CN101067747A - Three-dimensional space automatic positioning system based on servo system bus control technique - Google Patents
Three-dimensional space automatic positioning system based on servo system bus control technique Download PDFInfo
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- CN101067747A CN101067747A CN 200710018015 CN200710018015A CN101067747A CN 101067747 A CN101067747 A CN 101067747A CN 200710018015 CN200710018015 CN 200710018015 CN 200710018015 A CN200710018015 A CN 200710018015A CN 101067747 A CN101067747 A CN 101067747A
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Abstract
The invention relates to three dimensional space automatic station keeping system based on servo system bus control technique. The mechanical system is set the three dimensional space module formed by X axis 101, Y axis 102, Z axis 103. Its feature is that the CPU is combined with positioning module in the electrical automatic control system which is formed by hand operated pulse generator 204, servo amplifier, servo motor, includes self-learning operating interface and automatic performance interface. The invention uses automatic control itself to precisely measure three- dimension space locator value, automatically save measuring data, utilizes it as target data to process automatic control to make the locator value acquisition very easy, convenient, exact, and high efficiency.
Description
Technical field
The present invention relates to the full-automatic handling equipment of numerically-controlled machine, the automatic conveyer of logistics etc. need be a kind of three dimensions automatic station-keeping system based on servo-drive system bus control technology SSCNET (Servo System Controller Network) in the automatic pinpoint field of three dimensions specifically.
Background technology
Present most three-dimensional fix device, adopting manually, method of operating manuallys locate, or adopt and in three dimensions, to carry out artificial repeated measurement, proofread data repeatedly, data are imported by means of the professional, utilize special programming tool input data, in case the data input just can't be changed, its measurement means of this method falls behind, efficiency of measurement is low, can't guarantee the accuracy of measurement data.
Summary of the invention
The object of the present invention is to provide a kind of utilization to control self automatically accurately measures the three-dimensional fix value, automatically preserve measurement data then, be that target data is controlled automatically with the data of measuring again, make obtaining of three-dimensional fix data value very simple, convenient, accurately and efficiently based on the three dimensions automatic station-keeping system of servo-drive system bus control technology.
For achieving the above object, the present invention has adopted following technical proposals:
A kind of three dimensions automatic station-keeping system based on servo-drive system bus control technology SSCNET (Servo System ControllerNetwork), be provided with by X-axis 101 in mechanical system, Y-axis 102, the three-dimensional space model that Z axle 103 is formed, it is characterized in that in electric automatic control, adopting central processor CPU to combine with locating module, with manual impulsator 204 and servoamplifier, servomotor is formed an automatic control system that comprises self study operation interface and the automatic runnable interface of self study, at first finish the self study process, carry out automatic operation then, its self study program is undertaken by following step:
Step 1 is pressed start button 302, and program enters self study init state-501;
Step 2, the operator inserts the Position Number of X-axis 101, Y-axis 102, Z axle 103 at axle input position N:301 place, and promptly the input position numbering-502;
Step 3 is selected the axle-503 that will move;
Step 4, the operator presses the lower shaft save button, determines selected axle-504;
Step 5, program redirect-505,601 enters in the interrupt service subroutine; Operator's rotation manual pulse producer 204 sends pulse signal-602, chosen axle obtains enabling signal-603, selected axle drive scrambler rotation-604, manual impulsator 204 stops operating during selected arrival desired value, pulse signal stops-605, concurrent shaft stop signal-606, and scrambler stops operating and no longer counts-607, interrupt service subroutine finishes, and redirect is returned in the master routine;
Step 6 shows currency-506;
Step 7, whether with desired value consistent, can preserve numerical value-507 after selected axle arrives desired value if checking currency; If selected axle does not reach desired value, get back to step 3 and carry out again;
Step 8, X, Y, Z three axis values all preserve-508, and the automatic measurement under this Position Number, the self study process of preserving automatically promptly finish-509.
Described man-machine interface HMI201 connects central processing unit 202 and servo positioning module 203, be connected to manual impulsator 204 on the servo positioning module 203, servo positioning module 203 is communicated with X-axis servoamplifier 206 by bus 205, X-axis servoamplifier 206 is communicated with Y-axis servoamplifier 207, Y-axis servoamplifier 207 links with Z axle servoamplifier 208 again, X-axis servoamplifier 206 connects X-axis servomotor 209, Y-axis servoamplifier 207 connects Y-axis servomotor 210, and Z axle servoamplifier 208 connects Z axle servomotor 211.
Described self study operation interface is provided with self study start button 302, self study conclusion button 303, input shaft location number N:301, X-axis current location value the Show Button 304, Y-axis current location value the Show Button 305, Z axle current location value the Show Button 306, X-axis positional value save button 307, Y-axis position save button 308 and Z shaft position save button 309; The automatic runnable interface of described self study is provided with input shaft location number N:401, automatic start button 402, automatic stop button 403, the X-axis location number shows N404, X-axis target location value shows 407, X-axis current location value shows 410, and the Y-axis location number shows N405, and Y-axis target location value shows 408, the Y-axis current location shows 411, Z shaft position number demonstration N406, Z axle target location value shows 409, Z axle current location value shows 412.
The present invention has following advantage:
1. reduce volume, save distribution, and the damage that makes distribution cost of labor and distribution mistake cause drops to minimum.
2. can realize high-speed motion control, at a high speed, the servo-controlled realization of high resolving power is more prone to.
3. make the realization of absolute synchronization simpler.
4. the automaticity height is powerful, all axis servomotor parameters of management on the controller, and the parameter that sees through each axis servomotor of SSCNET can be unified in and adjust on the controller and read.
The absolute position system construct convenient.
6. stability is high, and reliability improves greatly.When digital data transmission, communication quality significantly improves, can be as the servo noise that is subject to of traditional type, and antijamming capability is strong.
The present invention greatly reduces labour intensity in practice, fully guaranteed the precision of three-dimensional fix, has improved work efficiency.
Description of drawings
Fig. 1 is a mechanical mechanism illustraton of model of the present invention;
Fig. 2 is an automatic learning control system structural drawing of the present invention;
Fig. 3 is a self study operation interface synoptic diagram;
Fig. 4 is automatic runnable interface synoptic diagram;
Fig. 5 is a self study main program flow chart of the present invention;
Fig. 6 is a self study subroutine flow chart of the present invention.
Embodiment
Below in conjunction with accompanying drawing the present invention is further elaborated:
A kind of three dimensions automatic station-keeping system based on servo-drive system bus control technology SSCNET (Servo System ControllerNetwork), in physical construction one of design frame upper edge X-axis, Y-axis, Z axle can independent operating dolly; In electric automatic control, adopt central processor CPU to combine with locating module (QD75M4), form an automatic control system with manual impulsator (MR-HDP01) and each servoamplifier (MR-J2S-200B), servomotor (HC-SFS202K), adopt HMI (Human Machine Interface) man-machine interface is measured automatically, preservation and pinpoint operation.
Shown in Figure 1: forming one by X-axis 101, Y-axis 102, Z axle 103 is the three-dimensional space model of initial point with 107.Several random points are arranged respectively in three dimensions, and the 1st: 104 its coordinate figure is X
1, Y
1, Z
1, the 2nd: 105 its coordinate figure is X
2, Y
2, Z
2, n point X
n106 its coordinate figures are X
n, Y
n, Z
nThis invention can be measured X-axis, Y-axis, the Z axis data of each point and storage automatically automatically.Adopt rotation manual impulsator (MR-HDP01) 204 mobile respectively X-axis 101 in three dimensions in the operation, mobile Y-axis 102, mobile Z axle 103 is read X more respectively
1The X of point 104
1, Y
1, Z
1Currency; X
2The X of point 105
2, Y
2, Z
2Currency is up to X
nPoint 106 X
n, Y
n, Z
nCurrency, grouping is preserved automatically.
As shown in Figure 2, HMI (Human Machine Interface) man-machine interface 201 is mainly carried out man-machine conversation, realizes the operation of automatic operational process.Central processor CPU 202 carries out the processing of all control programs of this positioning system, comprise measurement, the three-dimensional space position of three-dimensional space position preservation, three-dimensional space position data processing such as call automatically.Man-machine interface 201 connects central processing unit 202 and servo positioning module 203 (QD75M4), be connected to manual impulsator 204 on the servo positioning module 203, locating module 203 is by SSCNET (Servo System Controller Network) bus 205 and X-axis servoamplifier (MR-J2S-200B) 206, Y-axis servoamplifier (MR-J2S-200B) 207, Z axle servoamplifier (MR-J2S-200B) 208 links, with X-axis servomotor (HC-SFS202K) 209, Y-axis servomotor (HC-SFS202K) 210, measurement data in the Z axle servomotor (HC-SFS202K) 211 is delivered in locating module (QD75M4) 203 and the central processing unit (CPU) 202 and handles, and shows on HMI (HumanMachine Interface) man-machine interface.
Shown in Figure 3, press start button 302, system enters the self study pattern, and it is sequence number that the operator inserts 104,105,106 Position Number shown in Figure 1 at input shaft location number N:301 place.With the manual impulsator among Fig. 2 (MR-HDP01) 204, X-axis 101, Y-axis 102, Z axle 103 in the difference application drawing 1.Arrive the the 1st: 104, the 2nd: 105 among Fig. 1, n point 106 positions respectively.And press X-axis positional value save button 307, Y-axis position save button 308 and Z axle save button 309 respectively.Control system can be kept at the the 1st: 104, the 2nd: 105 respectively automatically, X-axis, Y-axis, Z axle measurement data in the n point 106.After self study finishes, press conclusion button 303, total data will be saved in the central processor CPU 202 automatically.
After self study finishes, can move automatically according to the page of representing among Fig. 4.At first input needs the particular location number of three-dimensional fix to input shaft location number N:401, then by automatic start button 402, control system just can be moved in X-axis 101, Y-axis 102, the Z axle 103 to 401 position of input automatically, and X-axis 101, Y-axis 102,103 3 whiles of Z axle are moved automatically.The X-axis location number shows can observe out X-axis location that axis servomotor moving number among the N404, X-axis target location value shows 407, what show is that X-axis will self-braking desired value, X-axis current location value shows that 410 dynamically demonstrate the X-axis current location value of operation automatically, is convenient to the X-axis running status is monitored in real time.Same 405 is for the Y-axis location number shows N, the 408th, and the value demonstration of Y-axis target location, the 411st, the Y-axis current location shows.The 406th, Z shaft position number demonstration N, the 409th, the value demonstration of Z axle target location, the 412nd, Z axle current location value shows.
Self study of the present invention is operated main program flow as shown in Figure 5: press the self study start button 302 among Fig. 3, program enters automatic operation init state-501; It is sequence number-502 that the operator inserts 104,105,106 Position Number shown in Figure 1 in the axle input position N:301 place in Fig. 3; The axle that the 503-selection will be moved; Program redirect-505,601 after the 504-axle is selected, enter in the interrupt service subroutine of Fig. 6, the manual impulsator (MR-HDP01) 204 that 602-rotates among Fig. 2 sends pulse signal, the chosen axle of 603-obtains enabling signal, the rotation of the selected axle of 604-drive scrambler, manual impulsator (MR-HDP01) 204 stops operating during selected arrival desired value, the 605-pulse signal stops concurrent shaft stop signal-606, scrambler stops operating and no longer counts-607, and interrupt service subroutine finishes; Redirect is returned in the master routine of Fig. 5, shows currency-506; Whether the operator check currency and desired value-cause, and after arriving desired value, selected axle can preserve numerical value-507, if selected axle does not reach desired value, get back to step 3 and carry out again; 508-is after X, Y, Z three axis values are all preserved, and the self study process under this Position Number promptly finishes-509.
Claims (3)
1, a kind of three dimensions automatic station-keeping system based on the servo-drive system bus control technology, be provided with the three-dimensional space model of forming by X-axis 101, Y-axis 102, Z axle 103 in mechanical system, it is characterized in that in electric automatic control, adopting central processor CPU to combine with locating module, form an automatic control system that comprises self study operation interface and the automatic runnable interface of self study with manual impulsator 204 and servoamplifier, servomotor, at first finish the self study process, carry out automatic operation then, its self study program is undertaken by following step:
Step 1 is pressed start button 302, and program enters self study init state-501;
Step 2, the operator inserts the Position Number of X-axis 101, Y-axis 102, Z axle 103 at axle input position N:301 place, and promptly the input position numbering-502;
Step 3 is selected the axle-503 that will move;
Step 4, the operator presses the lower shaft save button, determines selected axle-504;
Step 5, program redirect-505,601 enters in the interrupt service subroutine; Operator's rotation manual pulse producer 204 sends pulse signal-602, chosen axle obtains enabling signal-603, selected axle drive scrambler rotation-604, manual impulsator 204 stops operating during selected arrival desired value, pulse signal stops-605, concurrent shaft stop signal-606, and scrambler stops operating and no longer counts-607, interrupt service subroutine finishes, and redirect is returned in the master routine;
Step 6 shows currency-506;
Step 7, whether with desired value consistent, can preserve numerical value-507 after selected axle arrives desired value if checking currency; If selected axle does not reach desired value, get back to step 3 and carry out again;
Step 8, X, Y, Z three axis values all preserve-508, and the automatic measurement under this Position Number, the self study process of preserving automatically promptly finish-509.
2, three dimensions automatic station-keeping system based on the servo-drive system bus control technology according to claim 1, it is characterized in that described HMI man-machine interface 201 connects central processing unit 202 and servo positioning module 203, be connected to manual impulsator 204 on the servo positioning module 203, servo positioning module 203 is communicated with X-axis servoamplifier 206 by bus 205, X-axis servoamplifier 206 is communicated with Y-axis servoamplifier 207, Y-axis servoamplifier 207 links with Z axle servoamplifier 208 again, X-axis servoamplifier 206 connects X-axis servomotor 209, Y-axis servoamplifier 207 connects Y-axis servomotor 210, and Z axle servoamplifier 208 connects Z axle servomotor 211.
3, the three dimensions automatic station-keeping system based on the servo-drive system bus control technology according to claim 1, it is characterized in that described self study operation interface is provided with self study start button 302, self study conclusion button 303, input shaft location number N:301, X-axis current location value the Show Button 304, Y-axis current location value the Show Button 305, Z axle current location value the Show Button 306, X-axis positional value save button 307, Y-axis position save button 308 and Z shaft position save button 309; The automatic runnable interface of described self study is provided with input shaft location number N:401, automatic start button 402, automatic stop button 403, the X-axis location number shows N404, X-axis target location value shows 407, X-axis current location value shows 410, and the Y-axis location number shows N405, and Y-axis target location value shows 408, the Y-axis current location shows 411, Z shaft position number demonstration N406, Z axle target location value shows 409, Z axle current location value shows 412.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710018015 CN101067747A (en) | 2007-05-23 | 2007-05-23 | Three-dimensional space automatic positioning system based on servo system bus control technique |
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|---|---|---|---|
| CN 200710018015 CN101067747A (en) | 2007-05-23 | 2007-05-23 | Three-dimensional space automatic positioning system based on servo system bus control technique |
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| CN101067747A true CN101067747A (en) | 2007-11-07 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101620421B (en) * | 2008-06-30 | 2012-03-28 | 发那科株式会社 | Drive control device and drive control method of servo motor |
| CN104714472A (en) * | 2013-12-16 | 2015-06-17 | 发那科株式会社 | Numerical control device with servo-output delay unit |
| CN109634218A (en) * | 2018-08-01 | 2019-04-16 | 广州市机电高级技工学校（广州市机电技师学院、广州市机电高级职业技术培训学院） | A kind of multiaxis intelligence drilling machine control system with self-learning function |
| CN112093670A (en) * | 2020-09-16 | 2020-12-18 | 三一海洋重工有限公司 | Automatic positioning method and device, gantry crane and readable storage medium |
-
2007
- 2007-05-23 CN CN 200710018015 patent/CN101067747A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101620421B (en) * | 2008-06-30 | 2012-03-28 | 发那科株式会社 | Drive control device and drive control method of servo motor |
| CN104714472A (en) * | 2013-12-16 | 2015-06-17 | 发那科株式会社 | Numerical control device with servo-output delay unit |
| CN104714472B (en) * | 2013-12-16 | 2017-03-15 | 发那科株式会社 | Possesses the numerical control device that servo exports delay cell |
| CN109634218A (en) * | 2018-08-01 | 2019-04-16 | 广州市机电高级技工学校（广州市机电技师学院、广州市机电高级职业技术培训学院） | A kind of multiaxis intelligence drilling machine control system with self-learning function |
| CN109634218B (en) * | 2018-08-01 | 2022-02-01 | 广州市机电高级技工学校（广州市机电技师学院、广州市机电高级职业技术培训学院） | Multi-spindle intelligent drilling machine control system with self-learning function |
| CN112093670A (en) * | 2020-09-16 | 2020-12-18 | 三一海洋重工有限公司 | Automatic positioning method and device, gantry crane and readable storage medium |
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