CN105353718A - Polar-coordinate type linear full-servo drive control system - Google Patents

Polar-coordinate type linear full-servo drive control system Download PDF

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Publication number
CN105353718A
CN105353718A CN201510915837.3A CN201510915837A CN105353718A CN 105353718 A CN105353718 A CN 105353718A CN 201510915837 A CN201510915837 A CN 201510915837A CN 105353718 A CN105353718 A CN 105353718A
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CN
China
Prior art keywords
reductor
servo drive
controller
servomotor
straight line
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CN201510915837.3A
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Chinese (zh)
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CN105353718B (en
Inventor
刘可方
蒋惠成
杨锋
税异
王晓锴
章贵龙
赵俊
张国库
郝栋
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上海嘉朗实业有限公司
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • G05B19/054Input/output
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/34Director, elements to supervisory
    • G05B2219/34013Servocontroller

Abstract

The invention reveals a polar-coordinate type linear full-servo drive control system, and the system comprises a driving mechanism, a driving controller, a speed reducer, a controller, a control interface, a rotating device, a lateral moving device, a longitudinal moving device, and a transmission device. The controller is connected with the control interface through a communication interface. A drive output end of the driving controller is connected with the driving mechanism. A signal input end of the driving controller is connected with the output end of the controller. The rotating device is connected with the speed reducer, and is driven by a force output shaft of the speed reducer to make plane-type rotating positioning operation around a rotating shaft. The lateral moving device and the longitudinal device are connected with the speed reducer, and a gear is driven by the force output shaft of the speed reducer to make positioning movement on a linear guide rail, thereby achieving the movement positioning of the lateral moving device and the longitudinal device on Y-axis and Z-axis. The transmission device is connected with the speed reducer, and is driven by the speed reducer to carry out transmission, thereby achieving the precise supply of soup. The system provided by the invention can achieve high-speed and precise positioning.

Description

The full servo drive control system of polar coordinates type straight line
Technical field
The invention belongs to automatic control technology field, relate to a kind of servo drive control system, particularly relate to the full servo drive control system of a kind of polar coordinates type straight line.
Background technology
High-precision motion location, programmed control, electron servo drived control are the essential core parts of the full servo drive control of polar coordinates type straight line for soup machine; At present, on market soup feeding machine all based on double leval jib, rotary encoder location, frequency conversion drive structure.
Nowadays also do not occur that the full servo control of polar coordinates type straight line is for soup machine; Double leval jib soup feeding machine drives threephase asynchronous machine to carry out double leval jib positioning work by Controlled by Programmable Controller variable frequency drives, the feedback of position, angle information is carried out by rotary encoder, and information is passed to Programmable Logic Controller, the deficiency of this structure is that positioning precision is low, large to soup error, can not realize man-machine interaction, applicability is not strong, and above equipment seriously constrains production efficiency.
Summary of the invention
Technical matters to be solved by this invention is: provide a kind of polar coordinates type straight line full servo drive control system, can realize at a high speed, accurately locate.
For solving the problems of the technologies described above, the present invention adopts following technical scheme:
The full servo drive control system of a kind of polar coordinates type straight line, described system comprises: some servomotors, some servo drive controllers, some reductors, Programmable Logic Controller, man-machine interface, whirligig, traversing gear, perpendicular dynamic device, sprocket transmission device;
Described Programmable Logic Controller is connected with man-machine interface by communication interface; Each servo drive controller drive output is connected to corresponding servomotor; Each servo drive controller signal input part is connected to Programmable Logic Controller output terminal; Each servomotor bearing axle carries out assembly connection with corresponding reductor inputting shaft; Each reductor bearing axle is connected with peripheral unit;
Some servo drive controllers comprise the first servo drive controller, the second servo drive controller, the 3rd servo drive controller, the 4th servo drive controller, some servomotors comprise the first servomotor, the second servomotor, the 3rd servomotor, the 4th servomotor, and some reductors comprise the first reductor, the second reductor, the 3rd reductor, the 4th reductor; First servomotor, the second servomotor, the 3rd servomotor, the 4th servomotor connect the first reductor, the second reductor, the 3rd reductor, the 4th reductor respectively;
Described whirligig is connected with the first reductor, is made the rotation location action of plane formula by the first reductor force-output shaft driven rotary axle;
Described transverse moving device, perpendicular dynamic device are connected with the second reductor, the 3rd reductor respectively, on straight line rail, carry out setting movement by the second reductor, the 3rd reductor force-output shaft driven gear, realize transverse moving device, erect the motion positions of dynamic device at space Y axle, Z axis;
Described sprocket transmission device is connected with the 4th reductor, carries out chain drive by the 4th reductor band movable sprocket, thus control soup ladle for soup amount, realize accurately to soup.
As a preferred embodiment of the present invention, described man-machine interface is display touch-type, and described communication interface is RS232 mouth or RS485 mouth.
As a preferred embodiment of the present invention, described Programmable Logic Controller is 4 road high-speed pulse output types, and described communication interface is RS232 mouth or RS485 mouth.
As a preferred embodiment of the present invention, described servomotor bearing axle is installed on reductor inputting shaft, and reductor force-output shaft and peripheral motion positions matched with devices use.
The full servo drive control system of a kind of polar coordinates type straight line, described system comprises: driving mechanism, driving governor, reductor, controller, control inerface, whirligig, traversing gear, perpendicular dynamic device, gearing;
Described controller is connected with control inerface by communication interface; Driving governor drive output is connected to driving mechanism; Driving governor signal input part is connected to controller output end;
Described whirligig is connected with reductor, is made the rotation location action of plane formula by reductor force-output shaft driven rotary axle;
Described transverse moving device, perpendicular dynamic device are connected with reductor, carry out setting movement, realize transverse moving device, erect the motion positions of dynamic device at space Y axle, Z axis by reductor force-output shaft driven gear on straight line rail;
Described gearing is connected with reductor, drives drive by reductor, realizes accurately to soup.
Beneficial effect of the present invention is: the full servo drive control system of polar coordinates type straight line that the present invention proposes, and can realize at a high speed, accurately locate.
Present invention incorporates the advantage of traditional soup feeding machine and carried out transforming significantly on its original base, by Controlled by Programmable Controller high-precision positioner, realizing whirligig precise positioning; Transverse moving device and perpendicular dynamic device under the running up of gear, thus realize high speed accurately location on guide rail; Chain gear apparatus better can realize the increase and decrease of soup amount by the transmission of sprocket wheel and chain, for subsequent work stations provides convenient; The each telecontrol equipment of this system, all to realize automated job, greatly reduces cost of labor, reduces noise, decrease energy consumption, improve production efficiency.
Accompanying drawing explanation
Fig. 1 is the composition schematic diagram of the full servo drive control system of polar coordinates type straight line of the present invention.
Embodiment
The preferred embodiments of the present invention are described in detail below in conjunction with accompanying drawing.
Embodiment one
Refer to Fig. 1, present invention is disclosed the full servo drive control system of a kind of polar coordinates type straight line, described system comprises: some servomotors (high-precision servo motor), some servo drive controllers, some reductors, Programmable Logic Controller 1, man-machine interface 2, whirligig 3, traversing gear 4, perpendicular dynamic device 5, chain gear apparatus 6 (sprocket transmission device).
Described Programmable Logic Controller 1 is connected with man-machine interface 2 by communication interface; In the present embodiment, described man-machine interface 2 is display touch-types, and described Programmable Logic Controller is 4 road high-speed pulse output types, and described communication interface is RS232 mouth or RS485 mouth.
Each servo drive controller drive output is connected to corresponding servomotor; Servo drive controller signal input part is connected to the output terminal of Programmable Logic Controller 1.Each servomotor bearing axle carries out assembly connection with corresponding reductor inputting shaft; Each reductor bearing axle is connected with peripheral unit.
In the present embodiment, described servomotor bearing axle is installed on reductor inputting shaft, and reductor force-output shaft and peripheral motion positions matched with devices use.
Some servo drive controllers comprise the first servo drive controller 71, second servo drive controller 72, the 3rd servo drive controller 73, the 4th servo drive controller 74, some servomotors comprise the first servomotor 81, second servomotor 82, the 3rd servomotor 83, the 4th servomotor 84, and some reductors comprise the first reductor 91, second reductor 92, the 3rd reductor 93, the 4th reductor 94;
First servo drive controller 71, first servomotor 81, first reductor 91 connects successively, second servo drive controller 72, second servomotor 82, second reductor 92 connects successively, 3rd servo drive controller 73, the 3rd servomotor 83, the 3rd reductor 93 connect successively, and the 4th servo drive controller 74, the 4th servomotor 84, the 4th reductor 94 connect successively.
Described whirligig 3 is connected with the first reductor 91, is made the rotation location action of plane formula by the first reductor 91 force-output shaft driven rotary axle.
Described transverse moving device 4, perpendicular dynamic device 5 are connected with the second reductor 92, the 3rd reductor 93 respectively, on straight line rail, carry out setting movement by the second reductor 92, the 3rd reductor 93 force-output shaft driven gear, realize transverse moving device 4, erect the motion positions of dynamic device 5 at space Y axle, Z axis.
Described chain gear apparatus 6 is connected with the 4th reductor 94, is with movable sprocket to carry out chain drive by the 4th reductor 94, thus control soup ladle for soup amount, realize accurately to soup.
Embodiment two
See Fig. 1, the full servo drive control system of a kind of polar coordinates type straight line, comprises electron servo driving governor, servomotor, gear drive, chain sprocket drive, Programmable Logic Controller, man-machine interface etc.; Programmable Logic Controller is connected with man-machine interface by communication interface; The drive output of servo drive controller is connected to servomotor; Servo drive controller signal input part is connected to Programmable Logic Controller output terminal; Servomotor bearing axle and reductor inputting shaft carry out assembly connection; Reductor bearing axle is connected with peripheral unit; High-precision rotary locating device is combined by reductor, servomotor.
Described man-machine interface is display touch-type, and as touch-screen mobile phone, integrated touch screen liquid crystal display etc., described communication interface is RS232 mouth or RS485 mouth.
Described high-precision positioner is servomotor acceleration and deceleration machines, and reductor is arranged on the bearing axle of servomotor.
In actual use, by man-machine interface initialization system related process parameters, the parameters such as such as servomotor rotating speed, servomotor acceleration and deceleration ratio, each position dead time, cycle length, the switching of machine program, fine adjustment speed setting, and send Programmable Logic Controller to by RS232 or RS485 communication interface.Programmable Logic Controller calculates operation result by algorithm, is handed down to servo drive controller by output port.Plurality of operating modes is all kept in man-machine interface, directly calls when needing; The operational factor of servo-drive system is monitored, the parameter such as rotating speed, electric current, voltage, torque of such as servomotor by man-machine interface.
Embodiment three
The full servo drive control system of a kind of polar coordinates type straight line, described system comprises: driving mechanism, driving governor, reductor, controller, control inerface, whirligig, traversing gear, perpendicular dynamic device, gearing;
Described controller is connected with control inerface by communication interface; Driving governor drive output is connected to driving mechanism; Driving governor signal input part is connected to controller output end;
Described whirligig is connected with reductor, is made the rotation location action of plane formula by reductor force-output shaft driven rotary axle;
Described transverse moving device, perpendicular dynamic device are connected with reductor, carry out setting movement, realize transverse moving device, erect the motion positions of dynamic device at space Y axle, Z axis by reductor force-output shaft driven gear on straight line rail;
Described gearing is connected with reductor, drives drive by reductor, realizes accurately to soup.
Wherein, driving mechanism, driving governor, reductor can be respectively multiple, and whirligig, traversing gear, perpendicular dynamic device, gearing all configure corresponding driving mechanism, driving governor, reductor.
In sum, the full servo drive control system of polar coordinates type straight line that the present invention proposes, can realize at a high speed, accurately locate.Present invention incorporates the advantage of traditional soup feeding machine and carried out transforming significantly on its original base, by Controlled by Programmable Controller high-precision positioner, realizing whirligig precise positioning; Transverse moving device and perpendicular dynamic device under the running up of gear, thus realize high speed accurately location on guide rail; Chain gear apparatus better can realize the increase and decrease of soup amount by the transmission of sprocket wheel and chain, for subsequent work stations provides convenient; The each telecontrol equipment of this system, all to realize automated job, greatly reduces cost of labor, reduces noise, decrease energy consumption, improve production efficiency.
Here description of the invention and application is illustrative, not wants by scope restriction of the present invention in the above-described embodiments.Distortion and the change of embodiment disclosed are here possible, are known for the replacement of embodiment those those of ordinary skill in the art and the various parts of equivalence.Those skilled in the art are noted that when not departing from spirit of the present invention or essential characteristic, the present invention can in other forms, structure, layout, ratio, and to realize with other assembly, material and parts.When not departing from the scope of the invention and spirit, can other distortion be carried out here to disclosed embodiment and change.

Claims (5)

1. the full servo drive control system of polar coordinates type straight line, it is characterized in that, described system comprises: some servomotors, some servo drive controllers, some reductors, Programmable Logic Controller, man-machine interface, whirligig, traversing gear, perpendicular dynamic device, sprocket transmission device;
Described Programmable Logic Controller is connected with man-machine interface by communication interface; Each servo drive controller drive output is connected to corresponding servomotor; Each servo drive controller signal input part is connected to Programmable Logic Controller output terminal; Each servomotor bearing axle carries out assembly connection with corresponding reductor inputting shaft; Each reductor bearing axle is connected with peripheral unit;
Some servo drive controllers comprise the first servo drive controller, the second servo drive controller, the 3rd servo drive controller, the 4th servo drive controller, some servomotors comprise the first servomotor, the second servomotor, the 3rd servomotor, the 4th servomotor, and some reductors comprise the first reductor, the second reductor, the 3rd reductor, the 4th reductor; First servomotor, the second servomotor, the 3rd servomotor, the 4th servomotor connect the first reductor, the second reductor, the 3rd reductor, the 4th reductor respectively;
Described whirligig is connected with the first reductor, is made the rotation location action of plane formula by the first reductor force-output shaft driven rotary axle;
Described transverse moving device, perpendicular dynamic device are connected with the second reductor, the 3rd reductor respectively, on straight line rail, carry out setting movement by the second reductor, the 3rd reductor force-output shaft driven gear, realize transverse moving device, erect the motion positions of dynamic device at space Y axle, Z axis;
Described sprocket transmission device is connected with the 4th reductor, carries out chain drive by the 4th reductor band movable sprocket, thus control soup ladle for soup amount, realize accurately to soup.
2. the full servo drive control system of polar coordinates type straight line according to claim 1, is characterized in that:
Described man-machine interface is display touch-type, and described communication interface is RS232 mouth or RS485 mouth.
3. the full servo drive control system of polar coordinates type straight line according to claim 1, is characterized in that:
Described Programmable Logic Controller is 4 road high-speed pulse output types, and described communication interface is RS232 mouth or RS485 mouth.
4. the full servo drive control system of polar coordinates type straight line according to claim 1, is characterized in that:
Described servomotor bearing axle is installed on reductor inputting shaft, and reductor force-output shaft and peripheral motion positions matched with devices use.
5. the full servo drive control system of polar coordinates type straight line, it is characterized in that, described system comprises: driving mechanism, driving governor, reductor, controller, control inerface, whirligig, traversing gear, perpendicular dynamic device, gearing;
Described controller is connected with control inerface by communication interface; Driving governor drive output is connected to driving mechanism; Driving governor signal input part is connected to controller output end;
Described whirligig is connected with reductor, is made the rotation location action of plane formula by reductor force-output shaft driven rotary axle;
Described transverse moving device, perpendicular dynamic device are connected with reductor, carry out setting movement, realize transverse moving device, erect the motion positions of dynamic device at space Y axle, Z axis by reductor force-output shaft driven gear on straight line rail;
Described gearing is connected with reductor, drives drive by reductor, realizes accurately to soup.
CN201510915837.3A 2015-12-10 2015-12-10 The full servo drive control system of polar coordinates type straight line Active CN105353718B (en)

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JPH07319523A (en) * 1994-05-20 1995-12-08 Daikin Ind Ltd Method for controlling cutting device in orthogonal double axes configuration and device therefor
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