KR100244679B1 - Motor encoder clearing equipment for arc welding robot - Google Patents

Abstract

The present invention relates to a device for clearing the encoder of the drive motor installed in the mechanical part of the welding robot, according to the motor encoder clear device of the welding robot according to the present invention, the operator is contactless to the controller part through the operation unit close to the mechanical part side By controlling the operation of the relay, it is possible to collectively control the clearing operation of the encoder, and also to control the clearing operation of the encoder collectively by operating the switching unit mounted on the mechanism part, so that the controller means and the mechanism part are separated from each other. Even if the controller means are installed several tens of meters above the ground, it does not waste time and does not interfere with the work.

Description

Motor encoder clearing device for welding robot

The present invention relates to an apparatus for clearing an encoder of a drive motor provided in a mechanical part of a welding robot.

As shown in FIG. 1, the welding robot system includes a controller means 100, a mechanism part 300, and an operation part 20.

The controller means 100 is composed of various PCBs for controlling therein, a motor controller, a power circuit, and the like, and the mechanism part 300 is a part where an operator actually works, and the controller means 100 therein. It is composed of as many motors as the number of axes controlled by the drive, an encoder of the motor, a power train, and an enclosure.

The controller means 100 and the mechanism 300 are connected by a power cable and an encoder cable 200 to exchange power and data.

In addition, the operation unit 20 is connected by the controller means 100 and the user I / O cable 220 is installed near the mechanical unit 300 for the operator to work to send an operation signal to the controller means (100) Play a role.

Meanwhile, in the conventional motor encoder clearing apparatus of the welding robot, as shown in FIG. 2, the controller means 100 includes the first, second, third, fourth, fifth and sixth motor encoders B1 to B6 of the mechanism part 300. Drive power Vcc is provided for clearing (), and the clear switches A1 to A6 are input to the drive power supply terminals Vcc and the first, second, third, fourth, fifth and sixth motor encoders B1 to B6. Each terminal is provided between one end of the terminal to individually control the driving power applied to the encoders B1 to B6.

The mechanism unit 300 is provided with first, second, third, fourth, fifth and sixth motor encoders B1 to B6, and the clear operation is controlled by the operation of the clear switches A1 to A6. Current is applied from the power supply terminal Vcc through each of the two encoder cables 210.

Each of the encoders B1 to B6 is connected to a GND (GROUND) terminal.

However, the motor encoder clearing device of the welding robot according to the related art as described above is cleared of the motor encoder when the controller means and the mechanism part are far away, or when the mechanism part is located on the ground and the controller means is installed on the instrument on the ground. In order to control the operation, the user needs to operate the clear switch individually by accessing the controller means, which is cumbersome, time consuming, and may interfere with the work.

Accordingly, the present invention has been made to solve the above problems, and an object of the present invention is to collectively perform a clear operation of a plurality of encoders by controlling an operation of a contactless relay of a controller means through an operation unit in close proximity to a mechanism part side. The present invention provides a motor encoder clearing device for a welding robot that can be controlled in a controlled manner, and that the clear operation of the plurality of encoders can be collectively controlled by manipulating a switching unit mounted on the mechanism part.

1 is a block diagram of a general welding robot system,

2 is a detailed circuit diagram of a motor encoder clear device of a welding robot according to the prior art;

Figure 3 is a detailed circuit diagram of a motor encoder clear device of the welding robot according to an embodiment of the present invention.

<Description of the code | symbol about the principal part of drawing>

A1 to A6: Clear switch SSR: Solid state relay

20: operation unit 100: controller means

210: encoder cable 300: mechanical part

310: switching unit B1 to B6: encoders of the first, second, third, fourth, fifth and sixth motors

The motor encoder clearing device of the welding robot of the present invention for achieving the above object is to generate a power supply for clearing the motor encoder, a mechanism portion having a plurality of motor encoders, and to interrupt the power supply to clear each motor encoder. A motor encoder clear device of a robotic welding system comprising a controller means having a plurality of clear switches for controlling an operation, the apparatus comprising: a switching unit for collectively interrupting power applied to the plurality of motor encoders on the mechanism side; And both ends of the power input terminal of the motor encoder on the mechanism side.

In addition, the contactless relay (SSR) is connected to the power supply terminal (Vcc) of the controller means and one end of the plurality of clear switches to collectively control the power applied to the motor encoder by the control of the operation unit. It is done.

Hereinafter, a motor encoder clear device for a welding robot according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

Figure 3 is a detailed circuit diagram of a motor encoder clear device of the welding robot according to an embodiment of the present invention, the same reference numerals are attached to the same parts as in the prior art, and duplicate descriptions are omitted.

In the motor encoder clearing apparatus of the welding robot according to an embodiment of the present invention, as shown in FIG. 3, the switching unit 310 includes the first, second, third, fourth, fifth and sixth motor encoders of the mechanism unit 300. It is connected to both ends of the power input terminals B1 to B6, respectively, to collectively interrupt the power applied to the first, second, third, fourth, fifth and sixth motor encoders B1 to B6.

In addition, a contactless relay SSR is connected between the power supply terminal Vcc of the controller means 100 and one end of the clear switches A1 to A6 to collectively supply the power applied to the motor encoders B1 to B6, respectively. To crackdown.

The solid state relay SSR is controlled by the operation unit 20.

Referring to the action on the motor encoder clear device of the welding robot according to an embodiment of the present invention configured as described above are as follows.

Looking at the operation of the switching unit 310 mounted on the mechanism unit 300 side, when the operator operates the switching unit 310 on the current is applied from the power supply terminal (Vcc) through the encoder cable 210 to the mechanical unit ( On the 300 side, the two paths are divided, and currents of two paths are applied to the first, second, third, fourth, fifth, and sixth motor encoders B1 to B6, respectively, so that the encoders B1 to B6 are cleared. .

Referring to the operation of the contactless relay SSR, first, when the operation unit 20 sends an operation signal to turn on the contactless relay SSR, the first, second, third, fourth, fifth, and sixth motor encoders B1 may be used. When the currents of the two paths generated at the power supply terminal Vcc are applied to the two power input terminals of ˜B6), the encoders b1 to b6 are collectively cleared, while the contactless relay SSR is turned off. Clear current is stopped because only one path of current is applied to the encoders B1 to B6, respectively.

Clearing the motor encoder using the contactless relay (SSR) can perform the encoder clock operation by an electric signal without manual operation by pressing a key on the operation unit 20 operated by the operator.

On the other hand, when the switching unit 310 is turned off, only one path of current is applied to the first, second, third, fourth, fifth, and sixth motor encoders B1 to B6 to stop the clear operation.

As described above, according to the motor encoder clearing device of the welding robot according to the present invention, the operator can control the clearing operation of the encoder collectively by controlling the operation of the contactless relay of the controller unit through the operation unit close to the mechanism part side. In addition, since it is possible to collectively control the clear operation of the encoder by operating the switching unit mounted on the mechanism part, even if the controller means and the mechanism part are far away or the controller means are installed several tens of meters above the ground, time is not wasted. It does not interfere with the excellent effect.

Claims (2)

A welding robot system comprising a mechanism portion having a plurality of motor encoders and a controller means having a plurality of clear switches for generating a power source for clearing the motor encoder and controlling the clear operation of each motor encoder by interrupting the power source. The motor encoder clear device of claim 1, wherein the switching section for collectively controlling the powers applied to the plurality of motor encoders on the mechanism side is connected to both ends of the power input terminals of the plurality of motor encoders on the mechanism side. Motor encoder clearing device for welding robot. A welding robot system comprising a mechanism portion having a plurality of motor encoders and a controller means having a plurality of clear switches for generating a power source for clearing the motor encoder and controlling the clear operation of each motor encoder by interrupting the power source. In the motor encoder clear device, a solid-state relay (SSR) is connected to the power terminal (Vcc) of the controller means and the plurality of clear switches to collectively control the power applied to the motor encoder under control of the operation unit. A motor encoder clear device for a welding robot, which is connected to one end.

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