CN221818651U - Workpiece surface trajectory tracking device - Google Patents

Abstract

The utility model discloses a workpiece surface trajectory tracking device, which includes a path planning module, a trajectory execution module and a motion control module in sequence, wherein the path planning module is used to reproduce a cylindrical model in a three-dimensional software grasshopper, plan a tracking trajectory path and convert it into pulse data that can be input into an input end of a programmable logic controller; the trajectory execution module and the motion control module perform data transmission and communication through the programmable logic controller to implement corresponding actions. The device of the utility model realizes the tracking of the surface trajectory of a cylindrical/elliptical cylinder workpiece under the condition that the posture of the tracking device remains unchanged through the cooperation of a three-way motion mechanism, and significantly improves the tracking accuracy.

Description

Workpiece surface trajectory tracking device

Technical Field

The utility model belongs to the technical field of workpiece surface curve track tracking and relates to a workpiece surface track tracking device.

Background Art

There are various parts with curved surface shapes in many mechanical manufacturing fields such as ships, automobiles, weapons, and aerospace. The tracking of the curve trajectory of the surface is widely used in mechanical processing fields such as hole opening, welding, and size detection on workpieces and other fields. The cylindrical surface curve trajectory tracking equipment can help ensure that the geometric shape and contour of the workpiece surface meet the requirements, which is very important for precision machining, welding, assembly and quality inspection.

There are currently two methods for tracking the trajectory of the workpiece surface: the industrial articulated arm robot method and the manual method. The industrial articulated arm robot is composed of multiple joints, and realizes movement along the trajectory of the workpiece surface through the control system and drive system. Its disadvantages are: the equipment is large and the cost is high. Manual means that the trajectory operation is performed manually on the workpiece surface. The disadvantages of this method are: low accuracy and efficiency, and it is difficult to ensure the consistency of processing quality.

Utility Model Content

The utility model aims to provide a workpiece surface trajectory tracking device, which solves the problem of low precision in the prior art using an industrial articulated arm robot.

The technical solution adopted by the utility model is a workpiece surface trajectory tracking device, which comprises a path planning module, a trajectory execution module and a motion control module in sequence.

Among them, the path planning module is used to reproduce the cylindrical model in the three-dimensional software Grasshopper, plan the tracking trajectory path and convert it into pulse data that can be input into the input terminal of the programmable logic controller;

The trajectory execution module and the motion control module perform data transmission and communication through the programmable logic controller to implement corresponding actions.

The workpiece surface trajectory tracking device of the utility model is also characterized in that:

The architecture of the trajectory execution module includes a base plate, a gantry, a horizontal moving mechanism, a vertical moving mechanism, a working mechanism and a rotating mechanism; the horizontal moving mechanism is composed of a crossbeam motor, a crossbeam linear guide and a crossbeam slide; the vertical moving mechanism is composed of a longitudinal beam motor, a longitudinal beam linear guide and a longitudinal beam slide; a pair of rotating mechanisms are arranged on the base plate, with the center line of the base plate as the axis, symmetrical on the left and right sides, and the rotating mechanism is composed of a clamping claw, an open clamp, a flange, a rotating motor and a motor support seat; the motor support seat is connected to the base plate with screws, and a plurality of positioning holes for the motor support seat are arranged on the base plate, and the plurality of positioning holes are arranged at a certain interval.

The installation structure of the trajectory execution module is that a gantry is fixed on the bottom plate, a crossbeam linear guide is arranged on the top surface of the gantry, a crossbeam slide is mounted on the crossbeam linear guide, and the crossbeam slide is connected to the crossbeam motor drive; a longitudinal beam slide is suspended on the outer side of the crossbeam slide, a longitudinal beam linear guide is mounted in the longitudinal beam slide, a working mechanism is fixedly installed at the lower end of the longitudinal beam linear guide, and the longitudinal beam linear guide is connected to the longitudinal beam motor drive; a pair of motor support seats are arranged on the same side of the two columns of the gantry, and a rotating motor is installed on each motor support seat, an open clamp is installed on the rotating shaft of the rotating motor through a flange, and a claw for clamping a cylindrical workpiece is respectively installed at both ends of the open clamp; the crossbeam motor drives the crossbeam slide to slide along the crossbeam linear guide, and both sides of the longitudinal beam slide are fixedly connected to the front side of the crossbeam slide, and the longitudinal beam motor drives the longitudinal beam linear guide to slide along the longitudinal beam slide; after the four claws clamp the workpiece, the two rotating motors rotate the workpiece synchronously.

The longitudinal beam motor, the two rotating motors and the cross beam motor are respectively connected to motor drivers, each motor driver is connected to a solenoid valve, and a total of four solenoid valves are connected to the programmable logic controller signal.

The architecture of the motion control module includes a programmable logic controller, and the output end of the programmable logic controller is respectively connected to the motor driver and the solenoid valve.

The beneficial effect of the utility model is that, through the cooperation of the three-way motion mechanisms, the tracking of the surface trajectory of the cylindrical/elliptical cylinder workpiece is achieved under the condition that the posture of the tracking device remains unchanged, so as to improve the tracking accuracy.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the tracking control principle of the utility model device;

FIG2 is a schematic diagram of a two-workpiece intersection model established by Grasshopper in the path planning module of the device of the utility model;

Fig. 3 is a schematic diagram of the x-y plane of the workpiece surface trajectory during the tracking process of the utility model device;

Fig. 4 is a y-z plane schematic diagram of the workpiece surface trajectory during the tracking process of the utility model device;

FIG5 is an isometric structural diagram of the utility model device during tracking;

6 is a schematic diagram of the structure of the utility model from the left;

FIG. 7 is a front structural schematic diagram of the device of the present utility model.

In the figure, 1. base plate, 2. gantry, 3. crossbeam motor, 4. crossbeam linear guide, 5. crossbeam slide, 6. longitudinal beam motor, 7. longitudinal beam linear guide, 8. longitudinal beam slide, 9. working mechanism, 10. motor support seat, 11. motor, 12. flange, 13. open clamp, 14. claw, 15. workpiece.

DETAILED DESCRIPTION

The utility model is described in detail below with reference to the accompanying drawings and specific implementation modes.

1 and 2, the overall structure of the utility model includes a path planning module, a trajectory execution module and a motion control module in sequence. The path planning module is used to reproduce a cylindrical model in the three-dimensional software Grasshopper (as shown in FIG2, which is a two-workpiece intersection model with radii of 15 mm and 40 mm, an intersection offset of 5 mm in the y direction, and an oblique intersection angle of 30° in the x and y directions), plan and track the trajectory path and convert it into pulse data that can be input into the input end of a programmable logic controller (PLC); the trajectory execution module and the motion control module perform data transmission and communication through the programmable logic controller to implement corresponding actions.

The architecture of the motion control module includes a programmable logic controller (PLC), and the output of the programmable logic controller is respectively connected to the motor driver and the solenoid valve;

The architecture of the trajectory execution module includes a base plate 1, a gantry 2, a horizontal moving mechanism, a vertical moving mechanism, a working mechanism 9 and a rotating mechanism; the horizontal moving mechanism is composed of a crossbeam motor 3, a crossbeam linear guide 4, and a crossbeam slide 5; the vertical moving mechanism is composed of a longitudinal beam motor 6, a longitudinal beam linear guide 7, and a longitudinal beam slide 8; a pair of rotating mechanisms are arranged on the base plate 1, with the center line of the base plate 1 as the axis, and the left and right sides are symmetrical, and the rotating mechanism is composed of a claw 14, a pneumatic opening clamp 13, a flange 12, a rotating motor 11 and a motor support seat 10; the motor support seat 10 is screwed to the base plate 1, and a plurality of positioning holes for the motor support seat 10 are arranged on the base plate 1, and the plurality of positioning holes are arranged at a certain interval.

5, 6 and 7, the specific installation structure of the above-mentioned components of the trajectory execution module is that a gantry 2 is fixed on the base plate 1, a crossbeam linear guide 4 is arranged on the top surface of the gantry 2, a crossbeam slide 5 is mounted on the crossbeam linear guide 4, the crossbeam slide 5 is connected to the crossbeam motor 3 by driving to realize the horizontal movement of the crossbeam slide 5; a longitudinal beam slide 8 is suspended on the outer side of the crossbeam slide 5, a longitudinal beam linear guide 7 is mounted in the longitudinal beam slide 8, a working mechanism 9 is fixedly installed at the lower end of the longitudinal beam linear guide 7, the longitudinal beam linear guide 7 is connected to the longitudinal beam motor 6 by driving to realize the movement of the longitudinal beam linear guide 7 in the vertical direction, and drive the working mechanism 9 to move up and down; a pair of motor support seats 10 are arranged on the same side of the two columns of the gantry 2, and a rotating motor 11 is installed on each motor support seat 10, and an open clamp 13 is installed on the rotating shaft of the rotating motor 11 through a flange 12, and a clamping claw 14 for clamping a cylindrical workpiece 15 is respectively installed at both ends of the open clamp 13. The crossbeam motor 3 drives the crossbeam slide 5 to slide along the crossbeam linear guide 4. The two sides of the longitudinal beam slide 8 are fixedly connected to the front side of the crossbeam slide 5. The longitudinal beam motor 6 drives the longitudinal beam linear guide 7 to slide along the longitudinal beam slide 8. After the four claws 14 clamp the workpiece 15, the two rotating motors 11 rotate the workpiece 15 synchronously.

The crossbeam motor 3 , the longitudinal beam motor 6 , and the two rotary motors 11 are respectively connected to motor drivers, each motor driver is connected to a solenoid valve, and a total of four solenoid valves are connected to the programmable logic controller signal.

6 and 7, the working principle of the utility model device is:

1) Place the workpiece 15 between the claws 14 on both sides. The programmable logic controller receives and processes the information and generates a motion control instruction. The solenoid valve controls the open clamps 13 on both sides to drive the claws 14 on both sides to clamp the workpiece 15. The inner sides of the four claws 14 cooperate to clamp the side surface of the workpiece 15. The two sides of the open clamp 13 are fixedly connected to the rear end surface of the claws 14, the rear end of the open clamp 13 is fixedly connected to the front end surface of the flange 12, the front end of the output shaft of the rotating motor 11 is fixedly connected to the center of the flange 12, the mounting seat of the flange 12 is fixedly connected to the upper end surface of the motor support seat 10, and the lower end surface of the motor support seat 10 is fixedly connected to the bottom plate 1.

2) Place the starting point of the surface trajectory of the workpiece 15 below the motion output end of the longitudinal beam linear guide 7. After receiving the pulse size, frequency data and motion control instructions from the programmable logic controller, the motor driver drives the crossbeam motor 3, the longitudinal beam motor 6 and the rotary motors 11 on both sides, thereby controlling the crossbeam slide 5 to drive the longitudinal beam slide 8 to move horizontally on the crossbeam linear guide 4, the longitudinal beam linear guide 7 to move vertically on the longitudinal beam slide 8, and the rotation angle of the opening clamps 13 on both sides. The three-part actuator cooperates with a fixed speed ratio, and moves from the starting point of the surface trajectory of the workpiece 15 to the end point of the trajectory according to the input trajectory data, completing the tracking of the surface trajectory of the workpiece 15.

Furthermore, the specific method of path planning is to use grasshopper to extract the trajectory line that needs to be tracked on the workpiece surface, select several points on the trajectory line, divide the trajectory line into several trajectory segments of appropriate length, set the starting coordinates of the trajectory line to the position (x, 0, 0), and obtain all trajectory point data, that is, obtain the coordinate data of the starting point and end point of each trajectory segment. Through the coordinate data of the starting point and end point of each trajectory segment, calculate the displacement data ∆x in the x direction of the longitudinal axis motion output end from the starting point of each trajectory segment to its end point, the displacement data ∆z in the z direction of the longitudinal axis motion output end from the starting point of each trajectory segment to its end point, and the rotation arc length data ∆l of the open clamp driving the workpiece surface to rotate around the x axis from the starting point of each trajectory segment to its end point. Convert these three types of displacement data into the corresponding number of pulses, and you can get the trajectory pulse data input to the PLC input end. If the length of each small segment of the trajectory and the expected tracking speed are known, the tracking time of each small segment of the trajectory can be calculated:

The three-segment displacement data and displacement time are known, and the movement speed in three directions can be calculated. By converting these three types of speed data into corresponding pulse frequencies, the trajectory pulse frequency data input into the programmable logic controller can be obtained.

Furthermore, the horizontal moving mechanism and the vertical moving mechanism on the gantry have orthogonal movement directions, and the lower end of the longitudinal beam linear guide 7 can be fixedly connected to the working mechanism 9 (the working mechanism 9 can be a welding gun, a camera, a position detection sensor and other track tracking equipment). The initial position of the crossbeam slide 5 is set on the center line of the left rotation mechanism claw diameter, and the initial position of the longitudinal beam slide 8 is set at the upper limit position of the longitudinal beam linear guide 7.

On both sides of the bottom of the motor support seat 10 of the rotating mechanism on the right end of the bottom plate 1, there are extended multi-hole positioning thin plates, which are connected and fixed with the bottom plate screws. By selecting different positioning holes, the distance between the motor support seat 10 and the left rotating mechanism can be changed to match workpieces of different lengths. In the rotating mechanism, the claw 14 fixed to the open clamp 13 can be replaced with different specifications to match workpieces 15 of different radius sizes.

The horizontal fixed position of the right rotating mechanism and the specifications of the claws 14 on both sides are determined according to the specifications of the workpiece 15. The workpiece 15 is placed between the claws 14 on both sides. The programmable logic controller generates motion control instructions after receiving and processing information. The solenoid valve controls the open clamps 13 on both sides to drive the claws 14 to clamp the workpiece. The inner end faces of the two claws 14 fit the two end faces of the workpiece 15.

For a workpiece 15 with a cylindrical surface, the longitudinal axis is only used to adjust the distance between the workpiece surface and the working mechanism; for a workpiece 15 with an elliptical cylindrical surface, the longitudinal axis is used to compensate for the z-direction position deviation caused by the rotation of the workpiece around the x-axis and to adjust the distance between the workpiece 15 surface and the working mechanism 9.

Example 1

7 , the surface trajectory of the workpiece 15 having a cylindrical surface of 0.5 m in length is tracked.

The control program and human-machine interface written on the computer are imported into the programmable logic controller (PLC) and the built-in display screen of the device respectively.

Adjust the position of the right motor support seat 10 on the base plate 1 according to the 0.5-meter-long workpiece 15, replace the appropriate claws, and place the workpiece 15 between the claws 14 on both sides; select the corresponding workpiece specification on the display interface, and click to confirm and start.

The PLC controls the opening clamps 13 on both sides through the solenoid valve to drive the claws 14 on both sides to clamp the workpiece 15. The PLC controls the four motor drivers to drive the crossbeam motor 3, the longitudinal beam motor 6 and the two rotating motors 11, so that the longitudinal beam moves in the x direction and the rotating mechanism on both sides rotates at the same time, so that the starting point of the workpiece surface trajectory is located directly below the longitudinal beam, and then the longitudinal beam moves down in the z direction to the end device to contact the workpiece surface; the displacement movement of the longitudinal beam in the x direction and the rotating movement of the rotating mechanism on both sides are coordinated at a certain speed ratio, and continuous tracking is performed according to several sections set by the control program, and the movement is executed from the starting point of the workpiece surface trajectory to the end point of the trajectory. Press the claw release button, remove the workpiece that has been tracked, and the device automatically resets: the longitudinal beam moves to the left in the x direction to the left limit (photoelectric sensor limit), the longitudinal beam moves to the upper limit (radio sensor limit) in the z direction, and the opening clamp rotates to the horizontal position. From then on, the tracking of the surface trajectory of the workpiece 15 with a length of 0.5 meters is completed.

Example 2

7 , the surface trajectory of the workpiece 15 having a cylindrical surface with a length of 1 meter is tracked.

The control program and human-machine interface written on the computer are respectively transmitted to the programmable logic controller (PLC) and the built-in display screen of the device.

Adjust the position of the right motor support seat 10 on the base plate 1 according to the workpiece 15 with a length of 1 meter, replace the appropriate claws, and place the workpiece 15 between the claws 14 on both sides; select the corresponding workpiece specification on the display interface, and click to confirm and start.

The PLC controls the two side opening clamps 13 through the solenoid valve to drive the two side clamping claws 14 to clamp the workpiece 15. The PLC controls the four motor drivers to drive the crossbeam motor 3, the longitudinal beam motor 6 and the two rotating motors 11, so that the longitudinal beam moves in the x direction and the two side rotating mechanisms rotate at the same time, so that the starting point of the workpiece surface trajectory is located directly below the longitudinal beam, and then the longitudinal beam moves down in the z direction to the end device to contact the workpiece surface; the longitudinal beam displacement movement in the x direction and the rotation movement of the two side rotating mechanisms are coordinated at a certain speed ratio, and continuous tracking is performed according to several sections set by the control program, and the movement is executed from the starting point of the workpiece surface trajectory to the end point of the trajectory. Stop; press the clamp release button, remove the workpiece that has been tracked, and the device automatically resets: the longitudinal beam moves left in the x direction to the left limit (photoelectric sensor limit), the longitudinal beam moves to the upper limit (radio sensor limit) in the z direction, and the opening clamp rotates to the horizontal position. From then on, the tracking of the surface trajectory of a workpiece 15 with a length of 1 meter is completed.

Example 3

3 and 4 , the surface trajectory tracking is performed on a workpiece 15 whose surface is an elliptical cylinder with a straight axis.

The control program and human-machine interface written on the computer are respectively transmitted to the programmable logic controller (PLC) and the built-in display screen of the device.

Adjust the position of the right motor support seat 10 on the base plate 1 according to the specifications and length of the workpiece 15, replace the appropriate claws, and place the workpiece 15 between the claws 14 on both sides; select the corresponding workpiece specifications on the display interface, and click to confirm and start.

PLC controls the opening clamps 13 on both sides through the solenoid valve to drive the claws 14 on both sides to clamp the workpiece 15. PLC controls the four motor drivers to drive the crossbeam motor 3, the longitudinal beam motor 6 and the two rotating motors 11, so that the longitudinal beam moves in the x direction and the rotating mechanism on both sides rotates at the same time, so that the starting point of the workpiece surface trajectory is located directly below the longitudinal beam, and then the longitudinal beam moves down in the z direction to the end device to contact the workpiece surface; the longitudinal beam displacement movement in the x direction, the longitudinal beam displacement movement in the z direction and the rotating mechanism on both sides are coordinated according to a certain speed ratio, and continuous tracking is performed according to several sections set by the control program, and the movement is executed from the starting point of the workpiece surface trajectory to the end point of the trajectory. Press the claw release button, remove the workpiece that has been tracked, and the device automatically resets: the longitudinal beam moves to the left in the x direction to the left limit (photoelectric sensor limit), the longitudinal beam moves to the upper limit (radio sensor limit) in the z direction, and the opening clamp rotates to the horizontal position. From then on, the tracking of the surface trajectory of the straight axis elliptical cylinder length workpiece 15 is completed.

Claims (5)

1. A workpiece surface track following device, characterized in that: sequentially comprises a path planning module, a track execution module and a motion control module,

The path planning module is used for reproducing a cylindrical model in the three-dimensional software grasshopper, planning a tracking track path and converting the tracking track path into pulse data which can be input to the input end of the programmable logic controller;

The track execution module and the motion control module perform data transmission and communication through the programmable logic controller, and implement corresponding actions.

2. The workpiece surface track following device of claim 1, wherein: the track execution module is structurally characterized by comprising a bottom plate (1), a portal frame (2), a horizontal moving mechanism, a vertical moving mechanism, a working mechanism (9) and a rotating mechanism; the horizontal moving mechanism consists of a beam motor (3), a beam linear guide rail (4) and a beam sliding seat (5); the vertical moving mechanism consists of a longitudinal beam motor (6), a longitudinal beam linear guide rail (7) and a longitudinal beam sliding seat (8); the rotating mechanism is arranged on the bottom plate (1) and is symmetrical on two sides by taking the central line of the bottom plate (1) as an axis, and consists of a claw (14), a pneumatic opening clamp (13), a flange plate (12), a rotating motor (11) and a motor supporting seat (10); the motor support seat (10) is connected with the bottom plate (1) through screws, a plurality of pairs of positioning holes for the motor support seat (10) are formed in the bottom plate (1), and the plurality of pairs of positioning holes are arranged at a certain interval.

3. The workpiece surface track following device of claim 2, wherein: the track execution module is characterized in that a portal frame (2) is fixed on a bottom plate (1), a beam linear guide rail (4) is arranged on the top surface of the portal frame (2), a beam sliding seat (5) is sleeved on the beam linear guide rail (4), and the beam sliding seat (5) is in driving connection with a beam motor (3); a longitudinal beam sliding seat (8) is hung on the outer side of the transverse beam sliding seat (5), a longitudinal beam linear guide rail (7) is sleeved in the longitudinal beam sliding seat (8), a working mechanism (9) is fixedly arranged at the lower end of the longitudinal beam linear guide rail (7), and the longitudinal beam linear guide rail (7) is in driving connection with a longitudinal beam motor (6); a pair of motor supporting seats (10) are arranged on the same side of two upright posts of the portal frame (2), a rotary motor (11) is arranged on each motor supporting seat (10), an opening clamp (13) is arranged on a rotating shaft of the rotary motor (11) through a flange plate (12), and two clamping claws (14) are respectively arranged at two ends of the opening clamp (13); the beam motor (3) drives the beam sliding seat (5) to slide along the beam linear guide rail (4), two sides of the longitudinal beam sliding seat (8) are fixedly connected with the front side of the beam sliding seat (5), and the longitudinal beam motor (6) drives the longitudinal beam linear guide rail (7) to slide along the longitudinal beam sliding seat (8); after the four clamping jaws (14) clamp the workpiece (15), the two rotating motors (11) synchronously rotate to drive the workpiece (15) to rotate together.

4. A workpiece surface track following apparatus as defined in claim 3, wherein: the longitudinal beam motor (6), the two rotary motors (11) and the transverse beam motor (3) are respectively connected with motor drivers, each motor driver is connected with an electromagnetic valve, and a total of four electromagnetic valves are in signal connection with the programmable logic controller.

5. The workpiece surface track following device of claim 1, wherein: the framework of the motion control module comprises a programmable logic controller, and the output end of the programmable logic controller is respectively connected into a motor driver and an electromagnetic valve.