CN206912529U - The three-dimensional tracking of postwelding weld seam and the compound constant-speed control device of stress handling machine people - Google Patents
The three-dimensional tracking of postwelding weld seam and the compound constant-speed control device of stress handling machine people Download PDFInfo
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- CN206912529U CN206912529U CN201720657607.6U CN201720657607U CN206912529U CN 206912529 U CN206912529 U CN 206912529U CN 201720657607 U CN201720657607 U CN 201720657607U CN 206912529 U CN206912529 U CN 206912529U
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- car body
- weld seam
- encoder
- robot
- wheel
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Abstract
The utility model discloses a kind of three-dimensional tracking of postwelding weld seam and the compound constant-speed control device of stress handling machine people, encoder is connected by conveyer belt with robot driving mechanism, the robot driving mechanism includes servo direct current motor drive device and driving device for step-by-step, servo direct current motor control machine human body moves, the precision positioning of driving device for step-by-step control postwelding weld seam robot；Acceleration transducer is fixed on above car body, is connected with MCU, is detected and controlled by MCU；L-type support regular coding device and car body；I types support fixed drive wheel and car body, driving wheel form front-wheel；Support column is set below car body, and universal wheel is arranged on the lower end of support column, and multi-directional ball forms trailing wheel with support column.The utility model solves the problems such as unstable existing robot movement velocity in tracking process, very flexible, realizes the fixed speed control to the three-dimensional tracking of postwelding weld seam and stress handling machine people.
Description
Technical field
It the utility model is related to a kind of three-dimensional tracking of postwelding weld seam and the compound constant-speed control device of stress handling machine people.
Background technology
In modern machines people's speed control, mainly by encoder or using acceleration transducer come control machine people
Movement velocity.During by encoder control machine people's movement velocity, because factory building working environment is complicated, disturbing factor is more,
Easily there is situation about dallying during traveling in robot；During using acceleration transducer control machine people's movement velocity, by
Interference and robot the machine rotating factor in electric signal, can cause larger measurement error.
As stated above, only rely on encoder or carry out speed control merely with acceleration sensor and certain lack all be present
Fall into, therefore design a kind of encoder and the cooperative compound constant-speed control device of acceleration transducer, with encoder test the speed for
Main, acceleration transducer auxiliary, which tests the speed, judges robot motion's state.
The content of the invention
The purpose of this utility model be to provide it is a kind of solve existing robot movement velocity in tracking process it is unstable,
The problems such as very flexible, realize the postwelding weld seam three-dimensional of tracking three-dimensional to postwelding weld seam and stress handling machine people's fixed speed control with
Track and the compound constant-speed control device of stress handling machine people.
Technical solution of the present utility model is：
A kind of three-dimensional tracking of postwelding weld seam and the compound constant-speed control device of stress handling machine people, it is characterized in that：Including
The encoder being fixed on below car body, encoder are connected by conveyer belt with robot driving mechanism, the robotically-driven machine
Structure includes servo direct current motor drive device and driving device for step-by-step, and servo direct current motor control machine human body moves,
The precision positioning of driving device for step-by-step control postwelding weld seam robot；Acceleration transducer is fixed on above car body, with MCU
It is connected, is detected and controlled by MCU；L-type support regular coding device and car body；I types support fixed drive wheel and car body, driving wheel structure
Into front-wheel；Support column is set below car body, and universal wheel is arranged on the lower end of support column, and multi-directional ball forms trailing wheel with support column.
The encoder includes left and right encoder, left and right encoder by left and right conveyer belt respectively with servo direct current
Machine actuating device, driving device for step-by-step connection.Encoder uses 400 line coding devices.
The utility model is detected using the speed of service of encoder detection postwelding weld seam robot using acceleration transducer
The instantaneous acceleration of robot, judge whether the current motion state of robot is steady, if having operation troubles, if machine occur
Phenomena such as device people wheel slip, rolling foreign matter, and by MCU according to testing result, the speed regulation of control machine people's drive mechanism.
The utility model forms the trailing wheel of robot because the rolling of multi-directional ball is flexible, by it, can make robot car body very
Flexible sliding, greatly reduces the burden of drive mechanism, can better control over robot constant motion.
When being tested the speed because of acceleration transducer, interference and robot the machine rotating factor due to electric signal, it can cause larger
Measurement error, and when relying on encoder control movement velocity, because factory building working environment is complicated, disturbing factor is more, machine
Easily there is situation about dallying during traveling in people, so the utility model combines both, using encoder and acceleration
Sensor complex, tested the speed with encoder based on, acceleration transducer auxiliary, which tests the speed, judges robot motion's state, realizes machine
The fixed speed control of device people.
Brief description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and examples.
Fig. 1 is the structural representation of the utility model device.
Fig. 2 is Fig. 1 side view.
Embodiment
A kind of compound constant-speed control device based on the three-dimensional tracking of postwelding weld seam and stress handling machine people, by driving wheel 1,
Encoder 2, drive mechanism 3, acceleration transducer 4, L-type support 5, I types support 6, conveyer belt 7, support column 8, car body 9 are universal
Ball 10 is formed；The encoder 2 is fixed on the lower section of car body, is connected by conveyer belt 7 with robot driving mechanism 3；The drive
Motivation structure 3 includes servo direct current motor drive device and driving device for step-by-step, servo direct current motor control machine human body
Motion, the precision positioning of driving device for step-by-step control postwelding weld seam robot；The acceleration transducer 4 is fixed on car body
Top, it is connected with MCU, is detected and controlled by MCU；The regular coding device 2 of L-type support 5 and car body 9；The I types support 6 is fixed
Driving wheel 1 and car body 9；The multi-directional ball 10 forms robot trailing wheel with support column 8；Driving wheel 1, drive mechanism 3, encoder 2,
Acceleration transducer 4, L-type support 5, I types support 6, conveyer belt 7, car body 9, support column 8, the cooperation of multi-directional ball 10, realize weldering
Speed, acceleration detection and the fixed speed control adjustment of the three-dimensional tracking of weld seam and stress handling machine people when space is moved afterwards.
The speed of service of postwelding weld seam robot is detected using encoder 2, robot is detected using acceleration transducer 4
Instantaneous acceleration, judge whether the current motion state of robot is steady, if having operation troubles, if wheels of robot occur
Skid, roll phenomena such as foreign matter, and by MCU according to testing result, the speed regulation of control machine people's drive mechanism.Multi-directional ball 10
Rolling it is flexible, the trailing wheel of robot is formed by it, robot car body can be made flexibly to slide very much, greatly reduce drive mechanism
Burden, robot constant motion can be better controled over.
Encoder 2 uses 400 line coding devices, that is, rotates one week and produce 400 pulse signals, be connected with MCU, pass through MCU
Umber of pulse caused by detecting encoder, drive mechanism is controlled with this, can be thereby determined that distance that robot body passes by, be turned over
The information such as angle, present speed.
Particular embodiments described above, technical problem, technical scheme and the beneficial effect solved to the utility model are entered
Further description is gone, should be understood that and the foregoing is only specific embodiment of the utility model, and do not have to
In limitation the utility model, all within the spirit and principles of the utility model, any modification, equivalent substitution and improvements done
Deng should be included within the scope of protection of the utility model.
Claims (3)
1. a kind of three-dimensional tracking of postwelding weld seam and the compound constant-speed control device of stress handling machine people, it is characterized in that：Including solid
Encoder below car body, encoder are connected by conveyer belt with robot driving mechanism, and encoder is connected with MCU, are led to
Umber of pulse caused by MCU detection encoders is crossed, with this control machine people's drive mechanism；The robot driving mechanism includes servo
DC electric machine drive apparatus and driving device for step-by-step, servo direct current motor control machine human body motion, stepper motor drive
The precision positioning of dynamic device control postwelding weld seam robot；Acceleration transducer is fixed on above car body, is connected with MCU, by MCU
Detection control；L-type support regular coding device and car body；I types support fixed drive wheel and car body, driving wheel form front-wheel；Car body
Lower section sets support column, and universal wheel is arranged on the lower end of support column, and multi-directional ball forms trailing wheel with support column.
2. the three-dimensional tracking of postwelding weld seam according to claim 1 and the compound constant-speed control device of stress handling machine people,
It is characterized in that：The encoder includes left and right encoder, left and right encoder by left and right conveyer belt respectively with servo direct current
Machine actuating device, driving device for step-by-step connection.
3. the three-dimensional tracking of postwelding weld seam according to claim 1 or 2 and the compound fixed speed control dress of stress handling machine people
Put, it is characterized in that：Encoder uses 400 line coding devices.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720657607.6U CN206912529U (en) | 2017-06-08 | 2017-06-08 | The three-dimensional tracking of postwelding weld seam and the compound constant-speed control device of stress handling machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720657607.6U CN206912529U (en) | 2017-06-08 | 2017-06-08 | The three-dimensional tracking of postwelding weld seam and the compound constant-speed control device of stress handling machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206912529U true CN206912529U (en) | 2018-01-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720657607.6U Expired - Fee Related CN206912529U (en) | 2017-06-08 | 2017-06-08 | The three-dimensional tracking of postwelding weld seam and the compound constant-speed control device of stress handling machine people |
Country Status (1)
| Country | Link |
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| CN (1) | CN206912529U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110421234A (en) * | 2018-05-01 | 2019-11-08 | 北京航天美利达自动焊设备科技有限公司 | Space curve welding seam tracker |
-
2017
- 2017-06-08 CN CN201720657607.6U patent/CN206912529U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110421234A (en) * | 2018-05-01 | 2019-11-08 | 北京航天美利达自动焊设备科技有限公司 | Space curve welding seam tracker |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180123 Termination date: 20190608 |