and a quadrangular screw or a hexagonal screw cap and a hexagonal screw, the convenient coupling or decoupling angles of the screw cap and the screw are respectively integral multiples of 90 degrees or 60 degrees. When the angle is a multiple of 90 ° or 60 °, respectively, the coupling and decoupling of the nut and the screw can be easily achieved.
Further, the determining a calculation coefficient K according to the angle includes:
when the angle is i × 90 °, i ═ 1, 2, 3, 4, the calculation coefficient K is determined to be K ═ Q/4;
when the angle is j × 60 °, and j is 1, 2, 3, 4, 5, 6, the calculation coefficient K is determined to be K — Q/6.
Further, the screw coupling the nut at the servo motor end and the bracket end of the vehicle body hanger comprises:
when the servo motor is at an initial position, an encoder of the servo motor is at an electric zero point, a screw cap at the end of the servo motor and a screw at the end of a bracket of a car body lifting appliance are in a disengagement state, and the screw cap are both at k/m multiplied by 360 degrees, the servo motor is controlled to rotate, and the screw cap is pushed to be coupled with the screw; wherein k is 1, 2, … …, m is the number of sides of the nut and the screw.
Further, after the coupling connection between the nut and the screw is released, the adjusting method further includes: and controlling the servo motor to return to the initial position, and adjusting an encoder of the servo motor to an electric zero position.
In the embodiment of the invention, by performing zero resetting operation on the motor and the encoder, when the initial positions of the nut at the servo motor end and the screw at the bracket end of the vehicle body lifting appliance are at a position of k/m × 360 °, where k is 1, 2, … …, m is the number of edges of the nut and the screw, so that the nut and the screw can be coupled to drive the bracket to move to the first target position and the second target position.
According to a second aspect of an embodiment of the present invention, there is provided an adjustment system for a carrier of a vehicle body spreader, comprising: the device comprises a servo motor, a bracket, a controller, a frequency converter, a photoelectric sensor and an absolute value encoder.
The driving end of the servo motor is connected with a first connecting mechanism, and the first connecting mechanism is driven to be in coupling connection with a second connecting mechanism at the bracket end of the vehicle body lifting appliance; the first connecting mechanism is a nut, and the second connecting mechanism is a screw; or the first connecting mechanism is a screw, and the second connecting mechanism is a nut;
the controller is connected with the servo motor and used for sending a control signal to drive the servo motor (110);
the frequency converter (140) is arranged between the controller (130) and the servo motor (110) and is used for driving the servo motor (110) according to a control signal sent by the controller (130);
the photosensor (150) is set at a set mechanical zero point of the carriage, returning a trigger message to the controller (130) when triggered by the carriage (120); and
the absolute value encoder (160) is connected with the servo motor (110) and used for feeding back a position signal to the frequency converter (140) to drive the servo motor (110);
when the servo motor (110) is at an initial position, the absolute value encoder (160) is at an electrical zero point, the first connecting mechanism (111) at the end of the servo motor (110) and the second connecting mechanism (121) at the end of the bracket (120) are in a disengaged state, and the first connecting mechanism (111) and the second connecting mechanism (121) are both at a position of k/m × 360 degrees, the controller (130) sends a first control signal to the frequency converter (140) to drive the servo motor (110) to push the first connecting mechanism (111) and the second connecting mechanism (121) to be coupled; wherein k is 1, 2, … …, m is the number of sides of the nut and the screw;
the controller (130) sends out a second control signal according to the position of a preset mechanical zero point of the bracket (110), and the frequency converter (140) operates a sensor position mode to determine that the bracket (120) operates to the mechanical zero point position;
the bracket (120) reaches the mechanical zero point, the controller (130) sends a third control signal according to the first target position, the frequency converter (140) runs a relative position mode, and the servo motor (110) is driven to drive the bracket (120) to run from the mechanical zero point to the first target position by a fixed value;
the controller (130) determines an angle capable of disengaging the first connecting mechanism (111) and the second connecting mechanism (121) according to the types of the first connecting mechanism (111) and the second connecting mechanism (121) to determine a second target position of the bracket, and sends a fourth control signal according to the second target position, the frequency converter (140) runs an absolute position mode, and drives the servo motor (110) to drive the bracket (120) to be finely adjusted from the first target position to the second target position;
the controller (130) sends a fifth control signal for releasing the coupling connection between the first connecting mechanism (111) and the second connecting mechanism (121) when the bracket (120) reaches a second target position, the frequency converter (140) drives the servo motor (110) to drive the first connecting mechanism (111) to release the coupling connection between the first connecting mechanism (111) and the second connecting mechanism (121), in the embodiment of the invention, the controller drives the servo motor through the frequency converter to realize the coupling connection between a nut at the servo motor end and a screw at the bracket end of the vehicle body lifting appliance, and releases the coupling connection between the nut and the screw after adjusting the bracket of the vehicle body lifting appliance to the second target position, so as to solve the problem that the prior art can release the coupling between the servo motor and the nut through the screw and the nut, the size of the bracket of the car body sling in the Y direction is adjusted.
In the embodiment of the invention, the bracket of the vehicle body lifting appliance realizes the setting of the mechanical zero point of the bracket in the operation process by triggering the photoelectric sensor arranged at the set mechanical zero point. By setting the mechanical zero point, the controller is facilitated to control the servo motor to rotate, so that the bracket accurately runs to the first target position and the second target position.
Further, the controller is configured to:
determining a calculation coefficient K according to the angle;
when the bracket reaches a first target position, reading an absolute position M of an encoder connected with the servo motor, wherein M is an integer not less than 1;
taking an integer quotient A of the absolute position M and the calculation coefficient K, wherein K is Q/M, A is an integer not less than 1, M is the number of edges of the nut and the screw, Q is 10 multiplied by S, S is the distance for driving the bracket to run by one rotation of the screw, and the unit is mm;
determining kxA as a second target position of the carriage.
In the embodiment of the invention, the controller determines the angle which can enable the nut to be disengaged from the screw according to the types of the nut and the screw, so that the action implementation process of the bracket to move to the second target position is further determined, the bracket can be ensured to accurately reach the first target position and the second target position, and the bracket of the vehicle body lifting appliance can be accurately adjusted.
Further, when the nut is a tetragonal nut and the screw is a tetragonal screw, determining an angle at which the nut can be disengaged from the screw to be i × 90 °, i ═ 1, 2, 3, 4;
when the nut is a hexagonal nut and the screw is a hexagonal screw, an angle at which the nut can be disengaged from the screw is determined to be j × 60 °, and j is 1, 2, 3, 4, 5, 6.
In the embodiment of the present invention, when the nut connected to the servo motor end is a tetragonal nut and the screw connected to the bracket is a tetragonal screw, it can be determined that an angle required for coupling or decoupling the nut and the screw is one of 90 °, 180 °, 270 °, and 360 ° according to the number of edges 4 of the nut and the screw. When the positions of the nut and the screw are respectively one of 90 °, 180 °, 270 °, and 360 °, the coupling or decoupling of the nut and the screw can be facilitated.
Similarly, when the nut connected to the servo motor end is a hexagonal nut and the screw connected to the bracket is a hexagonal screw, it can be determined that the required angle for coupling or decoupling the nut and the screw is one of 60 °, 120 °, 180 °, 240 °, and 300 ° 360 ° according to the number of edges 6 of the nut and the screw. When the positions of the nut and the screw are respectively one of 60 °, 120 °, 180 °, 240 °, 300 °, and 360 °, the coupling or decoupling of the nut and the screw can be facilitated.
The controller determines a calculation coefficient K according to the angle, including:
when the angle is i × 90 °, i ═ 1, 2, 3, 4, the calculation coefficient K is determined to be K ═ Q/4;
when the angle is j × 60 °, and j is 1, 2, 3, 4, 5, 6, the calculation coefficient K is determined to be K — Q/6.
In the embodiment of the invention, the angle for enabling the nut to be disengaged from the screw and the value of the calculation coefficient K are determined according to the type of the screw for connecting the nut connected with the servo motor end and the bracket end. And determining an action implementation process of the bracket moving to the second target position so as to ensure that the bracket can accurately reach the first target position and the second target position and realize accurate adjustment of the bracket of the vehicle body lifting appliance.
Further, when the servo motor is at an initial position, the encoder of the servo motor is at an electrical zero point, the nut at the end of the servo motor and the screw at the end of the bracket of the car body lifting appliance are in a disengaged state, and the screw and the nut are both at positions of k/m × 360 degrees, the controller sends a fifth control signal;
the frequency converter drives the servo motor to push the screw cap to be coupled with the screw according to the fifth control signal; wherein k is 1, 2, … …, m is the number of sides of the nut and the screw.
Further, the controller sends a sixth control signal for controlling the servo motor to reset after the fourth control signal for releasing the coupling connection between the screw cap and the screw completes the release of the coupling connection between the screw cap and the screw.
And the frequency converter operates an absolute position mode according to the sixth control signal, drives the servo motor to return to the initial position, and adjusts an absolute value encoder of the servo motor to an electric zero position.
According to the scheme, the nut at the servo motor end and the screw at the bracket end of the vehicle body lifting appliance are connected in a coupling mode; controlling a servo motor to rotate, and driving the bracket to run to a mechanical zero point through the coupling connection of the screw cap and the screw; controlling a servo motor to rotate, and driving the bracket to run from the mechanical zero point to a first target position through the coupling connection of the screw cap and the screw; determining an angle capable of enabling the nut to be disengaged from the screw according to the types of the nut and the screw, determining a second target position of the bracket according to the angle, controlling a servo motor to rotate, and adjusting the bracket to the second target position; and releasing the coupling connection of the nut and the screw. The embodiment of the invention solves the problem of accurate adjustment of the killer bracket under the condition that the bracket of the car body lifting appliance is detachably connected with the servo motor.
Drawings
The foregoing and other features and advantages of the invention will become more apparent to those skilled in the art to which the invention relates upon consideration of the following detailed description of a preferred embodiment of the invention with reference to the accompanying drawings, in which:
FIG. 1 is a flow chart of a method of adjusting a carrier of a vehicle body spreader in accordance with an embodiment of the present invention;
fig. 2 is a schematic diagram showing the construction of a carrier for a body spreader and its adjustment system in one embodiment of the present invention.
Wherein the reference numbers are as follows:
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "comprises," "comprising," and "having," and any variations thereof, in the description and claims of this invention, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiment of the invention provides an adjusting method and an adjusting system for a bracket of a car body lifting appliance, which are used for solving the problem that in the prior art, the size of the bracket of the car body lifting appliance in the Y direction is further adjusted on the premise that the bracket is detachably coupled with a servo motor through a screw and a nut.
In one embodiment of the invention, referring to fig. 1, there is shown a method of adjusting a carrier of a vehicle body spreader in one embodiment of the invention, comprising:
and S01, coupling and connecting a nut at the servo motor end and a screw at the bracket end of the vehicle body lifting appliance.
In the embodiment of the invention, one end of the servo motor connected with the controller and the frequency converter is connected with a nut, and the bracket end of the car body lifting appliance is connected with a screw for coupling with the nut. The nut is a first connecting mechanism, the screw is a second connecting mechanism, and the first connecting mechanism and the second connecting mechanism are regular polygons.
Of course, in other embodiments, the first connection mechanism and the second connection mechanism may also take other regular polygon structures, for example, a structure that one end of a servo motor connected with a controller and a frequency converter is connected with a screw, and a bracket end of a car body hanger is connected with a nut for coupling with the screw, which is not limited herein.
The screw cap at the end of the servo motor and the screw at the end of the bracket of the vehicle body lifting appliance are connected in a coupling mode, and after the bracket of the vehicle body lifting appliance is adjusted to the second target position, the coupling connection of the screw cap and the screw is released, so that the problem that the size of the bracket of the vehicle body lifting appliance in the Y direction is adjusted on the premise that the vehicle body lifting appliance is detachably coupled with the servo motor through the screw and the screw cap in the prior art can be solved.
When the servo motor is at an initial position, an encoder of the servo motor is at an electric zero point, a screw cap at the end of the servo motor and a screw at the end of a bracket of a car body lifting appliance are in a disengagement state, and the screw cap are both at the positions of 360 degrees multiplied by k/m, the servo motor is controlled to rotate, and the screw cap is pushed to be coupled with the screw; wherein k is 1, 2, … …, m is the number of sides of the nut and the screw. That is, the type of the nut and the screw may be various implementation forms including a triangular nut and a triangular screw, a tetragonal nut and a tetragonal screw, a pentagonal nut and a pentagonal screw, a hexagonal nut and a hexagonal screw, etc., and is not limited in structure herein.
For example, when the nut is a tetragonal nut and the screw is a tetragonal screw, an angle at which the nut can be coupled to or decoupled from the screw is determined to be i × 90 °, i ═ 1, 2, 3, 4.
When the nut is a hexagonal nut and the screw is a hexagonal screw, an angle at which the nut can be coupled to or uncoupled from the screw is determined to be j × 60 °, j ═ 1, 2, 3, 4, 5, 6.
And S02, controlling the servo motor to rotate, and driving the bracket to run to a mechanical zero point through the coupling connection of the screw cap and the screw.
In the embodiment of the invention, a photoelectric sensor can be arranged at a set mechanical zero point to control the rotation of the servo motor, the bracket is driven to move towards the photoelectric sensor through the coupling connection of the screw cap and the screw, and the bracket is determined to run to the mechanical zero point when the photoelectric sensor is triggered. Therefore, the controller is ensured to control the servo motor to rotate, so that the bracket runs to the first target position and the second target position, and accurate adjustment of the bracket is realized.
And S03, controlling the servo motor to rotate, and driving the bracket to move from the mechanical zero point to a first target position through the coupling connection of the screw cap and the screw.
In the embodiment of the present invention, the first target position is a coarsely adjusted target position of the bracket, the controller controls the servo motor to rotate, and the bracket is driven to move to the first target position through the coupling connection between the nut and the screw. However, in the first target position, due to the influence of relevant factors such as sensors included in the system, the relative positions of the nut and the screw in the first target position are not necessarily in a detachable state of k/m × 360 °, and further adjustment is required. Wherein k is 1, 2, … …, m is the number of sides of the nut and the screw.
S04, determining an angle capable of enabling the nut to be disengaged from the screw according to the type of the nut and the type of the screw, determining a second target position of the bracket according to the angle, controlling a servo motor to rotate, and adjusting the bracket to the second target position.
In the embodiment of the invention, the angle for separating the nut from the screw can be different corresponding to different types of nuts and screws. For example, when the nut is a quad nut and the screw is a quad screw, the angle that determines the nut to be able to disengage from the screw may be i × 90 °, i ═ 1, 2, 3, 4; when the nut is a hexagonal nut and the screw is a hexagonal screw, the angle that can disengage the nut from the screw may be determined to be j × 60 °, j ═ 1, 2, 3, 4, 5, 6. By analogy, for other types of nuts and screws, corresponding angles for separating the nuts from the screws can be provided, and the details are not repeated here.
In the embodiment of the present invention, there may be various methods of determining the second target position of the carriage according to the angle. For example, one of which is listed below.
First, a calculation coefficient K may be determined based on the angle. For example, in the case where the above-described nuts and the screws are quad nuts and quad screws, when the angle is determined to be i × 90 °, i is 1, 2, 3, 4, the calculation coefficient K may be determined to be K — Q/4. Wherein Q is 10 × S, and S is a distance that the screw 121 rotates once to drive the carriage to move.
In the case where the nut and the screw are a hexagonal nut and a hexagonal screw, when it is determined that the angle is j × 60 °, j is 1, 2, 3, 4, 5, 6, it may be determined that the calculation coefficient K is K Q/6.
For example, in the case where the nuts and screws are quad nuts and quad screws, when the distance traveled by the bracket by one rotation of the screws is 2mm, the value of the calculation coefficient K may be determined to be K20/4 or 5.
Similarly, when the types of the nuts and the screws are other structures, the calculation of the calculation coefficient K is also applicable, and is not described herein again.
Next, when the carriage reaches the first target position, an absolute position M of an encoder connected to the servo motor may be read, where M is an integer not less than 1.
And taking an integer quotient a of the absolute position M and the calculation coefficient K, where K is Q/M, a is an integer not less than 1, M is the number of edges of the nut and the screw, Q is 10 × S, and S is a distance that the bracket is driven to run by one rotation of the screw.
For example, when the nuts and screws are the square nuts and square screws, the calculation coefficient K becomes 5 as described above. When the carriage reaches the first target position, reading the absolute position M of the encoder connected to the servo motor to be 24, the value of the integer quotient a of the absolute position M and the calculation coefficient K is 4.
For the same reason, the problems that the nut and the screw are in other structural forms are not described in detail herein.
Finally, kxa may be determined as a second target position of the carriage.
In the embodiment of the present invention, the second target position refers to a target position where the bracket is easy to couple and the screw and the nut are easy to disengage, that is, the bracket is located after being fine-adjusted. As described above, the second target position of the carriage is finally determined to be K × a — 5 × 4 — 20. That is, the screw and the nut are easily disengaged from each other at the target position when the carriage is moved to the second target position at an absolute position of 20 of the encoder connected to the servo motor.
For the same reason, the problems of the nut and the screw having other structural forms are not described herein again.
And S05, releasing the coupling connection between the nut and the screw.
In the embodiment of the invention, when the bracket is driven to move to the second target position under the coupling connection state of the nut and the screw, the coupling connection of the nut and the screw is released, so that the subsequent work flow of the bracket can be conveniently unfolded.
In addition, in order to facilitate the subsequent work, after the nut and the screw are decoupled, the embodiment of the invention further provides a processing mode of controlling the servo motor to return to the initial position and adjusting the encoder of the servo motor to the electric zero position.
In one embodiment of the present invention, referring to fig. 2, there is shown a schematic diagram 100 of a structure of a carrier of a body spreader and its adjustment system in one embodiment of the present invention, comprising: a servo motor 110, a bracket 120, a controller 130, a frequency converter 140, a photoelectric sensor 150 and an absolute value encoder 160.
A first connecting mechanism 111 is connected to a driving end of the servo motor 110, and the first connecting mechanism 111 is driven to be coupled with a second connecting mechanism 121 at an end of a bracket 120 of a car body lifting appliance; the first connecting mechanism 111 is a nut, and the second connecting mechanism 121 is a screw; alternatively, the first connecting mechanism 111 is a screw, and the second connecting mechanism 121 is a nut. The controller 130 is connected to the servo motor 110, and is configured to send a control signal to drive the servo motor 110. The frequency converter 140 is disposed between the controller 130 and the servo motor 110, and is configured to drive the servo motor 110 according to a control signal sent by the controller 130. The photoelectric sensor 150 is set at a set mechanical zero point of the cradle and returns a trigger message to the controller 130 when triggered by the cradle 120 itself. An absolute value encoder 160 is connected to the servo motor 110 for feeding back a position signal to the frequency converter 140 to drive the servo motor 110.
When the servo motor 110 is at an initial position, the absolute value encoder 160 is at an electrical zero point, the first connection mechanism 111 at the end of the servo motor 110 and the second connection mechanism 121 at the end of the bracket 120 are in a disengaged state, and both the first connection mechanism 111 and the second connection mechanism 121 are at k/m × 360 °, the controller 130 sends a first control signal to the frequency converter 140 to drive the servo motor 110 to push the first connection mechanism 111 and the second connection mechanism 121 to be coupled; wherein k is 1, 2, … …, m is the number of sides of the nut and the screw.
The controller 130 sends a second control signal according to a position of a preset mechanical zero point of the bracket 110, and the frequency converter 140 operates a sensor position mode to determine that the bracket 120 operates to the mechanical zero point position.
When the bracket 120 reaches the mechanical zero point, the controller 130 sends a third control signal according to the first target position, and the frequency converter 140 operates in a relative position mode to drive the servo motor 110 to drive the bracket 120 to operate from the mechanical zero point to the first target position by a fixed value.
The controller 130 determines an angle at which the first connecting mechanism 111 and the second connecting mechanism 121 can be disengaged according to the types of the first connecting mechanism 111 and the second connecting mechanism 121 to determine a second target position of the bracket, and sends a fourth control signal according to the second target position, and the frequency converter 140 operates an absolute position mode to drive the servo motor 110 to drive the bracket 120 to be finely adjusted from the first target position to the second target position.
When the bracket 120 reaches the second target position, the controller 130 sends a fifth control signal for releasing the coupling connection between the first connecting mechanism 111 and the second connecting mechanism 121, and the frequency converter 140 drives the servo motor 110 to drive the first connecting mechanism 111 to release the coupling connection between the first connecting mechanism 111 and the second connecting mechanism 121.
In an embodiment of the invention, the controller is adapted to determine the carriage operational status. The Controller may be a conventional PLC (Programmable Logic Controller), or may also be a PC (Personal Computer), which implements the servo motor control, and is not limited in particular herein.
In an embodiment of the present invention, the nut is a first connection mechanism, the screw is a second connection mechanism, and the first connection mechanism and the second connection mechanism are both regular polygons. Of course, in other embodiments, the first connection mechanism and the second connection mechanism may also take other regular polygon structures, for example, a structure that one end of a servo motor connected with a controller and a frequency converter is connected with a screw, and a bracket end of a car body hanger is connected with a nut for coupling with the screw, which is not limited herein.
When the servo motor 110 is at an initial position, an encoder of the servo motor 110 is at an electrical zero point, the first connecting mechanism 111 at the servo motor end and the second connecting mechanism 121 at the bracket end 120 of the car body lifting appliance are in a disengaged state, and the screw 111 and the nut 121 are both at k/m × 360 °, the controller 130 sends out a first control signal, and the frequency converter 140 receives the first control signal to drive the servo motor 110 to push the first connecting mechanism 111 to be coupled with the second connecting mechanism 121; where k is 1, 2, … …, and m is the number of sides of the first connecting mechanism 111 and the second connecting mechanism 121.
That is, in the embodiment of the present invention, the angle at which the first connecting mechanism 111 can be disengaged from the second connecting mechanism 121 may be different corresponding to different types of the first connecting mechanism 111 and the second connecting mechanism 121. For example, the types of the first connection mechanism 111 and the second connection mechanism 121 may be various implementation forms including a triangular nut and a triangular screw, a quadrangular nut and a quadrangular screw, a pentagonal nut and a pentagonal screw, a hexagonal nut and a hexagonal screw, and the like, and are not limited in structure.
For example, if the number of sides of the tetragonal nut and the tetragonal screw is 4, it can be determined that the angle required for coupling or decoupling the nut and the screw is one of 90 °, 180 °, 270 °, and 360 °. When the positions of the four-corner nut and the four-corner screw are respectively one of 90 degrees, 180 degrees, 270 degrees and 360 degrees, the nut and the screw can be conveniently coupled or decoupled.
The controller 130 sends a third control signal according to the first target position, further controls the servo motor 110 to rotate, and drives the bracket 120 to move from the mechanical zero point to the first target position through the coupling connection between the first connecting mechanism 111 and the second connecting mechanism 121.
Further, the controller 130 is configured to determine a determination of a second target position of the carriage 120, including: and determining a calculation coefficient K according to the angle. The carriage 120 reaches a first target position, and reads an absolute position M of an encoder connected to the servo motor 110, where M is an integer not less than 1. Taking an integer quotient a of the absolute position M and the calculation coefficient K, where K is Q/M, a is an integer not less than 1, M is the number of edges of the first connecting mechanism 111 and the second connecting mechanism 121, Q is 10 × S, and S is a distance that the second connecting mechanism 121 rotates once to drive the bracket to run, and finally determining K × a as a second target position of the bracket 120.
For example, when the first connection mechanism 111 and the second connection mechanism 121 are a square nut and a square screw, and the angle is i × 90 °, i is 1, 2, 3, and 4, the calculation coefficient K is determined to be K — Q/4, Q is 10 × S, and S is a distance that the second connection mechanism 121 rotates once to drive the bracket 120 to move. In the case where the first connection mechanism 111 and the second connection mechanism 121 are a hexagon nut and a hexagon screw, when the angle is j × 60 °, and j is 1, 2, 3, 4, 5, and 6, the calculation coefficient K is determined to be K — Q/6.
Taking the first connecting mechanism 111 and the second connecting mechanism 121 as a quad nut and a quad screw as an example, when the distance that the second connecting mechanism 121 rotates once to drive the bracket to move is 2mm, the value of the calculation coefficient K may be determined to be K20/4 or 5.
When the carriage 120 reaches the first target position, the absolute position M of the encoder connected to the servo motor 110 is read to be 24, and then the value of the integer quotient a of the obtained absolute position M and the calculation coefficient K is 4.
Finally, the second target position of the carriage in the embodiment of the present invention is determined to be K × a — 5 × 4 — 20.
That is, the controller 130 sends a fourth control signal according to the absolute position 20 of the encoder connected to the servo motor 110, so as to drive the test carriage to the second target position. At this time, the screw 111 and the nut 121 facilitate the target position of disengagement.
Similarly, when the types of the first connection mechanism 111 and the second connection mechanism 121 are other structures, the calculation of the calculation coefficient K and the calculation of the second target position are also applicable, and are not described in detail herein.
In the embodiment of the present invention, in order to facilitate the subsequent work, after the first connecting mechanism 111 and the second connecting mechanism 121 are decoupled, the controller 130 sends a sixth control signal for controlling the servo motor 110 to reset. The frequency converter 140 operates an absolute position mode according to the sixth control signal, drives the servo motor 110 to return to the initial position, and adjusts an encoder of the servo motor 110 to an electrical zero position.
The foregoing is a preferred embodiment of the present invention, and it should be noted that it would be apparent to those skilled in the art that various modifications and enhancements can be made without departing from the principles of the invention, and such modifications and enhancements are also considered to be within the scope of the invention.
Claims (11)
1. A method of adjusting a carrier for a vehicle body sling, comprising:
the first connecting mechanism is coupled and connected with the servo motor end and the second connecting mechanism is coupled and connected with the bracket end of the vehicle body lifting appliance; the first connecting mechanism is a nut, and the second connecting mechanism is a screw; or the first connecting mechanism is a screw, and the second connecting mechanism is a nut;
controlling a servo motor to rotate, and driving the bracket to run to a mechanical zero point through the coupling connection of the screw cap and the screw;
controlling a servo motor to rotate, and driving the bracket to operate from the mechanical zero point to a first target position through the coupling connection of the screw cap and the screw;
determining an angle capable of enabling the nut to be disengaged from the screw according to the types of the nut and the screw, determining a second target position of the bracket according to the angle, controlling a servo motor to rotate, and adjusting the bracket to the second target position;
and releasing the coupling connection of the nut and the screw.
2. The adjustment method of claim 1, wherein said controlling the rotation of the servo motor to move the carriage to a mechanical zero point via the coupling connection of the nut and the screw comprises:
arranging a photoelectric sensor at a set mechanical zero point;
and controlling a servo motor to rotate, driving the bracket to move towards the photoelectric sensor through the coupling connection of the screw cap and the screw, and determining that the bracket runs to a mechanical zero point when the photoelectric sensor is triggered.
3. The adjustment method of claim 1, wherein said determining a second target position of the carriage as a function of the angle comprises:
determining a calculation coefficient K according to the angle;
reading an absolute position M of an absolute value encoder connected with the servo motor when the bracket reaches a first target position, wherein M is an integer not less than 1;
taking an integer quotient A of the absolute position M and the calculation coefficient K, wherein K is Q/M, A is an integer not less than 1, M is the number of edges of the nut and the screw, Q is 10 multiplied by S, S is the distance for driving the bracket to run by one rotation of the screw, and the unit is mm;
determining kxA as a second target position of the carriage.
4. The adjustment method of claim 3, wherein said determining an angle at which said nut can be disengaged from said screw based on the type of said nut and said screw comprises:
when the nut is a quadrangular nut and the screw is a quadrangular screw, determining that an angle which can enable the nut to be disengaged from the screw is i multiplied by 90 degrees, and i is 1, 2, 3 and 4;
when the nut is a hexagonal nut and the screw is a hexagonal screw, an angle at which the nut can be disengaged from the screw is determined to be j × 60 °, and j is 1, 2, 3, 4, 5, 6.
5. The adjustment method according to claim 4, characterized in that said determining a calculation coefficient K according to said angle comprises:
when the angle is i × 90 °, i ═ 1, 2, 3, 4, the calculation coefficient K is determined to be K ═ Q/4;
when the angle is j × 60 °, and j is 1, 2, 3, 4, 5, 6, the calculation coefficient K is determined to be K — Q/6.
6. The adjustment method according to claim 1, wherein the coupling of the nut at the servo motor end and the screw at the bracket end of the body hanger comprises:
at the initial position of the servo motor, an encoder of the servo motor is at an electric zero point, a screw cap at the end of the servo motor and a screw at the end of a bracket of a car body lifting appliance are in a disengagement state, and the screw cap are both at k/m multiplied by 360 degrees, the servo motor is controlled to rotate, and the screw cap is pushed to be coupled with the screw; wherein k is 1, 2, … …, m is the number of sides of the nut and the screw.
7. The adjustment method of claim 6, wherein after decoupling the nut and the screw, the adjustment method further comprises:
and controlling the servo motor to return to the initial position, and adjusting an encoder of the servo motor to an electric zero position.
8. Adjustment system of bracket of automobile body hoist, its characterized in that includes: a servo motor (110), a bracket (120), a controller (130), a frequency converter (140), a photoelectric sensor (150) and an absolute value encoder (160);
the driving end of the servo motor (110) is connected with a first connecting mechanism (111), and the first connecting mechanism (111) is driven to be coupled with a second connecting mechanism (121) at the bracket (120) end of the car body lifting appliance; the first connecting mechanism (111) is a nut, and the second connecting mechanism (121) is a screw; or, the first connecting mechanism (111) is a screw, and the second connecting mechanism (121) is a nut;
the frequency converter (140) is arranged between the controller (130) and the servo motor (110) and is used for driving the servo motor (110) according to a control signal sent by the controller (130);
the photosensor (150) is set at a set mechanical zero point of the carriage, returning a trigger message to the controller (130) when triggered by the carriage (120); and
the absolute value encoder (160) is connected with the servo motor (110) and used for feeding back a position signal to the frequency converter (140) to drive the servo motor (110);
when the servo motor (110) is at an initial position, the absolute value encoder (160) is at an electrical zero point, the first connecting mechanism (111) at the end of the servo motor (110) and the second connecting mechanism (121) at the end of the bracket (120) are in a disengaged state, and the first connecting mechanism (111) and the second connecting mechanism (121) are both at a position of k/m × 360 degrees, the controller (130) sends a first control signal to the frequency converter (140) to drive the servo motor (110) to push the first connecting mechanism (111) and the second connecting mechanism (121) to be coupled; wherein k is 1, 2, … …, m is the number of sides of the nut and the screw;
the controller (130) sends out a second control signal according to the set mechanical zero position of the bracket (110), the frequency converter (140) runs a sensor position mode, and the bracket (120) is determined to run to the mechanical zero position;
the bracket (120) reaches the mechanical zero point, the controller (130) sends a third control signal according to a first target position, the frequency converter (140) runs a relative position mode, and the servo motor (110) is driven to drive the bracket (120) to run from the mechanical zero point position to the first target position by a fixed value;
the controller (130) determines an angle capable of disengaging the first connecting mechanism (111) and the second connecting mechanism (121) according to the types of the first connecting mechanism (111) and the second connecting mechanism (121) to determine a second target position of the bracket, and sends a fourth control signal according to the second target position, the frequency converter (140) runs an absolute position mode, and drives the servo motor (110) to drive the bracket (120) to be finely adjusted from the first target position to the second target position;
when the bracket (120) reaches a second target position, the controller (130) sends a fifth control signal for releasing the coupling connection between the first connecting mechanism (111) and the second connecting mechanism (121), and the frequency converter (140) drives the servo motor (110) to drive the first connecting mechanism (111) to release the coupling connection between the first connecting mechanism (111) and the second connecting mechanism (121).
9. The conditioning system of claim 8, wherein the controller is to:
determining a calculation coefficient K according to the angle;
the bracket (120) reaches a first target position, and reads an absolute position M of an absolute value encoder (160) connected with the servo motor (110), wherein M is an integer not less than 1;
taking an integer quotient A of the absolute position M and the calculation coefficient K, wherein K is Q/M, A is an integer not less than 1, the first connecting mechanism (111) is a nut, the second connecting mechanism (121) is a screw, M is the number of edges of the nut and the screw, Q is 10 multiplied by S, and S is the distance for driving the bracket to run by one rotation of the screw, and the unit is mm;
determining kxA as a second target position of the carriage.
10. The adjustment system according to claim 9, characterized in that, when the nut is a quad nut and the screw is a quad screw, the angle determined to enable disengagement of the nut from the screw is i x 90 °, i ═ 1, 2, 3, 4;
when the nut is a hexagonal nut and the screw is a hexagonal screw, determining that the angle which can enable the nut to be disengaged from the screw is j × 60 degrees, and j is 1, 2, 3, 4, 5, 6;
wherein the controller determines a calculation coefficient K according to the angle by:
when the angle is i × 90 °, i ═ 1, 2, 3, 4, the calculation coefficient K is determined to be K ═ Q/4;
when the angle is j × 60 °, and j is 1, 2, 3, 4, 5, 6, the calculation coefficient K is determined to be K — Q/6.
11. The adjustment system of claim 9,
the controller (130) sends a sixth control signal for controlling the servo motor (110) to reset after the coupling connection between the screw cap (111) and the screw (121) is released;
and the frequency converter (140) operates an absolute position mode according to the sixth control signal, drives the servo motor (110) to return to the initial position, and adjusts an absolute value encoder (160) of the servo motor (110) to an electric zero position.
Priority Applications (1)
| 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 |
Applications Claiming Priority (1)
| 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108415274A CN108415274A (en) | 2018-08-17 |
| CN108415274B true CN108415274B (en) | 2020-05-19 |
Family
ID=63126629
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810085124.2A Active CN108415274B (en) | 2018-01-29 | 2018-01-29 | Method and system for adjusting bracket of car body lifting appliance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108415274B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN203976222U (en) * | 2014-07-23 | 2014-12-03 | 东风汽车公司 | A kind of car load suspender servo positioning system |
| CN104627860A (en) * | 2015-02-12 | 2015-05-20 | 合肥工业大学(马鞍山)高新技术研究院 | Balance crane capable of conveniently disassembling lifting nut and lifting nut disassembling method |
| CN204873429U (en) * | 2015-06-29 | 2015-12-16 | 遂宁市东乘车辆有限公司 | Electric motor car automobile body hoist |
| CN106808197A (en) * | 2016-10-07 | 2017-06-09 | 金大镒 | Automatic screw device for screwing up |
| CN107329452A (en) * | 2017-07-07 | 2017-11-07 | 泰州职业技术学院 | A kind of nut tightening machine control system and its method |
-
2018
- 2018-01-29 CN CN201810085124.2A patent/CN108415274B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN203976222U (en) * | 2014-07-23 | 2014-12-03 | 东风汽车公司 | A kind of car load suspender servo positioning system |
| CN104627860A (en) * | 2015-02-12 | 2015-05-20 | 合肥工业大学(马鞍山)高新技术研究院 | Balance crane capable of conveniently disassembling lifting nut and lifting nut disassembling method |
| CN204873429U (en) * | 2015-06-29 | 2015-12-16 | 遂宁市东乘车辆有限公司 | Electric motor car automobile body hoist |
| CN106808197A (en) * | 2016-10-07 | 2017-06-09 | 金大镒 | Automatic screw device for screwing up |
| CN107329452A (en) * | 2017-07-07 | 2017-11-07 | 泰州职业技术学院 | A kind of nut tightening machine control system and its method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108415274A (en) | 2018-08-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11692668B2 (en) | Control device for a gimbal and method of controlling the same | |
| CN101915341B (en) | Two -degree-of-freedom cradle head mechanism | |
| CN107943019B (en) | Handle position sensing system and method for materials handling vehicle | |
| CN109849046B (en) | Zero returning method and zero returning system of steering engine rotor, steering engine and robot | |
| US9327411B2 (en) | Robotic gripper | |
| CN209051601U (en) | A kind of axis holder | |
| US20120024677A1 (en) | Portable Actuator | |
| CN108415274B (en) | Method and system for adjusting bracket of car body lifting appliance | |
| CN201536338U (en) | Microstepping motor closed-loop controller | |
| CN204284593U (en) | High-precision electric final controlling element | |
| CN206497321U (en) | Steering gear control system and steering wheel | |
| CN201257903Y (en) | Electric accelerator pedal with preposition driving power switch | |
| WO2018142470A1 (en) | Camera control device and program for camera control device | |
| CN204010487U (en) | A kind of position control teaching experiment platform | |
| CN105676879A (en) | Deviation rectification control system of brushless DC motor based on CAN bus | |
| CN103943422B (en) | A kind of method of automatic adjustment low-voltage circuit breaker bimetal leaf screw length | |
| CN112219146B (en) | Control device, imaging device, control method, and program | |
| CN216920512U (en) | Manipulator device for controlling engineering machinery vehicle operating lever | |
| JPS63245389A (en) | Method of controlling robot | |
| US20160243709A1 (en) | Robotic gripper | |
| CN206249097U (en) | Multipurpose magnetic navigation controls loading-unloading vehicle | |
| CN112119625B (en) | Polarizing filter device, imaging device, and moving object | |
| CN108710443B (en) | Displacement data generation method and control system | |
| RU127958U1 (en) | SCAN DRIVE CONTROL DRIVE CONTROL SYSTEM | |
| CN209559920U (en) | A kind of measuring device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |