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Double-drive device for cutting robot and control method thereof

A cutting robot and control method technology, applied in electrical program control, program control in sequence/logic controllers, manufacturing tools, etc., can solve problems such as incomplete resolution of oscillation, and achieve the effect of eliminating oscillation and eliminating lag

Inactive Publication Date: 2010-07-14
昆山华恒机器人有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this device only refers to the adjustment mechanism of the backlash of the servo motor gear on the laser cutting machine, but does not completely solve the oscillation caused by the hysteresis and relative loss of control of the movement of the non-driving side.

Method used

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  • Double-drive device for cutting robot and control method thereof
  • Double-drive device for cutting robot and control method thereof
  • Double-drive device for cutting robot and control method thereof

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Embodiment Construction

[0020] The present invention will be further described below in conjunction with accompanying drawing and embodiment:

[0021] as attached figure 1 , 2 A cutting robot double driving device shown, the device includes a right base guide rail 1, a left base guide rail 17 parallel to the right base guide rail 1, a right crossbeam support 7 fixed on the right base guide rail 1, a right crossbeam bracket 7 fixed on the left base guide rail The left beam support 11 on 17, the two ends are respectively fixed on the crossbeam 2 on the right beam support 7 and the left beam support 11, the PLC control unit that is arranged in the PLC control cabinet 15.

[0022] Left cross beam support 11 is equipped with left servo motor 12, and right cross beam support 7 is equipped with right servo motor 18, and the specification of left servo motor 12 and right servo motor 18 is identical.

[0023] as attached image 3 As shown, the servo motor in this embodiment takes the left servo motor 12 as...

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Abstract

The invention relates to a double-drive device for a cutting robot and a control method thereof. The double-drive device comprises a right pedestal guide rail, a left pedestal guide rail, a right cross beam bracket, a left cross beam bracket, a cross beam and a PLC control unit, wherein the left and right cross beam brackets are provided with left and right servo motors respectively; the PLC control unit is electrically connected with the left and right servo motors respectively; encoder units on the left and right servo motors are electrically connected with the PLC control unit; the encoder units on the left and right servo motors transmit current coded disc values to the PLC control unit and compare the coded disc values; the PLC control unit is provided with an alarm; and when the difference value is more than or equal to a threshold pre-stored in the PLC control unit, the alarm sends an alarm message to pause the work of the left and right servo motors. The device and the method radically eliminate the lag due to movement of the rail on one side by keeping the two servo motors in synchronous movement so as to eliminate the oscillation. The alarm on the double-drive device can alarm for positional deviation of the two servo motors.

Description

technical field [0001] The invention relates to a double driving device of a cutting robot and a control method thereof. Background technique [0002] Nowadays, in order to meet the cutting processing requirements of large plates, such as cutting and processing the hull steel plates of large ships, orbital CNC cutting robots are often used. The typical structure of this cutting robot is: the cutting head (trolley) on the portal beam is driven by the X-direction motor; the portal beam (cart) on the track is driven by the Z-direction motor installed on one side of the track . The two motors are linked under the command of the numerical control system, so that the cutting head can realize any trajectory movement in the processing plane and complete the cutting processing task. [0003] For the structure in which the driving motor of the cart is located on one side of the track, when the cart moves, the motor will first drive the mechanical part above the track on the same sid...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K7/10G05B19/05
Inventor 齐荣怀朱伟郭祖魁庄杰
Owner 昆山华恒机器人有限公司
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