CN212126444U - Multi-degree-of-freedom servo control device for cylindrical workpiece - Google Patents
Multi-degree-of-freedom servo control device for cylindrical workpiece Download PDFInfo
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- CN212126444U CN212126444U CN201922084952.7U CN201922084952U CN212126444U CN 212126444 U CN212126444 U CN 212126444U CN 201922084952 U CN201922084952 U CN 201922084952U CN 212126444 U CN212126444 U CN 212126444U
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- rotating mechanism
- circumferential rotating
- control device
- circumferential
- cylindrical workpiece
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Abstract
The utility model discloses a multi-degree-of-freedom servo control device for cylindrical workpieces, which comprises a base, a first circumferential rotating mechanism, a second circumferential rotating mechanism, an axial moving mechanism, a guide rail, a connecting rod and a control device; guide rails are fixed on the base at positions corresponding to the first circumferential rotating mechanism and the second circumferential rotating mechanism; the first circumferential rotating mechanism and the second circumferential rotating mechanism are arranged on the guide rail; the axial moving mechanism is fixed on the base and is connected with the first circumferential rotating mechanism or the second circumferential rotating mechanism; the first circumferential rotating mechanism is connected with the second circumferential rotating mechanism through a connecting rod; the first circumferential rotating mechanism and the second circumferential rotating mechanism can synchronously slide in parallel to the axial direction of the cylindrical workpiece; the control device is used for controlling the operation of the first circumferential rotating mechanism, the second circumferential rotating mechanism and the axial moving mechanism. The device can realize the functions of multiple-degree-of-freedom operation such as circumferential rotation, axial movement and the like of the workpiece.
Description
Technical Field
The utility model belongs to cylinder work piece processing field, especially a cylinder work piece multi freedom servo control device.
Background
Industrial robot integrated equipment and nonstandard automation equipment are applied more and more widely in various domestic industries. In the manufacturing industries of welding, assembling, code spraying and the like of large cylindrical workpieces such as pipelines, pipe fittings, military ammunition and the like, generally, automatic equipment is required to realize the functions of multiple-degree-of-freedom operation such as workpiece circumferential rotation, axial movement and the like, and meanwhile, the requirements of adjustable circumferential rotation and axial movement speed, high repeated positioning precision and the like are met, so that the development of a multi-degree-of-freedom control device suitable for the cylindrical workpieces is urgently needed. But there is no description in the prior art.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a cylinder work piece multi freedom servo control device to realize the function of a plurality of degrees of freedom operations such as work piece circumferential direction and axial displacement.
Realize the utility model discloses the technical solution of purpose does:
a multi-degree-of-freedom servo control device for a cylindrical workpiece comprises a base, a first circumferential rotating mechanism, a second circumferential rotating mechanism, an axial moving mechanism, a guide rail, a connecting rod and a control device;
guide rails are fixed on the base at positions corresponding to the first circumferential rotating mechanism and the second circumferential rotating mechanism; the first circumferential rotating mechanism and the second circumferential rotating mechanism are arranged on the guide rail and can slide along the guide rail; the first circumferential rotating mechanism and the second circumferential rotating mechanism are used for supporting the cylindrical workpiece to rotate synchronously; the axial moving mechanism is fixed on the base, connected with the first circumferential rotating mechanism or the second circumferential rotating mechanism and used for driving the first circumferential rotating mechanism or the second circumferential rotating mechanism to slide along the guide rail; the first circumferential rotating mechanism and the second circumferential rotating mechanism are connected through a connecting rod; the control device is used for controlling the operation of the first circumferential rotating mechanism, the second circumferential rotating mechanism and the axial moving mechanism.
Compared with the prior art, the utility model, it is showing the advantage and is: the utility model discloses can realize cylinder work piece anticlockwise rotation, work piece clockwise rotation, work piece axle move left, work piece axial moves a plurality of compound actions such as right, can satisfy the requirement of industrial robot integrated equipment and non-standard automation equipment. Meanwhile, the system adopts the PROFINET bus design, and the expandability of the system is high.
Drawings
Fig. 1 is a structural view of a multi-degree-of-freedom servo control device.
Fig. 2 is a structural view of the circumferential rotation mechanism.
Fig. 3 is a structural view of the axial moving mechanism.
Fig. 4 is a block diagram of the control system.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific embodiments.
With reference to fig. 1, 2, 3 and 4, the multi-degree-of-freedom servo control device for a cylindrical workpiece of the present invention includes a base 1, a first circumferential rotating mechanism 2, a second circumferential rotating mechanism 3, an axial moving mechanism 4, a guide rail 5, a connecting rod 6 and a control device 7;
guide rails 5 are fixed on the base 1 at positions corresponding to the first circumferential rotating mechanism 2 and the second circumferential rotating mechanism 3; the first circumferential rotating mechanism 2 and the second circumferential rotating mechanism 3 are both arranged on the guide rail 5 and can slide along the guide rail; the first circumferential rotating mechanism 2 and the second circumferential rotating mechanism 3 are used for supporting the cylindrical workpiece and synchronously driving the cylindrical workpiece to rotate; the axial moving mechanism 4 is fixed on the base 1, connected with the first circumferential rotating mechanism 2 or the second circumferential rotating mechanism 3, and used for driving the first circumferential rotating mechanism 2 or the second circumferential rotating mechanism 3 to slide along the guide rail 5, namely to slide in parallel with the axial direction of the cylindrical workpiece; the first circumferential rotating mechanism 2 and the second circumferential rotating mechanism 3 are connected through a connecting rod 6; so that the first circumferential rotating mechanism 2 and the second circumferential rotating mechanism 3 can synchronously slide parallel to the axial direction of the cylindrical workpiece; the control device is used for controlling the operation of the first circumferential rotating mechanism 2, the second circumferential rotating mechanism 3 and the axial moving mechanism 4. The base 1 is used for carrying the whole servo control device.
Further, the first circumferential rotation mechanism 2 comprises a driving motor 8, a first speed reducer 9, a main driving roller 10, a secondary driving roller 11, a bracket 14, an adjusting block 15, a mounting base plate 12 and a drag chain 13. An output shaft of the driving motor 8 is connected with a main driving roller 10 through a first speed reducer 9; the main driving roller 10 and the auxiliary driving roller 11 are arranged on the bracket 14 through bearings; the lower end of the bracket 14 is provided with a waist-shaped hole which is connected with the mounting bottom plate 12 through a fastener; and adjusting blocks 15 are arranged at two ends of the mounting bottom plate 12 and used for adjusting and positioning the mounting position of the bracket 14. The adjusting block 15 realizes the horizontal and vertical position adjustment of the first circumferential rotating mechanism 2 through an adjusting screw; the mounting bottom plate 12 is fixed on the guide rail 5 of the base 1 through a sliding block; the drag chain 13 is used for cable routing of the driving motor 8 in the moving process of the first circular rotating mechanism 2. The main driving roller 10 and the auxiliary driving roller 11 are respectively used for supporting two sides of one end of a cylindrical workpiece, the main driving roller 10 rotates to drive the cylindrical workpiece to rotate, and the auxiliary driving roller 11 is driven.
Furthermore, the driving motor 8 adopts a servo motor to improve the control precision, and is connected with the main driving roller through a speed reducer to increase the output torque.
The second circumferential rotation mechanism 3 has the same structural form as the first circumferential rotation mechanism.
The axial moving mechanism 4 comprises an axial driving motor 16, a second speed reducer 17, a lead screw 19, a connecting mechanism 20 and a limiting mechanism 18. An output shaft of the axial driving motor 16 is connected with a lead screw 19 through a second speed reducer 17, the second circumferential rotating mechanism 3 is connected with the lead screw 19 through a connecting mechanism 20, and a limiting mechanism 18 is used for mechanical limiting of axial movement of the axial moving mechanism 4; when the axial driving motor 16 drives the lead screw to rotate, the second circumferential rotating mechanism 3 is driven to move axially.
Further, the limiting mechanism 18 adopts a limiting block or a travel switch.
Furthermore, the axial driving motor 16 adopts a servo motor to improve the control precision, and is connected with the main driving roller through a speed reducer to increase the output torque.
Furthermore, the limiting mechanisms 18 are arranged at two extreme positions in the axial moving direction, two ends of the sliding rail 5 of the first circumferential rotating mechanism 2 or the second circumferential rotating mechanism 3 are arranged at two ends of the sliding rail 5 of the first circumferential rotating mechanism 2 or the second circumferential rotating mechanism 3, two parallel sliding rails 5 are respectively arranged at the lower ends of the sliding rail 5 of the first circumferential rotating mechanism 2 or the second circumferential rotating mechanism 3, and the number of the limiting mechanisms 18 is 4.
The guide rail 5 is installed on the base 1, and the first circumferential rotating mechanism 2 and the second circumferential rotating mechanism 3 are installed on the guide rail 5 through sliding blocks to achieve movement in the axial direction.
And the connecting rod 6 is used for connecting the first circumferential rotating mechanism 2 and the second circumferential rotating mechanism 3, and when the second circumferential rotating mechanism 3 axially moves, the connecting rod 6 pulls the first circumferential rotating mechanism to axially move.
The control device 7 comprises a programmable controller, a touch screen, a motor driver, an operating button and an indicator light. The touch screen is connected with the programmable controller through a PROFINET bus and used for displaying equipment state information of the control device; the motor driver is connected with the programmable controller through a PROFINET bus and is used for driving the workpiece to rotate circumferentially and move axially; the operation buttons are used for an operator to manually input operation commands; the indicator light is used for displaying the main running state of the control device and comprises a power-on indicator light, a fault alarm light and the like.
Further, the programmable controller drives the first circular rotating mechanism 2 and the second circular rotating mechanism 3 to synchronously rotate clockwise or anticlockwise through the motor driver according to an operation button command; the second circular rotating mechanism 3 and the first circular rotating mechanism 2 are driven by the motor driver to move left and right synchronously.
Furthermore, the touch screen is configured with a state monitoring page, a fault alarm page, an IO interface monitoring page, a parameter setting page and the like, wherein the state monitoring page is used for displaying running state information of all hardware devices of the control device in real time, the fault alarm page is used for displaying fault alarm information of all devices of the control device in real time, the IO interface monitoring page is used for displaying state information of all input and output interfaces of the programmable controller, and the parameter setting page is used for setting hardware running parameters such as the rotating speed of the motor.
Further, the motor driver comprises the driving of the first circumferential rotating mechanism 2, the driving motor of the second circumferential rotating mechanism 3 and the driving of the axial driving motor 16, and is connected with the programmable controller through a PROFINET bus, and the driving motors of the first circumferential rotating mechanism 2 and the second circumferential rotating mechanism 3 are required to perform synchronous action.
Furthermore, the operation buttons comprise a power-on button, a start button, a stop button, a reset button and an emergency stop button, wherein the power-on button is used for manually carrying out power-on operation on the control device, the start button is used for manually starting the program operation of the programmable controller, the stop button is used for manually suspending the program operation of the programmable controller, the reset program is used for manually resetting the program of the programmable controller, and the emergency stop button is used for cutting off a control power supply when the control device is in an emergency and forbidding the control device to further act.
Further, the indicator light comprises an equipment power-on indicator light and an equipment fault indicator light, wherein the equipment power-on indicator light is used for displaying whether the equipment power-on is normal, and the equipment fault indicator light is used for displaying whether the equipment has a fault condition currently.
Claims (7)
1. A multi-degree-of-freedom servo control device for a cylindrical workpiece is characterized by comprising a base (1), a first circumferential rotating mechanism (2), a second circumferential rotating mechanism (3), an axial moving mechanism (4), a guide rail (5), a connecting rod (6) and a control device (7);
guide rails (5) are fixed on the base (1) at positions corresponding to the first circumferential rotating mechanism (2) and the second circumferential rotating mechanism (3); the first circumferential rotating mechanism (2) and the second circumferential rotating mechanism (3) are arranged on the guide rail (5) and can slide along the guide rail; the first circumferential rotating mechanism (2) and the second circumferential rotating mechanism (3) are used for supporting the cylindrical workpiece to rotate synchronously; the axial moving mechanism (4) is fixed on the base (1), is connected with the first circumferential rotating mechanism (2) or the second circumferential rotating mechanism (3) and is used for driving the first circumferential rotating mechanism (2) or the second circumferential rotating mechanism (3) to slide along the guide rail (5); the first circumferential rotating mechanism (2) is connected with the second circumferential rotating mechanism (3) through a connecting rod (6); the control device is used for controlling the operation of the first circumferential rotating mechanism (2), the second circumferential rotating mechanism (3) and the axial moving mechanism (4).
2. The cylindrical workpiece multi-degree-of-freedom servo control device as recited in claim 1, wherein the first circumferential rotation mechanism (2) comprises a drive motor (8), a first speed reducer (9), a main drive roller (10), a slave drive roller (11), a bracket (14), and a mounting base plate (12);
the lower end of the bracket (14) is fixed on the mounting bottom plate (12), and the lower end of the mounting bottom plate (12) is provided with a sliding block matched with the guide rail (5); the main driving roller (10) and the auxiliary driving roller (11) are respectively supported on a bracket (14) through bearings, and the axial directions of the two rollers are parallel; an output shaft of the driving motor (8) is connected with a main driving roller (10) through a first speed reducer (9); the first speed reducer (9) is fixed with the bracket (14).
3. The cylindrical workpiece multi-degree-of-freedom servo control device as recited in claim 2, wherein the lower end of the bracket (14) is provided with a kidney-shaped hole, and is connected with the mounting base plate (12) through a fastener; and adjusting blocks (15) are arranged at two ends of the mounting bottom plate (12) and are used for adjusting and positioning the mounting position of the bracket (14).
4. The cylindrical workpiece multi-degree-of-freedom servo control device as recited in claim 2 or 3, wherein the second circular rotating mechanism (3) has the same structure as the first circular rotating mechanism (2).
5. The cylindrical workpiece multi-degree-of-freedom servo control device as recited in claim 1, wherein the axial moving mechanism (4) comprises an axial driving motor (16), a second speed reducer (17), a lead screw (19), a connecting mechanism (20), and a limiting mechanism (18);
the axial driving motor (16) is fixed on the base (1), and the axial driving motor (16) is connected with the screw rod (19) through a second speed reducer (17); the first circumferential rotating mechanism (2) or the second circumferential rotating mechanism (3) is in threaded connection with the lead screw through a connecting mechanism (20); and two ends of the guide rail (5) of the first circumferential rotating mechanism (2) or the second circumferential rotating mechanism (3) are provided with limiting mechanisms (18) for limiting the movement of the axial moving mechanism (4).
6. The cylindrical workpiece multi-degree-of-freedom servo control device as recited in claim 5, wherein the limit mechanism (18) adopts a limit block or a travel switch.
7. The cylindrical workpiece multi-degree-of-freedom servo control device as recited in claim 1, wherein the control device (7) comprises a controller, a touch screen, a motor driver, an operation button for inputting an operation command, and an indicator lamp for displaying the state of the control device;
the touch screen is connected with the programmable controller through a PROFINET bus; the motor driver is connected with the programmable controller through a PROFINET bus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922084952.7U CN212126444U (en) | 2019-11-28 | 2019-11-28 | Multi-degree-of-freedom servo control device for cylindrical workpiece |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922084952.7U CN212126444U (en) | 2019-11-28 | 2019-11-28 | Multi-degree-of-freedom servo control device for cylindrical workpiece |
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| CN212126444U true CN212126444U (en) | 2020-12-11 |
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| CN201922084952.7U Active CN212126444U (en) | 2019-11-28 | 2019-11-28 | Multi-degree-of-freedom servo control device for cylindrical workpiece |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113858822A (en) * | 2021-08-31 | 2021-12-31 | 中国船舶重工集团公司第七一六研究所 | Large-scale cylindrical workpiece code spraying system and method |
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2019
- 2019-11-28 CN CN201922084952.7U patent/CN212126444U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113858822A (en) * | 2021-08-31 | 2021-12-31 | 中国船舶重工集团公司第七一六研究所 | Large-scale cylindrical workpiece code spraying system and method |
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Address after: 222061 No.18, Shenghu Road, Lianyungang City, Jiangsu Province Patentee after: The 716th Research Institute of China Shipbuilding Corp. Patentee after: JIANGSU JARI TECHNOLOGY GROUP Co.,Ltd. Address before: 222061 No.18, Shenghu Road, Lianyungang City, Jiangsu Province Patentee before: 716TH RESEARCH INSTITUTE OF CHINA SHIPBUILDING INDUSTRY Corp. Patentee before: JIANGSU JARI TECHNOLOGY GROUP Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |