CN102873678A - Device and method for controlling attitude and space displacement of welding smoke air inlet - Google Patents
Device and method for controlling attitude and space displacement of welding smoke air inlet Download PDFInfo
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- CN102873678A CN102873678A CN2012103614307A CN201210361430A CN102873678A CN 102873678 A CN102873678 A CN 102873678A CN 2012103614307 A CN2012103614307 A CN 2012103614307A CN 201210361430 A CN201210361430 A CN 201210361430A CN 102873678 A CN102873678 A CN 102873678A
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- air inlet
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Abstract
The invention discloses a device and a method for controlling an attitude and a space displacement of a welding smoke air inlet. The device comprises a manipulator fixed with an air inlet and a cascaded pipeline of the air inlet, wherein a lead head and a control device are arranged on the manipulator; the lead head is connected with a surface cover and the control device respectively; and when the surface cover moves, a space angle and the space displacement of the lead head are changed; according to the variables, the control device adjusts the space angle and the space displacement of the air inlet. According to the device, the lead head with a space angle sensing function and a space displacement sensing function is adopted; a trace program is not required to be input in a control system; the device has the characteristics of reliable theory, low cost and simplicity in operation; the attitude of the air inlet can be controlled and tracked at any welding trace; and the flexibility and the efficiency of a welding smoke purification device are greatly improved.
Description
Technical field
The invention belongs to the Material Joining Technology field, relate to a kind of depollution of environment equipment, relate in particular to a kind of device and method of controlling weld fumes air inlet attitude and space displacement.
Background technology
In the welding production process, can produce volume of smoke, especially in job shops such as extensive machining occasion such as shipbuilding, boiler, automobiles.Contain Fe in the weld fumes
2O
3, SiO
2, MnO, HF, CO, CO
2, O
3, NO
XEtc. harmful substance, these harmful substances can produce various pathological reactions such as uncomfortable in chest, pulmonary emphysema, asthma, nervous centralis is disorderly, have had a strong impact on welder's health.
The current technology of processing for weld fumes mainly lays particular emphasis on the absorption techniques of flue dust, comes environment purification with the purifier of the weld fumes clarifier with spray oil suction powder device, high negative pressure welding fume purifier, drawing-in type respectively such as patent (CN102309903A), patent (CN101966634A), patent (CN102527182A).In most of welding process, the generating source of flue dust is mobile, needs real-time tracking and adjusts the air inlet attitude of purifier, could effectively eliminate weld fumes, but in the technological means take above-mentioned patent as representative, dust arrester can not move in real time.
In order to make the weld fumes absorption plant can the real time altering attitude, as far back as 1985, patent (CN85102406) connected together absorption plant and face shield, though the advantage that has nature to follow the tracks of, but whole face shield weight is large (having reached 8KG), and the welder is difficult to adapt to long operation; Patent (CN201685048U, CN201711684U) proposes based on the three-dimensional tracking means of the air entry of Programmable Logic Controller, but the device operating path is to set in advance, if path of welding changes, then may lose tracking target midway; Although patent (CN102049636A) has proposed the weld fumes air inlet moving method based on a plurality of arc photosensor signals, but the method is interfered easily, the reference value of arc photosensor when namely needing strictly to calibrate different welding methods and standard, otherwise can affect the setting value of air inlet attitude.
As seen, the air inlet spatial attitude of weld fumes purifier and displacement control are one of key technologies, but still exist and follow the tracks of difficulty, the complicated shortcoming of equipment, therefore need to seek reliable, the easy air inlet attitude control technology of operation, this efficient that Effective Raise weld fumes is processed, purification welding operation environment important in inhibiting.
Summary of the invention
Goal of the invention: the object of the invention is to for the deficiencies in the prior art, a kind of device and method of controlling weld fumes air inlet attitude and space displacement is provided, this device is simple to operate, principle is reliable, with low cost; The air inlet that solves simultaneously welding production occasion dust arrester produces the tracking problem of displacement to weld fumes, improves air purification efficiency, thus the air quality that the improvement welding is produced, protection welding operation personnel's health.
Technical scheme: a kind of device of controlling weld fumes air inlet attitude and space displacement of the present invention, comprise the manipulator that is fixed with air inlet and cascade pipeline thereof, be provided with target seeker and control device on the described manipulator, described target seeker is connected with face shield and control device respectively, when face shield moves, cause that target seeker changes with respect to space angle and the displacement of face shield, according to these variable quantities, control device is adjusted space angle and the displacement of air inlet.
Further improve technique scheme, described manipulator is made of arm, the large arm of machinery, main electric rotating machine and five joints of walking dolly in mechanical forearm, the machinery, arm connects arm successively with being connected greatly in described mechanical forearm, the machinery, the large arm of machinery is arranged on the main electric rotating machine, and main electric rotating machine is arranged on the walking dolly.
Further, be provided with the first angular transducer on the described mechanical forearm.
Further improve technique scheme, described target seeker comprises spherical protuberance, round platform, piston, piston guide rod, the second angular transducer and piston displacement sensor, described ball-type protuberance is connected by spherical hinge structure with the end of mechanical forearm, its top is provided with groove, piston is closed in the groove by round platform, can in groove, move back and forth, have through hole between described groove bottom and the ball-type protuberance bottom, described piston guide rod is arranged in the through hole, one end is fixedly connected with the piston bottom surface, the other end is connected by ball pivot with face shield, the upper surface of described piston is provided with the guide pin that passes round platform, described the second angular transducer and piston displacement sensor are arranged on the round platform, and described piston displacement sensor reaches the purpose of measuring piston guide rod displacement by the displacement of measuring guide pin.
In order to alleviate welder's burden, be respectively arranged with upper spring, lower spring between described piston and round platform and the groove floor.Described upper spring and lower spring can make the required hand-held power of welder very little according to the deadweight design of face shield, and the angle that only need hold face shield gets final product.
Simultaneously, can design long piston guide rod, utilize leverage, when making the welder pull face shield, only need very little power, just can change the output of the second angular transducer, piston displacement sensor.
The control method of said apparatus comprises the steps:
At first, control device is sampled to the output of the second angular transducer and piston displacement sensor, and according to the desired value of setting, determines the displacement change amount on x, y, z axle of target seeker;
Then, the drive motors that control device is controlled each manipulator joint moves target seeker, makes the output of the second angular transducer and piston displacement sensor reach desired value;
At last, control device continue to be adjusted the drive motors of each manipulator joint, makes the first angular transducer 10 outputs on the mechanical forearm 2 level off to its desired value, realizes the spatial attitude of air inlet and the control of displacement.
The present invention compared with prior art, its beneficial effect is: the air inlet that the present invention (1) has solved welding production occasion dust arrester produces the tracking of position and the attitude control problem of air inlet to weld fumes; (2) adopt the target seeker with space angle sensing and displacement sensing, complicated technology such as visual sensing technology, arc light sensor technology have been avoided adopting, control system need not prior input trajectory program, have characteristics simple and reliable, with low cost, simple to operate, and the control of air inlet attitude and tracking problem in the time of can adapting to any welding track, the flexibility that has improved the weld fumes purifier largelyr.
Description of drawings
Fig. 1 is structural representation of the present invention.
Fig. 2 is the structural representation of described guide needle.
Fig. 3 is control device operation principle block diagram.
Fig. 4 is that the air inlet space displacement changes the method for determination of amount schematic diagram.
The specific embodiment
The below is elaborated to technical solution of the present invention, but protection scope of the present invention is not limited to described embodiment.
As illustrated in fig. 1 and 2, a kind of device of controlling weld fumes air inlet attitude and space displacement, comprise the manipulator that is fixed with air inlet 8 and cascade pipeline thereof, be provided with target seeker 1 and control device 6 on the described manipulator, described target seeker 1 is connected with face shield 9 and control device 6 respectively.
Described manipulator is made of arm 3, the large arm 4 of machinery, main electric rotating machine 5 and 7 five joints of walking dolly in mechanical forearm 2, the machinery, arm 4 connects arm 3 successively with being connected greatly in described mechanical forearm 2, the machinery, the large arm 4 of machinery is arranged on the main electric rotating machine 5, main electric rotating machine 5 is arranged on the walking dolly 7, is provided with the first angular transducer 10 on the described mechanical forearm 2.
Described target seeker 1 comprises spherical protuberance 1-5, round platform 1-3, piston 1-4, piston guide rod 1-6, upper spring 1-8, lower spring 1-7, the second angular transducer 1-1 and piston displacement sensor 1-2, described ball-type protuberance 1-5 is connected by spherical hinge structure with the end of mechanical forearm 2, its top is provided with groove, piston 1-4 is closed in the groove by round platform 1-4, can in groove, move back and forth, have through hole between described groove bottom and the ball-type protuberance 1-5 bottom, described piston guide rod 1-6 is arranged in the through hole, one end is fixedly connected with piston 1-4 bottom surface, the other end and face shield 9 are connected by ball pivot, the upper surface of described piston 1-4 is provided with the guide pin that passes round platform 1-3, described the second angular transducer 1-1 and piston displacement sensor 1-2 are arranged on the round platform 1-3, described piston displacement sensor 1-2 reaches the purpose of measuring piston guide rod 1-6 displacement by the displacement of measuring guide pin, is respectively arranged with upper spring 1-8 between described piston 1-4 and round platform 1-3 and the groove floor, lower spring 1-7.
During stable state, the deadweight of face shield 9 and welder's hand-held power will balance each other with the active force of upper spring 1-7, lower spring 1-8 at the component of vertical direction, and approximate being on the vertical line; But the change of any horizontal displacement of face shield 9 all can cause the change of angular transducer 1-1 output, and the output quantity of establishing its a certain moment is (α, beta, gamma); When the welder moves up or down face shield 9, all can break the stress balance state of spring, thereby the output that causes piston displacement sensor 1-2 changes, if the output quantity in its a certain moment is L, when welder's hand shield 9 is upwards exerted oneself, piston guide rod 1-6 pushing piston 1-4 makes its relative round platform 1-3 along axially moving upward, and piston displacement sensor 1-2 output changes thereupon; When welder's hand shield 9 was exerted oneself downwards, piston guide rod 1-6 pulling piston 1-4 made its relative round platform 1-3 along axial downward movement, and piston displacement sensor 1-2 output changes thereupon.
As shown in Figure 3, when the space displacement of face shield 9 changes, can cause that the second angular transducer 1-1 in the target seeker 1, the output of piston displacement sensor 1-2 change; In system's adjustment process, can cause that also the first angular transducer 10 outputs on the mechanical forearm 2 change, therefore control system is according to output quantity, the first angular transducer 10 output quantities of the second angular transducer 1-1, piston displacement sensor 1-2, control the drive motors running of arm 3 in mechanical forearm 2, the machinery, the large arm 4 of machinery, main electric rotating machine 5, walking dolly 7, in time change air inlet 8 attitudes and space displacement, thereby guarantee that air inlet 8 remains best suction condition.
Further, in order to control air inlet 8 spatial attitudes and displacement, at first according to the second angular transducer 1-1 on the target seeker 1 and the real-time output of piston displacement sensor 1-2, calculate the space displacement change amount of target seeker 1, then adjust the first angular transducer 10 output quantities on the mechanical forearm 2, details are as follows for concrete principle:
As shown in Figure 4, because piston guide rod 1-6 is connected with face shield 9 ball pivots, set up a coordinate system with the center O of this ball pivot, this coordinate system moves along with the movement of face shield 9, and target seeker 1 all is unique with respect to any space angle and the displacement of face shield 9 as can be known; Set the second angular transducer 1-1 in real time and target export and be respectively (α, beta, gamma), (α
0, β
0, γ
0), piston displacement sensor 1-2 in real time and target output be respectively L, L
0, the length of setting piston guide rod 1-6 is L
m, the first angular transducer 10 targets of setting on the mechanical forearm 2 are output as (α
n, β
n, γ
n).
For the desired value that setting is kept in the attitude that makes target seeker 1 and displacement, the displacement change amount of target seeker 1 on x, y, z axle is respectively:
But when its target call is satisfied in the output of the second angular transducer 1-1 on the target seeker 1 and piston displacement sensor 1-2, the output of the first angular transducer 10 on the machinery forearm 2 differs and keeps surely setting value, therefore after target seeker 1 has been made corresponding change according to the displacement of result of calculation on x, y, z axle of formula 1, continue to adjust the drive motors of arm 3 in the mechanical forearm 2 of control, the machinery, the large arm 4 of machinery, main electric rotating machine 5 and walking dolly 7, make the output of the first angular transducer 10 level off to (α
n, β
n, γ
n), can realize the spatial attitude of air inlet 8 and the control of displacement.
The concrete control method of said apparatus is: at first, the output of 6 couples of the second angular transducer 1-1 of control device and piston displacement sensor 1-2 is sampled, and according to the desired value of setting, determines the displacement change amount on x, y, z axle of target seeker 1;
Then, the drive motors of control device 6 each manipulator joint of control is used for mobile seeker, makes the output of the second angular transducer 1-1 and piston displacement sensor 1-2 reach desired value;
At last, control device 6 continues to adjust the drive motors of each manipulator joint, makes the first angular transducer 10 outputs on the mechanical forearm 2 level off to its desired value, realizes the spatial attitude of air inlet 8 and the control of displacement.
As mentioned above, although the specific preferred embodiment of reference has represented and has explained the present invention that it shall not be construed as the restriction to the present invention self.Under the spirit and scope of the present invention prerequisite that does not break away from the claims definition, can make in the form and details various variations to it.
Claims (6)
1. device of controlling weld fumes air inlet attitude and space displacement, comprise the manipulator that is fixed with air inlet and cascade pipeline thereof, it is characterized in that, be provided with target seeker and control device on the described manipulator, described target seeker is connected with face shield and control device respectively, when face shield moves, causes that the space angle of target seeker and displacement change, according to these variable quantities, control device is adjusted space angle and the displacement of air inlet.
2. the device of control weld fumes air inlet attitude according to claim 1 and space displacement, it is characterized in that, described manipulator is made of arm, the large arm of machinery, main electric rotating machine and five joints of walking dolly in mechanical forearm, the machinery, arm connects arm successively with being connected greatly in described mechanical forearm, the machinery, the large arm of machinery is arranged on the main electric rotating machine, and main electric rotating machine is arranged on the walking dolly.
3. the device of control weld fumes air inlet attitude according to claim 2 and space displacement is characterized in that, is provided with the first angular transducer on the described mechanical forearm.
4. the device of control weld fumes air inlet attitude according to claim 3 and space displacement, it is characterized in that, described target seeker comprises spherical protuberance, round platform, piston, piston guide rod, the second angular transducer and piston displacement sensor, described ball-type protuberance is connected by spherical hinge structure with the end of mechanical forearm, its top is provided with groove, piston is fixed in the groove by round platform, can move back and forth within it, have through hole between described groove bottom and the ball-type protuberance bottom, described piston guide rod is arranged in the through hole, one end is fixedly connected with the piston bottom surface, the other end is connected by ball pivot with face shield, the upper surface of described piston is provided with the guide pin that passes round platform, and described the second angular transducer and piston displacement sensor are arranged on the round platform.
5. the device of control weld fumes air inlet attitude according to claim 4 and space displacement is characterized in that, is respectively arranged with upper spring, lower spring between described piston and round platform and the groove floor.
6. the control method of a device claimed in claim 5 is characterized in that, comprises the steps:
At first, control device is sampled to the output of the second angular transducer and piston displacement sensor, and according to the desired value of setting, determines the displacement change amount of target seeker on x, y, z axle;
Then, the drive motors that control device is controlled each manipulator joint is used for mobile target seeker, makes the output of the second angular transducer and piston displacement sensor reach desired value;
At last, control device continue to be adjusted the drive motors of each manipulator joint, makes the first angular transducer output on the mechanical forearm level off to its desired value, realizes the spatial attitude of air inlet and the control of displacement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210361430.7A CN102873678B (en) | 2012-09-25 | 2012-09-25 | Device and method for controlling attitude and space displacement of welding smoke air inlet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210361430.7A CN102873678B (en) | 2012-09-25 | 2012-09-25 | Device and method for controlling attitude and space displacement of welding smoke air inlet |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102873678A true CN102873678A (en) | 2013-01-16 |
| CN102873678B CN102873678B (en) | 2014-10-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210361430.7A Expired - Fee Related CN102873678B (en) | 2012-09-25 | 2012-09-25 | Device and method for controlling attitude and space displacement of welding smoke air inlet |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104175035A (en) * | 2014-08-27 | 2014-12-03 | 苏州市华宁机械制造有限公司 | Rail welding vehicle |
| CN104461680A (en) * | 2014-11-04 | 2015-03-25 | 山东科技大学 | Fully mechanized caving face dust motion track numerical modeling method |
| CN107544212A (en) * | 2016-06-27 | 2018-01-05 | 台湾积体电路制造股份有限公司 | Light shield posting device |
| CN112453002A (en) * | 2020-10-31 | 2021-03-09 | 江苏科技大学 | Automatic tracking welding fume collecting and processing device |
| CN113091668A (en) * | 2021-04-07 | 2021-07-09 | 哈尔滨理工大学 | Pipeline elbow size measuring device |
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| CN2456877Y (en) * | 2000-05-23 | 2001-10-31 | 杜永健 | Purifier for welding smoke protection |
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| CN102266862A (en) * | 2011-07-26 | 2011-12-07 | 凯天环保科技股份有限公司 | Welding fume collection device and method capable of automatically tracking and positioning welding spot |
| CN202207862U (en) * | 2011-07-26 | 2012-05-02 | 凯天环保科技股份有限公司 | Mechanical arm for automatic welding fume tracking and collecting device |
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2012
- 2012-09-25 CN CN201210361430.7A patent/CN102873678B/en not_active Expired - Fee Related
Patent Citations (6)
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|---|---|---|---|---|
| CN85102406A (en) * | 1985-04-01 | 1986-07-02 | 杨怀祥 | Pursuiting dust elimination and temperature lowering device for electric welding |
| WO2000025948A1 (en) * | 1998-10-30 | 2000-05-11 | Giuseppe Poggioni | Automatic motorised arm for aspirating welding fumes |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104175035A (en) * | 2014-08-27 | 2014-12-03 | 苏州市华宁机械制造有限公司 | Rail welding vehicle |
| CN104461680A (en) * | 2014-11-04 | 2015-03-25 | 山东科技大学 | Fully mechanized caving face dust motion track numerical modeling method |
| CN104461680B (en) * | 2014-11-04 | 2017-06-16 | 山东科技大学 | A kind of method for numerical simulation of fully mechanized coal face dust movement track |
| CN107544212A (en) * | 2016-06-27 | 2018-01-05 | 台湾积体电路制造股份有限公司 | Light shield posting device |
| CN112453002A (en) * | 2020-10-31 | 2021-03-09 | 江苏科技大学 | Automatic tracking welding fume collecting and processing device |
| CN113091668A (en) * | 2021-04-07 | 2021-07-09 | 哈尔滨理工大学 | Pipeline elbow size measuring device |
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| CN102873678B (en) | 2014-10-29 |
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