CN206550540U - A kind of multi-direction robotic welding apparatus based on linear electric motors - Google Patents
A kind of multi-direction robotic welding apparatus based on linear electric motors Download PDFInfo
- Publication number
- CN206550540U CN206550540U CN201720115896.7U CN201720115896U CN206550540U CN 206550540 U CN206550540 U CN 206550540U CN 201720115896 U CN201720115896 U CN 201720115896U CN 206550540 U CN206550540 U CN 206550540U
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- permanent magnet
- supporting table
- guide rail
- welding apparatus
- electric motors
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Abstract
The utility model discloses a kind of multi-direction robotic welding apparatus based on linear electric motors, the robotic welding apparatus includes permanent magnet linear motor, welding robot, supporting table, groove profile guide rail, pipeline clamping device, plc controllers, the artificial six-DOF robot of welding robot is vertically mounted in supporting table by rotating boss, fixed permanent magnet in supporting table both sides, supporting table is magnetic conductor；Supporting station is arranged in groove profile guide rail, and the two piece permanent magnet linear motor primary relative with permanent magnet in the supporting table are arranged parallel to the leg direction of groove profile guide rail, parallel to the waist direction arrangement and the guiding magnet of the supporting table heteropolarity of groove profile guide rail；Pipeline clamping device is set in parallel in by groove profile guide rail, and rotating disk is set on pipeline clamping device；Plc controller connecting pipes clamping device, robot, permanent magnet linear motor, permanent magnet linear motor connection supporting table.There is preferable mobility, stability is good, be easy to operation.
Description
Technical field
The utility model is related to a kind of multi-direction robotic welding apparatus based on linear electric motors.
Background technology
Weldering is that the material of welded piece makes workpiece combine and shape by heating and/or pressurization (can be with or without packing material)
It is artificial operation mostly into the technical process of permanent connection, in current factory, it is fixed that manually soldered tubing is clamped
Position, then carries out butt welding, the low poor reliability of efficiency, and be easily caused personnel's injury again.
Steel plate deep processing into steel pipe be that steel plate is made by steel pipe by prebending machine, it is necessary to which steel pipe gap is welded.
The quality of welding depends on weld seam size, welding current, windrow time, weld seam clean-up performance, is existed using robot
When being welded on straight line, often face startup and stop that speed is uneven to cause windrow uneven；And robot is moved in linear motion
Dynamic device speed governing low-response, it is impossible to meet the requirement of speed of welding.
Magnetic levitation technology is a comparatively newer technical field, mainly applies to laboratory research or railcar train
On.Big with power factor and efficiency high, pushing force density, Technics of Power Electronic Conversion plant bulk is small, cost is low, fast excellent of speed governing
Point.
Therefore a kind of preferable dynamic role is needed badly, stability is good, be easy to operation, the adjustable multi-direction robot welding in direction
Device.
Utility model content
Based on above the deficiencies in the prior art, the technical problem that the utility model is solved is that providing one kind has preferably
Dynamic role, stability are good, be easy to operation, the adjustable multi-direction robotic welding apparatus based on linear electric motors in direction.
In order to solve the above-mentioned technical problem, the utility model provides a kind of multi-direction robot welding based on linear electric motors
Device, the robotic welding apparatus includes permanent magnet linear motor, welding robot, supporting table, groove profile guide rail, pipeline clamping dress
Put, plc controllers, the artificial six-DOF robot of welding robot is vertically mounted in supporting table by rotating boss, supporting table
Fixed permanent magnet in both sides, supporting table is magnetic conductor；Supporting station is arranged in groove profile guide rail, parallel to the leg side of groove profile guide rail
To the two piece permanent magnet linear motor primary relative with permanent magnet in the supporting table are arranged, parallel to the waist direction of groove profile guide rail
Arrangement and the guiding magnet of the supporting table heteropolarity；Pipeline clamping device is set in parallel in by groove profile guide rail, pipeline clamping dress
Put setting rotating disk；Plc controller connecting pipes clamping device, robot, permanent magnet linear motor, permanent magnet linear motor connection branch
Support platform.
As the preferred embodiment of above-mentioned technical proposal, one kind that the utility model embodiment is provided is based on linear electric motors
Multi-direction robotic welding apparatus further comprise the part or all of of following technical characteristic：
As the improvement of above-mentioned technical proposal, in one embodiment of the present utility model, the relative permanent magnetism in both sides
Body is same polarity, and permanent magnet is alternately arranged by N, S pole.
As the improvement of above-mentioned technical proposal, in one embodiment of the present utility model, the groove profile guide rail waist is set
Grating scale is equipped with, supporting table bottom surface sets the reading head relative with grating scale.
As the improvement of above-mentioned technical proposal, in one embodiment of the present utility model, the plc controllers pass through control
Cable connection dsp chip processed, dsp chip connects the primary armature winding of permanent magnet linear motor by power amplifier.
As the improvement of above-mentioned technical proposal, in one embodiment of the present utility model, the pipeline clamping device bag
Including rack, two rotating disks and pushing mechanism, two rotating disks are separately mounted in frame and pushing mechanism, frame and pushing mechanism pair
Title, which is arranged in pipe ends, the frame, is also equipped with the AC servo reducing motor coaxially connected with the rotating disk.
As the improvement of above-mentioned technical proposal, in one embodiment of the present utility model, the rotating disk is cone, cone
The heart is located at the center of circle.
As the improvement of above-mentioned technical proposal, in one embodiment of the present utility model, the plc controllers pass through existing
The inverter and encoder of field bus connection, inverter are connected with the AC servo reducing motor.
As the improvement of above-mentioned technical proposal, in one embodiment of the present utility model, the plc controllers connection weldering
Welding robot.
As the improvement of above-mentioned technical proposal, in one embodiment of the present utility model, the pipeline clamping device
Frame is provided with annular groove.
Compared with prior art, the technical solution of the utility model has the advantages that：The welder uses magnetic
Suspension railway controls transverse movement, so as to weld transverse slot；Welding robot is caused using Serve Motor Control steel pipe rotary
The gap of circulating line can be welded, the device makes welding robot have preferable mobility, stability is good, be easy to operation.
Described above is only the general introduction of technical solutions of the utility model, in order to better understand skill of the present utility model
Art means, and being practiced according to the content of specification, and in order to allow above and other purpose of the present utility model, feature
It can be become apparent with advantage, below in conjunction with preferred embodiment, and coordinate accompanying drawing, describe in detail as follows.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme of the utility model embodiment, it will make simple to the accompanying drawing of embodiment below
Introduce on ground.
Fig. 1 is multi-direction robotic welding apparatus overall structure diagram of the utility model based on linear electric motors；
Fig. 2 is groove profile guide rail structure signal in multi-direction robotic welding apparatus of the utility model based on linear electric motors
Figure；
Fig. 3 is multi-direction robotic welding apparatus cathetus permanent magnet motor structure frame of the utility model based on linear electric motors
Figure；
Fig. 4 is multi-direction robotic welding apparatus structured flowchart of the utility model based on linear electric motors.
Embodiment
Describe embodiment of the present utility model in detail below in conjunction with the accompanying drawings, its as part of this specification,
Illustrate principle of the present utility model by embodiment, other aspects of the present utility model, feature and its advantage are detailed by this
Illustrate to become apparent.In the accompanying drawing of institute's reference, same or analogous part is attached using identical in different figures
Figure grade is represented.
As shown in figure 1, being a kind of multi-direction robot welding dress based on linear electric motors of the utility model preferred embodiment
A kind of structural representation put, multi-direction robotic welding apparatus based on linear electric motors of the utility model, one kind is based on straight line
The multi-direction robotic welding apparatus of motor, including permanent magnet linear motor, welding robot, supporting table, groove profile guide rail, pipeline folder
Hold device, plc controllers, it is characterised in that：The artificial six-DOF robot of welding robot is vertically mounted in supporting table, support
Fixed permanent magnet in platform both sides, the relative permanent magnet in both sides is same polarity, and permanent magnet is alternately arranged by N, S pole, and supporting table is to lead
Magnet；Supporting station is arranged in groove profile guide rail, parallel to leg direction arrangement and the permanent magnet in the supporting table of groove profile guide rail
Two relative permanent magnet linear motor primary, parallel to the waist direction arrangement of groove profile guide rail and leading for the supporting table heteropolarity
To magnet, for making supporting table suspend and producing air gap with groove profile conduit；Pipeline clamping device is set in parallel in by groove profile guide rail,
Two ends for fixing linear pattern pipeline, in addition to the rotating disk on pipeline clamping device, for along pipeline radial rotating
Pipeline；Plc controllers are used for control pipeline gripping apparatus grips pipeline, rotated pipe, are additionally operable to control machine people's welded pipe line
And permanent magnet linear motor driving supporting table is moved along groove profile guide rail.
The welding robot is connected by rotating boss with the supporting table, the direction for changing robot.
The permanent magnet linear motor also includes being arranged on the grating scale of groove profile guide rail waist, and be arranged on supporting table bottom surface with
The relative reading head of grating scale.
The plc controllers are also by controlling cable connection dsp chip, and reading head connection dsp chip, which is used to monitor, to be supported
Position and movement velocity information of the platform in channled rail, at the beginning of dsp chip also connects permanent magnet linear motor by power amplifier
The armature winding of level, driving supporting table is moved in groove profile guide rail internal speed-changing.
Pipeline clamping device includes frame, rotating disk and pushing mechanism, and two rotating disks are separately mounted to frame and pushing mechanism
On, frame and pushing mechanism are symmetricly set in pipe ends, the frame and are also equipped with the friendship coaxially connected with the rotating disk
Flow servo deceleration motor；
The rotating disk is cone, and tap web is located at the center of circle, for making pipeline and AC servo reducing motor concentric.
Inverter and encoder that the plc controllers are also connected by fieldbus, inverter and the AC servo
Reducing motor is connected, for the number of turns for controlling the rotating speed of the AC servo reducing motor and rotating.
The plc controllers connecting welding robot is moved for control machine people.
The frame of the pipeline clamping device is provided with annular groove.
As shown in figure 1, a kind of multi-direction robotic welding apparatus based on linear electric motors, the device mainly includes：Straight line
Magneto 100, welding robot 200, supporting table 300, pipeline clamping device 400, plc controllers 500.Welding robot
200 be that six-DOF robot is vertically mounted on rotation boss 302, for changing the direction of welding robot 200.Welding gun 204
It is arranged on welding robot 200, welding robot 200 flexibly controls the position of welding gun 204, and it is convex that supporting table 300 is arranged on rotation
The lower section of platform 302, for driving whole welding robot 200.As shown in the A sections in Fig. 1, supporting table 300 is arranged on groove profile and led
The top of rail 101.Pipeline clamping device 400 is set in parallel in by groove profile guide rail 101, and the two ends of pipeline 800 are by pipeline clamping device
400 clamp, and prevent the displacement of pipeline 800 from causing welding uneven.Pipeline clamping device 400 includes frame 401, rotating disk 402 and pushed away
Motivation structure 403, as shown in the C sections in Fig. 1 and the section in D directions, two rotating disks 402 are separately mounted to frame 402 and promotion
In mechanism 403, frame 401 and pushing mechanism 403 are symmetricly set in the two ends of pipeline 800, frame 401 and are also equipped with and rotating disk
402 coaxially connected AC servo reducing motors 600, rotating disk 402 for cone, tap web be located at the center of circle, for make pipeline 800 with
AC servo reducing motor 600 is concentric.So that welding is more stablized in annular solder.As shown in the B sections in Fig. 1, promote
The bottom of mechanism 403 is arranged in slideway 700, one end of the bottom of pushing mechanism 403 connection linear telescopic mechanism 701, linear telescopic
The other end of mechanism 701 is fixed on the other end of slideway 700.
Linear telescopic mechanism 701 is hydraulic jack, cylinder or linear electric motors.
Shown in Fig. 2, fixed permanent magnet 301 in the both sides of supporting table 300, the relative permanent magnet 301 in both sides is same polarity, permanent magnetism
Body 301 is alternately arranged by N, S pole, and supporting table 300 is magnetic conductor；Supporting station 300 is arranged in groove profile guide rail 101, parallel to groove
The two piece permanent magnet linear motors 100 relative with permanent magnet 301 in the supporting table 300 are arranged in the direction of leg 102 of type guide rail 101
Primary 103, parallel to the direction of waist 104 arrangement and the guiding magnet 105 of the heteropolarity of supporting table 300 of groove profile guide rail 101,
For making supporting table 300 suspend and producing air gap with groove profile guide rail 101.
Further, permanent magnet linear motor 100 also includes the grating scale 106 for being arranged on the waist 105 of groove profile guide rail 101, and
It is arranged on the bottom surface of supporting table 300 reading head 107 relative with grating scale 106.Foregoing is a kind of based on the multi-direction of linear electric motors
In robotic welding apparatus, as shown in figure 3, plc controllers 500 are also by controlling cable connection dsp chip 501, reading head 107
Connection dsp chip 501 is used to monitor position and movement velocity information of the supporting table 300 in channled rail 101, dsp chip 501
The armature winding 108 of the primary 103 of permanent magnet linear motor 100 is also connected by power amplifier 502, passes through power driver module control
Size of current direction change processed so that magnetic field accordingly changes to drive supporting table 300 to move in the internal speed-changing of groove profile guide rail 101.
The iron core for winding armature winding 108 is in line shape by the strip silicon steel plate stacking of magnetic conduction, and armature winding 108 is in space
On then each pole phase group order is wound or is enclosed on iron core by two-phase or three-phase rule, iron core both sides are simultaneously relative with main field
Winding conductor is active conductor.
Preferably, plc controllers 500 are also connected by fieldbus inverter 503, encoder 504, welding robot
200, inverter 503 is connected with the AC servo reducing motor 600, and encoder 504 is arranged on AC servo reducing motor 600
Rotating shaft on, plc controllers 500 be used for control the AC servo reducing motor rotating speed and rotate the number of turns.Plc controllers
500 connect interchanger 505 by EPA network, and interchanger 505 exchanges data with Industrial Control Computer 506.
Grating scale 106 is the JENALIE52PLXFDO types grating scale 106 of German JENA companies production, and its measurement accuracy is 1
μm.Reading head 107 is by the way that the displacement equations between fixed grating and moving grating are examined for the movement of Moire fringe
Survey.
TMS320LF2407 types dsp chip 501 integrates high-speed computation ability and the High-speed Control ability towards motor,
Can real off the shelf software substitution analog device, easily change control strategy and parameter, have malfunction monitoring, self diagnosis and up and down concurrently
Position machine management and communication function.Its internal bus is Harvard structure, and instruction execution speed is 30MIPS, and overwhelming majority instruction can be with
It is finished within the monocycle, this enables control system quickly to handle correlation computations.It has abundant resource, particularly
With 2 event manager modules, (EVA and EVB, their structure are just the same, and simply had register title differs
Sample), control can be easily programmed to motor.Task manager have 4 general purpose timer Tn (n=1,2,3,4,
Each 2 of EVA, EVB, each timer also has a comparand register and period register, when Tn can be programmed for CPU internally
Run on the basis of clock or external clock), 6 full comparing units, 6 capturing units and 2 QEP circuits.Wherein task manager
The general purpose timer of module be used for produce the sampling period (using T1) and as QEP circuits when base (using T2), QEP circuits be used for connect
The quadrature coding pulse signal of grating output is connect, the signal is counted, CAP modules are used for capturing the counting of general purpose timer
Count value in device.
Before processing is carried out to displacement signal to first have to obtain signal, after signal is detected with reading head 107, uses DSP cores
Piece 501 is acquired to signal.Reading head 107 exports 3 road signals, by quadrature coding pulse the signal a, b in this 3 road signal
It is input to the QEP pins of dsp chip 501.Wherein QEP1 and QEP2 are respectively intended to receive pulse signal a, b of grating, and they make
For general purpose timer T2 when base, timer T2 is counted to each rising and falling edges of 2 row pulses, often come on 1
When rising edge or trailing edge, T2 counter is counted with regard to plus or minus one.In pulse signals a, when b is counted, its use when
Zhong Yuanwei CLK.Frequency is 4 times of quadrature coding pulse.The direction of counting by 2 row pulses phase decision:If QEP1 connections
Be guide's series in 2 row pulses, on the contrary then subtract counting with regard to being counted up, (high level representative is counted up DIR signals, low
Level is then on the contrary).CAP3 is used for capturing the number of pulse, and it and capture drive signal T1PWM are (i.e. when the counter of T1 timers
The skip signal exported when value is equal with its comparand register on T1PWM pins) connection, with DSP general purpose timer T1 (T1
Internally run on the basis of cpu clock) sampling period is produced, often in T1PWM after the time interval in a sampling period
A saltus step is exported on pin, when there is saltus step on CAP3 pins are detected, just by the counting of the T2 timers at this moment
Numerical value in device is fitted into a register, and the numerical value can be then read in software.Only it is to be understood that each pulse institute's generation
The displacement (i.e. pulse equivalency) and pulse number of table, so that it may to calculate actual displacement.Obtain the pulse at a certain moment
After number, it can be compared with total pulse number (for predetermined displacement amount and the business of pulse equivalency), here it is this moment
Offset deviation.Deviation, which is substituted into pid algorithm and calculated, needs the voltage of output, and permanent magnet linear motor is driven with this voltage
100 motions.
The servo-control system of linear electric motors is a closed-loop system.When permanent magnet linear motor 100 is moved, reading head
The displacement of 107 constantly detection of straight lines magnetoes 100, the quadrature coding pulse signal of generation is arrived as position feed back input
In dsp chip 501, the predetermined displacement S of permanent magnet linear motor 100 and the present bit detected are moved and are compared by dsp chip 501,
Relevant voltage is provided by pid algorithm to power amplifier to drive permanent magnet linear motor 100 to move.In permanent magnet linear motor
In 100 control process, need to realize being accurately positioned and a range of response frequency for permanent magnet linear motor 100.Therefore,
The present invention is used as control algolithm using PID.Corresponding Control System Software is made up of main program and interruption subroutine.Main program is complete
Into chip and each variable initializer show, etc. the work such as appearance to be interrupted；Subprogram is then included in capture interruption, PDPINT protections
Disconnected and pid algorithm realization etc..Herein, using varying sampling period.Because being moved in permanent magnet linear motor 100 from original position
Following period of time, can using the long sampling period, at this moment be away from precalculated position, can be considered with emphasis in terms of speed because
Element.When motor movement has arrived certain position, then it will reduce in the sampling period, emphasis considers positioning precision.It can so accomplish
The two is taken into account, and both ensure that positioning precision, the response frequency of permanent magnet linear motor 100 is improved again.And, this is for DSP cores
It is also what is be easily done for piece 501.Implementation method is:(the i.e. value of T2 counters is interrupted in general purpose timer T2 comparison
During equal to comparand register) in change the sampling period, and in the cycle break (i.e. the value of T2 counters equal to period register it
Value) the middle recovery original sampling period.The former is sent out when permanent magnet linear motor 100 moves to and needs and change sampling period position
Raw, the latter is that occur when motor movement is to precalculated position.
Described above is preferred embodiment of the present utility model, can not be limited certainly with this utility model it
Interest field, it is noted that for those skilled in the art, before the utility model principle is not departed from
Put, some improvement and variation can also be made, these are improved and variation is also considered as protection domain of the present utility model.
Claims (9)
1. a kind of multi-direction robotic welding apparatus based on linear electric motors, it is characterised in that：The robotic welding apparatus bag
Permanent magnet linear motor, welding robot, supporting table, groove profile guide rail, pipeline clamping device, plc controllers are included, welding robot is artificial
Six-DOF robot is vertically mounted in supporting table by rotating boss, fixed permanent magnet in supporting table both sides, and supporting table is
Magnetic conductor；Supporting station is arranged in groove profile guide rail, parallel to leg direction arrangement and the permanent magnetism in the supporting table of groove profile guide rail
Two permanent magnet linear motor primary of body phase pair, parallel to waist direction arrangement and the supporting table heteropolarity of groove profile guide rail
Guiding magnet；Pipeline clamping device is set in parallel in by groove profile guide rail, and rotating disk is set on pipeline clamping device；Plc controllers connect
Adapter road clamping device, robot, permanent magnet linear motor, permanent magnet linear motor connection supporting table.
2. a kind of multi-direction robotic welding apparatus based on linear electric motors as claimed in claim 1, it is characterised in that：Both sides
The relative permanent magnet is same polarity, and permanent magnet is alternately arranged by N, S pole.
3. a kind of multi-direction robotic welding apparatus based on linear electric motors as claimed in claim 1, it is characterised in that：It is described
Groove profile guide rail waist is provided with grating scale, and supporting table bottom surface sets the reading head relative with grating scale.
4. a kind of multi-direction robotic welding apparatus based on linear electric motors as claimed in claim 1, it is characterised in that：It is described
Plc controllers are by controlling cable connection dsp chip, and dsp chip connects permanent magnet linear motor primary by power amplifier
Armature winding.
5. a kind of multi-direction robotic welding apparatus based on linear electric motors as claimed in claim 1, it is characterised in that：It is described
Pipeline clamping device includes frame, two rotating disks and pushing mechanism, and two rotating disks are separately mounted in frame and pushing mechanism, machine
Frame and pushing mechanism are symmetricly set in pipe ends, the frame and are also equipped with the AC servo coaxially connected with the rotating disk
Reducing motor.
6. a kind of multi-direction robotic welding apparatus based on linear electric motors as claimed in claim 1, it is characterised in that：It is described
Rotating disk is cone, and tap web is located at the center of circle.
7. a kind of multi-direction robotic welding apparatus based on linear electric motors as claimed in claim 1, it is characterised in that：It is described
Inverter and encoder that plc controllers are connected by fieldbus, inverter are connected with AC servo reducing motor.
8. a kind of multi-direction robotic welding apparatus based on linear electric motors as claimed in claim 1, it is characterised in that：It is described
Plc controller connecting weldings robot.
9. a kind of multi-direction robotic welding apparatus based on linear electric motors as claimed in claim 1, it is characterised in that：It is described
The frame of pipeline clamping device is provided with annular groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720115896.7U CN206550540U (en) | 2017-02-08 | 2017-02-08 | A kind of multi-direction robotic welding apparatus based on linear electric motors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720115896.7U CN206550540U (en) | 2017-02-08 | 2017-02-08 | A kind of multi-direction robotic welding apparatus based on linear electric motors |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206550540U true CN206550540U (en) | 2017-10-13 |
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ID=60010987
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720115896.7U Expired - Fee Related CN206550540U (en) | 2017-02-08 | 2017-02-08 | A kind of multi-direction robotic welding apparatus based on linear electric motors |
Country Status (1)
| Country | Link |
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| CN (1) | CN206550540U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108655635A (en) * | 2018-05-03 | 2018-10-16 | 云南公投工程检测有限公司 | A kind of steel forms automatic assembling device |
| CN109158802A (en) * | 2018-10-16 | 2019-01-08 | 宁夏吴忠市好运电焊机有限公司 | Magnetic suspension damping for welding robot is stably connected with device |
-
2017
- 2017-02-08 CN CN201720115896.7U patent/CN206550540U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108655635A (en) * | 2018-05-03 | 2018-10-16 | 云南公投工程检测有限公司 | A kind of steel forms automatic assembling device |
| CN109158802A (en) * | 2018-10-16 | 2019-01-08 | 宁夏吴忠市好运电焊机有限公司 | Magnetic suspension damping for welding robot is stably connected with device |
| CN109158802B (en) * | 2018-10-16 | 2021-02-26 | 宁夏吴忠市好运电焊机有限公司 | Magnetic suspension damping stable connector for welding robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171013 Termination date: 20210208 |