CN206029903U - Electric welding machine people's vibration feedback system - Google Patents
Electric welding machine people's vibration feedback system Download PDFInfo
- Publication number
- CN206029903U CN206029903U CN201621045635.4U CN201621045635U CN206029903U CN 206029903 U CN206029903 U CN 206029903U CN 201621045635 U CN201621045635 U CN 201621045635U CN 206029903 U CN206029903 U CN 206029903U
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- vibration
- output unit
- feedback system
- frequency
- motor
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Abstract
The utility model relates to an electric welding machine people field, concretely relates to electric welding machine people's vibration feedback system, include: electric welding machine people should electrically weld the arm that the machine people includes a plurality of joint axis component to and the motor of a plurality of settings between each joint axis, the control unit is used for the function of control machinery arm, vibration sensor for detect joint axis's vibration frequency, pulse modulation output unit, this pulse modulation output unit adjust according to vibration frequency and export motor pivoted pulse frequency. The utility model discloses a design electric welding machine people's vibration feedback system, the control unit control machinery arm cut or during the hot spraying, detect joint axis's vibration frequency through vibration sensor, pulse modulation output unit according to vibration frequency the adjustment export motor pivoted pulse frequency, a suitable scope is kept with the vibration to the operating speed of arm when reducing cutting or hot spraying, improves welding precision.
Description
Technical field
The utility model is related to be welded robot field, and in particular to a kind of vibrational feedback system of electric welding robot.
Background technology
Welding robot is the industrial robot for being engaged in welding (including cutting and spraying).According to International Organization for standardization
(ISO) industrial robot belongs to the definition of standard welding robot, and industrial robot is a kind of multiduty, repeatable programming
Operation machine (Manipulator) is automatically controlled, with three or more programmable axles, for industrial automation.In order to
Adapt to different purposes, the mechanical interface of last axle of robot, typically one adpting flange, can be hinged with different instruments or
Claim end effector.Welding robot makes it in the last shaft flange attaching soldering turret or weldering (cutting) rifle of industrial robot
Welded, cut or thermal spraying.
But during cutting or thermal spraying, vibrate can mechanical arm, when vibrating excessive, cutting or heat can be caused
Spraying is inaccurate, affects product quality.
Utility model content
The technical problems to be solved in the utility model is, for the drawbacks described above of prior art, there is provided a kind of electric welding machine
The vibrational feedback system of device people, improves welding precision.
The utility model solves the technical scheme adopted by its technical problem：There is provided a kind of vibration of electric welding robot anti-
Feedback system, including：
Electric welding robot, the electric welding robot include the mechanical arm of multiple joint shafts composition, and multiple are arranged on each pass
Motor between nodal axisn；
Control unit, the control unit respectively with motor connection, for the running of control machinery arm；
Vibrating sensor, the vibrating sensor are arranged on joint shaft, for detecting the vibration frequency of joint shaft；
Impulse modulation output unit, the impulse modulation output unit respectively with control unit and motor connection, the pulse adjusts
Output unit processed adjusts the pulse frequency that output is rotated to motor according to vibration frequency.
Wherein, preferred version is：The impulse modulation output unit includes a threshold value comparison module, and the threshold value comparison module is pre-
If some vibration classes, one threshold range of each vibration class correspondence, the threshold value comparison module receive vibration frequency and are compared
Compared with, current vibration frequency is divided in corresponding vibration class according to threshold range, the impulse modulation output unit is according to shaking
The pulse frequency that dynamic level adjustment output is rotated to motor.
Wherein, preferred version is：The impulse modulation output unit includes some pulse frequency gears, the pulse frequency gear
A vibration class is corresponded to respectively, and the pulse frequency gear is provided with a pulse frequency, and the impulse modulation output unit is according to vibration
The pulse frequency gear that level adjustment output is rotated to motor.
Wherein, preferred version is：The threshold value comparison module includes a brake hard grade, when shaking corresponding to vibration frequency
Dynamic grade is brake hard grade, impulse modulation output unit unlatching brake hard, stops output pulse frequency.
Wherein, preferred version is：The control unit includes some motion models, the motion model be provided with it is different most
Excellent vibration class, the pulse frequency that the impulse modulation output unit is rotated to motor according to the output of current vibration level adjustment, directly
It is optimum vibration class to front vibration class.
Wherein, preferred version is：The motion model is provided with different brake hard grades.
Wherein, preferred version is：The motion model includes cutting, thermal spraying.
Wherein, preferred version is：The motor is servomotor.
The beneficial effects of the utility model are that compared with prior art, the utility model is by designing electric welding robot
Vibrational feedback system, control unit control machinery arm cut or during thermal spraying, detects joint shaft by vibrating sensor
Vibration frequency, impulse modulation output unit according to vibration frequency adjust output to motor rotate pulse frequency, reduce cutting
Or during thermal spraying mechanical arm operating rate, vibration is maintained to a proper range, welding precision is improved.
Description of the drawings
Below in conjunction with drawings and Examples, the utility model is described in further detail, in accompanying drawing：
Fig. 1 is the structural representation of the utility model mechanical arm；
Fig. 2 is the control block diagram of the utility model vibrational feedback system；
Fig. 3 is the control block diagram of the utility model impulse modulation output unit.
Specific embodiment
In conjunction with accompanying drawing, preferred embodiment of the present utility model is elaborated.
As depicted in figs. 1 and 2, the utility model provides a kind of being preferable to carry out for vibrational feedback system of electric welding robot
Example.
A kind of vibrational feedback system of electric welding robot, including electric welding robot, control unit 20,30 and of vibrating sensor
Impulse modulation output unit 40, specifically, the electric welding robot includes the mechanical arm of the composition of multiple joint shafts 11, and multiple sets
Put the motor 12 between each joint shaft 11；The control unit 20 is connected with motor 12 respectively, for the running of control machinery arm；
The vibrating sensor 30 is arranged on joint shaft 11, for detecting the vibration frequency of joint shaft 11；The impulse modulation output unit
40 are connected with control unit 20 and motor 12 respectively, and the impulse modulation output unit 40 is according to vibration frequency adjustment output to motor
12 pulse frequencies for rotating.
Specifically, vibrational feedback system includes two main control lines, and first is that control unit 20 refers to according to default control
Make, the control instruction of the control instruction of user or Emergency time, control electric welding machine manually makees, i.e., controlled motor 12 is operated,
Worked with controlling joint shaft 11.Second is the vibration frequency that impulse modulation output unit 40 is sensed according to vibrating sensor 30, is adjusted
Section output is precisely controlled vibration within the specific limits to the pulse frequency of motor 12, stablizing when improving electric welding robot welding
Property.
Wherein, the motor 12 is servomotor, controls the swing of adjacent segment axle 11 by motor 12.
As shown in figure 3, the utility model provides the preferred embodiment of impulse modulation output unit.
Impulse modulation output unit 40 includes a threshold value comparison module 41, and the threshold value comparison module 41 presets some vibrations etc.
Level, one threshold range of each vibration class correspondence, the threshold value comparison module 41 receive vibration frequency and are compared, currently shaken
Dynamic frequency is divided in corresponding vibration class according to threshold range, and the impulse modulation output unit 40 is adjusted according to vibration class
Export the pulse frequency of the rotation of motor 12.
Further, the impulse modulation output unit 40 includes some pulse frequency gears 42, the pulse frequency gear 42
A vibration class is corresponded to respectively, and the pulse frequency gear 42 is provided with a pulse frequency, 40 basis of impulse modulation output unit
The pulse frequency gear 42 that vibration class adjustment output is rotated to motor 12.
Wherein, the threshold value comparison module 41 includes a brake hard grade, when the vibration class corresponding to vibration frequency is
Brake hard grade, the impulse modulation output unit 40 open brake hard, stop output pulse frequency.
Specifically, the different vibration class of different vibration frequency correspondences, impulse modulation output unit 40 are obtained according to feedback
The pulse frequency that rotates to motor 12 of vibration class (including brake hard grade) controlled output, realize coarse adjustment, shake certainly
Dynamic grade arranges more, and degree of regulation is more accurate.Adjusted by the pulse frequency of vibration class, it is to avoid due to time changing arteries and veins
Rush frequency and affect stability when being welded the welding of robot.
Further, vibration class includes five grades, and the first estate corresponds to most slight vibration, and the 5th grade is tight
Anxious braking grade, according to different work, pulse frequency is controlled on corresponding vibration class, such as thermal spraying when may be selected the
Three grades and the fourth estate, cutting are maintained at the first estate.
In the utility model, there is provided a kind of preferred embodiment of motion model.
The control unit 20 includes some motion models, and the motion model is provided with different optimum vibration classes, should
The pulse frequency that impulse modulation output unit 40 is rotated to motor 12 according to the output of current vibration level adjustment, until front vibration etc.
Level is optimum vibration class.
Wherein, the motion model is provided with different brake hard grades.
Wherein, the motion model includes cutting, thermal spraying.
As described above, only the utility model most preferred embodiment is not intended to limit scope of the present utility model,
All equivalence changes made according to the utility model claim or modification, are all the utility model and are covered.
Claims (8)
1. it is a kind of electric welding robot vibrational feedback system, it is characterised in that include：
Electric welding robot, the electric welding robot include the mechanical arm of multiple joint shafts composition, and multiple are arranged on each joint shaft
Between motor；
Control unit, the control unit respectively with motor connection, for the running of control machinery arm；
Vibrating sensor, the vibrating sensor are arranged on joint shaft, for detecting the vibration frequency of joint shaft；
Impulse modulation output unit, the impulse modulation output unit respectively with control unit and motor connection, the impulse modulation is defeated
Go out unit and the pulse frequency that output is rotated to motor is adjusted according to vibration frequency.
2. vibrational feedback system according to claim 1, it is characterised in that：The impulse modulation output unit includes a threshold value
Comparison module, the threshold value comparison module preset some vibration classes, and one threshold range of each vibration class correspondence, the threshold value compare
Module receives vibration frequency and is compared, and current vibration frequency is divided in corresponding vibration class according to threshold range,
The impulse modulation output unit adjusts the pulse frequency that output is rotated to motor according to vibration class.
3. vibrational feedback system according to claim 2, it is characterised in that：The impulse modulation output unit includes some arteries and veins
Frequency gear is rushed, the pulse frequency gear corresponds to a vibration class respectively, the pulse frequency gear is provided with a pulse frequency, should
Impulse modulation output unit adjusts the pulse frequency gear that output is rotated to motor according to vibration class.
4. vibrational feedback system according to claim 2, it is characterised in that：The threshold value comparison module includes a brake hard
Grade, when the vibration class corresponding to vibration frequency is brake hard grade, impulse modulation output unit unlatching brake hard,
Stop output pulse frequency.
5. vibrational feedback system according to claim 4, it is characterised in that：The control unit includes some motion models,
The motion model is provided with different optimum vibration classes, and the impulse modulation output unit is defeated according to current vibration level adjustment
Go out to motor the pulse frequency for rotating, until front vibration class is optimum vibration class.
6. vibrational feedback system according to claim 5, it is characterised in that：The motion model is provided with different urgent
Braking grade.
7. vibrational feedback system according to claim 5, it is characterised in that：The motion model includes cutting, thermal spraying.
8. vibrational feedback system according to claim 1, it is characterised in that：The motor is servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621045635.4U CN206029903U (en) | 2016-09-08 | 2016-09-08 | Electric welding machine people's vibration feedback system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621045635.4U CN206029903U (en) | 2016-09-08 | 2016-09-08 | Electric welding machine people's vibration feedback system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206029903U true CN206029903U (en) | 2017-03-22 |
Family
ID=58299731
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621045635.4U Withdrawn - After Issue CN206029903U (en) | 2016-09-08 | 2016-09-08 | Electric welding machine people's vibration feedback system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206029903U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106239514A (en) * | 2016-09-08 | 2016-12-21 | 肇庆市小凡人科技有限公司 | A kind of vibrational feedback system of electric welding robot |
| CN111067624A (en) * | 2019-12-25 | 2020-04-28 | 四川安雅仕健康管理有限公司 | Medium-and-long-range remote control operation intervention robot device |
| CN112584989A (en) * | 2018-07-06 | 2021-03-30 | 川崎重工业株式会社 | Robot system and control method for robot system |
-
2016
- 2016-09-08 CN CN201621045635.4U patent/CN206029903U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106239514A (en) * | 2016-09-08 | 2016-12-21 | 肇庆市小凡人科技有限公司 | A kind of vibrational feedback system of electric welding robot |
| CN106239514B (en) * | 2016-09-08 | 2019-06-07 | 肇庆市小凡人科技有限公司 | A kind of vibrational feedback system being welded robot |
| CN112584989A (en) * | 2018-07-06 | 2021-03-30 | 川崎重工业株式会社 | Robot system and control method for robot system |
| CN112584989B (en) * | 2018-07-06 | 2023-08-18 | 川崎重工业株式会社 | Robot system and control method for robot system |
| CN111067624A (en) * | 2019-12-25 | 2020-04-28 | 四川安雅仕健康管理有限公司 | Medium-and-long-range remote control operation intervention robot device |
| CN111067624B (en) * | 2019-12-25 | 2021-08-17 | 四川安雅仕健康管理有限公司 | Medium-and-long-range remote control operation intervention robot device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170322 Effective date of abandoning: 20190607 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20170322 Effective date of abandoning: 20190607 |