CN1439474A - Control system of digital controlled welding positioning apparatus - Google Patents
Control system of digital controlled welding positioning apparatus Download PDFInfo
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- CN1439474A CN1439474A CN 02114630 CN02114630A CN1439474A CN 1439474 A CN1439474 A CN 1439474A CN 02114630 CN02114630 CN 02114630 CN 02114630 A CN02114630 A CN 02114630A CN 1439474 A CN1439474 A CN 1439474A
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Abstract
A control system for manually controlled weld shifting mahcine is composed of industrial control computer, moving control card, I/O control card, interface adapter, relay output card, demo box, manipulating rod, AC servo frequency converter, photoelectric encoder, two AC servo motors, power supply for band brake and control interface. The shift programe is written by means of specially designed instruction system for changing the welded position according to defined sequence and speed.
Description
Technical field
The present invention is a kind of automation welding auxiliary equipment, and this equipment is mainly used in and cooperates robot or automatic welding equipment to realize high-quality and efficient automatic weldering process.
Technical background
Positioner is two axle construction, comprises an industrial control computer, rotating shaft and sloping shaft, and an AC servo frequency converter, one drives the AC servo motor of sloping shaft, an AC servo motor that drives rotating shaft.
Summary of the invention
The present invention is a kind of control system of digital controlled welding positioning apparatus, comprise an industrial control computer, an AC servo frequency converter, drive two AC servo motors of sloping shaft and rotating shaft respectively, control system of the present invention is by industrial control computer, motion control card, the input and output control card, interface adapter, the relay output card, teach box, control stick, the AC servo frequency converter, two photoelectric encoders, two AC servo motors, band-type brake power supply and control interface are formed, wherein motion control card receives the rough interpolation information that industrial control computer sends, undertaken exporting control signal after the DDA interpolation by motion control card again, by two AC servo motors of AC servo Frequency Converter Control.
Control stick is made up of four control switches, and output input control card is accepted the status information of the control switch that action bars sends;
The corresponding button of keyboard definition tutorial function on the industrial control computer is:
By " 1 " key, selecting 1 of positioner is that rotating shaft is current kinematic axis,
By " 2 " key, selecting 2 of positioners is that sloping shaft is current kinematic axis,
By " ← " key, current kinematic axis turns clockwise,
By " → " key, current kinematic axis is rotated counterclockwise,
By " ↑ " key, accelerate the teaching movement velocity,
By " ↓ " key, reduce the teaching movement velocity,
By " S " key, store current taught point position coordinates,
By " L " key, return a last teaching position of having write down from current location,
By " N " key, number not the teaching period of last position of having write down as current location, then positioner moves to next teaching position of having write down, otherwise the teaching period adds one, and positioner does not move, the operator can be in this new new welding position of teaching period teaching positioner
By " D " key, the welding position taught point that the deletion current location number has write down,
By " l " key, before the taught point of current location number, increase a teaching period, current location teaching period is originally added one, and the operator can be equivalent to increase a welding position to the programming of current welding position,
By " Q " key, withdraw from tutorial program, return main menu;
The corresponding button of keyboard definition tutorial function of industrial control computer can be button or the key combination beyond the above-mentioned button.
When teach mode, industrial control computer accept respectively and store the teaching positional information, can be by teach box, action bars and keyboard are realized the teaching operation of three kinds of modes, by the positional information of industrial control computer record teaching.When playback mode, define the displacement order by custom-designed instruction system establishment displacement program, industrial control computer accesses teaching position and speed information, press the position coordinates that the digital differential analysis interpolation cycle calculates interpolated point, send into the control chip of the AC servo motor in the motion control card, make positioner follow procedure prescribed motion order and speed weld the reproduction process of displacement.
Teach box comprises single-chip microcomputer, LCD MODULE, Keysheet module, communication module, when keyboard is pressed, this key characteristic of correspondence information is sent into key characteristic value memory block, by communication module the communication interface of this information on industrial control computer sent into industrial control computer, accept the positional information that industrial control computer is sent simultaneously, by industrial control computer positional information is sent in the single-chip microcomputer in the teach box by communication interface, single-chip microcomputer is sent into the display buffer district after the positional information numeral system is changed, by LCD MODULE display position information.
According to the control system of above-described digital controlled welding positioning apparatus, it is characterized in that to provide three kinds of methods to realize tutorial function promptly: keyboard teaching, control stick teaching and teach box teaching.
Control system according to the above digital controlled welding positioning apparatus, it is characterized in that the control stick teach mode mainly drives 4 control switches by control stick and realizes, these 4 control switches can be realized 5 states, 4 switch standard-sized sheets are represented to stop, and any one closure in 4 control switches is all represented a kind of state, and they are respectively: rotating shaft turns clockwise, rotating shaft is rotated counterclockwise, sloping shaft turns clockwise, sloping shaft is rotated counterclockwise.Can realize complete tutorial function after the tutorial function key combination of control stick and keyboard definition.When the control stick teaching, action bars and keyboard combination are used, the function of corresponding function button " 1 ", " 2 ", " ← ", " → ", " ↑ ", " ↓ " when action bars has replaced above-mentioned keyboard teaching, and other keypress function is constant.
Control system according to above-described digital controlled welding positioning apparatus, it is characterized in that the teach box teach mode mainly finished by the teach box box, teach box itself is the computer of a special use, its core is a single-chip microcomputer, in the program of SCM system, constantly scan function key and numerical key on the teach box, and give controller information and order, carry out exchanges data by serial ports and industrial computer, and the execution information of positioner is presented on the Liquid Crystal Module.
Button on the teach box mainly is divided three classes:
The tutorial function key: realizing teaching, deposit in, delete and revise taught point, inspection, return function such as zero, is that teach programming is used.
The motor function key: realize the rotating of positioner sloping shaft and rotating shaft, people's teaching is used in order to operate machine.
Parameter setup key: the movement velocity of inclination, rotating shaft when being used to set teaching.
Teach box can be finished whole tutorial functions.
According to the control system of above-described digital controlled welding positioning apparatus, it is characterized in that the positional information memory method is to be obtained by the add up control impuls number of output of industrial computer in each digital differential analysis interrupts.
According to the control system of above-described digital controlled welding positioning apparatus, the reproduction process that it is characterized in that moving is finished by the instruction system of special establishment, and instruction system comprises track description instruction, I/O control instruction and program control instruction.
Description of drawings
Fig. 1 is a system block diagram of the present invention, and Fig. 2 is a control stick control switch circuit diagram, and the structured flowchart of Fig. 3 teaching apparatus, the program flow diagram of Fig. 4 teach box work, Fig. 5 are teaching and programming playback program flow chart.Industrial computer is the abbreviation of industrial control computer.
Specific implementation
As shown in Figure 1, the control system of digital controlled welding positioning apparatus is two axle construction, comprise an industrial control computer 14, rotating shaft and sloping shaft (not shown), an AC servo frequency converter 5, an AC servo motor 6 that drives sloping shaft, an AC servo motor 7 that drives rotating shaft, control system of the present invention is by an industrial control computer 14, motion control card 2, input and output control card 12, interface adapter 14, relay output card 10, teaching apparatus 1, control stick 13, AC servo frequency converter 5, two photoelectric encoders 3,4, two AC servo motors 6,7, band-type brake power supply 8 and control interface 9 are formed, wherein motion control card 2 receives the rough interpolation information that industrial control computer 14 sends, and is undertaken exporting control signal after the DDA interpolation by motion control card 2 again.
As shown in Figure 2, control stick 13 is made up of four control switches, and output input control card 12 is accepted the status information of the control switch that control stick 13 sends.
The corresponding button of keyboard definition tutorial function on the industrial control computer 14 is:
By " 1 " key, selecting 1 of positioner is that rotating shaft is current kinematic axis
By " 2 " key, selecting 2 of positioners is that sloping shaft is current kinematic axis
By " ← " key, current kinematic axis turns clockwise
By " → " key, current kinematic axis is rotated counterclockwise
By " ↑ " key, accelerate the teaching movement velocity
By " ↓ " key, reduce the teaching movement velocity
By " S " key, store current taught point position coordinates
By " L " key, return a last teaching position of having write down from current location
By " N " key, number not the teaching period of last position of having write down as current location, then positioner moves to next teaching position of having write down, otherwise, the teaching period adds one, and positioner does not move, and the operator can be in this new new welding position of teaching period teaching positioner
By " D " key, the welding position taught point that the deletion current location number has write down
By " l " key, before the taught point of current location number, increase a teaching period, current location teaching period is originally added one, and the operator can be equivalent to increase a welding position to the programming of current welding position
By " Q " key, withdraw from tutorial program, return main menu
As shown in Figure 3, teaching apparatus 1 comprises single-chip microcomputer 1-2, LCD MODULE 1-3, Keysheet module 1-4, communication module 1-1, when keyboard is pressed, this key characteristic of correspondence information is sent into key characteristic value memory block, by communication module 1-1 the communication interface 14-1 of this information on industrial control computer 14 sent into industrial control computer 14, accept the positional information that industrial control computer 14 is sent simultaneously, by industrial control computer 14 positional information is sent among the single-chip microcomputer 1-2 in the teach box 1 by communication interface 14-1, single-chip microcomputer 1-2 sends into the display buffer district after the positional information numeral system is changed, by LCD MODULE 1-3 display position information.
As shown in Figure 4, the control system of digital controlled welding positioning apparatus is when teach mode, the positional information of each taught point that the reception teaching system is sent here, and deposit in the internal memory of industrial control computer 14, the positional information of finishing after the whole teaching process each taught point deposits in the hard disk of industrial control computer 14.Digital controlled welding positioning apparatus is when playback mode, internal memory is called in each taught point information earlier by system from hard disk, its position coordinate value is taken out in pointwise from internal memory again, press digital differential analysis (DDA) interpolation cycle, it is carried out linear interpolation, calculate the position coordinates of each interpolated point, generate movement locus.Each DSP control chip of motion control card 2 is given in pointwise the position coordinates branch of each interpolated point then.The task of DSP control chip is to carry out the closed-loop control of AC servo motor 6,7, and it does further pulse uniform subdivision again after having accepted position that each next step expectation that system sends here arrives in the DDA control cycle, more level and smooth in the hope of movement locus.Then next the thin step desired value of each is also put and given AC servo motor 6,7, detect the feedback signal of photoelectric coded disk 3,4 simultaneously, accurately put in place up to it.
The motion of AC servo motor 6,7 is to be determined by the control impuls number in each DDA circulation, and the control impuls number is write in the control impuls register before each DDA circulation beginning by control software.As long as with the umber of pulse of being sent in each all the DDA control procedure value in each axis error counter when stopping that adding up the overall pulse number later and deduct last motion, just obtained each and moved to the pulse sum that current point is produced from last.If total between two taught points then mountable 1 diaxon umber of pulse of calculating between two taught points is poor with a DDA control circulation, if the coordinate of starting point is reference system with the actual zero point then can determines the coordinate of each taught point.
Count
I tilts=∑ DDA
Tilt _Pulse
j-err_count
Tilt 
In the formula:
Count
I tilts, count
The i rotationIt is poor to each umber of pulse i the taught point from i-1 taught point to be respectively sloping shaft and rotating shaft, and just i-1 taught point is poor to the coordinate between i the taught point.
DDA
Tilt _Pulse
j, DDA
Rotation _Pulsej is respectively sloping shaft and rotating shaft is controlled the umber of pulse of being sent in the circulation at j DDA.
Err_count
Tilt, err_count
RotationBe respectively sloping shaft and rotating shaft after motion finishes, the value in each the error counter.
Three kinds of multi-form teaching means have been adopted in design in the control system of digital controlled welding positioning apparatus: keyboard teaching, control stick teaching and teaching apparatus teaching.
The keyboard teaching is some function keys of definition on the keyboard of industrial control computer 14, represent each tutorial function respectively, by the primary control program keyboard scan, when finding to have key to press, obtain key assignments by keyboard scancode, call corresponding program and finish the defined function of this key;
Control stick is as auxiliary teaching display-tool with sticking plastic, and control stick is installed on the switch board.Control stick is actually four control switches combining, and control stick will drive different switch foldings to different direction gear shift, with the state of these four switches input and output control card of making a gift to someone, judges the control stick characteristic value by program.
The teach box teaching is the main mode of the control system teaching of digital controlled welding positioning apparatus.It is custom-designed be the slave computer of core with the single-chip microcomputer, tutorial function is complete.As shown in Figure 3, Figure 4, during teach box work, program constantly scans the function key and the numerical key of teach box, if there is key to press, produces interrupt procedure, in the keyboard interrupt handling procedure this key characteristic of correspondence value is sent in the button characteristic value storage of variables.In major cycle, the content in the indicating characteristic value memory is sent into LCD MODULE.Designed in the program regularly and interrupted, in the timing interrupt handling routine, carry out the serial communication process, in this process, will in the button characteristic value storage of variables content be sent to industrial control computer 14, accept position and velocity information that industrial control computer 14 is sent simultaneously, position and speed work and rest are stored in the indicating characteristic value memory.Industrial control computer 14 is controlled the motion process that digital controlled welding positioning apparatus is realized requirement according to the characteristic value that receives, and position and speed information is sent to teach box in real time by serial ports.
Realize that motion reproduction process need has the support of motion control instruction system.Its programming instruction of the motion control instruction of the control system of this digital controlled welding positioning apparatus mainly is divided three classes: program control instruction, track is described instruction and I/O control instruction.The main task of program control instruction is the beginning and the end of definition digital controlled welding positioning apparatus motor program; Track is described movement locus, welding sequence and the definition speed of welding that instruction is used to define digital controlled welding positioning apparatus; I/O control refers to a main operation to the I/O mouth, and the communication of control digital controlled welding positioning apparatus and robot or automatic welding equipment.
Realize the motion of operator's programming Control digital controlled welding positioning apparatus, mainly will finish two process-teachings and programming reproduction.The position tutorial function of each location point is mainly finished in teaching, and the position coordinates of each point recorded in the file goes.Programming realizes that mainly each position taught point motion is described to digital controlled welding positioning apparatus, by the motor coordination work of I/O control realization with robot.Teaching is actually the description to the digital controlled welding positioning apparatus coordinates of motion, and motion control program is the description to the digital controlled welding positioning apparatus motion process, and Neither of the two can be dispensed.
After the message file link of digital controlled welding positioning apparatus motion control program interpreter with the message file of position taught point and motion control program, form kinematic parameter, be transformed into the computer-internal instruction and carry out the programming campaign that digital controlled welding positioning apparatus is realized in the back, its process as shown in Figure 5.
Claims (6)
1, a kind of control system of digital controlled welding positioning apparatus, comprise an industrial control computer 14, an AC servo frequency converter 5, an AC servo motor 6 that drives sloping shaft, an AC servo motor 7 that drives rotating shaft, feature of the present invention is: its control system is by industrial control computer 14, motion control card 2, input and output control card 12, interface adapter 11, relay output card 10, teach box 1, control stick 13, AC servo frequency converter 5, photoelectric encoder 3,4, AC servo motor 6,7, band-type brake power supply 8 and control interface 9 are formed, wherein motion control card 2 receives the rough interpolation information that industrial control computer 14 sends, undertaken exporting control signal after the DDA interpolation by motion control card 2 again, by AC servo frequency converter 5 control AC servo motors 6,7;
Control stick is made up of four control switches, and output input control card 12 is accepted the status information of the control switch that action bars sends;
The corresponding button of keyboard definition tutorial function on the industrial control computer 14 is:
By " 1 " key, selecting 1 of positioner is that rotating shaft is current kinematic axis,
By " 2 " key, selecting 2 of positioners is that sloping shaft is current kinematic axis,
By " ← " key, current kinematic axis turns clockwise,
By " → " key, current kinematic axis is rotated counterclockwise,
By " ↑ " key, accelerate the teaching movement velocity,
By " ↓ " key, reduce the teaching movement velocity,
By " S " key, store current taught point position coordinates,
Press L " key, return a last teaching position of having write down from current location,
By " N " key, number not the teaching period of last position of having write down as current location, then positioner moves to next teaching position of having write down, otherwise the teaching period adds one, and positioner does not move, the operator can be in this new new welding position of teaching period teaching positioner
By " D " key, the welding position taught point that the deletion current location number has write down,
By " I " key, before the taught point of current location number, increase a teaching period, current location teaching period is originally added one, and the operator can be equivalent to increase a welding position to the programming of current welding position,
By " Q " key, withdraw from tutorial program, return main menu;
The corresponding button of keyboard definition tutorial function of industrial control computer 14 can be button or the key combination beyond the above-mentioned button;
When teach mode, industrial control computer 14 accept respectively and store the teaching positional information, can be by teach box 1, action bars 13 and keyboard are realized the teaching operation of three kinds of modes, by the positional information of industrial control computer 14 record teachings.When playback mode, define the displacement order by custom-designed instruction system establishment displacement program, industrial control computer 14 accesses teaching position and speed information, press the position coordinates that the digital differential analysis interpolation cycle calculates interpolated point, send into the control chip of the AC servo motor in the motion control card 2, make positioner follow procedure prescribed motion order and speed weld the reproduction process of displacement;
Teach box 1 comprises single-chip microcomputer 1-2, LCD MODULE 1-3, Keysheet module 1-4, communication module 1-1, when keyboard is pressed, this key characteristic of correspondence information is sent into key characteristic value memory block, by communication module 1-1 the communication interface 14-1 of this information on industrial control computer 14 sent into industrial control computer 14, accept the positional information that industrial control computer 14 is sent simultaneously, by industrial control computer 14 positional information is sent among the single-chip microcomputer 1-2 in the teach box 1 by communication interface 14-1, single-chip microcomputer 1-2 sends into the display buffer district after the positional information numeral system is changed, by LCD MODULE 1-3 display position information.
2, the control system of digital controlled welding positioning apparatus according to claim 1 is characterized in that providing three kinds of methods to realize tutorial function promptly: keyboard teaching, control stick teaching and teach box teaching.
3, according to the control system of claim 1,2 described digital controlled welding positioning apparatus, it is characterized in that the control stick teach mode mainly drives 4 control switches by control stick and realizes, these 4 control switches can be realized 5 states, 4 switch standard-sized sheets are represented to stop, and any one closure in 4 control switches is all represented a kind of state, and they are respectively: rotating shaft turns clockwise, rotating shaft is rotated counterclockwise, sloping shaft turns clockwise, sloping shaft is rotated counterclockwise.Can realize complete tutorial function after the tutorial function key combination of control stick and keyboard definition.When the control stick teaching, action bars and keyboard combination are used, the function of corresponding function button " 1 ", " 2 ", " ← ", " → ", " ↑ ", " ↓ " when action bars has replaced the teaching of keyboard described in the claim 1, and other keypress function is constant.
4, according to the control system of claim 1,2 described digital controlled welding positioning apparatus, it is characterized in that the teach box teach mode mainly finished by the teach box box, teach box itself is the computer of a special use, its core is a single-chip microcomputer, in the program of SCM system, constantly scan function key and numerical key on the teach box, and give controller information and order, carry out exchanges data by serial ports and industrial computer, and the execution information of positioner is presented on the Liquid Crystal Module.
Button on the teach box mainly is divided three classes:
The tutorial function key: realizing teaching, deposit in, delete and revise taught point, inspection, return function such as zero, is that teach programming is used.
The motor function key: realize the rotating of positioner sloping shaft and rotating shaft, people's teaching is used in order to operate machine.
Parameter setup key: the movement velocity of inclination, rotating shaft when being used to set teaching.
Teach box can be finished whole tutorial functions.
5, the control system of digital controlled welding positioning apparatus according to claim 1 is characterized in that the positional information memory method is to be obtained by the add up control impuls number of output of industrial computer in each digital differential analysis interrupts.
6, the control system of digital controlled welding positioning apparatus according to claim 1, the reproduction process that it is characterized in that moving is finished by the instruction system of special establishment, and instruction system comprises track description instruction, I/O control instruction and program control instruction.
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| CNB021146306A CN1194840C (en) | 2002-06-06 | 2002-06-06 | Control system of digital controlled welding positioning apparatus |
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| CNB021146306A CN1194840C (en) | 2002-06-06 | 2002-06-06 | Control system of digital controlled welding positioning apparatus |
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| CN105643176A (en) * | 2016-02-03 | 2016-06-08 | 重庆飞宙机械自动化设备有限公司 | Motion control system of joint robot |
| CN105643628A (en) * | 2016-02-03 | 2016-06-08 | 重庆飞宙机械自动化设备有限公司 | Motion control system of Cartesian-coordinate robot |
| CN105643176B (en) * | 2016-02-03 | 2017-05-24 | 重庆飞宙机械自动化设备有限公司 | Motion control system of joint robot |
| CN107186715A (en) * | 2017-05-25 | 2017-09-22 | 深圳市越疆科技有限公司 | Motion control method and device and storage medium, the computer of mechanical arm |
| CN107186715B (en) * | 2017-05-25 | 2020-07-31 | 深圳市越疆科技有限公司 | Method and device for controlling movement of mechanical arm, storage medium and computer |
| CN110026731A (en) * | 2019-05-24 | 2019-07-19 | 盐城工学院 | A kind of rotary shifter and method, positioner of positioner |
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