CN106238255A - A kind of spray robot Dual-encoder redundant system - Google Patents
A kind of spray robot Dual-encoder redundant system Download PDFInfo
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- CN106238255A CN106238255A CN201610827666.3A CN201610827666A CN106238255A CN 106238255 A CN106238255 A CN 106238255A CN 201610827666 A CN201610827666 A CN 201610827666A CN 106238255 A CN106238255 A CN 106238255A
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- encoder
- coding signal
- signal
- coding
- redundant system
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
- B05B13/0452—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles the conveyed articles being vehicle bodies
Landscapes
- Transmission And Conversion Of Sensor Element Output (AREA)
- Manipulator (AREA)
Abstract
One spray robot Dual-encoder redundant system of the present invention, including the connection member for being connected with the drive shaft of chain, connection member connects a power shaft so that power shaft links with drive shaft, it is characterised in that include the first encoder, the second encoder and controller；The rotary shaft of the first encoder is all linked with chain with identical gear ratio by power shaft with the rotary shaft of the second encoder, so that the first encoder and the second encoder export the first coding signal and the second coding signal of instruction chain duty respectively；Controller includes selecting module and processing module, selects module to be used for receiving and select the first coding signal and the second coding signal one output, and processing module is for processing the coding signal selecting module to receive to obtain vehicle body positional information.
Description
Technical field
The present invention relates to vehicle spray painting manufacture field, be specifically related to a kind of spray robot Dual-encoder redundant system.
Background technology
Current domestic most passenger car maker Painting Shop has used spray robot that bodywork surface is carried out the end
Paint and the spraying of finish paint, be divided into tracking mode spraying and fixed spraying according to carrier chain form, and wherein tracking mode spraying can be real
While existing vehicle body advances on carrier chain, improve productivity, so major part spray-painting production line all have employed tracking mode spraying.With
The spraying of track formula needs to install encoder in the drive shaft of carrier chain, and encoder is connected to tracking board and the unit control of robot
The high speed counting module of device processed, by encoder record drive shaft turns angle, it is achieved robot and cell controller realize car
The tracking of body position.If encoder system damages, then robot and cell controller then can not follow the tracks of vehicle body position, cause
Off-production and economic loss.
Summary of the invention
It is an object of the invention to a kind of spray robot Dual-encoder redundant system, solve above technical problem；
Technical problem solved by the invention can realize by the following technical solutions: a kind of spray robot Dual-encoder is superfluous
Remaining system, including the conveyer chain in order to transmit vehicle body to be sprayed, for the connecting portion being connected with the drive shaft of described chain
Part, described connection member connects a power shaft so that described power shaft links with described drive shaft, including
First encoder, the second encoder and controller；
The rotary shaft of the rotary shaft of described first encoder and described second encoder all by described power shaft with identical biography
Dynamic ratio links with described chain, so that the first encoder and the second encoder export respectively indicates the of chain duty
One coding signal and the second coding signal；
Described controller includes selecting module and processing module, and described selection module is used for receiving and select described first coding letter
Number and described second coding signal one output, described processing module for process described selection module receive coding signal with
Obtain the positional information of described vehicle body.
Further, described selection module includes
First input interface, connects described first encoder, is used for receiving described first coding signal；
Second input interface, connects described second encoder, is used for receiving described second coding signal；
Output interface, connects described processing module, is used for exporting described coding signal to processing module；
Switch unit, for accessing described output interface by described first input interface or described second input interface one.
Further, described first encoder is also associated with the first counting module, and described first counting module receives first
Coding signal process obtain the first distance signal；
Described second encoder is also associated with the second counting module, and described second counting module receives the first coding signal and processes
Obtain second distance signal.
Further, when the reception signal of described selection module is switched to the second coding signal from the first coding signal,
According to current described first distance signal to revise current described second distance signal；
When the reception signal of described selection module is switched to the first coding signal from the second coding signal, according to current
Second distance signal is to revise current described first distance signal.
Further, when the reception signal of described selection module is switched to the second coding signal from the first coding signal,
According to current described first coding signal to revise current described second coding signal；
When the reception signal of described selection module is switched to the first coding signal from the second coding signal, according to current
Second coding signal is to revise current described first coding signal.
Further, described selection module is set to pulse distribution plate.
Further, described output interface is set to multiple, and described processing module arranges the processing unit of respective amount；Often
One processing unit is respectively connecting to different described output interfaces.
Further, described switch unit is manual switching unit.
Further, described controller also includes alarm unit, when the coding signal selecting unit to receive occurs abnormal,
Described alarm unit works to warn user；Or described controller also includes alarm unit, when the coding selecting unit to receive
When signal occurs abnormal, described alarm unit stops the work of described chain.
Further, also include
One master gear, described power shaft is fixed with described master gear；
One first driven gear, engages with described master gear；
One second driven gear, engages with described master gear；
The rotary shaft of described first encoder is fixed with described first driven gear；The rotary shaft of described second encoder is with described
Second driven gear is fixed；
Described first driven gear and the gear ratio of described master gear and described second driven gear and the transmission of described master gear
Ratio is identical.
Beneficial effect: owing to using above technical scheme, two encoders are set, when an encoder occurs abnormal,
Another encoder can be directly switch to use, without making whole spray coating operations stop, and ensure that spray coating operations
Be smoothed out, it is achieved bumpless transfer.
Accompanying drawing explanation
Fig. 1 is the Dual-encoder spraying detection structural upright structure chart of the present invention；
Fig. 2 is the sectional view of the Dual-encoder spraying detection structure side apparent direction of the present invention；
Fig. 3 is the Dual-encoder spraying detection structure top view of the present invention；
Fig. 4 is present system structure chart；
Fig. 5 is data process method figure of the present invention.
Reference: 100, fixing seat；110, bearing；120, fixed support；130, flap；200, chain；210, even
Relay part；220, power shaft；230, master gear；311, the first encoder；312, the second encoder；321, the first driven gear；
322, the second driven gear；331, the first idler gear；332, the second idler gear；340, shaft coupling.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, those of ordinary skill in the art obtained on the premise of not making creative work all its
His embodiment, broadly falls into the scope of protection of the invention.
It should be noted that in the case of not conflicting, the embodiment in the present invention and the feature in embodiment can phases
Combination mutually.
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings, but not as limiting to the invention.
A kind of spray robot Dual-encoder redundant system, realizes bumpless transfer by Dual-encoder switching.
With reference to shown in Fig. 1-3, the mounting structure of Dual-encoder is introduced, including for the driving with chain 200
The connection member 210 that axle connects, connection member 210 connects a power shaft 220 so that power shaft 220 links with drive shaft, double volumes
Code device spray structure also includes that a master gear 230, power shaft 220 are fixed with master gear 230；One first driven gear 321, with master
Gear 230 engages；One first encoder 311, the rotary shaft of the first encoder 311 is fixed with the first driven gear 321；One second
Driven gear 322, engages with master gear 230；One second encoder 312, the rotary shaft of the second encoder 312 and the second driven tooth
Wheel 322 is fixed；First driven gear 321 and the gear ratio of master gear 230 and the second driven gear 322 and the biography of master gear 230
Dynamic ratio is identical.First driven gear 321 and master gear 230 are engaged by the first idler gear 331；Second driven gear 322 He
Master gear 230 is engaged by the second idler gear 332.The radius of master gear 230 is more than the radius of the first idler gear 331；Main
The radius of gear 230 is more than the radius of the second idler gear 332.The radius of the first idler gear 331 is more than the first driven gear
The radius of 321；The radius of the second idler gear 332, more than the radius of the second driven gear 322, is so arranged, to realize coding
The high precision test feedback of device.Dual-encoder spraying detection structure also includes that fixing seat 100, fixing seat 100 are provided with bearing
110；Power shaft 220 is arranged in bearing 110 and extends to the inside of fixing seat 100, first driven gear the 321, first encoder
311, second driven gear the 322, second encoder 312 and master gear 230 are arranged at the inside of fixing seat 100.Fixing seat
100 are additionally provided with fixed support 120 and renovate, and the first driven gear 321 and the second driven gear 322 are provided with connecting rod,
Connecting rod penetrates fixed support 120 and is rotatably connected with fixed support 120, described first idler gear 331 and described second
Idler gear 332 is both secured to described, and connection member 210 is Hooks coupling universal coupling 340.First encoder 311 is disposed as explosion-proof
Encoder.Second encoder 312 is disposed as anti-explosion encoder.The rotary shaft of the first encoder 311 and the first driven gear 321
Connected by the first shaft coupling 340.The rotary shaft of the second encoder 312 and the second driven gear 322 are by the second shaft coupling 340
Connect.
With reference to shown in Fig. 4, the following is circuit system introduction about the construction, including the first encoder, the second encoder and control
Device；The rotary shaft of the rotary shaft of described first encoder and described second encoder all by described power shaft with identical transmission
Ratio links with described chain, so that the first encoder and the second encoder export the first of instruction chain duty respectively
Coding signal and the second coding signal；
Described controller includes selecting module and processing module, and described selection module is used for receiving described first coding signal or institute
Stating the second coding signal, the coding signal that described processing module receives for processing described selection module is to obtain vehicle body position letter
Breath.
Described selection module is set to pulse distribution plate.Described selection module includes
First input interface, connects described first encoder, is used for receiving described first coding signal；
Second input interface, connects described second encoder, is used for receiving described second coding signal；Input interface is disposed as
On pulse tablet.
Output interface, connects described processing module, is used for exporting described coding signal to processing module；Described output interface
Being set to multiple, described processing module arranges the processing unit of respective amount；Each processing unit is respectively connecting to different institutes
State output interface.Output interface is arranged on pulse output board.
Switch unit, connects for described first input interface or described second input interface one are accessed described output
Mouthful.Described switch unit is manual switching unit.With reference to diagram, could be arranged to knob, realize first by rotary knob defeated
Incoming interface and the switching of the second input interface.
Described first encoder is also associated with the first counting module, and described first counting module receives the first coding signal also
Process obtains the first distance signal；Described second encoder is also associated with the second counting module, and described second counting module receives
First coding signal process obtain second distance signal.Counting module is set to high-speed counter, leads to for cell controller
Cross high speed counting module and be directly connected to encoder, set the umber of pulse that per unit distance is corresponding in a control program, by number
Value exchange program, by counted number of pulses, is converted to distance signal, represents the distance value of detection.
With reference to shown in Fig. 4, when the reception signal of described selection module is switched to the second coding signal from the first coding signal
Time, according to current described first distance signal to revise current described second distance signal；When connecing of described selection module
The collection of letters number is when the second coding signal is switched to the first coding signal, current to revise according to current described second distance signal
Described first distance signal.When the reception signal of described selection module is switched to the second coding signal from the first coding signal
Time, according to current described first coding signal to revise current described second coding signal；When connecing of described selection module
The collection of letters number is when the second coding signal is switched to the first coding signal, current to revise according to current described second coding signal
Described first coding signal.Difficulty is that the currency of two high speed counting modules might not be identical, compiles at switching major-minor
During code device, utilize current encoder currency and produce the subject encoder pulse value of unit distance pulse, to reserved encoder
After the subject encoder pulse value of the next unit distance pulse of generation is modified, continues to carry out numerical value according to conversion relation and change
Calculate, it is achieved bumpless transfer.
Described controller also includes alarm unit, when the coding signal selecting unit to receive occurs abnormal, and described warning
Cell operation is to warn user；Or described controller also includes alarm unit, when the coding signal selecting unit to receive occurs
Time abnormal, described alarm unit stops the work of described chain.And encode the abnormal reality by detecting chain of signal
Duty realizes feedback, and once actual working state is different from the result of coding signal feedback, then be judged as exception.So cutting
Change encoder to select, actually have switched the signal source of positional information, after switching to secondary encoder, pulse distribution plate (206)
Signal source is switched to second passage that pulse tablet receives, the encoder arteries and veins that such robot line tracking board receives
Rush and switch to secondary encoder from main encoder.
With reference to shown in Fig. 5, in cell controller software, by numerical value exchange program, encode from counted number of pulses 1(first
Signal) value, pulse count value 2(second encodes signal) value process, encode signal in counted number of pulses 1(first)
Signal is encoded with 2(second) in the case of difference, it is ensured that correct distance value can be calculated.
The foregoing is only preferred embodiment of the present invention, not thereby limit embodiments of the present invention and protection model
Enclose, to those skilled in the art, it should can appreciate that done by all utilization description of the invention and diagramatic content
Scheme obtained by equivalent and obvious change, all should be included in protection scope of the present invention.
Claims (10)
1. a spray robot Dual-encoder redundant system, including the conveyer chain in order to transmit vehicle body to be sprayed, for
The connection member that the drive shaft of described chain connects, described connection member connects a power shaft so that described power shaft is with described
Drive shaft links, it is characterised in that include
First encoder, the second encoder and controller；
The rotary shaft of the rotary shaft of described first encoder and described second encoder all by described power shaft with identical biography
Dynamic ratio links with described chain, so that the first encoder and the second encoder export respectively indicates the of chain duty
One coding signal and the second coding signal；
Described controller includes selecting module and processing module, and described selection module is used for receiving and select described first coding letter
Number and described second coding signal one output, described processing module for process described selection module receive coding signal with
Obtain the positional information of described vehicle body.
A kind of spray robot Dual-encoder redundant system the most according to claim 1, it is characterised in that described selection mould
Block includes
First input interface, connects described first encoder, is used for receiving described first coding signal；
Second input interface, connects described second encoder, is used for receiving described second coding signal；
Output interface, connects described processing module, is used for exporting described coding signal to processing module；
Switch unit, for accessing described output interface by described first input interface or described second input interface one.
A kind of spray robot Dual-encoder redundant system the most according to claim 1, it is characterised in that
Described first encoder is also associated with the first counting module, and described first counting module receives the first coding signal and processes
Obtain the first distance signal；
Described second encoder is also associated with the second counting module, and described second counting module receives the first coding signal and processes
Obtain second distance signal.
A kind of spray robot Dual-encoder redundant system the most according to claim 3, it is characterised in that
When the reception signal of described selection module is switched to the second coding signal from the first coding signal, according to current
First distance signal is to revise current described second distance signal；
When the reception signal of described selection module is switched to the first coding signal from the second coding signal, according to current
Second distance signal is to revise current described first distance signal.
A kind of spray robot Dual-encoder redundant system the most according to claim 4, it is characterised in that its feature exists
In,
When the reception signal of described selection module is switched to the second coding signal from the first coding signal, according to current
First coding signal is to revise current described second coding signal；
When the reception signal of described selection module is switched to the first coding signal from the second coding signal, according to current
Second coding signal is to revise current described first coding signal.
A kind of spray robot Dual-encoder redundant system the most according to claim 1, it is characterised in that described selection mould
Block is set to pulse distribution plate.
A kind of spray robot Dual-encoder redundant system the most according to claim 2, it is characterised in that described output connects
Mouth is set to multiple, and described processing module arranges the processing unit of respective amount；Each processing unit is respectively connecting to different
Described output interface.
A kind of spray robot Dual-encoder redundant system the most according to claim 2, it is characterised in that described switching list
Unit is manual switching unit.
A kind of spray robot Dual-encoder redundant system the most according to claim 1, it is characterised in that described controller
Also including alarm unit, when the coding signal selecting unit to receive occurs abnormal, described alarm unit works to warn use
Person；Or described controller also includes alarm unit, when the coding signal selecting unit to receive occurs abnormal, described alarm unit
Stop the work of described chain.
A kind of spray robot Dual-encoder redundant system the most according to claim 1, it is characterised in that also include
One master gear, described power shaft is fixed with described master gear；
One first driven gear, engages with described master gear；
One second driven gear, engages with described master gear；
The rotary shaft of described first encoder is fixed with described first driven gear；The rotary shaft of described second encoder is with described
Second driven gear is fixed；
Described first driven gear and the gear ratio of described master gear and described second driven gear and the transmission of described master gear
Ratio is identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610827666.3A CN106238255B (en) | 2016-09-18 | 2016-09-18 | A kind of spray robot Dual-encoder redundant system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610827666.3A CN106238255B (en) | 2016-09-18 | 2016-09-18 | A kind of spray robot Dual-encoder redundant system |
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| CN106238255A true CN106238255A (en) | 2016-12-21 |
| CN106238255B CN106238255B (en) | 2019-01-15 |
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Cited By (5)
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| CN106955801A (en) * | 2017-03-06 | 2017-07-18 | 南通中港涂装设备有限公司 | 3D modeling vehicle bridge paint line paint robot |
| CN108111085A (en) * | 2018-01-24 | 2018-06-01 | 深圳市英威腾电气股份有限公司 | A kind of electric-driving installation, frequency converter and its motor control method |
| CN109178820A (en) * | 2018-09-19 | 2019-01-11 | 上汽大众汽车有限公司 | Short distance redundant data transmissions method and transmitting device |
| CN109343465A (en) * | 2018-12-11 | 2019-02-15 | 淮南矿业(集团)有限责任公司 | A kind of the encoder switching device and its switching method of the double tank elevators of auxiliary shaft |
| CN115085875A (en) * | 2022-05-25 | 2022-09-20 | 上海卓昕医疗科技有限公司 | Device and method for realizing safe backup by double encoders |
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