CN103848173A - Precise linear feeding method and device - Google Patents
Precise linear feeding method and device Download PDFInfo
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- CN103848173A CN103848173A CN201210515325.4A CN201210515325A CN103848173A CN 103848173 A CN103848173 A CN 103848173A CN 201210515325 A CN201210515325 A CN 201210515325A CN 103848173 A CN103848173 A CN 103848173A
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Abstract
The invention relates to a precise linear feeding method and a precise linear feeding device. According to the method, the principle of the friction force between a conveying device and a workpiece contact surface is utilized, and through controlling the acceleration generated by a driving device, the processes of moving a workpiece and sliding a conveying plate are repeated for realizing the workpiece carrying and conveying. The device for realizing the method consists of a fixing base 18, a linear slide table 10, a piezoelectric ceramic actuator 12, a butterfly-shaped prepressing position limiting spring 11, a piezoelectric ceramic actuator support frame 14, a conveying rail 16, a conveying rail support frame 15, vibration reduction rubber 13, a piezoelectric ceramic controller 21, a waveform synthesizer 22, a workpiece detection sensor 19 and an equipment controller 20, wherein the piezoelectric ceramic actuator 12 acts on the movable side of the linear slide table 10, the waveform synthesizer 22 generates driving signals, the driving signals are output to the piezoelectric ceramic actuator 12 after being magnified through the piezoelectric ceramic controller 21 so that the piezoelectric ceramic actuator 12 generates a piezoelectric effect, and the conveying rail support frame 15 and the conveying rail 16 are driven to carry out conveying period movement.
Description
Technical field
The present invention relates to the work transporting of automatic production line and the method for supply in production automation field, and utilize a kind of linear feeding device of the method.
Background technology
In automatic production line work transporting and supply method, often adopt at present straight-line oscillation pay-off to realize conveyance and the supply of workpiece.The principle of work of general straight-line oscillation pay-off is to utilize vibration principle in working direction, to produce motion forward and upwards, continuously workpiece is forwards thrown, and reaches the object that workpiece is moved forward.Workpiece except bumping with oscillation feed gear bottom, also can produce phase mutual friction and extruding in the time moving forward between workpiece; Upwards throw and can make workpiece produce to jump, for some slim workpiece (as packing ring etc.), in the time that the amplitude that throws is larger, the phenomenon that can overlap and cannot conveyance; Can there is workpiece and jump out the phenomenon of transporting track in the straight-line oscillation pay-off of growing for fed distance, need to increase up baffle plate and jump out to prevent workpiece, makes apparatus structure complicated; In addition aspect the setting adjustment of equipment due to problems such as equipment high-frequency resonance, there is the component difficulty large problem adjusted; Aspect control conveyance speed and positioning precision, exist speed setting range little, the uncontrollable problem of stop position precision; In the time that standby is restarted, also conventionally can occur abnormal; Because so the oscillating movement that has both direction is connected more difficult with front and back equipment.Although prior art has been carried out many improvement to it, be the improvement for prior art such as the patent application of publication number CN1738754A and publication number CN1380234A; But in actual application, still can not thoroughly avoid the generation of problem.The present invention has avoided vibration principle, has realized the innovation of transport method, can thoroughly solve for the problem causing due to oscillating movement, realizes high-precision accurate conveyance.
Summary of the invention
The inventive method is to have utilized the friction force principle of conveyer and workpiece contact surface, the acceleration/accel producing by accessory drive, and the process of repetition travelling workpiece and slip transfer plate, realizes the conveyance of workpiece.
Fig. 1 is the schematic diagram of the inventive method, and according to friction force principle, as shown in Figure 1, when object 2 and carrier 1 keep under relative static conditions, setting object 2 is f with the friction force of the contact surface of carrier 1, and its maximum static friction force is f
max=μ × M2 × G; Wherein μ is the coefficient of static friction of the contact surface of object 2 and carrier 1, and M2 is the quality of object 2, and G is acceleration due to gravity; Object 2 is applied to the external force A of horizontal direction, when external force A is less than maximum static friction force f
maxtime keep relative static between object 2 and carrier 1; When external force is greater than maximum static friction force f
maxtime, will there is relative motion.
We are M1 to its quality of carrier 1() power of applying is while making it according to certain acceleration/accel a motion, make object 2 and carrier 1 keep relative static by the static friction force f of contact surface, make together accelerated movement, the acceleration/accel a=f/M2 of object 2, but the maxim of static friction force is a constant of quality and coefficient of static friction and the acceleration due to gravity formation of object 2, when acceleration/accel a exceedes after this constant, maximum static friction force f
maxby drive not object 2 move with acceleration/accel a, at this moment object 2 will produce relative sliding with contact surface.Its relation arranges as follows:
1. hour (consider the problem of sense of motion, below acceleration/accel all with absolute value representation) of acceleration/accel a
|a|＜f
max/M1
f
max=μ×M1×G
| a| < μ × G relative static conditions
2. when acceleration/accel a is larger
|a|＞f
max/M1
f
max=μ×M1×G
| a| > μ × G produces relative sliding
Definition K=μ × G, when coefficient of static friction one timing, K is a constant, the present invention is called acceleration/accel switching point.
According to this characteristic, set carrier 1 is moved lower than the acceleration/accel of acceleration/accel switching point K, be with animal body 2 to transport merit simultaneously, arrive after the travel position of setting, make carrier 1 to draw back higher than the acceleration/accel of acceleration/accel switching point K.Under effect of inertia, object 2 will relatively move with carrier 1 and rest on original locus.
Set such a cycle and be transmission cycle T, according to the relation of displacement and acceleration/accel, the control that the control of acceleration/accel is converted to displacement time relationship.According to displacement acceleration computing formula S=1/2at
2, to draw out as the displacement time curve in the transmission cycle of Fig. 3, transverse axis represents the time, and the longitudinal axis represents displacement, and slope of a curve represents acceleration/accel; As shown in Figure 3, transmitting cycle T forms by driving time period t 1 and drawing back time period t 2; T1 section is divided into again accelerated period a1 and deceleration period a2, and longitudinal amplitude of displacement time curve is for setting stroke S.In drive time period t 1, a1 is slow accelerated period in advance, and later stage a2 is slow deceleration period, and its acceleration/accel absolute value is all controlled at below switching point K, and making the speed arriving while setting travel position is zero.Drawing back time period t 2 is to complete and draw back rapidly under the acceleration/accel higher than acceleration/accel switching point K.Transmit in cycle T at one, with respect to carrier 1, there is the movement of certain stroke in object 2, and its miles of relative movement is for setting stroke S.Repeat to transmit cycle T and can obtain continuous conveyance process.If change the order of transmission cycle T, displacement time curve as shown in Figure 4, can realize reverse transmission.
The method is to control acceleration/accel as feature, and acceleration/accel switching point is only relevant with constant K, and irrelevant with other physical features of object 1 (as weight etc.), this make to adjust set simple, working stability.
The method only has the motion of horizontal direction, has avoided the vibrations of vertical direction, is conveniently connected with the equipment of front and back procedure, only need consider that the degree of freedom of a direction can connect front and back equipment in the time being connected.After convergence time is put the end in optional conveyance cycle and before next cycle starts, set time out and carry out, can guarantee to be connected the precision of locating.
Because the coefficient of static friction between workpiece and the transfer plate of unlike material is different, can change the work piece delivery that the methods such as coefficient of static friction are mated different materials by adjusting acceleration/accel (changing the slope of displacement time curve) or changing transfer plate surface material.
Because the coefficient of static friction between workpiece and transfer plate is certain, the distance that workpiece is moved within each transmission cycle so can keep stable, as long as by setting actuator stroke and setting and transmit cycle life, can accurately control the position of work piece delivery, its precision is a setting stroke S in the transmission cycle.
Because being relies on the friction force realization of workpiece self and transfer plate mobile, do not need pushing of front and back workpiece, when work piece delivery, can put at interval, avoid collision mutually and rub, be convenient to coordinate the demand speed of follow-up station simultaneously.
Be capable of regulating transfer rate by transmitting the setting of cycle T and the stroke in the cycle.Suspend as long as be set between the transmission cycle simultaneously, do not exert an influence for the delivering position of workpiece after suspending and again starting.
Because the acceleration/accel to transport process is controlled, thus higher or also can effectively prevent from toppling over phenomenon in its transport process away from the workpiece of transmission plane for center of gravity, expand range of applicability.
Can choose its stable contact surface for special-shaped workpiece adopts stent-type guide rail to transmit; Can also make the carriers such as tool base and move together with workpiece, special-shaped workpiece is realized to stable transmission, further expand range of applicability.
As shown in Figure 2, device is made up of chassis 3, drg 4, transfer plate 5, displacement position-limiting device 6, leading sheave 7 apparatus structure principle of the present invention.Physical construction is set as transfer plate 5 only can carry out limited straight-line motion on sense of motion.
Its working process is: first drg 4 drives transfer plate 5 to move to sense of motion with the acceleration/accel lower than acceleration/accel switching point K, is at this moment positioned at the workpiece 8 of transfer plate 5 tops under the drive of its static friction force, moves together with transfer plate.Arrive and set after stroke, drg 4 is draw back transfer plate 5 higher than the acceleration/accel of acceleration/accel switching point K.At this moment due to the inertia of himself, there is relative sliding and rest on original locus in the workpiece 8 on transfer plate 5 with transfer plate 5.One send a process of taking out to form one transmits cycle T.Be similar at the near distance that transmits workpiece movable in cycle T the stroke that drg 5 is set.Continuous drive transfer plate, completes transmission cycle T and can obtain continuous conveyance process.
Leading sheave 7 and displacement restriction device 6 lead to transfer plate 5, to guarantee that transfer plate 5 can only do finite motion on its direction of transfer.Simultaneous displacement killer 6 assists drg 4 to complete drawing back of transfer plate 5 drawing back in process.
Accompanying drawing explanation
Fig. 1 friction force transmits schematic diagram.
Fig. 2 apparatus structure schematic diagram.
Fig. 3 displacement time curve figure.
The reverse traffic bit shift time of Fig. 4 diagram of curves.
Fig. 5 preferred embodiment structural representation.
Fig. 6 preferred embodiment system diagram.
Fig. 7 general flat workpiece of application scheme () for example of the present invention transports pattern.
Fig. 8 application scheme (two) support for example of the present invention transports pattern.
Fig. 9 application scheme (three) carrier for example of the present invention transports pattern.
The preferred version that Figure 10 is connected with other equipment.
The specific embodiment.
Below in conjunction with preferred embodiment structural representation (Fig. 5) and preferred embodiment system diagram (Fig. 6), specific embodiments is described.
This device is made up of firm banking 18, straight line slide unit 10, piezoelectric actuator 12, butterfly precompressed limit spring 11, piezoelectric actuator support 14, transmission track 16, transmission track support 15, yielding rubber 13, piezoceramic controller 21, waveform synthesizer 22, workpiece sensing inductor 19 and device control unit 20.
Due to the characteristic of piezoceramic, the voltage that seal is added in piezoceramic two ends becomes the relation of approximately linear with its displacement, can adjust its displacement time curve by regulating driving voltage waveform indirectly to realize, by the conversion of displacement time relationship, further reach and control the object that transmits acceleration/accel.
By the change for the synthetic drive waveforms t1 of waveform synthesizer 22, t2 rate of curve, can change acceleration/accel, the workpiece that can adjustment equipment adapts to different coefficients of friction transports.
The voltage amplitude of the drive waveforms that adjustment piezoceramic controller 21 is exported, can change the displacement of piezoelectric actuator 12, adjusts the stroke in the transmission cycle.
By changing the synthetic waveform frequency of waveform synthesizer 22, can adjust conveyance speed.
By device control unit 20, the waveform of output is counted to control, can control the stop position of conveying work pieces.
By carrying out different surface treatments to transmitting guide rail 16, to obtain different friction coefficient, can mate the transmission demand of unlike material workpiece.
The concrete applicating example of this device is as follows.
Application scheme (one)
The workpiece that bottom is smooth, can directly realize conveyance with transmission track, and Fig. 7 is its schematic diagram.Transmission track 30, workpiece 31.
Application scheme (two)
For special-shaped workpieces such as eyeglasses, need to consider the protection for outward appearance in transport process, adopt and transport pattern as the support of Fig. 8.Transmission guide rail 32 can have more workpiece shape and be designed to support shape, eyeglass 33.
Application scheme (three)
For can not be upright, or attachment face need to transport pattern as the carrier of Fig. 9 to selecting under first-class state.Transmit guide rail 34, according to workpiece shape design vector tool frame 35, workpiece 36; Carrier transmits together with workpiece.
This device is connected preferred version for example with other equipment, owing to only need to considering the motion on direction of transfer, and its motion amplitude is very little, if Figure 10 is fourchette shape connection mode, 38 for transmitting guide rail, 39 for other equipment are connected platform, and middle fourchette shape connecting bridge can the take-off location to other equipment, the simultaneously vibration of barrier means itself by work piece delivery.
It is to be understood that: the above is only the preferred embodiments of the invention, particularly selecting for actuator, piezoelectric actuator is one of preferred version, but unique absolutely not scheme, the any actuator that can control its acceleration/accel is as linear motor, and cam etc. can become its driving means.For those skilled in the art, under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (27)
1. utilize a friction force principle, realize the method for work transporting and supply, it is characterized in that not using vibration to throw principle, by the control to acceleration/accel, realized conveyance and the location of workpiece, overcome the problem of similar oscillating mode equipment.
2. as the method for right 1, calculate the value of acceleration/accel switching point K by coefficient of static friction, be less than conveyance workpiece under the state of switching point K by controlling acceleration/accel, acceleration/accel is greater than the process of drawing back transfer plate under the state of switching point K and completes a transmission cycle, completes continuously the transmission cycle can obtain continuous work transporting process.
3. the method for as the method for right 2, acceleration/accel switching point being calculated, K=μ × G.
4. as the method for right 2, by the S=1/2at that is related to of acceleration/accel and displacement
2, the control of degree of will speed up converts the control of displacement time relationship to.
5. as the method for right 2, driving in time period t 1, set a1 and deceleration periods a2 acceleration period, acceleration/accel absolute value therebetween is all less than switching point K, and the speed that transfer plate is arrived while setting stroke is zero, stablizes transport process.
6. as the method for right 2, by the transmission cycle is controlled, can realize the accurate location of work piece delivery, workpiece need to be delivered to the position in which transmission cycle, and its control accuracy is a setting stroke in the transmission cycle.
7. as the method for right 2, by the frequency that transmits the cycle is set, can realize the control of transfer rate.
8. as the method for right 2, by changing the setting stroke in the transmission cycle, can control transfer rate.
9. as the method for right 2, by changing the setting stroke in the transmission cycle, can control positioning precision.
10. as the method for right 2, be controlled at and transmit after end cycle, the next transmission cycle starts front halt device, the requirement that can coordinate next procedure to pick and place for workpiece, and do not affect transmission.
11. as the method for right 1, and acceleration/accel switching point is to be determined by the coefficient of static friction of workpiece and transfer plate contact surface, is not subject to the impact of other physical propertys, makes the setting of equipment simple, stable.
12. as the method for right 1, by transfer plate surface is processed and obtained different friction coefficient, can mate from hardware the workpiece of different coefficients of friction.
13. as the method for right 1, and acceleration/accel is controlled, and can set different past complex accelerations, the workpiece of coupling different coefficients of friction from setting.
14. as the method for right 1, the process dependence of transmission and the friction force of transfer plate and workpiece, and workpiece can be put at interval, avoids collision mutually and friction, is applicable to outward appearance to have the conveyance of the workpiece of requirement.
15. as the method for right 1, and acceleration/accel is controlled, and can realize center of gravity higher or transmit away from the workpiece of transmission plane, has effectively prevented the generation of toppling over.
16. as the method for right 1, due to not vibration, can choose after support or tool base support its stable contact surface and carry out conveyance for abnormal workpieces.
17. as the method for right 2, and in a transmission cycle, the order of conversion Acceleration Control, can realize transmission round about.
18. as the method for right 1, owing to being only the finite motion of single direction, only need to consider the degree of freedom of a direction on the structure design of front and back procedure connection.
19. based on utilizing a friction force principle, realize the device of work transporting and supply by the control of acceleration/accel, it is characterized in that not using vibration to throw principle, realize conveyance and the location of workpiece, overcome the problem of similar oscillating mode equipment; Formed by firm banking 18, straight line slide unit 10, piezoelectric actuator 12, butterfly precompressed limit spring 11, piezoelectric actuator support 14, transmission track 16, transmission track support 15, yielding rubber 13, piezoceramic controller 21, waveform synthesizer 22, workpiece sensing inductor 19 and device control unit 20.
20. as the device of right 19, utilize the electric voltage displacement effect of piezoceramic, seal is added in the voltage at piezoceramic the two poles of the earth and the linear principle of the expansion displacement of piezoceramic, by the setting of driving voltage waveform, realize and use voltage control displacement, further, by the conversion of displacement acceleration relation, reach the object of controlling acceleration/accel.
21. as the device of right 19, can adjust the slope of driving voltage waveform by waveform synthesizer 22, has realized and has changed the function that acceleration/accel is set.
22. as the device of right 19, answers the location of workpiece by workpiece sensing inductor sense 19, and its signal, by the operation of device control unit 20 control setups, has been realized the linking of front and back operations.
23. as the device of right 19, sets by the counting that device control unit 20 is transmitted to the cycle, can control conveyance distance, realizes accurately location.
24. as the device of right 19, and the voltage signal amplitude that piezoceramic controller 21 is exported is set, and can change the setting stroke in each transmission cycle, reaches the adjustment to conveyance precision and conveyance speed.
25. as the device of right 19, and the s-f of waveform synthesizer synthetic 22 is set, and can realize the control to conveyance speed.
26. as the device of right 19, utilizes special stand and tool, can realize to special-shaped workpiece high center of gravity workpiece and have the workpiece of appearance requirement to carry out conveyance.
27. as the device of right 19, utilizes and refers to fork configuration, procedure connection before and after can realizing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210515325.4A CN103848173A (en) | 2012-12-05 | 2012-12-05 | Precise linear feeding method and device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210515325.4A CN103848173A (en) | 2012-12-05 | 2012-12-05 | Precise linear feeding method and device |
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| Publication Number | Publication Date |
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| CN103848173A true CN103848173A (en) | 2014-06-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210515325.4A Pending CN103848173A (en) | 2012-12-05 | 2012-12-05 | Precise linear feeding method and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107715803A (en) * | 2017-12-01 | 2018-02-23 | 江西宏大化工有限公司 | A kind of timing feeding device of converted starch |
Citations (6)
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|---|---|---|---|---|
| CN1126390A (en) * | 1995-09-01 | 1996-07-10 | 浙江大学 | Driver of piezoelectric ceramic performer |
| JPH11139537A (en) * | 1997-11-12 | 1999-05-25 | Kawasaki Steel Corp | Centering method and device for pallet loaded with cargo |
| CN1477469A (en) * | 2002-07-23 | 2004-02-25 | Smc株式会社 | Electric actuator and method for controlling the same |
| CN101704456A (en) * | 2009-11-25 | 2010-05-12 | 重庆大学 | Automatic packaging system for cylindrical workpieces |
| JP5012351B2 (en) * | 2007-09-18 | 2012-08-29 | トヨタ自動車株式会社 | Drive control device |
| CN102770953A (en) * | 2010-02-23 | 2012-11-07 | 村田机械株式会社 | Transfer device, and workpiece mounting device |
-
2012
- 2012-12-05 CN CN201210515325.4A patent/CN103848173A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1126390A (en) * | 1995-09-01 | 1996-07-10 | 浙江大学 | Driver of piezoelectric ceramic performer |
| JPH11139537A (en) * | 1997-11-12 | 1999-05-25 | Kawasaki Steel Corp | Centering method and device for pallet loaded with cargo |
| CN1477469A (en) * | 2002-07-23 | 2004-02-25 | Smc株式会社 | Electric actuator and method for controlling the same |
| JP5012351B2 (en) * | 2007-09-18 | 2012-08-29 | トヨタ自動車株式会社 | Drive control device |
| CN101704456A (en) * | 2009-11-25 | 2010-05-12 | 重庆大学 | Automatic packaging system for cylindrical workpieces |
| CN102770953A (en) * | 2010-02-23 | 2012-11-07 | 村田机械株式会社 | Transfer device, and workpiece mounting device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107715803A (en) * | 2017-12-01 | 2018-02-23 | 江西宏大化工有限公司 | A kind of timing feeding device of converted starch |
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Application publication date: 20140611 |