CN206779816U - The coordinated control system of the non-linkage servo positioner of three axles - Google Patents
The coordinated control system of the non-linkage servo positioner of three axles Download PDFInfo
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- CN206779816U CN206779816U CN201720499744.1U CN201720499744U CN206779816U CN 206779816 U CN206779816 U CN 206779816U CN 201720499744 U CN201720499744 U CN 201720499744U CN 206779816 U CN206779816 U CN 206779816U
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Abstract
The coordinated control system of the non-linkage servo positioner of three axles provided by the utility model, including robot controller system, servomotor and the non-linkage servo positioner of three axles, it is provided with the non-linkage servo positioner of three axles by the separately-driven first displacement gyroaxis of three servomotors, the second positioning gyroaxis and the 3rd positioning gyroaxis, the first displacement gyroaxis drives the second positioning gyroaxis and the 3rd 180 ° of positioning gyroaxis synchronous axial system to realize different Switch of working position under the driving of servomotor；The coordinated control system also includes the PLC and speedy carding process module of the non-linkage servo positioner action of touch-screen, three axles of control, and the servo-driver for driving servomotor action respectively is provided between speedy carding process module and the first displacement gyroaxis, the second positioning gyroaxis, the 3rd positioning each self-corresponding servomotor of gyroaxis；Whole system is easily operated, cost is low, eliminates robot and writes station exchanger, improves the processing efficiency of workpiece.
Description
【Technical field】
The equipment that the utility model is related to assisted automated production, more particularly to a kind of non-linkage servo positioner of three axle
Coordinated control system.
【Background technology】
In the welding field of the manufacture field of workpiece, especially workpiece, conventional change position processing method is exactly in workpiece
In process, by the way that workpiece is conjugated, the processing in each face of workpiece can be realized.
At present, carry in itself three of the parallel three axles servo positioner used in field of welding devices, mostly robot
Outside axle, communicated with robot system, when carrying out station exchange, three-shaft linkage can be achieved；This kind of positioner is carrying out station
, it is necessary to which positioner is programmed for robot and position teaching during conversion, three-shaft linkage just can be achieved and carry out station exchange, operation fiber crops
It is tired；It is outside axle that robot itself carries to be additionally, since, and the purchase cost of whole equipment is higher.
【Utility model content】
The utility model is low for the welding precision and speed of welding of manual welder, and the labor intensity of operator is big to ask
Topic, there is provided one kind uses Serve Motor Control, eliminates robot and writes station exchanger, simple in construction, simplified processing stream
Journey, improves the processing efficiency of workpiece, and repetitive positioning accuracy can meet that station exchanges and welding requirements, easily operated, cost is low, raw
Produce the coordinated control system of the non-linkage servo positioner of three axles of efficiency high.
In order to realize above-mentioned purpose of utility model, the technical solution adopted in the utility model is：
The coordinated control system of the non-linkage servo positioner of three axles, including robot controller system, servomotor and general
The realization that itself rotates to an angle of the loading and unloading station of workpiece to be processed and the Switch of working position and processing stations of processing stations is treated
Workpieces processing is become by the non-linkage servo of three axles of the robot rapid processing of robot controller system respectively in different angle
Position machine, be provided with the non-linkage servo positioner of three axle by the separately-driven first displacement gyroaxis of three servomotors,
Second positioning gyroaxis and the 3rd positioning gyroaxis, the second positioning gyroaxis and the 3rd positioning Axisymmetric are installed on first
Conjugate the both sides of gyroaxis and the second positioning gyroaxis and the 3rd positioning gyroaxis itself are driven by respective servomotor and rotated
Certain angle realizes that workpieces processing positions in different angle, and the first displacement gyroaxis drives second to determine under the driving of servomotor
Position gyroaxis and the 3rd 180 ° of positioning gyroaxis synchronous axial system simultaneously realize loading and unloading station corresponding to the second positioning gyroaxis and the
Switch of working position between processing stations corresponding to three positioning gyroaxises；The coordinated control system also includes touch-screen, three axles of control
The PLC and speedy carding process module of non-linkage servo positioner action, the touch-screen connect simultaneously with PLC communication
It is configured and changes by the running parameter of touch-screen linkage servo positioner non-to three axles, PLC and speedy carding process
Module communication is connected, and gyroaxis is positioned each in speedy carding process module and the first displacement gyroaxis, the second positioning gyroaxis, the 3rd
The servo-driver for driving servomotor action respectively is provided between corresponding servomotor；The robot controller system with
PLC communication connection, the robot controller system send displacement signal on the non-linkage servo positioner of three axles the
One displacement gyroaxis, the second positioning gyroaxis and the 3rd each self-corresponding servomotor of positioning gyroaxis and by each servomotor
The closed loop of signal in place of station conversion in place feeds back to the robot controller system.
Preferably, serial communication is used between the touch-screen and PLC.
Preferably, twisted-pair shielded wire connection, and PLC are respectively adopted between the PLC and each servo-driver
Communication instruction between controller and each servo-driver is controlled using differential mode mode.
Preferably, the speedy carding process module is point-to-point by being used between PLC and robot controller system
Communication.
Preferably, it is additionally provided with corresponding to the first displacement gyroaxis at servomotor by loading and unloading station and processing stations
Feedback of the information in place arrive level detection sensor to respective servo-driver and PLC.
Preferably, it is additionally provided with inspection at the second positioning gyroaxis and the 3rd positioning each self-corresponding servomotor of gyroaxis
Survey the initial point detection sensor of itself rotation initial position signal.
Preferably, it has been also respectively connected with the power supply circuit of the PLC and each servo-driver and has been easy to filter out
The wave filter of each self-interference signal.
The beneficial effects of the utility model are：
The utility model can be communicated with the robot of different brands, the robot control system of difference in functionality, composition
Work station or robot polishing work station are carried by robot welding workstation or robot, can join with general automation equipment
Machine, composition double exchange, and two axles carry out the general purpose stations of multi-angle displacement.
When particularly the coordinated control system is applied on the automatic welding production line of robot, welding workpiece is upper and lower
Automatic between material station and welding post exchanges displacement, at the same the two sides rapid welding of welding workpiece and loading and unloading it is convenient more
Change；Meanwhile general servomotor is used to control three independences as driver element in the hardware composition of the coordinated control system
Rotating shaft carry out upset and station conversion, whole control system is only when station converts, and three axles are just linked, other works
Make state each to work independently, it is non-interference；And have suffered in linkage process, no matter any position residing for each axle, providing become
Position signal, and in the case of positioner rotation condition satisfaction, the displacement of three axles is automatically performed exchange station, is controlled using such linkage
System processed effectively ensures that the space shared by equipment is minimum.
During work, velocity of rotation is determined by the speed of the first displacement gyroaxis of the non-linkage servo positioner of three axles, station
The speed of conversion rate, need to only change the first displacement revolution axle speed, and other two displacement axle speeds and then change；Separately
Outside, speed proportional can be changed by being provided with order to ensure parallel three rotating shafts remain parallel during displacement, in PLC
Coefficient, the coefficient magnitude is adjusted by touch-screen.
Simultaneously as two working faces that the non-linkage servo positioner of three axles provided by the utility model includes can be in work
When making platform pivot, two adjacent faces of workpiece are supported in the pivoting direction respectively, therefore can be not provided with or fixture is set less
Or in the case of positioning, complete the displacement processing to workpiece；So as to by the coordinated control system of displacement, carry out station conversion
When, it need to only provide station and exchange signal, the non-linkage servo positioner of three axles is conjugated automatically, during being conjugated, the
One displacement gyroaxis, second positioning gyroaxis and the 3rd positioning gyroaxis corresponding to three axles acts simultaneously, and speed for synchronously,
Ensure that three axles remain parallel during displacement, when station is converted in place, system provides signal in place and gives robot control
Device system processed, whole control system is formed closed-loop control, can simple flow, realize the efficient production of workpiece, it is particularly suitable
The efficient batch production of large-scale workpiece in engineering machinery；Therefore, compared to axle operation outside existing robot three-shaft linkage
Simply, the coordinated control system eliminates robot and writes station exchanger, because using general Serve Motor Control, cost
Much lower compared with axle outside robot three-shaft linkage, repetitive positioning accuracy can meet station exchange and welding requirements.
【Brief description of the drawings】
Fig. 1 is fundamental diagram of the present utility model；
Fig. 2 is hardware controls schematic diagram of the present utility model；
Fig. 3 is main circuit schematic diagram of the present utility model；
Fig. 4 is servo-driver schematic diagram of the present utility model；
Fig. 5 is speedy carding process module principle figure of the present utility model.
Specific embodiment of the present utility model is described in more detail below in conjunction with accompanying drawing.
【Embodiment】
The coordinated control system of the non-linkage servo positioner of three axles, applied on the automatic welding production line of robot,
As depicted in figs. 1 and 2, including 1, three servomotor 2 of robot controller system and the loading and unloading station by workpiece to be processed
The Switch of working position and processing stations itself of (A displacements as shown in Figure 2) with welding post (B as shown in Figure 2 is conjugated)
Rotate to an angle and realize workpiece to be processed in different angle respectively by the robot rapid processing of robot controller system 1
The non-linkage servo positioner 3 of three axles, be provided with and driven respectively by three servomotors 2 on the non-linkage servo positioner 3 of three axle
Dynamic first displacement gyroaxis 30, second positions gyroaxis 31 and the 3rd and positions gyroaxis 32, the second positioning gyroaxis 31 and the
The symmetrical both sides for being installed on the first displacement gyroaxis 30 of three positioning gyroaxises 32 and the second positioning positioning of gyroaxis 31 and the 3rd
The positive and negative that gyroaxis 32 itself drives 180 ° of rotation to realize welding workpiece by respective servomotor 2 positions, and first conjugates back
Rotating shaft 30 drives the second positioning gyroaxis 31 and the 3rd to position 180 ° of 32 synchronous axial system of gyroaxis simultaneously under the driving of servomotor 2
Realize that loading and unloading station corresponding to the second positioning gyroaxis 31 (A displacements as shown in Figure 2) is right with the 3rd positioning gyroaxis 32
Switch of working position between the welding post (B displacements as shown in Figure 2) answered.
Continue as shown in Figure 1, Figure 2 with shown in Fig. 5, the coordinated control system also includes touch-screen 4, the control non-linkage servo of three axles
The PLC 5 and speedy carding process module 6 that positioner 3 acts, connected between touch-screen and PLC using serial communication
And be configured and change by the running parameter of the linkage servo positioner 3 non-to three axles of touch-screen 4, wherein, touch-screen 4 is to three
The conventional control parameter that three axles conjugate in the non-linkage servo positioner 3 of axle is write using different pictures, ensures its independence
Set, it is non-interference, and all key parameters all can set and change on screen, simultaneity factor has power failure memory function, institute
There is parameter one modified, automatically save in system；Meanwhile the rotation condition of displacement is provided with inquiry picture, and change is shown in picture
The rotation condition that position is conjugated.
As shown in Figure 1 and Figure 4, PLC 5 and speedy carding process module 6 communication connects, in speedy carding process module 6 and the
It is provided between one displacement gyroaxis, the second positioning gyroaxis, the 3rd positioning each self-corresponding servomotor 2 of gyroaxis and drives respectively
The servo-driver 7 of servomotor action；Robot controller system 1 connects with the communication of PLC 5, is controlled in robot
Device system sends displacement signal to the first displacement gyroaxis, the second positioning gyroaxis and the 3rd on the non-linkage servo positioner of three axles
Position the anti-of each self-corresponding servomotor 2 of gyroaxis and the closed loop of signal in place by the conversion of each station of servomotor 2 in place
Feed robot controller system 1.Wherein, twisted-pair shielded wire is respectively adopted between PLC 5 and each servo-driver 7
Connection, and the communication instruction between PLC 5 and each servo-driver 7 is controlled using differential mode mode；Speedy carding process module
6 by using point-to-point communication between PLC 5 and robot controller system 1.As shown in figure 3, the He of PLC 5
The wave filter 8 for being easy to filter out each self-interference signal, corresponding control are also respectively connected with the power supply circuit of each servo-driver 7
Make electric cabinet and design principle of disposal wires is strictly separated with light current using forceful electric power in wiring, it is ensured that vulnerabilities scan part is not disturbed by forceful electric power.
In addition, as depicted in figs. 1 and 2, it is additionally provided with corresponding to the first displacement gyroaxis 30 at servomotor 2 by loading and unloading work
Position and the level detection sensor that arrives of feedback of the information in place to respective servo-driver 7 and the PLC 5 of welding post (are schemed
In do not show), second positioning gyroaxis 31 and the 3rd position each self-corresponding servomotor 2 of gyroaxis 32 at is additionally provided with detection itself
Rotate the initial point detection sensor (not shown) of initial position signal.
In use, the coordinated control system is compared with prior art：Existing robot carries outside axle three-shaft linkage
Servo displacement servomotor used, driver are that robot is special, and its price is more expensive than in the market sale general-purpose servo motor
A lot, and can only be purchased from producer of particular brand robot；All servos that the coordinated control system positioner uses
Motor and driver are general-purpose servo motor on the market and driver, price opposed robots Special servo motor and drive
Dynamic device is cheaply a lot；And the coordinated control system uses conventional programmable PLC, touch-screen and speedy carding process module group
Into autonomous control system, it is only necessary to point mode is communicated using conventional point with robot control system, its price
Opposed robots' dedicated control system is cheaply a lot.
Secondly, operationally：Three axle servo positioners of existing robot control system, when carrying out station conversion
Realize that three-shaft linkage will write robot program, teaching will be carried out to the location point for conjugating process, operating procedure is relative complex；Should
Non- the simple to operate of servo positioner that link of three axles of coordinated control system, robot need to only provide station and exchange enabling signal,
Positioner carries out station exchange automatically, and during being conjugated, three axles act simultaneously, and speed is synchronous, ensures three
Axle remains parallel during displacement, station conversion in place when, system provide in place signal to robot control system
Robot, whole control system is set to form closed-loop control.And the indexing speed exchanged and three axles that robot links conjugate effect
Fruit is the same, and positioning precision can effectively meet welding requirements.
It is preferred embodiment of the present utility model that embodiment described above, which is, not limits reality of the present utility model with this
Scope is applied, all equivalence changes made according to the shape of the utility model, construction and principle, guarantor of the present utility model all should be covered by
In the range of shield.
Claims (7)
1. the coordinated control system of the non-linkage servo positioner of three axles, including robot controller system, servomotor and will treat
The loading and unloading station of workpieces processing and the Switch of working position and processing stations of processing stations itself rotate to an angle realize it is to be added
Work workpiece is conjugated by the non-linkage servo of three axles of the robot rapid processing of robot controller system respectively in different angle
Machine, it is characterised in that：
It is provided with the non-linkage servo positioner of three axle by the separately-driven first displacement gyroaxis of three servomotors, the
Two positioning gyroaxises and the 3rd positioning gyroaxis, the second positioning gyroaxis and the 3rd positioning Axisymmetric are installed on the first change
The both sides of position gyroaxis and the second positioning gyroaxis and the 3rd position gyroaxis itself by respective servomotor driving rotation one
Determine angle and realize that workpieces processing positions in different angle, the first displacement gyroaxis drives the second positioning under the driving of servomotor
Gyroaxis and the 3rd 180 ° of positioning gyroaxis synchronous axial system simultaneously realize loading and unloading station and the 3rd corresponding to the second positioning gyroaxis
Position the Switch of working position between processing stations corresponding to gyroaxis；
The coordinated control system also includes the PLC and high speed of the non-linkage servo positioner action of touch-screen, three axles of control
Output module, the touch-screen connect with PLC communication and pass through the work of touch-screen linkage servo positioner non-to three axles
It is configured and changes as parameter, PLC is connected with speedy carding process module communication, in speedy carding process module and the first displacement
It is provided between gyroaxis, the second positioning gyroaxis, the 3rd positioning each self-corresponding servomotor of gyroaxis and drives servo electricity respectively
The servo-driver of motor-driven work；
The robot controller system connects with PLC communication, and the robot controller system sends displacement signal
Each corresponded to the first displacement gyroaxis, the second positioning gyroaxis and the 3rd positioning gyroaxis on the non-linkage servo positioner of three axles
Servomotor and each servomotor station conversion closed loop of signal in place in place is fed back into the robot controller
System.
2. the coordinated control system of the non-linkage servo positioner of three axles according to claim 1, it is characterised in that described to touch
Touch and use serial communication between screen and PLC.
3. the coordinated control system of the non-linkage servo positioner of three axles according to claim 1, it is characterised in that described
Twisted-pair shielded wire connection, and PLC and each servo-drive are respectively adopted between PLC and each servo-driver
Communication instruction between device is controlled using differential mode mode.
4. the coordinated control system of the non-linkage servo positioner of three axles according to claim 1, it is characterised in that the height
Fast output module is by using point-to-point communication between PLC and robot controller system.
5. the coordinated control system of the non-linkage servo positioner of three axle according to claim 1, it is characterised in that described the
It is additionally provided with the feedback of the information in place of loading and unloading station and processing stations corresponding to one displacement gyroaxis at servomotor to respective
Servo-driver and PLC arrive level detection sensor.
6. the coordinated control system of the non-linkage servo positioner of three axle according to claim 1, it is characterised in that described the
Detection itself rotation initial bit confidence is additionally provided with two positioning gyroaxises and the 3rd positioning each self-corresponding servomotor of gyroaxis
Number initial point detection sensor.
7. the coordinated control system of the non-linkage servo positioner of three axles according to claim 1, it is characterised in that described
The filtering for being easy to filter out each self-interference signal is also respectively connected with the power supply circuit of PLC and each servo-driver
Device.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201621290470 | 2016-11-28 | ||
| CN2016212904707 | 2016-11-28 |
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| CN206779816U true CN206779816U (en) | 2017-12-22 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108941954A (en) * | 2018-07-16 | 2018-12-07 | 中车青岛四方机车车辆股份有限公司 | A kind of soldering test system and method |
| CN110779801A (en) * | 2019-10-23 | 2020-02-11 | 西安理工大学 | Geotechnical true triaxial tester control system and control method thereof |
-
2017
- 2017-05-07 CN CN201720499744.1U patent/CN206779816U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108941954A (en) * | 2018-07-16 | 2018-12-07 | 中车青岛四方机车车辆股份有限公司 | A kind of soldering test system and method |
| CN110779801A (en) * | 2019-10-23 | 2020-02-11 | 西安理工大学 | Geotechnical true triaxial tester control system and control method thereof |
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