CN103662822B - A kind of translation system and method for work thereof - Google Patents
A kind of translation system and method for work thereof Download PDFInfo
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- CN103662822B CN103662822B CN201210343869.7A CN201210343869A CN103662822B CN 103662822 B CN103662822 B CN 103662822B CN 201210343869 A CN201210343869 A CN 201210343869A CN 103662822 B CN103662822 B CN 103662822B
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- 238000004891 communication Methods 0.000 claims abstract description 19
- 238000010009 beating Methods 0.000 claims description 11
- 230000005622 photoelectricity Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 102000004315 Forkhead Transcription Factors Human genes 0.000 abstract description 2
- 108090000852 Forkhead Transcription Factors Proteins 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 4
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- 239000011358 absorbing material Substances 0.000 description 1
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Abstract
The invention discloses a kind of translation system and method for work thereof, comprise translation mechanism and control mechanism; Translation mechanism comprises substrate, the first rotating shaft be connected through substrate and with substrate rotating and the second rotating shaft, be positioned at the first connecting rod on front side of substrate, second connecting rod and fork, be arranged on the performance element of fork head, and be positioned at driving device, actuating device and the electrical controller on rear side of substrate; Actuating device and performance element are all electrically connected with electrical controller; Control mechanism comprises pcb board and is arranged on main control module, sensing module, driver module, output module and the communication module on pcb board; The mouth of driver module is electrically connected with the electrical controller of translation mechanism.This invention simplifies structure, improve the running velocity of mechanism, reduce the noise of mechanism.<!--1-->
Description
Technical field
The present invention relates to a kind of translation system and method for work thereof.
Background technology
Automatic technology refers to that the process operating or control is carried out in the program of machine or the device as prescribed when unmanned intervention the or instruction automatically.Automatic technology not only can free people from heavy manual labor, part brainwork and severe, dangerous working environment, and the organ dysfunction of people can be expanded, greatly raise labour productivity, strengthen the ability of the human knowledge world and reforming world.
For most of automation equipment, such as Automated production line device, translation mechanism is wherein requisite component.The more a kind of translation mechanism of current use adopts multiple cylinder or motor to do two-dimentional compound motion to drive parallelogram fork, thus realize the carrying work to object.The translation mechanism of this structure due to drive element many, the action between each drive element needs to be consistent, and therefore the running velocity of mechanism is lower, and noise is larger.Meanwhile, electrical control mechanism interchangeability and the transplantability of existing a lot of similar driver train are poor, and alerting ability is inadequate, and therefore time-to-market is long, and cost of development is high.And more existing electrical control mechanisms are all the basic communication protocol adopted, poor compatibility.
Summary of the invention
It is fast that first technical matters to be solved by this invention is to provide a kind of running velocity, the translation system that noise is little.
In order to solve the problems of the technologies described above, technical scheme provided by the present invention is: a kind of translation system, comprises translation mechanism and control mechanism; Described translation mechanism comprises substrate, the first rotating shaft be connected through substrate and with substrate rotating and the second rotating shaft, be positioned at the first connecting rod on front side of substrate, second connecting rod and fork, be arranged on the performance element of fork head, and be positioned at driving device, actuating device and the electrical controller on rear side of substrate; Described first connecting rod and second connecting rod be arranged in parallel; One end of described first connecting rod is fixedly connected with the second rotating shaft with the first rotating shaft respectively with one end of second connecting rod, the other end of first connecting rod and the other end of second connecting rod respectively with the middle part of fork and afterbody hinged; Described actuating device drive transmission drives the first rotating shaft and the second rotating shaft synchronous axial system; Described actuating device and electrical controller are installed on substrate; Described actuating device and performance element are all electrically connected with electrical controller; Described control mechanism comprises pcb board and is arranged on main control module, sensing module, driver module, output module and the communication module on pcb board; Described main control module is mechanism's core; The sensor input connection of described sensing module, mouth connects the input end of main control module; The input end of described driver module connects the mouth of main control module, and the mouth of driver module is electrically connected with the electrical controller of translation mechanism; The input end of described output module connects the mouth of main control module; Described communication module and upper computer communicate to connect.
The actuating device of described translation mechanism comprises motor and electric machine support; Described electric machine support is fixed on substrate, and motor is fixed on electric machine support; Described driving device comprises the first belt wheel, the second belt wheel, the 3rd belt wheel and Timing Belt; Described 3rd belt wheel is fixed on the output shaft of motor; Described Timing Belt is around the first belt wheel, the second belt wheel and the 3rd belt wheel; Described motor is electrically connected with electrical controller; The industrial bus that in described control mechanism, communication module communicates with upper computer comprises RS485 bus or CAN.
Described translation mechanism also comprises the pinch device be arranged on rear side of substrate; Described pinch device compresses Timing Belt, makes Timing Belt tightly around the first belt wheel, the second belt wheel and the 3rd belt wheel.
The pinch device of described translation mechanism comprises axle and bearing; Described axle is arranged on substrate; Described bearing is arranged on axle, and compresses Timing Belt.
The electrical controller of described translation mechanism comprises electric-controlled plate and electric-controlled plate support; Described electric-controlled plate support is fixed on substrate, and electric-controlled plate is fixed on electric-controlled plate support; Described actuating device and performance element are all electrically connected with electric-controlled plate; The driver module of described control mechanism is electrically connected with electric-controlled plate.
The performance element of described translation mechanism comprises vacuum cups or Pneumatic clamping jaw.
Described translation mechanism also comprises two the spacing studs be fixed on front side of substrate; Described two spacing studs are all positioned at the outside of first connecting rod; The rotational travel of described two spacing stud restriction first connecting rod both directions.
Described translation mechanism also comprises the photoelectric switch be fixed on front side of substrate and the photoelectricity catch be fixed on fork; Described photoelectric switch and photoelectricity catch are all positioned at the inner side of first connecting rod; Described photoelectric switch is electrically connected with electrical controller.
Described translation mechanism also comprises front cover shell, pillar, panel beating support and motor case; Described front cover shell is fixed on the front side of substrate; Described pillar is fixing on the drive means, and panel beating support is fixed on pillar, and motor case is fixed on panel beating support; Described motor case is provided with louvre.
Second technical matters to be solved by this invention is to provide the method for work of translation system.
For solving aforementioned technical problem, technical scheme provided by the present invention is: a kind of method of work of translation system, adopts aforesaid translation system, comprises the following steps:
1. translation system initialization;
2. enter uC-OS major cycle, increase real time operating system (RTOS) uC-OSII, carry out task management;
3. translation system main task and each parallel electric machine control task is created; Communication task is translation system main task, and each parallel electric machine control task receives relevant instruction by main task and starts;
4. receive the order from upper computer, resolve, resolve into various instruction task;
5. translation system performs instruction task and each parallel electric machine control task;
6., after complete, translation system is standby, waits for that next communication instruction arrives.
After have employed technique scheme, the present invention has following beneficial effect: (1) the present invention drives fork to do two-dimentional compound motion by a motor, simplifies the structure, improves the running velocity of mechanism, reduce the noise of mechanism.
(2) the control mechanism structure that coordinates with translation mechanism of the present invention is simple, driver module has interchangeability, can according to the Selecting parameter driver module of real electrical machinery, therefore translation system of the present invention can be applied in the electromechanical integration equipment such as automatic production line, robot, there is good interchangeability, operability, transplantability, alerting ability, the reconstruct of single shaft module can be realized, shorten the development time simultaneously, reduce cost.
(3) control mechanism of the present invention can also communicate with upper computer, then realize networking by the RS485 in industrial bus or CAN to connect, wherein RS485 bus can expand at most 31 axles, CAN can expand 255 axles, therefore can well for needing multiple single motor to drive the occasion of translation mechanism, such as automatic production line, by upper computer, such as PLC, PC or other control system etc. control the action of multiple translation mechanism.
(4) the RS485 communication protocol support that control mechanism of the present invention adopts comprises the various protocols such as MODBUS-CRC, SUM School Affairs MODBUS-LRC, exclusive or check, compatible good.
(5) translation system of the present invention adopts uC-OS major cycle, and method of work arranges scientific and reasonable, can realize multi-task parallel and run, and realizes controlling in real time.
Accompanying drawing explanation
In order to make content of the present invention more easily be clearly understood, below according to specific embodiment also by reference to the accompanying drawings, the present invention is further detailed explanation, wherein
Fig. 1 is the structural representation of translation mechanism of the present invention.
Fig. 2 is the structural representation after Fig. 1 removes front cover shell and motor case.
Fig. 3 is the left view of Fig. 2.
Fig. 4 is the upward view of Fig. 2.
Fig. 5 is the right elevation after Fig. 2 removes actuating device, electrical controller, pillar and panel beating support.
Fig. 6 is the path of motion schematic diagram of the performance element of translation mechanism of the present invention.
Fig. 7 is the schematic diagram of control mechanism of the present invention.
Fig. 8 is by schematic diagram during group net operation of the present invention.
Label in accompanying drawing is:
Substrate 1, first rotating shaft 2, second rotating shaft 3, first connecting rod 4, second connecting rod 5, fork 6, first belt wheel 7, second belt wheel 8, the 3rd belt wheel 9, actuating device 10, motor 10-1, electric machine support 10-2, Timing Belt 11, pinch device 12, axle 12-1, bearing 12-2, electrical controller 13, electric-controlled plate 13-1, electric-controlled plate support 13-2, spacing stud 14, photoelectric switch 15, photoelectricity catch 16, front cover shell 17, pillar 18, panel beating support 19, motor case 20, louvre 20-1;
Initial station a, absorption station b, release station c;
Main control module 21, sensing module 22, driver module 23, output module 24, communication module 25, upper computer 26.
Detailed description of the invention
(embodiment 1)
The translation system of the present embodiment comprises translation mechanism and control mechanism.
See Fig. 1 to Fig. 5, translation mechanism comprises substrate 1, first rotating shaft 2, second rotating shaft 3, first connecting rod 4, second connecting rod 5, fork 6, driving device, actuating device 10, pinch device 12, electrical controller 13, spacing stud 14, photoelectric switch 15, photoelectricity catch 16, front cover shell 17, pillar 18, panel beating support 19, motor case 20 and performance element.
First rotating shaft 2 and the second rotating shaft 3 are passed substrate 1 and are rotationally connected with substrate 1.
First connecting rod 4, second connecting rod 5 and fork 6 are positioned at the front side of substrate 1.First connecting rod 4 and second connecting rod 5 be arranged in parallel.One end of first connecting rod 4 is fixedly connected with the second rotating shaft 3 with the first rotating shaft 2 respectively with one end of second connecting rod 5, the other end of first connecting rod 4 and the other end of second connecting rod 5 respectively with the middle part of fork 6 and afterbody hinged.Performance element is arranged on fork 6 head.Spacing stud 14 is provided with two.Two spacing studs 14 are fixed on front side of substrate 1, and are positioned at the outside of first connecting rod 4.Two spacing studs 14 limit the rotational travel of first connecting rod 4 both direction.Photoelectric switch 15 is fixed on front side of substrate 1, and photoelectricity catch 16 is fixed on fork 6.Photoelectric switch 15 and photoelectricity catch 16 are all positioned at the inner side of first connecting rod 4.Front cover shell 17 is fixed on the front side of substrate 1.
Driving device, actuating device 10, pinch device 12 and electrical controller 13 are positioned at the rear side of substrate 1.Driving device comprises the first belt wheel 7, second belt wheel 8, the 3rd belt wheel 9 and Timing Belt 11.Actuating device 10 comprises motor 10-1 and electric machine support 10-2.Electric machine support 10-2 is fixing on substrate 1, and motor 10-1 is fixed on electric machine support 10-2.First belt wheel 7 and the second belt wheel 8 are separately fixed in the first rotating shaft 2 and the second rotating shaft 3.3rd belt wheel 9 is fixed on the output shaft of motor 10-1.Timing Belt 11 is around the first belt wheel 7, second belt wheel 8 and the 3rd belt wheel 9.Pinch device 12 comprises axle 12-1 and bearing 12-2.Axle 12-1 installs on substrate 1.Bearing 12-2 is arranged on axle 12-1, and compresses Timing Belt 11, makes Timing Belt 11 tight around the first belt wheel 7, second belt wheel 8 and the 3rd belt wheel 9.Electrical controller 13 comprises electric-controlled plate 13-1 and electric-controlled plate support 13-2.Electric-controlled plate support 13-2 is fixing on substrate 1, and electric-controlled plate 13-1 is fixed on electric-controlled plate support 13-2.Performance element is vacuum cups or Pneumatic clamping jaw.The motor 10-1 of actuating device 10, photoelectric switch 15 and performance element are all electrically connected with electric-controlled plate 13-1.Pillar 18 is fixed on actuating device 10, and panel beating support 19 is fixed on pillar 18, and motor case 20 is fixed on panel beating support 19.Motor case 20 is provided with louvre 20-1.
See Fig. 6, the motion flow of translation mechanism is: vacuum cups rests on initial station a → detect that material puts in place (without material signal, then wait at initial station a) → vacuum cups moves to and draws station b absorbing material (if do not drawn by material, or drop and will again draw when drawing) → get back to initial station a, etc. station c signal to be released, detect that the signal that can move to release station c is (without the signal of release station c, then wait at initial station a) → vacuum cups moves to material that release station c release draws → get back to initial station a, wait for that next circulates.
See Fig. 7, control mechanism comprises pcb board and is arranged on main control module 21, sensing module 22, driver module 23, output module 24 and the communication module 25 on pcb board.Main control module 21 is mechanism's core, is responsible for the task of Coordination Treatment modules.The sensor input connection of sensing module 22, mouth connects the input end of main control module 21, is responsible for conversion sensor incoming signal.The input end of driver module 23 connects the mouth of main control module 21, the mouth of driver module 23 is electrically connected with the electric-controlled plate 13-1 of the electrical controller 13 of translation mechanism, driver module 23 is responsible for the drive singal control signal of master control system being converted into motor, this module has interchangeability, can according to the Selecting parameter driver module of real electrical machinery.The input end of output module 24 connects the mouth of main control module 1, is responsible for general purpose I/O driver output.Communication module 25 and upper computer 26 communicate to connect, and transmit data command.
This translation system can have two kinds of mode of operation.The first: automatically control.Main control module 21 can by judging that the incoming signal of sensing module 22 carrys out automatic start up system operation task; The second: networking controls.As shown in Figure 8, upper computer 26 can directly control multiple translation system by industrial bus to the many translation systems formed when networking controls, and industrial bus comprises RS485 bus or CAN.
Translation system, comprises the following steps:
1. translation system initialization; After translation system powers on, carry out initialization, comprise and read flash pre-stored data.
2. enter uC-OS major cycle, for realizing control system real-time Communication for Power, and can run by multi-task parallel, increasing real time operating system (RTOS) uC-OSII, carrying out task management;
3. translation system main task and each parallel electric machine control task is created; Communication task is translation system main task, and each parallel electric machine control task receives relevant instruction by main task and starts;
4. receive the order from upper computer 26, resolve, resolve into various instruction task; Here instruction task comprises all kinds of conventional instruction, such as read coil instruction, writes coil instruction, reads single or multiple register instruction, writes single register instruction, broadcasting instructions, query statement, illegal command and faulting instruction etc.
5. translation system performs instruction task and each parallel electric machine control task;
6., after complete, translation system is standby, waits for that next communication instruction arrives.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a translation system, is characterized in that: comprise translation mechanism and control mechanism; Described translation mechanism comprises substrate (1), the first rotating shaft (2) be rotationally connected through substrate (1) and with substrate (1) and the second rotating shaft (3), be positioned at the first connecting rod (4) of substrate (1) front side, second connecting rod (5) and fork (6), be arranged on the performance element of fork (6) head, and be positioned at driving device, actuating device (10) and the electrical controller (13) on rear side of substrate (1); Described first connecting rod (4) and second connecting rod (5) be arranged in parallel; One end of described first connecting rod (4) is fixedly connected with the second rotating shaft (3) with the first rotating shaft (2) respectively with one end of second connecting rod (5), the other end of first connecting rod (4) and the other end of second connecting rod (5) respectively with the middle part of fork (6) and afterbody hinged; Described actuating device (10) drive transmission drives the first rotating shaft (2) and the second rotating shaft (3) synchronous axial system; Described actuating device (10) and electrical controller (13) are installed on substrate (1); Described actuating device (10) and performance element are all electrically connected with electrical controller (13); Described control mechanism comprises pcb board and is arranged on main control module (21), sensing module (22), driver module (23), output module (24) and the communication module (25) on pcb board; Described main control module (21) is mechanism's core; The sensor input connection of described sensing module (22), mouth connects the input end of main control module (21); The input end of described driver module (23) connects the mouth of main control module (21), and the mouth of driver module (23) is electrically connected with the electrical controller (13) of translation mechanism; The input end of described output module (24) connects the mouth of main control module (21); Described communication module (25) and upper computer (26) are communicated to connect by industrial bus.
2. translation system according to claim 1, is characterized in that: the actuating device (10) of described translation mechanism comprises motor (10-1) and electric machine support (10-2); Described electric machine support (10-2) is fixed on substrate (1), and motor (10-1) is fixed on electric machine support (10-2); Described driving device comprises the first belt wheel (7), the second belt wheel (8), the 3rd belt wheel (9) and Timing Belt (11); Described 3rd belt wheel (9) is fixed on the output shaft of motor (10-1); Described Timing Belt (11) is around the first belt wheel (7), the second belt wheel (8) and the 3rd belt wheel (9); Described motor (10-1) is electrically connected with electrical controller (13); The industrial bus that in described control mechanism, communication module (25) communicates with upper computer (26) comprises RS485 bus or CAN.
3. translation system according to claim 2, is characterized in that: described translation mechanism also comprises the pinch device (12) being arranged on substrate (1) rear side; Described pinch device (12) compresses Timing Belt (11), makes Timing Belt (11) tight around the first belt wheel (7), the second belt wheel (8) and the 3rd belt wheel (9).
4. translation system according to claim 3, is characterized in that: the pinch device (12) of described translation mechanism comprises axle (12-1) and bearing (12-2); Described axle (12-1) is arranged on substrate (1); Described bearing (12-2) is arranged on axle (12-1), and compresses Timing Belt (11).
5. translation system according to claim 1, is characterized in that: the electrical controller (13) of described translation mechanism comprises electric-controlled plate (13-1) and electric-controlled plate support (13-2); Described electric-controlled plate support (13-2) is fixed on substrate (1), and electric-controlled plate (13-1) is fixed on electric-controlled plate support (13-2); Described actuating device (10) and performance element are all electrically connected with electric-controlled plate (13-1); The driver module (23) of described control mechanism is electrically connected with electric-controlled plate (13-1).
6. translation system according to claim 1, is characterized in that: the performance element of described translation mechanism comprises vacuum cups or Pneumatic clamping jaw.
7. translation system according to claim 1, is characterized in that: described translation mechanism also comprises two the spacing studs (14) being fixed on substrate (1) front side; Described two spacing studs (14) are all positioned at the outside of first connecting rod (4); The rotational travel of described two spacing studs (14) restriction first connecting rod (4) both direction.
8. translation system according to claim 1, is characterized in that: described translation mechanism also comprises the photoelectric switch (15) being fixed on substrate (1) front side and the photoelectricity catch (16) be fixed on fork (6); Described photoelectric switch (15) and photoelectricity catch (16) are all positioned at the inner side of first connecting rod (4); Described photoelectric switch (15) is electrically connected with electrical controller (13).
9. translation system according to claim 1, is characterized in that: described translation mechanism also comprises front cover shell (17), pillar (18), panel beating support (19) and motor case (20); Described front cover shell (17) is fixed on the front side of substrate (1); Described pillar (18) is fixed on actuating device (10), and panel beating support (19) is fixed on pillar (18), and motor case (20) is fixed on panel beating support (19); Described motor case (20) is provided with louvre (20-1).
10. a method of work for translation system, is characterized in that: adopt the translation system as described in one of claim 1 to 9, comprise the following steps:
1. translation system initialization;
2. enter uC-OS major cycle, increase real time operating system (RTOS) uC-OSII, carry out task management;
3. translation system main task and each parallel electric machine control task is created; Communication task is translation system main task, and each parallel electric machine control task receives relevant instruction by main task and starts;
4. receive the order from upper computer (26), resolve, resolve into various instruction task;
5. translation system performs instruction task and each parallel electric machine control task;
6., after complete, translation system is standby, waits for that next communication instruction arrives.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210343869.7A CN103662822B (en) | 2012-09-17 | 2012-09-17 | A kind of translation system and method for work thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210343869.7A CN103662822B (en) | 2012-09-17 | 2012-09-17 | A kind of translation system and method for work thereof |
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| CN103662822A CN103662822A (en) | 2014-03-26 |
| CN103662822B true CN103662822B (en) | 2016-01-13 |
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| CN107562028A (en) * | 2017-08-26 | 2018-01-09 | 贵州义龙万丰生态肥业有限公司 | A kind of urea production tests rainer control system |
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|---|---|---|---|---|
| US4400985A (en) * | 1981-04-22 | 1983-08-30 | Bond Irvin D | Straight line link mechanism |
| US5536135A (en) * | 1995-04-19 | 1996-07-16 | Valley Equipment Company | Material transfer apparatus |
| CN2902981Y (en) * | 2006-03-08 | 2007-05-23 | 张锦然 | Mechanical handling device of object stacking machine |
| CN102632425A (en) * | 2012-04-26 | 2012-08-15 | 深圳市神拓机电设备有限公司 | Feeding and discharging manipulator |
| CN202846241U (en) * | 2012-09-17 | 2013-04-03 | 常州铭赛机器人科技有限公司 | Translational system |
-
2012
- 2012-09-17 CN CN201210343869.7A patent/CN103662822B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4400985A (en) * | 1981-04-22 | 1983-08-30 | Bond Irvin D | Straight line link mechanism |
| US5536135A (en) * | 1995-04-19 | 1996-07-16 | Valley Equipment Company | Material transfer apparatus |
| CN2902981Y (en) * | 2006-03-08 | 2007-05-23 | 张锦然 | Mechanical handling device of object stacking machine |
| CN102632425A (en) * | 2012-04-26 | 2012-08-15 | 深圳市神拓机电设备有限公司 | Feeding and discharging manipulator |
| CN202846241U (en) * | 2012-09-17 | 2013-04-03 | 常州铭赛机器人科技有限公司 | Translational system |
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Address after: 213164 Jiangsu science and Technology City, Changzhou Science Park, building No. 2, North building, building 4 Applicant after: Changzhou Science and Technology Co., Ltd. of Ming Sai robot Address before: 213164 Jiangsu science and Technology City, Changzhou Science Park, building No. 2, North building, building 4 Applicant before: Changzhou Mingseal Robotic Technology Co., Ltd. |
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Denomination of invention: Translational system and working method thereof Effective date of registration: 20160531 Granted publication date: 20160113 Pledgee: Changzhou bell tower, Changjiang village bank, Limited by Share Ltd Pledgor: Changzhou Science and Technology Co., Ltd. of Ming Sai robot Registration number: 2016990000457 |
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Date of cancellation: 20170601 Granted publication date: 20160113 Pledgee: Changzhou bell tower, Changjiang village bank, Limited by Share Ltd Pledgor: Changzhou Science and Technology Co., Ltd. of Ming Sai robot Registration number: 2016990000457 |