CN104155913B - Quilter double-shaft synchronization control method and system - Google Patents
Quilter double-shaft synchronization control method and system Download PDFInfo
- Publication number
- CN104155913B CN104155913B CN201410416704.7A CN201410416704A CN104155913B CN 104155913 B CN104155913 B CN 104155913B CN 201410416704 A CN201410416704 A CN 201410416704A CN 104155913 B CN104155913 B CN 104155913B
- Authority
- CN
- China
- Prior art keywords
- synchronous
- servomotor
- servo driver
- quilter
- servo
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Control Of Multiple Motors (AREA)
Abstract
The invention relates to a quilter double-shaft synchronization control method and system. The system comprises a frame, a crossbeam fixed on the frame, a head main shaft arranged below the crossbeam, a support rotating shuttle shaft arranged below the head main shaft, a first synchronization AC servo motor connected with the head main shaft, a second synchronization AC servo motor connected with the support rotating shuttle shaft, a first AC servo driver matching the first synchronization AC servo motor for controlling operation of the first synchronization AC servo motor, and a second AC servo driver matching the second synchronization AC servo motor for controlling operation of the second synchronization AC servo motor. Through transmission of communication signals between the first AC servo driver and the second AC servo driver, the operation synchronization precision of the first synchronization AC servo motor and the second synchronization AC servo motor can be controlled so as to enable the head main shaft and the support rotating shuttle shaft to realize synchronous rotation and perform high-speed rotation.
Description
Technical field
The present invention relates to a kind of quilter Double-axis synchronous control method and its system.
Background technology
The synchronous scheme of quilter main shaft electricity is actually a kind of application of electronic gear, and the main shaft of quilter uses electronics
The scheme realization in the field of business of gear is the thing before a lot of years, but at home cannot be big due to due to its price and reliability
The popularization of area, nowadays, with AC servo price drop and precision raising so that this occasion using electricity
Sub- gear is synchronously driven into possibility as the upper and lower axle of quilter main shaft.But in the cycle of operation of quilter, can be very
Ensure well upper and lower axle synchronicity be design a big difficult point.
Content of the invention
It is an object of the invention to provide a kind of quilter Double-axis synchronous control method and its system, it can make quilter
Head spindle keeps high level of synchronization with support rotary shuttle shaft, and can high-speed motion.
For achieving the above object, the present invention provides a kind of quilter Double-axis synchronous control method, double using a kind of quilter
Axle synchronization system, described quilter Biaxial synchronous system includes:
Frame, the crossbeam being fixed in described frame, the head being arranged under described crossbeam and be arranged on described head
Under support, described head is provided with head spindle, and described support is provided with support rotary shuttle shaft；Also fixing in described frame
Side frame is installed, and adjustable taut frame is arranged on the medial wall of described side frame, and described adjustable taut frame can come on described side frame
Return is dynamic,
First synchronous AC servomotor, is arranged on described head, for driving described head spindle to rotate；
Second synchronous AC servomotor, is arranged on described support, for driving described support rotary shuttle shaft to rotate；
First AC servo driver, is mated with described first synchronous AC servomotor, is arranged in described frame, uses
To control the operating of described first synchronous AC servomotor；
Second AC servo driver, is mated with described second synchronous AC servomotor, is arranged in described frame, uses
To control the operating of described second synchronous AC servomotor；
First encoder, is arranged on the tail end of described first synchronous AC servomotor, for detecting that described first is synchronous
The angle position of AC servo motor and rotating speed；
Second encoder, is arranged on the tail end of described second synchronous AC servomotor, for detecting that described second is synchronous
The angle position of AC servo motor and rotating speed；
Wherein, described first AC servo driver and described second AC servo driver are using communication modes connection in parallel
Connect, be connected with drives line between the described synchronous AC servomotor and described AC servo driver of every a pair of coupling, institute
State the first encoder with second encoder respectively by described first synchronous AC servomotor and described second synchronous AC servo
The angle position of motor and rotating speed are converted into the signal of telecommunication and feed back to described first AC servo driver and exchange with described second watching
Take driver, by the transmission of communication signal between described first AC servo driver and described second AC servo driver Lai
Described first synchronous AC servomotor and the angle position of described second synchronous AC servomotor and rotating speed is controlled gradually to become
In synchronization, so that described head spindle and support rotary shuttle shaft reach synchronous axial system；Quilter Double-axis synchronous control method includes
Following steps:
S1, the first AC servo driver receive synch command；
S2, the first AC servo driver and the second AC servo driver drive head spindle and support rotary shuttle shaft to return
Respective zero-bit；
S3, head spindle and support rotary shuttle shaft start to rotate, and described first encoder and second encoder are by described first
Synchronous AC servomotor and described second synchronous AC servomotor angle position and rotating speed are converted into the signal of telecommunication and feed back to institute
State the first AC servo driver and described second AC servo driver, and it is actual with support rotary shuttle shaft to calculate head spindle
Angle position poor；
When s4, the higher limit setting on angle position difference is more than program, the rotating speed of the adjustment wherein little axle of inertia；
Whether s5, inquiry have other orders；
S6, repetition s2, s3 and s4, s5 step realizes described long-stitch sew-machine head main shaft and support rotary shuttle shaft Phase synchronization.
As a further improvement on the present invention, methods described also includes:
Control the rotating speed of the first synchronous AC servomotor and the second synchronous AC servomotor according to speed control signal.
As a further improvement on the present invention, the position signalling of described encoder output is more than 10000 pulses/turn.
As a further improvement on the present invention, the precision that described speed control signal is is 12 d/a.
As a further improvement on the present invention, described first AC servo driver and described second AC servo driver
Have identical hardware control lines.
The invention has the beneficial effects as follows: the quilter Biaxial synchronous system of the present invention utilizes the AC servo of multi-machine parallel connection to drive
The transmission of signal between dynamic device, noting be used in upper computer system increases other synchronous circuit plate, just can reach quilter
Head spindle is synchronous with the phase height of support rotary shuttle shaft, and head spindle and support rotary shuttle shaft energy high-speed rotation.
Brief description
Fig. 1 is the front view of quilter of the present invention；
Fig. 2 is the basic block diagram of quilter Biaxial synchronous system of the present invention；
Fig. 3 is the control method flow chart of quilter Biaxial synchronous system of the present invention.
Specific embodiment
Describe the present invention below with reference to each embodiment shown in the drawings.But these embodiments are not
Limit the present invention, structure, method or change functionally that those of ordinary skill in the art is made according to these embodiments
Change and be all contained in protection scope of the present invention.
Shown in ginseng Fig. 1, quilter Biaxial synchronous system includes frame 1, the crossbeam 2 being fixedly installed in frame 1, is arranged on
Head 3 under crossbeam 2 and be arranged on support 4 under head 3, wherein, head 3 is provided with head spindle 31, and support 4 is provided with
Support rotary shuttle shaft 41, head spindle 31 and support rotary shuttle shaft 41 synchronous axial system just can make quilter be normally carried out quilting, do not cause
Broken needle phenomenon.Side frame (not shown) is also installed with frame 1, and adjustable taut frame is arranged on the medial wall of side frame (not
Diagram), and adjustable taut frame can move back and forth on side frame.
As one preferred embodiment, head spindle 31 and support rotary shuttle shaft 41 are electric with the first synchronous AC servo respectively
Machine 32 and the second synchronous AC servomotor 42 connect, and specifically, the first synchronous AC servomotor 32 is with head spindle 31 even
Connect, for driving head spindle 31 to rotate；Second synchronous AC servomotor 42 is connected with support rotary shuttle shaft 41, for driving machine
Seat rotary shuttle shaft 41 rotates it is preferable that the tail end of the first synchronous AC servomotor 32 and the second synchronous AC servomotor 42 divides
It is not provided with the first encoder 33 and second encoder 43, encoder is used for detecting the angle position of synchronous AC servomotor and turns
Speed, reflects the working condition of synchronous AC servomotor.Quilter Biaxial synchronous system also includes be arranged in frame 1
One AC servo driver 34 and the second AC servo driver 44, wherein, the first AC servo driver 34 and first is synchronous
AC servo motor 32 mates, and the second AC servo driver 44 is mated with the second synchronous AC servomotor 42, the first coding
Device 33 and second encoder 43 are respectively by the corner of the first synchronous AC servomotor 32 and the second synchronous AC servomotor 42
Position and rotating speed are converted into the signal of telecommunication and feed back to the first AC servo driver 34 and the second AC servo driver 44, by
Between one AC servo driver 34 and the second AC servo driver 44, the transmission of communication signal is controlling the first synchronous AC to watch
Take motor 32 and the angle position of the second synchronous AC servomotor 42 and rotating speed gradually tends to synchronous, so that head spindle 31
Reach with support rotary shuttle shaft 41 and be synchronized with the movement.
In conjunction with shown in Fig. 2, by driving between the synchronous AC servomotor of every a pair of coupling and AC servo driver
Line 30 connects to reach the purpose that AC servo driver controls the operating of synchronous AC servomotor.Preferably, described drives line
30 are more than 1 square millimeter of multi cord for sectional area.Mechanics of communication using AC servo driver multi-machine parallel connection realizes first
Synchronous AC servomotor 10 and the synchronicity of the second synchronous AC servomotor 20.
Specifically, in the present embodiment, the first AC servo driver 34 passes through drives line 30 and the first synchronous AC
Servomotor 32 is realized communication and is connected；Second AC servo driver 44 passes through drives line 30 and the second synchronous AC servomotor
42 realize communication connects.Wherein, the first AC servo driver 34 is in parallel with the second AC servo driver 44, and closes for principal and subordinate
System, i.e. communication signal is passed to the second AC servo driver 44 by the first AC servo driver 34, the second AC servo drives
The angle position of the second synchronous AC servomotor 42 and rotating speed are converted into the signal of telecommunication and feed back to the first exchange watching by dynamic device 44 again
Take driver 34.The external computer of a whole set of quilter Biaxial synchronous system, computer sends synchronic command or signal to the first friendship
Stream servo-driver 34, these synchronic commands or signal transmission drive to the second AC servo by the first AC servo driver 34 again
Dynamic device 44, the first AC servo driver 34 and the second AC servo driver 44 control after obtaining these synchronic commands or signal
First synchronous AC servomotor 32 is started running with the second synchronous AC servomotor 42, the first synchronous AC servomotor 32
Pass through the first encoder 33 with the working condition of the second synchronous AC servomotor 42 and second encoder 43 exports, encoder will
The working order such as the angle position of the first synchronous AC servomotor 32 and the second synchronous AC servomotor 42 and rotating speed changes
Encoder position signal is become to feed back to the first AC servo driver 34 and the second AC servo driver 44 respectively.First is synchronous
AC servo motor 32 and the second synchronous AC servomotor 42 drive head spindle 31 and support rotary shuttle shaft 41 to start together respectively
Step rotates, and due to being mechanical movement, drive system must set a series of parameter, to meet because of rigidity, inertia, acceleration and deceleration
Certainly there is phase position after operating a period of time in the different impacts to net synchronization capability, head spindle 31 and support rotary shuttle shaft 41
Deviation, the working order of the second synchronous AC servomotor 32 can be passed through second encoder 43 by the second AC servo driver 44
Position signalling feeds back to the first AC servo driver 34, by the signal transmission between principal and subordinate's AC servo driver, thus
Control the synchronicity between two synchronous AC servomotors 32 and 42, using the quilter Biaxial synchronous system in the present invention,
In the synchronous axial system of head spindle 31 and support rotary shuttle shaft 41, quilter Biaxial synchronous system highest synchronizing speed be 3000 turns/
Point, the angle position synchronization accuracy of head spindle 31 and support rotary shuttle shaft 41 is in 0.5 degree of +/-.Need exist for illustrating, each
Synchronous AC servo-driver needs to mate with each synchronous AC servomotor, optimizes AC servo by adjusting servo gain
The response performance of driver, reaches predetermined required precision.
In conjunction with Fig. 2 and Fig. 3, Fig. 3 discloses the synchronous method of quilter main shaft electricity synchronous servo system, and its step is as follows:
S1, the first AC servo driver receive synch command.First AC servo driver 34 receives from meter
The synch command of calculation machine and enable signal, the first AC servo driver 34 will enable signal transmission again and drive to the second AC servo
Dynamic device 44 is so that the first AC servo driver 34 and the second AC servo driver 44 enter synchronous working state.
S2, the first AC servo driver and the second AC servo driver drive head spindle and support rotary shuttle shaft to return
Respective zero-bit, head spindle 31 and support rotary shuttle shaft 41 first have to find respective zero-bit, i.e. absolute zero position on encoder,
Motion mode is each selected to return initial point.Control the first synchronous AC servomotor 32 and second synchronous according to speed control signal
The rotating speed of AC servo motor 42.Speed control signal derives from computer, controls synchronous AC servomotor rotary speed
Analog quantity is it is preferable that precision prescribed is 12 d/a.First AC servo driver 34 receive speed control signal and by this
Signal transmission gives the first synchronous AC servomotor 32 and the second AC servo driver 44, and the second AC servo driver 44 is again
This signal transmission is given the second synchronous AC servomotor 42, the first synchronous AC servomotor 32 and the second synchronous AC servo
Rotating speed according to needed for speed control signal reaches for the motor 42.
S3, head spindle and support rotary shuttle shaft start to rotate, and described first encoder and second encoder are by described first
Synchronous AC servomotor and described second synchronous AC servomotor angle position and rotating speed are converted into the signal of telecommunication and feed back to institute
State the first AC servo driver and described second AC servo driver, and it is actual with support rotary shuttle shaft to calculate head spindle
Angle position poor.The working condition of the first synchronous AC servomotor 32 and the second synchronous AC servomotor 42 passes through first
Encoder 33 and second encoder 43 export, and the first encoder 33 and second encoder 43 are by the first synchronous AC servomotor 10
It is transformed into encoder position signal with working orders such as the rotating speed of the second synchronous AC servomotor 20 and phase angles to feed back respectively
To the first AC servo driver 34 and the second AC servo driver 44, the head master of quilter main shaft thus can be calculated
The alternate position spike of axle 31 and support rotary shuttle shaft 41 reality is it is preferable that encoder position signal is more than 10000 pulses/turn.
When s4, the higher limit setting on angle position difference is more than program, the rotating speed of the adjustment wherein little axle of inertia.First
Certainly it is inclined to there is phase position in synchronous AC servomotor 10 and the second synchronous AC servomotor 20 after operating a period of time
Difference, when position deviation is more than the higher limit set in program, the rotating speed of the adjustment wherein little axle of inertia.
Whether s5, inquiry have other orders.
S6, repetition s2, s3 and s4, s5 step realizes described long-stitch sew-machine head main shaft and support rotary shuttle shaft Phase synchronization.
Here is it is noted that the first AC servo driver 11 and the second AC servo driver 21 close for principal and subordinate
System, the control signal that it each receives is different, but can essentially be identical, as long as in two AC servo drivers of design
Control circuit when, make the first AC servo driver 11 and the second AC servo driver 21 have identical hardware control simultaneously
Circuit processed.
By above-mentioned synchronous method, so that the head spindle of quilter main shaft is high with the controlling angle of support rotary shuttle shaft
Degree is synchronous, has been realized in the two axle Phase synchronization in 0.5 degree of +/- for the error, until there being other orders could change its motion shape
State, for example, servo-actuated order, when computer sends servo-actuated order to the first AC servo driver 11, synch command is just solved
Lock, enter head spindle follow support rotary shuttle shaft kinestate it can be seen that the present invention quilter main shaft electricity synchronous servo
System has very high stability.Meanwhile, electric synchronization system is due to using drive quilter between two AC servo motors
Head spindle and support rotary shuttle shaft, eliminate the very big mechanical spline drived of inertia and its maximum vibration source brought, are quiltings
The speed of machine is greatly improved, reach 3000 pins/point, consistent with international standard.
It should be understood that although this specification is been described by according to embodiment, but not each embodiment only comprises one
Individual independent technical scheme, only for clarity, those skilled in the art should will say this narrating mode of description
As an entirety, the technical scheme in each embodiment can also be through appropriately combined, and forming those skilled in the art can for bright book
With the other embodiment understanding.
The a series of detailed description of those listed above is only for the feasibility embodiment of the present invention specifically
Bright, they simultaneously are not used to limit the scope of the invention, all equivalent implementations made without departing from skill spirit of the present invention
Or change should be included within the scope of the present invention.
Claims (5)
1. a kind of quilter Double-axis synchronous control method, using a kind of quilter Biaxial synchronous system, described quilter twin shaft is same
Step system includes:
Frame, the crossbeam being fixed in described frame, the head being arranged under described crossbeam and be arranged under described head
Support, described head is provided with head spindle, and described support is provided with support rotary shuttle shaft；Described frame also fixedly mounts
There is side frame, and adjustable taut frame is arranged on the medial wall of described side frame, and described adjustable taut frame can move back on described side frame
It is dynamic,
First synchronous AC servomotor, is arranged on described head, for driving described head spindle to rotate；
Second synchronous AC servomotor, is arranged on described support, for driving described support rotary shuttle shaft to rotate；
First AC servo driver, is mated with described first synchronous AC servomotor, is arranged in described frame, for controlling
Make the operating of described first synchronous AC servomotor；
Second AC servo driver, is mated with described second synchronous AC servomotor, is arranged in described frame, for controlling
Make the operating of described second synchronous AC servomotor；
First encoder, is arranged on the tail end of described first synchronous AC servomotor, for detecting described first synchronous AC
The angle position of servomotor and rotating speed；
Second encoder, is arranged on the tail end of described second synchronous AC servomotor, for detecting described second synchronous AC
The angle position of servomotor and rotating speed；
Wherein, described first AC servo driver and described second AC servo driver are coupled using communication modes in parallel,
It is connected with drives line between the described synchronous AC servomotor and described AC servo driver of every a pair of coupling, described the
One encoder and second encoder are respectively by described first synchronous AC servomotor and described second synchronous AC servomotor
Angle position and rotating speed be converted into the signal of telecommunication feed back to described first AC servo driver with described second AC servo drive
Dynamic device, is controlled by the transmission of communication signal between described first AC servo driver and described second AC servo driver
The angle position of described first synchronous AC servomotor and described second synchronous AC servomotor and rotating speed gradually tend to same
Step, so that described head spindle and support rotary shuttle shaft reach synchronous axial system；
It is characterized in that, quilter Double-axis synchronous control method comprises the following steps:
S1, the first AC servo driver receive synch command；
S2, the first AC servo driver and the second AC servo driver drive head spindle and support rotary shuttle shaft to return each
Zero-bit；
S3, head spindle and support rotary shuttle shaft start to rotate, and described first encoder and second encoder are synchronous by described first
AC servo motor and described second synchronous AC servomotor angle position and rotating speed are converted into the signal of telecommunication and feed back to described
One AC servo driver and described second AC servo driver, and calculate turn actual with support rotary shuttle shaft of head spindle
Angle Position is poor；
When s4, the higher limit setting on angle position difference is more than program, the rotating speed of the adjustment wherein little axle of inertia；
Whether s5, inquiry have other orders；
S6, repetition s2, s3 and s4, s5 step realizes described long-stitch sew-machine head main shaft and support rotary shuttle shaft Phase synchronization.
2. quilter Double-axis synchronous control method as claimed in claim 1 is it is characterised in that methods described also includes:
Control the rotating speed of the first synchronous AC servomotor and the second synchronous AC servomotor according to speed control signal.
3. quilter Double-axis synchronous control method as claimed in claim 1 it is characterised in that described encoder output position
Signal be more than 10000 pulses/turn.
4. quilter Double-axis synchronous control method as claimed in claim 2 is it is characterised in that described speed control signal
Precision is 12 d/a.
5. quilter Double-axis synchronous control method as claimed in claim 1 is it is characterised in that described first AC synchronous sampling
Device and described second AC servo driver have identical hardware control lines.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410416704.7A CN104155913B (en) | 2014-08-22 | 2014-08-22 | Quilter double-shaft synchronization control method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410416704.7A CN104155913B (en) | 2014-08-22 | 2014-08-22 | Quilter double-shaft synchronization control method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104155913A CN104155913A (en) | 2014-11-19 |
| CN104155913B true CN104155913B (en) | 2017-01-18 |
Family
ID=51881439
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410416704.7A Active CN104155913B (en) | 2014-08-22 | 2014-08-22 | Quilter double-shaft synchronization control method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104155913B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104499210A (en) * | 2015-01-06 | 2015-04-08 | 上海鲍麦克斯电子科技有限公司 | Upper-and-lower shaft separating synchronous driving device of industrial sewing machine |
| CN105204401A (en) * | 2015-09-28 | 2015-12-30 | 上海鲍麦克斯电子科技有限公司 | Multi-motor synchronous control system and method for multiaxial sewing equipment |
| CN107909594B (en) * | 2017-11-27 | 2021-09-03 | 常州市新创智能科技有限公司 | Positioning device and method for automatically distinguishing quilting starting original point |
| CN110055677B (en) * | 2019-05-18 | 2024-01-30 | 徐州恒辉编织机械有限公司 | Braiding machine host and take-up synchronous control device |
| CN111890798A (en) * | 2020-07-31 | 2020-11-06 | 宁波柏图数码科技有限公司 | Digital printer |
| CN112587351A (en) * | 2020-11-27 | 2021-04-02 | 上海力申科学仪器有限公司 | Operating table double-column synchronous following operation control circuit suitable for heavy load and detection method thereof |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2224937T3 (en) * | 2000-03-14 | 2005-03-16 | Resta S.R.L. | PADDING MACHINE WITH VARIABLE SEPARATION STITCHES. |
| MXPA03003110A (en) * | 2000-10-11 | 2003-08-07 | L & P Property Management Co | Servo driven quilter. |
| CN201501983U (en) * | 2009-08-14 | 2010-06-09 | 上海圣通实业有限公司 | Drum-type computer numerical control embroidery machine |
| CN102304826A (en) * | 2011-07-22 | 2012-01-04 | 上海圣通实业有限公司 | U-shaped synchronizing device for quilting machine head |
| CN202265697U (en) * | 2011-08-30 | 2012-06-06 | 昆山市海进机械有限公司 | Computer servo system of single-needle quilter |
| CN103382629A (en) * | 2012-05-02 | 2013-11-06 | 东莞市嘉龙皮革机械有限公司 | Independent driving and synchronous rotating mechanism of machine head and shuttle race frame |
| CN103266427B (en) * | 2013-05-15 | 2018-03-13 | 苏州市正步机器制造有限公司 | High-end intelligent quilter |
| CN203754954U (en) * | 2013-12-30 | 2014-08-06 | 苏州汇川技术有限公司 | Quilting machine and drive control system thereof |
-
2014
- 2014-08-22 CN CN201410416704.7A patent/CN104155913B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN104155913A (en) | 2014-11-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104155913B (en) | Quilter double-shaft synchronization control method and system | |
| CN104965466B (en) | A kind of DC MOTOR CONTROL teaching experiment system | |
| CN203185030U (en) | Machine tool magazine moving mechanism | |
| DE102012022522A1 (en) | A motor controller for synchronously controlling a commander axis and a command receiver axis | |
| CN103490678A (en) | Synchronous control method and system of host and slave computers | |
| CN105182942B (en) | A kind of principal and subordinate's position synchronization control system and method based on servo | |
| CN201726352U (en) | Double-screw machine tool synchronous driving device | |
| CN202592957U (en) | High-speed shaftless transmission printing paper feeding control system | |
| CN202634339U (en) | Dual-motor parallel drive device | |
| CN100499349C (en) | Opening drive apparatus for electronic jacquard | |
| CN105171723A (en) | Integrated two-degree-of-freedom manipulator and control system thereof | |
| CN107681928A (en) | A kind of axle control system of doing more physical exercises based on microcontroller | |
| CN206287689U (en) | A kind of ZJ112 cigarette machines steel seal prints servo-control system | |
| CN102801377A (en) | Simple position sensor fine-adjustment system and adjustment method thereof | |
| CN203700723U (en) | Sewing machine and flexible middle presser foot driving mechanism thereof | |
| CN104138949A (en) | Multi-point compound incremental forming device for sheet metal | |
| CN102778252A (en) | Automatic position sensor fine adjustment system and adjustment method | |
| CN106301092A (en) | A kind of multi-shaft synchronous control system | |
| CN203754954U (en) | Quilting machine and drive control system thereof | |
| CN101769802A (en) | Positioning force measuring system of permanent-magnetic linear motor | |
| CN110212814B (en) | Dual-motor driven load synchronous control system and control method | |
| CN202563305U (en) | Controller of double-servo winder with single chip microcomputer | |
| CN104727034B (en) | Rotating shuttle for sewing machine synchronous rotating mechanism | |
| CN201496736U (en) | Servo turntable device | |
| CN202174626U (en) | Adjustable vibration plate servo control device applied to brick making machines |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |