CN101256407A - Integrated motion control system for laser, shaking mirror and motor - Google Patents
Integrated motion control system for laser, shaking mirror and motor Download PDFInfo
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- CN101256407A CN101256407A CNA2007100774318A CN200710077431A CN101256407A CN 101256407 A CN101256407 A CN 101256407A CN A2007100774318 A CNA2007100774318 A CN A2007100774318A CN 200710077431 A CN200710077431 A CN 200710077431A CN 101256407 A CN101256407 A CN 101256407A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a laser-vibrating mirror-motor integrated motion control system, comprising a control card including a master console module connected with a motor control module, a laser control module and a vibrating mirror, the laser control module and the motor control module are set to be two-way synchronized, the laser control module and the vibrating mirror control module are set to be two-way synchronized. Since the control card which integrates a vibrating mirror control card and a motor motion control card is used in the integrated motion control system, the vibrating mirror and the motor motion are coordinated in a higher real-time plate card, so that the working efficiency is improved, the synchronization effect is greatly lifted, the programming task of users is simplified, and the usage difficulty of the users are lowered.
Description
Technical field
The present invention relates to a kind of control system and method for laser process equipment, the integrated motion control system of in particular a kind of laser, galvanometer, motor.
Background technology
The laser process equipment of prior art, as shown in Figure 1, one industrial computer 110 is set usually, connect a galvanometer control card 120 by pci interface, Ethernet ethernet or usb mode, send the galvanometer control signal by driver by this galvanometer control card and carry out the vibration control of galvanometer, by opening or closing of PWM ripple or similar signal control laser instrument.Described galvanometer is the device of control laser oscillating angle in the laser processing procedure, is similar to mirror to reflection of light, can control the swaying direction of laser.As shown in Figure 1, the laser that laser instrument 130 sends can be divided into many after by beam expanding lens 140, arrives on the workpiece by the object lens on the scanner head 150 151.In the course of work of laser, galvanometer can be used for vibrating by the minute surface that Electric Machine Control drives, to change the operating angle of laser.
Described industrial computer 110 also is connected with a motor movement control card 160 by pci interface, Ethernet ethernet or usb mode simultaneously, as shown in Figure 1, by the drive controlling that card extender 170 is realized a plurality of motors 180, these motors can be realized the change skill multi-faceted to workpiece movement, rotation etc.
The movement velocity of galvanometer is very high, at its high-speed motion (under＞3000mm/s) the situation, the control of the 110 pairs of motor-driven of industrial computer needs very accurate, is different control cards and different drivers and prior art adopts, and it can't realize coordinating to control to realize the precision of processing.
In the laser process equipment of prior art, usually Electric Machine Control, laser controlling and galvanometer control are to adopt the different driving control program, as shown in Figure 1, and because of there is the conforming problem of driver in it, can cause the compatible not enough problem between the driver, it mainly shows:
Adopt Electric Machine Control+general output signal way to manage: with motor movement and the combination of IO SIGNALS MANAGEMENT, when desired location point, open or close in the motor movement process, and encode according to the general output signal in several roads and to select laser energy progression with general output signal control laser instrument; But because output signal is limited, can't realize the multistage variation of laser energy, and there is the longer hysteresis quality that causes because of the photoelectricity isolation in the response of general output signal, can't control the laser energy size according to the characteristic information of non-positions such as movement velocity, acceleration simultaneously, processing effect is undesirable.
Adopt Electric Machine Control+laser controlling way to manage: motor movement and laser switch, energy control are combined, can be according to of the opening and closing of characteristic informations such as movement velocity in the motor movement process by high speed output signal control laser instrument, and, processing effect is preferably arranged by signal controlling laser energies such as PWM or analog quantitys; But can't reach the high-level efficiency of galvanometer processing mode.
Adopt galvanometer motor control+general output signal way to manage: with galvanometer motor motion and general output signal management combination, desired location point in the galvanometer motor motion process, open or close laser instrument by managing general output signal, but there is hysteresis quality in the response of general output signal, can't satisfy the requirement of galvanometer motor high-speed motion.
Adopt galvanometer motor control+laser controlling management method: galvanometer motor motion and laser switch, energy control are combined, desired location point in the galvanometer motor motion process, opening and closing by high speed output signal control laser instrument, and by signal controlling laser energies such as PWM or analog quantitys, can realize the processing of high speed, high efficiency, but because the galvanometer mode of motion exists the processing breadth little, non-linear factor is big, the shortcoming that is difficult to adjust can not be widely used.
As shown in Figures 2 and 3, the steering order of galvanometer control card and motor control card is independently, can not rely on a processing file or consolidator section to realize both coordinations in the control stream; In addition, all serve as theme in the prior art scheme with the motion of galvanometer or motor, come synchronous laser control signal with movement position or exterior I O, adopt synchronization mechanism respectively at galvanometer control and Electric Machine Control to laser, though can satisfying most of laser signal, this mode postpones situation in motor message, but can't realize laser control signal in advance in the function of motor message, laser processing procedure is stable very poor like this, and also should not adjust with the coupling of laser work characteristic.
Can only solve the synchronous matching problem of galvanometer and laser in the prior art scheme, or the synchronous matching problem of motor and laser, if want triplicity, often need to select for use more in addition the motion-control module of translator control, the synchronous coordination of galvanometer, laser and motor need be realized by software on industrial computer, it is bad that its immediate problem that brings is exactly efficient be unable to lift, programme complexity, synchronous coordination effect, and the consistance of processing is poor.
Therefore, prior art has yet to be improved and developed.
Summary of the invention
The object of the present invention is to provide the integrated motion control system of a kind of laser, galvanometer, motor, galvanometer control card and the combination of motor movement control card are set together, make the coordination of galvanometer and motor movement on the higher integrated circuit board of real-time, to finish, to make things convenient for the harmonious and accuracy of Laser Processing platform.
Technical scheme of the present invention is as follows:
The integrated motion control system of a kind of laser, galvanometer, motor, it is arranged on the multi-purpose computer, wherein, described integrated motion control system setting comprises a control card, on this control card, be provided with and comprise a master console module, described master console module controls is connected with a motor control module, a laser control module and a galvanometer control module, be set to bi-directional synchronization mechanism between described laser control module and the described motor control module, also be set to bi-directional synchronization mechanism between described laser control module and the described galvanometer control module; This control card also is provided with and comprises a hardware interface module, is used to export described motor control module and described galvanometer control module and the described laser control module control signal after synchronously.
Described integrated motion control system, wherein, described bi-directional synchronization mechanism realizes by time stream planning control module, is used for being undertaken synchronously by sequential.
Described integrated motion control system, wherein, described galvanometer control module comprises a motion preparation module, is used for communicating with described time stream planning control module being connected; Described motion preparation module is connected with a galvanometer exercise data district, is used for to the planning of galvanometer position with to the galvanometer speed planning, and by a galvanometer position output module output galvanometer control signal.
Described integrated motion control system, wherein, described laser control module comprises a laser state data field, connects described time stream planning control module, and by a laser state administration module and laser output module output laser signal.
Described integrated motion control system, wherein, described motor control module also comprises a data preparation module, connects described time stream planning control module, and connects a motor movement data field; Described motor movement data field is used for movement position planning and motor movement speed planning to motor, and by a motor position output module output motor drive signal.
The integrated motion control system of a kind of laser provided by the present invention, galvanometer, motor, owing to adopted the control card that galvanometer control card and motor movement control card are combined and be provided with, make the coordination of galvanometer and motor movement on the higher integrated circuit board of real-time, to finish, improved work efficiency, significantly promoted the synchronous coordination effect, simplify user's programing work simultaneously, reduced user's use difficulty.
Description of drawings
Fig. 1 is the structural representation of the Laser Processing control system of prior art;
Fig. 2 is the galvanometer control card control module structural representation of prior art;
Fig. 3 is the motor control card control module structural representation of prior art;
Fig. 4 is the structural representation of the integrated motion control system of laser of the present invention, galvanometer, motor;
Fig. 5 is the integrated motion control system control procedure synoptic diagram of laser of the present invention, galvanometer, motor;
Fig. 6 is a motion control signal processing flow chart of the present invention.
Embodiment
Below preferred embodiment of the present invention is described in detail.
The integrated motion control system of described laser of the present invention, galvanometer, motor, as shown in Figure 4, the steering order characteristics of galvanometer and motor have been taken all factors into consideration, the steering order of galvanometer, laser and motor is included in unified instruction management process, laser, galvanometer, Electric Machine Control function are integrated on the control card, carry out uniform dispatching by the master console module, thereby make control stream can realize that both coordinate and deposit, and the function that cooperatively interacts.The integrated motion control system of laser of the present invention, galvanometer, motor, it can be arranged on a multi-purpose computer or the industrial computer, described integrated motion control system setting comprises a control card, on this control card, be provided with and comprise a master console module, described master console module controls is connected with a motor control module, a laser control module and a galvanometer control module, be set to bi-directional synchronization mechanism between described laser control module and the described motor control module, also be set to bi-directional synchronization mechanism between described laser control module and the described galvanometer control module; This control card also is provided with and comprises a hardware interface module, is used to export described motor control module and described galvanometer control module and the described laser control module control signal after synchronously, as shown in Figure 5.
The master console module is as command centre, behind the instruction stream of receiving the host computer transmission, carry out the data pre-service of working motion instruction according to speed, the climb curve feature equal time key element of instruction agreement, and deposit the data allocations of different objects the corresponding data district of each execution module in, serve as that the control benchmark drives galvanometer control module, laser control module, the work of motor movement control module simultaneously with time stream then.
Time reference stream has guaranteed the consistance of three's work theoretically, also can require to accomplish that laser signal is in advance accurate or lag behind motion at special process simultaneously; In addition owing to when carrying out the data pre-service, taken into full account the otherness of galvanometer and motor movement characteristic, so Real Time Drive both when working simultaneously, can accomplish the harmonious property of abundant exercise.
In the course of work, owing to the non-linear factor of outside topworks causes the non-rational lag of motion that kinetic characteristic causes not in full conformity with existing mathematical model or the situation of leading laser signal, then can be by the online adjustment of bi-directional synchronization treatment mechanism of laser control module and motor or galvanometer motion-control module.
Having adopted in the technical solution of the present invention with time stream is the method for designing of benchmark, makes galvanometer motion, laser controlling, motor movement be in the unified time territory, can easily realize the action of any one parts in time in advance or lag behind.As shown in Figure 6, described bi-directional synchronization mechanism realizes by time stream planning control module, be used for being undertaken synchronously by sequential, the described order that promptly refers to synchronously in laser processing procedure according to the time, the switch and the galvanometer of control laser change, simultaneously, control the motion or the rollover states of described workpiece, to realize accurate process.
The integrated motion control system of laser of the present invention, galvanometer, motor is by a control card integrated laser, galvanometer, motor three control function, the multiple processing occasion technical solution of the present invention that prior art can't realize and satisfy all can be finished, as large format mark, picture mosaic mark, marking on the fly, rotation mark, rotation engraving, rectangular engraving, cutting mark function integration etc., because laser controlling, galvanometer control and Electric Machine Control realize by a control card, unified output control signal, its net synchronization capability improves, and is compatible strong.
As shown in Figure 6, galvanometer control module of the present invention comprises a motion preparation module, is used for communicating with described time stream planning control module being connected; Described motion preparation module is connected with a galvanometer exercise data district, is used for to the planning of galvanometer position with to the galvanometer speed planning, and by a galvanometer position output module output galvanometer control signal.Described laser control module comprises a laser state data field, connects described time stream planning control module, and by a laser state administration module and laser output module output laser signal.Described motor control module also comprises a data preparation module, connects described time stream planning control module, and connects a motor movement data field; Described motor movement data field is used for movement position planning and motor movement speed planning to motor, and by a motor position output module output motor drive signal.Above-mentioned module all is arranged in the control card, therefore, can realize the accurate control to laser, galvanometer and motor.
The integrated motion control system of laser of the present invention, galvanometer, motor can be realized the application mode and the field of expanded laser light mark, engraving, cutting: former laser marking can only be small processing breadths such as interior carving, and the one-shot forming of adopting technical solution of the present invention can finish on large glass, crystal, cloth, leather, timber, double-colored plate, organic material even metal is processed; Simultaneously can realize the function that multiple process is finished by an equipment, once finish, weld earlier the meticulous engraving in back as mark+cutting; With the embroidery that separated in the past, cutting, mark process set on an equipment, finish by a controller, do so both can improve and save processing cost (equipment input, place take, personnel drop into), can also improve working (machining) efficiency and promote processing effect---use separation equipment in the past, need multiple location measure or peripherals (as: camera, orientation sensing sniffer or manual intervention) to guarantee that material does not produce position deviation when next process is delivered in preceding working procedure processing, do not go out substandard products; And the present invention only needs to realize with an equipment, just can finish the multiple working procedure of prior art is finished by an equipment, only needs one-time positioning just can guarantee follow-up all machining precisioies and effect.
The integrated motion control system of laser of the present invention, galvanometer, motor has promoted the performance of Laser Processing, because employing time stream planning control design, technical solution of the present invention has realized laser controlling function flexibly---can shift to an earlier date or postpone in certain special exercise, this ad hoc fashion can be that position, speed, IO, motor movement state, galvanometer motion state, laser state or the like are multiple.
In addition, technical solution of the present invention provides a kind of novel communication modes---and PROFIBUS industrial field bus communications protocol is finished the information interaction between industrial computer or general purpose PC and the motion control card, make the long-range data communication than other long Distance Transmission mode safety and reliability such as USB, RS232/485, Ethernet, and integrate with international industry spot communication standard.
Should be understood that, for those of ordinary skills, can be improved according to the above description or conversion, and all these improvement and conversion all should belong to the protection domain of claims of the present invention.
Claims (5)
1, the integrated motion control system of a kind of laser, galvanometer, motor, it is arranged on the multi-purpose computer, it is characterized in that, described integrated motion control system setting comprises a control card, on this control card, be provided with and comprise a master console module, described master console module controls is connected with a motor control module, a laser control module and a galvanometer control module, be set to bi-directional synchronization mechanism between described laser control module and the described motor control module, also be set to bi-directional synchronization mechanism between described laser control module and the described galvanometer control module; This control card also is provided with and comprises a hardware interface module, is used to export described motor control module and described galvanometer control module and the described laser control module control signal after synchronously.
2, integrated motion control system according to claim 1 is characterized in that, described bi-directional synchronization mechanism realizes by time stream planning control module, is used for being undertaken synchronously by sequential.
3, integrated motion control system according to claim 2 is characterized in that, described galvanometer control module comprises a motion preparation module, is used for communicating with described time stream planning control module being connected; Described motion preparation module is connected with a galvanometer exercise data district, is used for to the planning of galvanometer position with to the galvanometer speed planning, and by a galvanometer position output module output galvanometer control signal.
4, integrated motion control system according to claim 2, it is characterized in that, described laser control module comprises a laser state data field, connects described time stream planning control module, and by a laser state administration module and laser output module output laser signal.
5, integrated motion control system according to claim 2 is characterized in that, described motor control module also comprises a data preparation module, connects described time stream planning control module, and connects a motor movement data field; Described motor movement data field is used for movement position planning and motor movement speed planning to motor, and by a motor position output module output motor drive signal.
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| CN200710077431A CN100578407C (en) | 2007-11-23 | 2007-11-23 | Integrated motion control system for laser, shaking mirror and motor |
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| CN200710077431A CN100578407C (en) | 2007-11-23 | 2007-11-23 | Integrated motion control system for laser, shaking mirror and motor |
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| CN102452269A (en) * | 2010-10-20 | 2012-05-16 | 苏州楚天光电设备有限公司 | Large-format laser engraving system and control method thereof |
| CN102626834A (en) * | 2012-05-07 | 2012-08-08 | 上海市激光技术研究所 | Dual-pickup-head laser fast cutting device used for different formats and application method |
| CN103645660A (en) * | 2013-11-27 | 2014-03-19 | 桂林电子科技大学 | Laser marking card data acquisition and marking image verification device and laser marking card data acquisition and marking image verification method |
| CN105034608A (en) * | 2015-07-10 | 2015-11-11 | 辽宁科技大学 | Industrial robot laser marking machine |
| WO2016145603A1 (en) * | 2015-03-17 | 2016-09-22 | 大族激光科技产业集团股份有限公司 | Laser scanning device and laser scanning system |
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| CN107030380A (en) * | 2017-05-12 | 2017-08-11 | 巨集团有限公司 | A kind of laser equipment for being used to automate processing footwear part |
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| CN108614517A (en) * | 2018-06-22 | 2018-10-02 | 南通思凯光电有限公司 | A kind of control method of the real time laser galvanometer based on PLC |
| CN108733000A (en) * | 2018-06-21 | 2018-11-02 | 上海柏楚电子科技股份有限公司 | A kind of large format galvanometer system of processing and control method |
| CN109454329A (en) * | 2018-11-27 | 2019-03-12 | 佛山市富兰激光科技有限公司 | A kind of linkage rotation mark control method and device |
| CN110362010A (en) * | 2019-07-17 | 2019-10-22 | 江苏金陵智造研究院有限公司 | A kind of modularized multi-axis laser galvanometer motion controller |
| CN112221020A (en) * | 2020-10-14 | 2021-01-15 | 武汉博激世纪科技有限公司 | Semiconductor laser galvanometer treatment system |
| CN113927160A (en) * | 2021-10-15 | 2022-01-14 | 大族激光科技产业集团股份有限公司 | Method and device for synchronously adjusting galvanometer and laser and storage medium |
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- 2007-11-23 CN CN200710077431A patent/CN100578407C/en active Active
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| CN102626834A (en) * | 2012-05-07 | 2012-08-08 | 上海市激光技术研究所 | Dual-pickup-head laser fast cutting device used for different formats and application method |
| CN102626834B (en) * | 2012-05-07 | 2015-03-04 | 上海市激光技术研究所 | Dual-pickup-head laser fast cutting device used for different formats and application method |
| CN103645660B (en) * | 2013-11-27 | 2016-02-24 | 桂林电子科技大学 | The data acquisition of laser marking card and marking image verification device and method |
| CN103645660A (en) * | 2013-11-27 | 2014-03-19 | 桂林电子科技大学 | Laser marking card data acquisition and marking image verification device and laser marking card data acquisition and marking image verification method |
| JP2018513990A (en) * | 2015-03-17 | 2018-05-31 | ハンズ レーザー テクノロジー インダストリー グループ カンパニー リミテッド | Laser scanning apparatus and laser scanning system |
| WO2016145603A1 (en) * | 2015-03-17 | 2016-09-22 | 大族激光科技产业集团股份有限公司 | Laser scanning device and laser scanning system |
| US10948710B2 (en) | 2015-03-17 | 2021-03-16 | Han's Laser Technology Industry Group Co., Ltd. | Laser scanning device and laser scanning system |
| CN105034608A (en) * | 2015-07-10 | 2015-11-11 | 辽宁科技大学 | Industrial robot laser marking machine |
| CN106392253A (en) * | 2015-07-31 | 2017-02-15 | 伊利诺斯工具制品有限公司 | Welding system having multiple weld outputs |
| CN107030380A (en) * | 2017-05-12 | 2017-08-11 | 巨集团有限公司 | A kind of laser equipment for being used to automate processing footwear part |
| CN107745188A (en) * | 2017-09-30 | 2018-03-02 | 深圳信息职业技术学院 | A kind of picosecond laser process equipment |
| CN108733000A (en) * | 2018-06-21 | 2018-11-02 | 上海柏楚电子科技股份有限公司 | A kind of large format galvanometer system of processing and control method |
| CN108733000B (en) * | 2018-06-21 | 2020-10-27 | 上海柏楚电子科技股份有限公司 | Large-breadth galvanometer processing system and control method |
| CN108614517A (en) * | 2018-06-22 | 2018-10-02 | 南通思凯光电有限公司 | A kind of control method of the real time laser galvanometer based on PLC |
| CN109454329A (en) * | 2018-11-27 | 2019-03-12 | 佛山市富兰激光科技有限公司 | A kind of linkage rotation mark control method and device |
| CN110362010A (en) * | 2019-07-17 | 2019-10-22 | 江苏金陵智造研究院有限公司 | A kind of modularized multi-axis laser galvanometer motion controller |
| CN110362010B (en) * | 2019-07-17 | 2020-04-17 | 江苏金陵智造研究院有限公司 | Modular multi-axis laser galvanometer motion controller |
| CN112221020A (en) * | 2020-10-14 | 2021-01-15 | 武汉博激世纪科技有限公司 | Semiconductor laser galvanometer treatment system |
| CN113927160A (en) * | 2021-10-15 | 2022-01-14 | 大族激光科技产业集团股份有限公司 | Method and device for synchronously adjusting galvanometer and laser and storage medium |
| CN113927160B (en) * | 2021-10-15 | 2023-11-24 | 大族激光科技产业集团股份有限公司 | Synchronous adjustment method and device for galvanometer and laser, and storage medium |
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