CN110877871A - Synchronous servo lifting system and method thereof - Google Patents
Synchronous servo lifting system and method thereof Download PDFInfo
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- CN110877871A CN110877871A CN201911144301.0A CN201911144301A CN110877871A CN 110877871 A CN110877871 A CN 110877871A CN 201911144301 A CN201911144301 A CN 201911144301A CN 110877871 A CN110877871 A CN 110877871A
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- lifting
- control system
- robot control
- detection switch
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/10—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks
- B66F7/12—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by mechanical jacks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention provides a synchronous servo lifting system. The utility model provides a synchronous servo lifting system, wherein, includes robot control system, demonstrator and three pairs of lifting mechanism, the demonstrator with robot control system connects, every pair of lifting mechanism with robot control system connects, robot control system is right every pair of lifting mechanism's lift action is controlled. The invention improves the defect of unstable operation of the lifting equipment, reduces the failure rate of the equipment, improves the reliability of the operation of the production line, improves the productivity of the production line and improves the performance of the production line.
Description
Technical Field
The invention relates to the technical field of automobile manufacturing, in particular to a synchronous servo lifting system and a method thereof.
Background
The design of welding assembly line automation production line need lift the platform truck or the work piece that carry the work piece at many stations, like floor sub-assembly workpiece loading station of floor assembly line, because the robot arm exhibition that is located on the double deck platform is not enough can't realize directly snatching the work piece, need lift platform truck/work piece to a take the altitude. While the lifting device cannot influence the driving-in and driving-out of the trolley. In order to avoid deformation caused by pulling of the trolley or side turning of a workpiece on the trolley, the two sides of the lifting device must be ensured to synchronously act. At present, two schemes are adopted domestically, the first scheme is as follows: the lifting is driven by the air cylinders, in order to ensure that the trolley can smoothly drive in and drive out, two sides of the lifting driving air cylinder are respectively and independently used, the two independent air cylinders are respectively controlled by two groups of different air circuits, the lifting and descending actions of the air cylinders are controlled by the electromagnetic valves, and meanwhile, the air cylinders on two sides are adjusted by two independent pneumatic speed regulating valves in two independent air circuit controls, so that the synchronization of the two sides is ensured. In order to ensure stable positioning in jacking, a mechanical limiting block is used for limiting, the cylinder is jacked to lean against the mechanical limiting block of the cylinder, and the mechanical lock of the cylinder is locked to keep the position. And the second method comprises the following steps: the common asynchronous motor and the frequency converter are used for controlling, the coupler transmits the power of the motor to the lifting devices on two sides, and the two sides are driven by a gear rack. The power shaft with two communicated sides is transversely arranged in the middle of the lifting device. In order to ensure that the trolley can smoothly drive in and out, the middle transmission power shaft needs to be arranged below the walking surface of the trolley, and the middle transmission shaft is usually arranged by digging a pit; in order to ensure that the jacking position is stable, the lifting device needs to be lifted to a height higher than the working position, the supporting blocks are extended out through a group of cylinders, and the lifting device falls onto the supporting blocks for positioning. When the trolley descends, the trolley is lifted to a height higher than the working position by the lifting device, the supporting block is retracted by the cylinder, and the lifting device descends to the place. The two schemes have certain defects, the first scheme has low running speed, long beat, poor positioning precision and difficult debugging, and the later stage needs to regulate the speed regularly; in the second scheme, the layout is complex, the spot inspection is inconvenient, the positioning precision is poor, and other positioning clamp mechanisms are required for positioning; and the two schemes have the defects of dispersion control and inconvenient operation.
Disclosure of Invention
The invention aims to overcome the defects of poor positioning precision, dispersed control and inconvenient operation during workpiece lifting and provides a synchronous servo lifting system. The invention improves the defect of unstable operation of the lifting equipment, reduces the failure rate of the equipment, improves the reliability of the operation of the production line, improves the productivity of the production line and improves the performance of the production line.
It is still another object of the present invention to provide a synchronous servo lifting system method.
In order to solve the technical problems, the invention adopts the technical scheme that: the utility model provides a synchronous servo lifting system, wherein, includes robot control system, demonstrator and three pairs of lifting mechanism, the demonstrator with robot control system connects, every pair of lifting mechanism with robot control system connects, robot control system is right every pair of lifting mechanism's lift action is controlled. According to the technical scheme, three pairs of lifting mechanisms are controlled by the same robot control system, the control compactness of equipment is improved, the floor area of an equipment control cabinet is greatly reduced, the three pairs of lifting mechanisms are respectively a front cabin lifting mechanism, a front floor lifting mechanism and a rear bottom plate lifting mechanism according to the positions of lifting workpieces, an operator can perform rapid teaching operation through a demonstrator, and each lifting mechanism is taught to perform lifting or descending work.
Furthermore, each pair of lifting mechanisms comprises two lifting devices which are oppositely arranged, and the robot control system controls the synchronous action of the two lifting devices of each pair of lifting mechanisms.
Further, the demonstrator is connected with the robot control system through a demonstration cable. The demonstrator is because the demonstrator is connected through the demonstration cable at the during operation, and the demonstrator can remove, and the staff accessible is direct to the station side and is carried out visual operation, debugging, makes things convenient for the field debugging greatly, weakens the operation blind area.
Furthermore, the lifting device comprises a base plate, a servo motor, a rack, a gear, a reduction gearbox and a main frame, wherein the main frame is installed on the base plate, the servo motor is connected with the reduction gearbox, the reduction gearbox is fixed on the back of the main frame, the rack is located in a frame of the main frame, an output shaft of the reduction gearbox is connected with the gear, the gear is located on the rack, a lifting support is arranged on the rack, and the robot control system is connected with the servo motor through a motor cable. A workpiece to be lifted is placed on the lifting support, the robot control system starts a servo motor on the lifting device, the servo motor drives the reduction gearbox after being started, an output shaft of the reduction gearbox drives a gear, a rack which is connected with the gear in a matched mode is lifted through rotation of the gear, and the rack is connected with the lifting support, so that the lifting support can be driven to ascend through movement of the rack.
Furthermore, linear slide rails are arranged on two sides of the main frame, and two sides of the lifting support are connected with the linear slide rails through sliders. In the technical scheme, when the lifting support moves through the rack, the two sides of the lifting support and the main frame move through the matching of the linear slide rail and the slide block, so that the stable movement of the lifting support is ensured, and the workpiece is prevented from turning on the lifting support laterally.
Furthermore, an upper limit detection switch, a lower limit detection switch, a working position detection switch and an in-situ detection switch are arranged on the linear slide rail. Designing an in-situ detection switch and a working position detection switch as auxiliary detection of the position of the lifting bracket to ensure the position accuracy of the lifting bracket; lower limit detection switch and upper limit detection switch detect and are used for detecting whether the support that lifts transfinites, if detect the support that lifts transfinites, lower limit detection switch reports to the police immediately with upper limit detection switch, and robot control system stops servo motor's action immediately, avoids lifting the support and deviate from linear slide.
A synchronous servo lifting system method comprises the following steps:
s1, three pairs of lifting mechanisms, one pair is a front engine room lifting mechanism, the other pair is a front floor lifting mechanism, and the related lifting parts are correspondingly placed on the lifting mechanisms;
s2, operating on a demonstrator by an operator, and controlling a front cabin lifting mechanism, a front floor lifting mechanism and a rear floor lifting device to simultaneously execute lifting actions by a robot control system according to the instruction of the demonstrator;
and S3, after the components on each lifting mechanism are taken down, an operator operates on the demonstrator, and the robot control system controls each lifting mechanism to simultaneously execute descending actions according to the instruction of the demonstrator.
Further, in step S2, the working position detection switch on each lifting device detects the position of the lifted bracket, and step S3 is performed only when the working position detection switch on each lifting device detects that the lifted bracket is lifted to the working position.
Further, in step S2, when the upper limit detection switch of each lifting device detects the lifting bracket, the robot control system immediately stops the operation of the servo motor. The upper limit detection switch carries out the upper limit control to the position of lifting support, and in case lifting support is detected by the upper limit detection switch at the in-process of lifting, the upper limit detection switch sends the police dispatch newspaper immediately, and robot control system stops servo motor's action, avoids lifting support derail.
Further, in step S3, when the lower limit detection switch of each lifting device detects the lifting bracket, the robot control system immediately stops the operation of the servo motor. The lower limit detection switch carries out the lower limit control to the position of lifting support, and in case lifting support is detected by lower limit detection switch at the descending in-process, lower limit detection switch sends the police dispatch newspaper at once, and robot control system stops servo motor's action, avoids lifting support derail.
Compared with the prior art, the invention has the beneficial effects that:
according to the robot control cabinet, the robot control system is matched with the demonstrator, so that the control compactness of equipment is improved, and the floor area of the equipment control cabinet is greatly reduced; the robot control system is used for carrying out position synchronous control on six servo motors of the three pairs of lifting mechanisms, so that the lifting devices of each pair of lifting mechanisms are completely synchronous in position, fast in action (short in beat) and high in positioning precision, the stability of lifting and descending of a workpiece is improved, the workpiece is prevented from turning over, and meanwhile, the problem that the complicated operation of periodical synchronization debugging is frequently caused due to the fact that synchronization abnormality occurs in the later period is solved; the demonstrator passes through the teaching cable junction with robot control system, and the demonstrator can remove, so the staff can remove the demonstrator and directly carry out visual operation, debugging by the station when the operation, makes things convenient for the field debugging greatly, weakens the operation blind area.
Drawings
FIG. 1 is a schematic structural diagram of a synchronous servo lift system according to the present invention.
FIG. 2 is a schematic structural diagram of the lifting mechanism of the present invention.
FIG. 3 is a flow chart of a method for a synchronous servo lift system according to the present invention.
The graphic symbols are illustrated as follows:
the system comprises a robot control system 1, a demonstrator 2, a demonstrator cable 3, a front cabin lifting mechanism 4, a front floor lifting machine 5, a rear floor lifting mechanism 6, a lifting support 7, a main frame 8, a mechanical limiting block 9, a gear 10, a servo motor 11, a linear sliding rail 12, a rack 13, a slider 14, a base plate 15, a reduction gearbox 16, an upper limiting detection switch 17, a working position detection switch 18, an in-situ detection switch 19 and a lower limiting detection switch 20.
Detailed Description
The present invention will be further described with reference to the following embodiments. Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms may be understood by those skilled in the art according to specific circumstances.
Example 1
Fig. 1-2 show an embodiment of a synchronous servo lift system according to the present invention. A synchronous servo lifting system comprises a robot control system 1, a demonstrator 2 and three pairs of lifting mechanisms, wherein the demonstrator 2 is connected with the robot control system 1, each pair of lifting mechanisms is connected with the robot control system 1, the three pairs of lifting mechanisms are respectively a front cabin lifting mechanism 4, a front floor lifting mechanism 5 and a rear floor lifting mechanism 6, and the robot control system 1 controls the actions of each pair of lifting mechanisms; each pair of lifting mechanisms comprises two lifting devices which are oppositely arranged, and the robot control system 1 controls the synchronous action of the two lifting devices of each pair of lifting mechanisms.
Wherein, lifting device includes base board 15, servo motor 11, rack 13, gear 10, reducing gear box 16 and main frame 8, main frame 8 installs on base board 15, servo motor 11 is connected with reducing gear box 16, reducing gear box 16 is fixed at the back of main frame 8, rack 13 is located the frame of main frame 8, gear 10 is located rack 13, the output shaft and the gear 10 of reducing gear box 16 are connected, be equipped with lifting support 7 on the rack 13, robot control system 1 is connected through the motor cable with servo motor 11.
The two sides of the main frame 8 are provided with linear slide rails 12, the two sides of the lifting support 7 are connected with the linear slide rails 12 through sliders 14, and the two sides of the lifting support 7 can also stably move on the linear slide rails 12 on the main frame 8 through the sliders 14 when the lifting support 7 and the racks 13 are arranged to move, so that the lifting support 7 is prevented from being laterally turned when moving.
In addition, the linear slide rail 12 is provided with a mechanical limit block 9, an upper limit detection switch 17, a working position detection switch 18, an in-situ detection switch 19 and a lower limit detection switch 20 from top to bottom in sequence. In this embodiment, the original position detection switch 19 and the working position detection switch 18 are used as auxiliary detection of the position of the lifting support 7 to ensure the accuracy of the position of the lifting support 7, the lower limit detection switch 20 and the upper limit detection switch 17 detect whether the lifting support 7 is overrun, if the lifting support 7 is overrun in the lifting action or the descending action, the lower limit detection switch 20 and the upper limit detection switch 17 immediately alarm, the robot control system 1 immediately stops the action of the servo motor 11 to prevent the lifting support 7 from being separated from the linear slide rail 12, and when the upper limit detection switch 17 fails, the mechanical limit block 9 stops the movement of the slider 14 and the lifting support 7 on the linear slide rail 12.
The working principle of the embodiment is as follows: the working personnel teach the operation on the demonstrator 2, the robot control system 1 controls six servo motors 11 of three pairs of lifting mechanisms synchronously, the servo motors 11 start to drive the reduction gearbox 16, the output shaft of the reduction gearbox 16 is connected with the gear 10 and drives the rack 13 matched with the gear 10, because the rack 13 is fixedly connected with the lifting support 7, the lifting support 7 moves when the rack 13 moves, because two servo motors 11 of each pair of lifting mechanisms are controlled by the robot control system 1 at the same time, the lifting supports 7 of two lifting devices of each pair of lifting mechanisms can be lifted synchronously or descended synchronously, thereby the lifting actions of the three pairs of lifting mechanisms are carried out simultaneously.
Example 2
A synchronous servo lifting system method comprises the following steps:
s1, completing the workpiece loading of a workpiece to be lifted on a front cabin lifting mechanism 4, completing the workpiece loading of the workpiece to be lifted on a front floor lifting mechanism 5, and completing the workpiece loading of the workpiece to be lifted on a rear floor lifting mechanism 6;
s2, when the three pairs of lifting mechanisms finish loading, the robot control system 1 controls all the lifting mechanisms to simultaneously execute lifting actions according to the instruction of the demonstrator 2;
s3, a work position detection switch 18 on the lifting device detects that the workpiece of each lifting support 7 is lifted in place and then a mechanical arm is used for taking the workpiece;
and S4, after the workpiece taking is finished, operating personnel operate on the demonstrator 2, and the robot control system 1 controls each lifting mechanism to simultaneously execute descending actions according to the instruction of the demonstrator 2.
In step S2, when the upper limit detection switch 17 of each lifting device detects the lifting bracket 7, the robot control system 1 immediately stops the operation of the servo motor.
In step S4, when the lower limit detection switch 20 of each lifting device detects the lifting bracket 7, the robot control system 1 immediately stops the operation of the servo motor.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A synchronous servo lifting system is characterized in that: including robot control system, demonstrator and three pairs of lifting mechanism, the demonstrator with robot control system connects, every to lifting mechanism with robot control system connects, robot control system is right every lifting mechanism's lift action is controlled.
2. The synchronous servo lift system of claim 1 wherein: each pair of lifting mechanisms comprises two lifting devices which are oppositely arranged, and the robot control system controls the synchronous action of the two lifting devices of each pair of lifting mechanisms.
3. The synchronous servo lift system of claim 1 wherein: the demonstrator is connected with the robot control system through a demonstration cable.
4. The synchronous servo lift system of claim 2 wherein: the lifting device comprises a base plate, a servo motor, a rack, a gear, a reduction gearbox and a main frame, wherein the main frame is installed on the base plate, the servo motor is connected with the reduction gearbox, the reduction gearbox is fixed on the back of the main frame, the rack is located in a frame of the main frame, an output shaft of the reduction gearbox is connected with the gear, the gear is located on the rack, a lifting support is arranged on the rack, and the robot control system is connected with the servo motor through a motor cable.
5. The synchronous servo lift system of claim 4 wherein: the two sides of the main frame are provided with linear slide rails, and the two sides of the lifting support are connected with the linear slide rails through sliders.
6. The synchronous servo lift system of claim 5 wherein: the linear slide rail is sequentially provided with an upper limit detection switch, a working position detection switch, an in-situ detection switch and a lower limit detection switch from top to bottom.
7. A synchronous servo lifting system method is characterized in that: the method comprises the following steps:
s1, three pairs of lifting mechanisms, one pair is a front engine room lifting mechanism, the other pair is a front floor lifting mechanism, and the related parts to be lifted are correspondingly placed on the lifting mechanisms;
s2, operating on a demonstrator by an operator, and controlling a front cabin lifting mechanism, a front floor lifting mechanism and a rear floor lifting device to simultaneously perform lifting actions by a robot control system according to the instruction of the demonstrator;
and S3, after the components on each lifting mechanism are taken down, an operator operates on the demonstrator, and the robot control system controls each lifting mechanism to simultaneously execute descending actions according to the instruction of the demonstrator.
8. The method of claim 7, wherein the method further comprises: in step S2, the working position detection switch of each lifting device detects the position of the lifted bracket, and only when the working position detection switch of each lifting device detects that the lifted bracket is lifted to the working position, the step S3 is performed.
9. The method of claim 8, wherein the method further comprises: in step S2, when the upper limit detection switch of each lifting device detects the lifting bracket, the robot control system immediately stops the operation of the servo motor.
10. The method of claim 9, wherein the method further comprises: in step S3, when the lower limit detection switch of each lifting device detects the lifting bracket, the robot control system immediately stops the operation of the servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911144301.0A CN110877871A (en) | 2019-11-20 | 2019-11-20 | Synchronous servo lifting system and method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911144301.0A CN110877871A (en) | 2019-11-20 | 2019-11-20 | Synchronous servo lifting system and method thereof |
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| CN110877871A true CN110877871A (en) | 2020-03-13 |
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| CN201911144301.0A Pending CN110877871A (en) | 2019-11-20 | 2019-11-20 | Synchronous servo lifting system and method thereof |
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Application publication date: 20200313 |