液压缸缸底焊接机械手设计

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Jun.2013机 床 与 液 压Hydromechatronics Engineering Vo1.41 No.12DOI：10.3969/j.issn.1001-3881.2013.12.016Design on M anipulator Used for Hydraulic Cylinder BottomW eldingWANG Xiaomei ，XIANG Wei ，ZHU Xincai ，ZHOU Xiong. Chongqing University of Science and Technology，Chongqing 401331，China；2.Chongqing Unweity ofTechnology，Chongqing 400054，China1.IntroductionAbstract：This paper introduces the work task of manipulator which is used for hydraulic cylinderboRom welding.The overal design scheme，the analysis of actuators，wire feeder，arc strikingdetection and automatic arcing are accomplished in the design.The paper introduces the designof pneumatic transmission system and PLC control system in detail.The design is to providetechnical reference for welding automation of other smal products。

Key words：manipulator，welding，pneumatic control，PLC controlThe demand of hydraulic cylinder is larger.Inorder to solve the sealability，strength and other un。

reasonable problem in hydraulic cylinder which isconnected by thread，the form of connecting with hy-draulic cylinder bottom and cylinder body is graduallytransform ed into welding.Due to the heavy workloadand the large duplication of welding，the welding ma-nipulator used for hydraulic cylinder bottom has theresearch value。

2.Mechanical structure of welding manipu-latorThe welding manipulator is required to completevertical lifling and horizontal linear movement.whenit perform s arc striking and arc extinction.Therefore。

the manipulator using XY Cartesian coordinate type，and has two degrees of freedom.Because the require。

ment of two degrees of freedom is not high.so the de。

sign adopts the stepper motor to drive ball bearingscrew to achieve movement in and Y directions。

The mechanical structure of implementing X and YReceived：2013-05-19WANG Xiaomei.E-mail：wangxmabe### yahoo.con.andirection movements is shown in Fig.1Fig.1 XY movement mechanical structureThe welding manipulator must quickly leave theweldment after arc striking，and the pneumatic trans-mission system has the advantages of rapid action，sensitive reaction，smalI resistance loss and leakage，and low cost，so the design adopts a cylinder as therapid moving mechanism.Through the analysis andcalculation， the design finaly selects CDMU40F-16S-C73 type cylinder. The pneumatic arc strikingmechanical structure of the welding torch is shown inFig.2。

The design uses a photoelectric sensor to detectarcing success.By sensing the light intensity in thewelding process in real time，the control system is todetect the need for re-arcing。

In addition，the welding manipulator comprisesa wire feeder.It is the role of automatic supply weld-ing wire during the welding process.This design usesWANG Xiaomei，et al：Design on Manipulator Used for：Hydraulic CylinderBottom Welding 75the Panasonic 500 type wire feeding machine(SB-10-A-1)。

1.welding torch，2.fixed claw，3.piston rod，4.pneumaticcylinder，5.guide md，6.fixed bracket for welding torch，7。

fixed bracket for sensor，8.sensorFig.2 Pneumatic are striking mechanicalstructure of welding torchConsidering specific sizes of the hydraulic cylin-der bottom in the design，through analysis and calcu-lation， the machanical structure overall design ofwelding manipulator is finally accomplished. It isshown in Fig.3。

41.wire feeder，2.gu ide rod in y direction，3. welding wireconduit，4.stepper motor in Ydirection，5.ball geanng screwin Y direcion，6.stepper motor in X direction，7.ball gearingSCreW in X direcion，8.pneumatic cylinder，9.welding torch，10.trestleFig.3 Overall machanieal structure of welding manipulatorThe welding torch and pneumatic cylinder inFig.3 are fixed to the slider in X direction by brack。

et.The stepper motor in X direction drives bal bear。

ing screw in X direction to rotate.drives slider tomove in X direction，and then drives welding torch tomove in horizontal linear direction eventualy.Themoving principle of welding torch in Y direction is thesame as that in X direction.The welding torch mov。

ing in X direction iS used to adjust the weld distancebetween the welding torch and the hydraulic cylin-der.The welding torch moving in y direction iS usedto adjust that the center of welding torch is alignedwith the center of weld seam.NB-500 type wire feeder is fixed to the rear end of the trestle and feedswelding wire automatically through the wire conduit。

3.Design of pneumatic transmission systemThe pneumatic transmission system is the key tothe completion of the welding manipulator arcing ac-tion.Because arc striking uses spot contact method，it Deeds the welding torch contact the welding withina short time，and then rapidly seperate.The pneu-mafic transmission system diagram of manipulator isshown in Fig.4。

Fig.4 Pneumatic transmission systemAccording to the task requirements，through de·sign calculation，the main pneumatic control circuitcomponents are shown in Tab.1。

Tab.1 Type and specifications of the componentsThe design uses a quick exhaust device 5 whichensures that the pneumatic cylinder returns quickly。

A pressure compensated flow control valve 4 is usedto adjust the speed and the stablity of arc striking。

76 Hydromechatronics EngineeringArc tank 2 is used to ensure instantaneous and 1argeflow compressed air.These designs can guarantee thespeed stability of pneumatic cylinder in welding arcstriking process，and then avoid adverse efects。

Through the quick exhaust device，the load of thesingle-acting cylinder spring is decreased when it re·-turn.Therefore，the return speed of pneumatic cylin-der becomes faster，which ensures that the pneumaticcylinder reaches the limit switch position after the re。

set operation in a relatively short period of time。

4.Design of control systemThe design adopts PLC control system.Accord。

ing to the analysis of manipulator control require-ments，PLC is required to provide 9 input points and14 output points.So，the manipulator uses Mitsub-ishi F)2N-48mr-001 PLC as the controller.The PLCmain program flow chart is shown in Fig.5。

The control principle is that：1)At beginning，the diameter and thickness ofthe to be welded hydraulic cylinder is input by theoperator.The operator controls welding torch to movein X direction in order to make the welding torch atthe weld seam center roughly.After that，the opera-tor centreI the welding torch to move in Y direction inorder to make the welding torch arrive at a suitableposition。

2)After the hydraulic cylinder is fixed to thewelding table，the complete signal is sent to the PLCfor subsequent operations。

3)Manual selection.The operator determineswhether it welds automatically。

4)After accomplishing the arc preparations，thesolenoid operated directional valve is energized，thatmakes the pneumatic cylinder move.And then，thePLC control system sends signal to the stepper motorin Y direction in order to ensure the distance of 10～1 5 1Tim between the welding torch and the weld seam。

5)Signal detection.Based on the measuredlight intensity signal by photo-electric sensor，it isjudged that whether the arc striking is successful ornot.If successful，the PLC control system continueswith the following operation. Otherwise， the PLCsends the stepper motor a pulse signal in Y directionto make it reset and controls the NB-500 welding ma--chine to arc strik again。

6)The position of the welding manipulator re-mains unchanged in the welding process，the state ofNB-500 welding machine is keep.and the sensor de。

teets the photo.electric signal in real time.If the easeof accidental arc extinguishing appears，the PLC willsend signals to control stepper motor to reset. Andfurther.the welding torch will move up to i～5 mmto ensure the welding torch and the weldment of thesame distance。

Fig.5 PLC main program flow chart7)It is monitored in real time during weldingthat whether the welding is completed.The finishedsign is the weldment rotating a circle or a few laps。

8)The arc extinguishing operation is requiredwhen the welding finished.The weldment stops rota-ting and the welding torch repeats arc striking and areextinguishing several times.That is to ensure the fi-nal weld seam completes closure。

9)After geting finished signal，the PLC con-trols stepper motor is to reset and sends welding ma-chine a stop signa1. And system waits for the nextweldment in place，and repeats all the operation a-bove。

W ANG Xiaomei，et al：Design on Manipulator Used for Hydraulic CylinderBotom Welding 775.ConclusionsIn modem industry，as the automated productionand the demand of human security in job continues tobe strengthened，manipulator is used more wildly.Thewelding manipulator has the advantages of simple in de-sign，stable and reliable act，and research and develop-merit in low-cost.The PLC control system has the char-acteristic of simple in programming，high reliability，good in versatility，strong functions and easy to use。

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摘要：分析 了液压缸缸底焊装机械手的工作任务 ，确定了其总体设计方案，完成 了执行机构、送丝机构、起混测和灭弧 自动起弧功能的设计￠绍了该机械手气压传动 系统设计、PLC控制 系统设计等内容，为小型产品的焊接 自动化提供了-定的技术借鉴。

关键词：机械手；焊接；气动控制；PLC控制中图分类号：TH12(Continued on 56 page)References：[1][2]CUI Zhaohua， WANG Xihai. Turner operation skilltraining diagram[M].Jinan：Shandong Science＆Tech-nology Press，2008。

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武汉理工大学 a.能源与动力工程学院；b.工程训练中心，武汉 430063摘要：车床跟刀架是径向支撑旋转工件的辅助装置，加工时，与刀具-起 沿工件轴向移动。针对某车间现有传统车床跟刀架支承爪磨损严重的问题，借用滚动轴承改进设计了-种新型跟刀架，利用滚动摩擦代替滑动摩擦。经实践检验，该方法效果良好，有效地解决了支承爪的磨损问题。

关键词：跟刀架；支撑爪；磨损；滚动轴承中图分类号：TH16