CN102873678B - 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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- CN102873678B CN102873678B CN201210361430.7A CN201210361430A CN102873678B CN 102873678 B CN102873678 B CN 102873678B CN 201210361430 A CN201210361430 A CN 201210361430A CN 102873678 B CN102873678 B CN 102873678B
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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 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 welding production process, can produce volume of smoke, especially in extensive machining occasion as job shops such as shipbuilding, boiler, automobiles.In weld fumes, contain Fe
2o
3, SiO
2, MnO, HF, CO, CO
2, O
3, the harmful substance such as NOX, these harmful substances can produce various pathological reactions as uncomfortable in chest, pulmonary emphysema, asthma, nervous centralis disorder, have had a strong impact on welder's health.
The current technology for weld fumes processing mainly lays particular emphasis on the absorption techniques of flue dust, as patent (CN102309903A), patent (CN101966634A), patent (CN102527182A) respectively with thering is weld fumes clarifier, the high negative pressure welding fume purifier of spray oil suction powder device, the purifier of drawing-in type carrys out environment purification.In most of welding process, the generation 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 technological means taking above-mentioned patent as representative, dust arrester can not move in real time.
In order to make weld fumes absorption plant can change in real time attitude, as far back as 1985, patent (CN85102406) connects 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 welder is difficult to adapt to long operation; Patent (CN201685048U, CN201711684U) proposes the three-dimensional tracking means of air entry based on Programmable Logic Controller, but device operating path is to set in advance, if path of welding changes, may lose tracking target midway; Although patent (CN102049636A) has proposed the weld fumes air inlet moving method based on multiple arc photosensor signals, but the method is easily interfered, the reference value of arc photosensor while needing strictly to calibrate different welding methods and specification, otherwise can affect the setting value of air inlet attitude.
Visible, air inlet spatial attitude and the displacement control of weld fumes purifier are one of key technologies, but still exist and follow the tracks of difficulty, equip complicated shortcoming, therefore need to seek reliably, operate easy air inlet attitude control technology, this efficiency to the processing of effective raising weld fumes, purify 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; Improve weld fumes positioning and tracking device simultaneously, improved the efficiency of weld fumes processing, thereby improved the air quality of welding production, 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, on described manipulator, be provided with target seeker and control device, described target seeker is connected with face shield and control device respectively, described target seeker comprises piston and piston guide rod, one end of this piston guide rod is fixedly connected with piston bottom surface, the other end is connected by ball pivot with face shield, and taking the center of this ball pivot as reference point, target seeker is unique with respect to any space angle and the displacement of face shield; In the time that 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 up of arm, the large arm of machinery, main electric rotating machine and five joints of walking dolly in mechanical forearm, machinery, in described mechanical forearm, machinery, arm is connected successively with the large arm of machinery, the large arm of machinery is arranged on main electric rotating machine, and main electric rotating machine is arranged on walking dolly.
Further, on described mechanical forearm, be provided with the first angular transducer.
Further improve technique scheme, described target seeker also comprises spherical protuberance, round platform, 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 groove by round platform, can in groove, move back and forth, between described groove bottom and ball-type protuberance bottom, have through hole, described piston guide rod is arranged in through hole, the upper surface of described piston is provided with the guide pin through round platform, described the second angular transducer and piston displacement sensor are arranged on round platform, described piston displacement sensor reaches by measuring the displacement of guide pin the object of measuring piston guide rod displacement.
In order to alleviate welder's burden, between described piston and round platform and groove floor, be respectively arranged with upper spring, lower spring.Described upper spring and lower spring can, according to the deadweight design of face shield, make the required hand-held power of welder very little, the angle that only needs to hold face shield.
Meanwhile, can design longer piston guide rod, utilize leverage, while making 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:
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 of the each manipulator joint of control device control moves target seeker, makes the output of the second angular transducer and piston displacement sensor reach desired value;
Finally, control device continues to adjust the drive motors of each manipulator joint, makes the first angular transducer 10 outputs on mechanical forearm 2 level off to its desired value, realizes the spatial attitude of air inlet and the control of displacement.
Compared with prior art, its beneficial effect is in the present invention: the present invention (1) has improved weld fumes positioning and tracking device, has improved the efficiency of weld fumes processing; (2) adopt the target seeker with space angle sensing and displacement sensing, avoid adopting complicated technology as visual sensing technology, arc light sensor technology, control system is without prior input trajectory program, there is feature simple and reliable, with low cost, simple to operate, and the control of air inlet attitude and tracking problem can adapt to any welding track time, the flexibility that has improved weld fumes purifier largelyr.
Brief description of the 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 air inlet space displacement changes method for determination of amount schematic diagram.
Detailed description of the invention
Below technical solution of the present invention is elaborated, 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 described manipulator, described target seeker 1 is connected with face shield 9 and control device 6 respectively.
Described manipulator is made up 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, machinery, in described mechanical forearm 2, machinery, arm 3 is connected successively with the large arm 4 of machinery, the large arm 4 of machinery is arranged on main electric rotating machine 5, main electric rotating machine 5 is arranged on walking dolly 7, on described mechanical forearm 2, is provided with the first angular transducer 10.
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, the outstanding 1-5 of described ball-type 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 groove by round platform 1-4, can in groove, move back and forth, between described groove bottom and ball-type protuberance 1-5 bottom, have through hole, described piston guide rod 1-6 is arranged in through hole, one end is fixedly connected with piston 1-4 bottom surface, the other end is connected by ball pivot with face shield 9, the upper surface of described piston 1-4 is provided with the guide pin through round platform 1-3, described the second angular transducer 1-1 and piston displacement sensor 1-2 are arranged on round 1-3, described piston displacement sensor 1-2 reaches by measuring the displacement of guide pin the object of measuring piston guide rod 1-6 displacement, between described piston 1-4 and round platform 1-3 and groove floor, be respectively arranged with upper spring 1-8, lower spring 1-7.
When stable state, the deadweight of face shield 9 and welder's hand-held power, at the component of vertical direction, will balance each other with the active force of upper spring 1-7, lower spring 1-8, and approximate on vertical line; But the change of any horizontal displacement of face shield 9, all can cause the change of angular transducer 1-1 output, the output quantity of establishing its a certain moment is (α, beta, gamma); In the time that 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, in the time that welder's hand shield 9 is upwards exerted oneself, piston guide rod 1-6 promotes piston 1-4, makes its relative round platform 1-3 along axially moving upward, and piston displacement sensor 1-2 output changes thereupon; In the time that welder's hand shield 9 is exerted oneself downwards, piston guide rod 1-6 pulls piston 1-4, makes its relative round platform 1-3 along axial downward movement, and piston displacement sensor 1-2 output changes thereupon.
As shown in Figure 3, in the time that the space displacement of face shield 9 changes, can cause that the second angular transducer 1-1 in target seeker 1, the output of piston displacement sensor 1-2 change; In system adjustment process, also can cause that the first angular transducer 10 outputs on mechanical forearm 2 change, therefore control system is according to the output quantity of the second angular transducer 1-1, piston displacement sensor 1-2, the first angular transducer 10 output quantities, control the drive motors running of arm 3 in mechanical forearm 2, machinery, the large arm 4 of machinery, main electric rotating machine 5, walking dolly 7, change in time air inlet 8 attitudes and space displacement, thereby ensure that air inlet 8 remains best suction condition.
Further, in order to control air inlet 8 spatial attitudes and displacement, first according to the second angular transducer 1-1 on 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 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 known target seeker 1 is all unique with respect to any space angle and the displacement of face shield 9; Set the second angular transducer 1-1 in real time and target export and be respectively (α, β, γ), (α 0, β 0, γ 0), piston displacement sensor 1-2 in real time and target output be respectively L, L0, the length of setting piston guide rod 1-6 is L m, the first angular transducer 10 targets of setting on mechanical forearm 2 are output as (α n, β n, γ n).
In order to make the attitude of target seeker 1 and displacement maintain the desired value of setting, the displacement change amount of target seeker 1 on x, y, z axle is respectively:
But in the time that the output of the second angular transducer 1-1 on target seeker 1 and piston displacement sensor 1-2 meets its target call, the output of the first angular transducer 10 on machinery forearm 2 differs and keeps surely setting value, therefore target seeker 1 according to the result of calculation of formula 1 at x, y, after corresponding change has been made in displacement on z axle, continue to adjust the mechanical forearm 2 of control, arm 3 in machinery, the large arm 4 of machinery, the drive motors of main electric rotating machine 5 and walking dolly 7, the output of the first angular transducer 10 is leveled 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: first, control device 6 is sampled to the output of the second angular transducer 1-1 and piston displacement sensor 1-2, and according to the desired value of setting, determines the displacement change amount on x, y, z axle of target seeker 1;
Then, control device 6 is controlled the drive motors of each manipulator joint for mobile seeker, makes the output of the second angular transducer 1-1 and piston displacement sensor 1-2 reach desired value;
Finally, control device 6 continues to adjust the drive motors of each manipulator joint, makes the first angular transducer 10 outputs on 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 represented and explained the present invention with reference to specific preferred embodiment, it shall not be construed as the restriction to the present invention self.Not departing under the spirit and scope of the present invention prerequisite of claims definition, can make in the form and details various variations to it.
Claims (6)
1. control the device of weld fumes air inlet attitude and space displacement for one kind, comprise the manipulator that is fixed with air inlet and cascade pipeline thereof, it is characterized in that, on described manipulator, be provided with target seeker and control device, described target seeker is connected with face shield and control device respectively, described target seeker comprises piston and piston guide rod, one end of this piston guide rod is fixedly connected with piston bottom surface, the other end is connected by ball pivot with face shield, and taking the center of this ball pivot as reference point, target seeker is unique with respect to any space angle and the displacement of face shield; In the time that face shield moves, cause 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 up of arm, the large arm of machinery, main electric rotating machine and five joints of walking dolly in mechanical forearm, machinery, in described mechanical forearm, machinery, arm is connected successively with the large arm of machinery, the large arm of machinery is arranged on main electric rotating machine, and main electric rotating machine is arranged on walking dolly.
3. the device of control weld fumes air inlet attitude according to claim 2 and space displacement, is characterized in that, on described mechanical forearm, is provided with the first angular transducer.
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 also comprises spherical protuberance, round platform, 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 groove by round platform, can move back and forth therein, between described groove bottom and ball-type protuberance bottom, have through hole, described piston guide rod is arranged in through hole, the upper surface of described piston is provided with the guide pin through round platform, described the second angular transducer and piston displacement sensor are arranged on 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 groove floor.
6. a control method for the device of weld fumes air inlet attitude claimed in claim 5 and space displacement, is characterized in that, comprises the steps:
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 of the each manipulator joint of control device control, for mobile target seeker, makes the output of the second angular transducer and piston displacement sensor reach desired value;
Finally, control device continues to adjust the drive motors of each manipulator joint, makes the first angular transducer output on mechanical forearm level off to its desired value, realizes the spatial attitude of air inlet and the control of displacement.
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| 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 |
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| 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 |
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|---|---|
| CN102873678A CN102873678A (en) | 2013-01-16 |
| CN102873678B true CN102873678B (en) | 2014-10-29 |
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| 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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Families Citing this family (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 |
| 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 |
| CN107544212B (en) * | 2016-06-27 | 2019-12-03 | 台湾积体电路制造股份有限公司 | Light shield posting device |
| CN112453002B (en) * | 2020-10-31 | 2021-11-26 | 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 |
Citations (5)
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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 |
| CN2456877Y (en) * | 2000-05-23 | 2001-10-31 | 杜永健 | Purifier for welding smoke protection |
| CN201685048U (en) * | 2010-06-07 | 2010-12-29 | 苏州尚科洁净技术有限公司 | Three-dimensional space tracking device of welding fume suction port |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IT1306371B1 (en) * | 1998-10-30 | 2001-06-06 | Giuseppe Poggioni | AUTOMATION FOR THE HANDLING OF ANY ELECTRIC WELDING FUME EXTRACTOR ARM, GUIDED BY LIGHT SENSORS FOR |
-
2012
- 2012-09-25 CN CN201210361430.7A patent/CN102873678B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85102406A (en) * | 1985-04-01 | 1986-07-02 | 杨怀祥 | Pursuiting dust elimination and temperature lowering device for electric welding |
| CN2456877Y (en) * | 2000-05-23 | 2001-10-31 | 杜永健 | Purifier for welding smoke protection |
| CN201685048U (en) * | 2010-06-07 | 2010-12-29 | 苏州尚科洁净技术有限公司 | Three-dimensional space tracking device of welding fume suction port |
| 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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| CN102873678A (en) | 2013-01-16 |
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