CN106042043A - Anti-collision system and anti-collision method of code drilling machine - Google Patents
Anti-collision system and anti-collision method of code drilling machine Download PDFInfo
- Publication number
- CN106042043A CN106042043A CN201610344076.5A CN201610344076A CN106042043A CN 106042043 A CN106042043 A CN 106042043A CN 201610344076 A CN201610344076 A CN 201610344076A CN 106042043 A CN106042043 A CN 106042043A
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- module
- kinematic axis
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- signal
- motion
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/22—Safety devices specially adapted for cutting machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D5/005—Computer numerical control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26F—PERFORATING; PUNCHING; CUTTING-OUT; STAMPING-OUT; SEVERING BY MEANS OTHER THAN CUTTING
- B26F1/00—Perforating; Punching; Cutting-out; Stamping-out; Apparatus therefor
- B26F1/16—Perforating by tool or tools of the drill type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26F—PERFORATING; PUNCHING; CUTTING-OUT; STAMPING-OUT; SEVERING BY MEANS OTHER THAN CUTTING
- B26F2210/00—Perforating, punching, cutting-out, stamping-out, severing by means other than cutting of specific products
- B26F2210/08—Perforating, punching, cutting-out, stamping-out, severing by means other than cutting of specific products of ceramic green sheets, printed circuit boards and the like
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Forests & Forestry (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Earth Drilling (AREA)
Abstract
The invention relates to the field of motor control, in particular to an anti-collision system of a code drilling machine. The anti-collision system of the code drilling machine comprises a movement control unit and sensing units, wherein the movement control unit is used for controlling the movement of movement shafts on a movement track; the sensing units are arranged between the adjacent movement shafts and connected with the movement control unit, and the sensing unit are used for sensing the distances between the adjacent movement shafts, generating an induction signal when the adjacent movement shafts get close to each other, and sending the induction signal into the movement control unit; and the movement control unit controls the adjacent movement shafts to be away from each other according to the induction signal. The invention further relates to an anti-collision method of the code drilling machine. By designing the anti-collision system and anti-collision method of the code drilling machine, the distances between the adjacent movement shafts are sensed, and the adjacent movement shafts are controlled to be away from each other when the adjacent movement shafts get close, so that the situation that collision between the adjacent movement shafts is caused due to improper operation or control is prevented.
Description
Technical field
The present invention relates to Motor Control Field, be specifically related to a kind of CAS boring ink recorder and avoiding collision thereof.
Background technology
In existing line plate produces, for realizing sheet material and the management and control of item number, reduce production cost, reduce waste, with
Time convenient management, it is achieved product can be reviewed, and needs to make marks on every sheet material.At present, commonly used labeling method includes
Gong groove, beat the mode such as steel seal, Laser Jet, but, above-mentioned labeling method exists that working strength is big, efficiency is low, error rate is high
Different defects, implementation result is bad.
Therefore, by boring the bore mode of ink recorder and using " 8421 " code to be marked, wherein, boring ink recorder is at track
In each link of plate processing procedure of road, by machine drilling mode, copper-clad plate (workpiece) is carried out " 8421 " code and bore the machine of code labeling.
As it is shown in figure 1, Fig. 1 is the structural representation boring ink recorder, bores ink recorder and include two kinematic axiss 11, bore ink recorder head and arrange
On kinematic axis and realize labelling " 8421 " code, kinematic axis 11 is separately mounted in tracks 12.Kinematic axis 11 is by sharing
Tracks 12 be arranged on crossbeam 13, move along tracks 13 direction.
But, owing to considering the problems such as machine dimensions, basic part cost and structure, do not install the most spacing on crossbeam；
Improper operation or out of control in the case of it may happen that the collision of two kinematic axiss, thus damage machine.
Summary of the invention
The technical problem to be solved in the present invention is, for the drawbacks described above of prior art, it is provided that a kind of bore the anti-of ink recorder
Hit system, prevent the collision of adjacent motion axle.
The technical problem to be solved in the present invention is, for the drawbacks described above of prior art, it is provided that a kind of bore the anti-of ink recorder
Hit method, prevent the collision of adjacent motion axle.
The technical solution adopted for the present invention to solve the technical problems is: provide a kind of CAS boring ink recorder, this brill
Ink recorder includes tracks and some kinematic axiss being arranged in tracks, and this kinematic axis moves in tracks, and this is prevented
The system of hitting includes:
Motion control unit, this motion control unit is used for controlling kinematic axis and moves in tracks；
Sensing unit, this sensing unit is arranged on adjacent motion between centers, and this sensing unit is connected with motion control unit,
This sensing unit for sensing the distance of adjacent motion between centers, and adjacent kinematic axis close to time to produce induced signal concurrent
Deliver in motion control unit, this motion control unit according to the adjacent kinematic axis of actuated signal control away from.
Wherein, preferred version is: this motion control unit includes a brake hard module, this brake hard module respectively with
Kinematic axis and sensing unit connect, this sensing unit adjacent kinematic axis for a long time close to time to produce emergency brake signal concurrent
Delivering in brake hard module, this brake hard module controls kinematic axis according to emergency brake signal and stops mobile.
Wherein, preferred version is: this motion control unit includes upper computer software module and a motion control card, and this is upper
Machine software module is connected with sensing unit and motion control card respectively, and this upper computer software module is planned again according to induced signal
The motion path of kinematic axis, and motion path is sent in motion control card, this motion control card is according to motion path control
Adjacent kinematic axis away from.
Wherein, preferred version is: this kinematic axis includes a motor, is moved along tracks by the driving of motor.
Wherein, preferred version is: this brake hard module is connected with upper computer software module, and this brake hard module will be tight
Anxious brake signal is sent to brake hard module, and emergency brake operations is sent in upper computer software module.
Wherein, preferred version is: this motion control unit also includes a driving module, this driving module respectively with motor,
Motion control card and brake hard module connect, and this driving module is used for controlling motor work.
Wherein, preferred version is: this sensing unit includes inductive transducer and isolation module, and this isolation module is respectively with upper
Position machine software module and brake hard module connect, and this isolation module is used for isolating filtration induced signal, and this inductive transducer is used
In sense adjacent motion between centers distance and adjacent kinematic axis close to time produce induced signal, this isolation module will sensing
Signal is sent in upper computer software module, and is sent to by emergency brake signal in brake hard module.
Wherein, preferred version is: this sensing unit also includes being arranged on isolation module and the signal of brake hard intermodule
Detection module, this signal detection module carries out sample detecting to induced signal；It is more than or equal to when the persistent period of induced signal
During Preset Time, this signal detection module produces emergency brake signal and is sent in brake hard module.
The technical solution adopted for the present invention to solve the technical problems is: provide a kind of avoiding collision boring ink recorder, this brill
Ink recorder includes tracks and some kinematic axiss being arranged in tracks, and this kinematic axis moves in tracks, and this is prevented
The method of hitting includes step:
Sense the distance of adjacent motion between centers；
Adjacent kinematic axis close to time, control adjacent kinematic axis away from.
Wherein, preferred version is, if adjacent kinematic axis is the most close, further comprises the steps of: control kinematic axis and stops moving
Dynamic.
The beneficial effects of the present invention is, compared with prior art, the present invention is by designing a kind of crashproof system boring ink recorder
System and avoiding collision thereof, sense the distance of adjacent motion between centers, and adjacent kinematic axis close to time, control adjacent motion
Axle away from, prevent adjacent kinematic axis from due to operation or controlling improper generation and mutually collide；Further, in adjacent motion
Axial length around time, control kinematic axis and stop mobile, prevent adjacent kinematic axis from damaging due to out of control causing, reach dual guarantor
Danger effect, the normal operation of ink recorder is bored in protection.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the structural representation that prior art bores ink recorder；
Fig. 2 is the structural representation boring ink recorder that the present invention has CAS；
Fig. 3 is the structured flowchart of CAS of the present invention；
Fig. 4 is the structured flowchart of motion control unit of the present invention；
Fig. 5 is the structured flowchart of sensing unit of the present invention；
Fig. 6 is the schematic flow sheet of avoiding collision of the present invention.
Detailed description of the invention
In conjunction with accompanying drawing, presently preferred embodiments of the present invention is elaborated.
As shown in Figures 2 and 3, the present invention provides the preferred embodiment of a kind of CAS boring ink recorder.
A kind of CAS boring ink recorder, bores ink recorder and includes tracks 12 and some fortune being arranged in tracks 12
Moving axis 11, kinematic axis 11 moves in tracks 12, and with specific reference to Fig. 1, tracks 12 includes the first tracks 121 He
Second tracks 122, kinematic axis 11 is arranged on crossbeam 13 by the first tracks 121 and the second tracks 122；Fortune
Moving axis 11 at least includes the first kinematic axis 111 and second motion shaft 112, for ensureing to bore the properly functioning of ink recorder, the first kinematic axis
111 and needs one determining deviation of second motion shaft 112, prevent both mutual collisions, accordingly, it would be desirable to arrange one boring on ink recorder
CAS.
CAS includes motion control unit 22 and sensing unit 21, and wherein, motion control unit 22 is used for controlling fortune
Moving axis 11 moves in tracks 12；Sensing unit 21, sensing unit 21 is arranged between adjacent kinematic axis 11, sensing unit
21 are connected with motion control unit 22, and sensing unit 21 is used for sensing the distance between adjacent kinematic axis 11, and in adjacent fortune
Moving axis 11 close to time produce induced signal being sent in motion control unit 22, motion control unit 22 is according to induced signal control
Make adjacent kinematic axis 11 away from；At adjacent kinematic axis 11 away from rear, sensing unit 21 stops producing induced signal, kinematic axis
11 normally work.
Wherein, sensing unit 21 includes a predeterminable range, when the distance of the first kinematic axis 111 and second motion shaft 112 is little
In or equal to predeterminable range time, sensing unit 21 can produce induced signal and be sent in motion control unit 22；Preferably, sense
Unit 21 is answered to be arranged on the first kinematic axis 111, for sensing the distance of itself and the second motion shaft 112 in front；Or, sensing
Unit 21 is arranged on second motion shaft 112, for sensing the distance of itself and first kinematic axis 111 at rear；Or, sensing is single
Unit 21 is arranged in tracks 12, for sensing the distance of front the first kinematic axis 111 and first kinematic axis 111 at rear.
Further, motion control unit 22 is individually to control, an arbitrary kinematic axis 11 by control campaign
The different speed of moving of axle 11, or moving direction realize adjacent kinematic axis 11 away from.
As shown in Figure 4, the present invention provides the preferred embodiment of a kind of motion control unit.
Motion control unit 22 includes a brake hard module 221, brake hard module 221 respectively with kinematic axis 11 and sense
Answer unit 21 to connect, sensing unit 21 adjacent kinematic axis 11 for a long time close to time produce emergency brake signal and be sent to tight
In anxious brake module 221, brake hard module 221 controls kinematic axis 11 according to emergency brake signal and stops mobile.
I.e. after sensing unit 21 sends induced signal for the first time, motion control unit 22 does not control adjacent kinematic axis
11 away from, there is out-of-control phenomenon, sensing unit 21 produces emergency brake signal and controls kinematic axis by brake hard module 221
11 stop moving, and reach double insurance effect, and the normal operation of ink recorder is bored in protection.
Wherein, sensing unit 21 includes a Preset Time, when kinematic axis 11 exceed Preset Time the most close to each other time, or
The induced signal of sensing unit 21 persistently produces the time of induced signal and exceedes Preset Time, and sensing unit 21 produces brake hard
Signal is also sent in brake hard module 221,
Further, motion control unit 22 includes a upper computer software module 222 and motion control card 223, host computer
Software module 222 is connected with sensing unit 21 and motion control card 223 respectively, and upper computer software module 222 is according to induced signal
Again the motion path of programming movement axle 11, and motion path is sent in motion control card 223, motion control card 223
According to motion path control adjacent kinematic axis 11 away from.
Further, kinematic axis 11 includes a motor 224, kinematic axis 11 under the drive of motor 224 along tracks
12 move；Each kinematic axis 11 is configured with the motor 224 worked independently of correspondence, and motion control unit 22 controls separate electrical motor
224 are operated.
In the present embodiment, motor 224 is connected with motion control card 223 and brake hard module 221 respectively, motor control
Card 223 controls motor 224 according to the control signal of upper computer software module 222 and works, and drives the kinematic axis 11 of correspondence in fortune
Move on dynamic track 12；And when adjacent kinematic axis 11 for a long time close to time, brake hard module 221 is triggered and priority acccess control
Motor 224 quits work.Wherein, brake hard module 221 is connected with upper computer software module 222, and brake hard module 221 will
Brake hard module 221 delivered to by brake hard letter, and emergency brake operations reported in upper computer software module 222；Upper
The information that machine software module 222 sends according to brake hard module 221 quits work.
Further, motion control unit 22 also includes a driving module 225, drive module 225 respectively with motor 224,
Motion control card 223 and brake hard module 221 connect, and drive module 225 to be used for controlling motor 224 and work；I.e. motor 224
Operating by driving module 225 to realize driving, the control command of motion control card 223 and brake hard module 221 is dealt into
Drive in module 225, drive module 225 to control motor 224 and realize controlling operation.Or, brake hard module 221 is arranged on drives
In dynamic model block 225, driving the emergency braking function district in module 225 is brake hard module 221.
As it is shown in figure 5, the present invention provides the preferred embodiment of a kind of sensing unit.
Sensing unit 21 includes inductive transducer 211 and isolation module 212, isolation module 212 respectively with upper computer software
Module 222 and brake hard module 221 connect, and isolation module 212 is used for isolating filtration induced signal, and inductive transducer 211 is used
In the distance sensed between adjacent kinematic axis 11 and adjacent kinematic axis 11 close to time produce induced signal, isolation module 212
Induced signal is sent in upper computer software module 222, and emergency brake signal is sent to brake hard module 221
In.
Wherein, sensing unit 21 also includes the signal detection mould being arranged between isolation module 212 and brake hard module 221
Block 213, signal detection module 213 carries out sample detecting to induced signal；When the persistent period of induced signal is more than or equal to pre-
If during the time, signal detection module 213 produces emergency brake signal and is sent in brake hard module 221.
Further, inductive transducer 211 is the induction apparatus that can send signal when there being object proximity, and exports pronunciation
Signal, such as high level or low level.
Isolation module 212 is that the induced signal that inductive transducer 211 produces is isolated, and improves the anti-interference of CAS
Property, and induced signal is converted into two paths of signals, a road signal is directly inputted in upper computer software module 222, as control
The triggering signal of motor 224 kinestate；Another road signal is then linked into brake hard module 221 after a fixed response time again,
After brake hard module 221 receives induced signal, using induced signal as the signal starting brake hard.
Induced signal after isolation is mainly converted by signal detection module 213 carries out sample detecting, if induced signal is held
Signal detection module 213 produced emergency brake signal and was sent to drive in module 225 more than or equal to Preset Time the continuous time,
Trigger and start emergency braking action；If the inductive switch persistent period is less than Preset Time, signal detection module 213 does not produce letter
Number it is sent to drive in module 225, machine normal operation；Preset Time in signal detection module 213 can be according to practical situation
Set.
As shown in Figure 6, the present invention provides the preferred embodiment of a kind of avoiding collision boring ink recorder.
A kind of avoiding collision boring ink recorder, bores ink recorder and includes tracks 12 and some fortune being arranged in tracks 12
Moving axis 11, kinematic axis 11 moves in tracks 12, and avoiding collision includes step:
S11, the distance sensed between adjacent kinematic axis 11；
S12, adjacent kinematic axis 11 close to time, control adjacent kinematic axis 11 away from.
Wherein, in step S02, a predeterminable range is set, the distance when between the adjacent kinematic axis 11 of sensing less than or etc.
When predeterminable range, control adjacent kinematic axis 11 away from.
Further, also include step S13, if adjacent kinematic axis 11 is the most close, controls kinematic axis 11 and stop moving
Dynamic.Wherein, in step S03, including arranging a Preset Time, when the time that adjacent kinematic axis 11 is close exceedes default
Between, control kinematic axis 11 and stop mobile.
Concrete steps are with reference to Fig. 6, including step:
S21, the kinematic axis 11 that in real time sensing is the most adjacent close to and produce triggering signal, if adjacent kinematic axis 11 does not has
Close, do not produce triggering signal；
If kinematic axis 11 adjacent for S22 is close, upper computer software module 222 is according to induced signal again programming movement axle
The motion path of 11；
S23, change the motion path of adjacent kinematic axis 11, make adjacent kinematic axis 11 away from, wherein, if adjacent fortune
Dynamic generation jumps in S25, if adjacent motion does not occur away from and persistently produces triggering away from not producing triggering signal
Signal jumps in S24；
S24, detection persistently produce the time triggering signal, if triggering signal exceedes preset value and jumps in S26, if triggering
Signal is not above preset value and jumps in S25；
S25, machine continue normal work；
S26, machine brake hard, quit work；
S27, emergency brake operations is reported, and, in upper computer software module 222, upper computer software module 222 is reported to the police and carries
Show.
As described above, only preferred embodiment, it is not intended to limit the scope of the present invention, Fan Yibenfa
The equivalence that bright claim is made changes or modifies, and is all the present invention and is contained.
Claims (10)
1. boring a CAS for ink recorder, this brill ink recorder includes tracks and some motions being arranged in tracks
Axle, this kinematic axis moves in tracks, it is characterised in that this CAS includes:
Motion control unit, this motion control unit is used for controlling kinematic axis and moves in tracks；
Sensing unit, this sensing unit is arranged on adjacent motion between centers, and this sensing unit is connected with motion control unit, this sense
Answer unit for sensing the distance of adjacent motion between centers, and adjacent kinematic axis close to time produce induced signal being sent to
In motion control unit, this motion control unit according to the adjacent kinematic axis of actuated signal control away from.
CAS the most according to claim 1, it is characterised in that: this motion control unit includes a brake hard mould
Block, this brake hard module is connected with kinematic axis and sensing unit respectively, and this sensing unit connects for a long time at adjacent kinematic axis
Producing emergency brake signal time near and be sent in brake hard module, this brake hard module is according to emergency brake signal control
Kinematic axis stops mobile.
CAS the most according to claim 1 and 2, it is characterised in that: this motion control unit includes that a host computer is soft
Part module and motion control card, this upper computer software module is connected with sensing unit and motion control card respectively, and this host computer is soft
Part module is according to the motion path of induced signal again programming movement axle, and is sent in motion control card by motion path, should
Motion control card according to motion path control adjacent kinematic axis away from.
CAS the most according to claim 3, it is characterised in that: this kinematic axis includes a motor, driving by motor
Move and move along tracks.
CAS the most according to claim 3, it is characterised in that: this brake hard module is with upper computer software module even
Connecing, emergency brake signal is sent to brake hard module by this brake hard module, and emergency brake operations is sent to upper
In machine software module.
CAS the most according to claim 4, it is characterised in that: this motion control unit also includes a driving module,
This driving module is connected with motor, motion control card and brake hard module respectively, and this driving module is used for controlling motor work.
CAS the most according to claim 3, it is characterised in that: this sensing unit includes inductive transducer and isolation mode
Block, this isolation module is connected with upper computer software module and brake hard module respectively, and this isolation module is used for isolating filtration sense
Induction signal, this inductive transducer for sense adjacent motion between centers distance and adjacent kinematic axis close to time produce sensing
Signal, induced signal is sent in upper computer software module, and is sent to promptly by emergency brake signal by this isolation module
In brake module.
CAS the most according to claim 7, it is characterised in that: this sensing unit also include being arranged on isolation module and
The signal detection module of brake hard intermodule, this signal detection module carries out sample detecting to induced signal；Work as induced signal
Persistent period more than or equal to Preset Time time, this signal detection module produces emergency brake signal and is also sent to brake hard
In module.
9. boring an avoiding collision for ink recorder, this brill ink recorder includes tracks and some motions being arranged in tracks
Axle, this kinematic axis moves in tracks, it is characterised in that this avoiding collision includes step:
Sense the distance of adjacent motion between centers；
Adjacent kinematic axis close to time, control adjacent kinematic axis away from.
Avoiding collision the most according to claim 9, it is characterised in that if adjacent kinematic axis is the most close, also include
Step: control kinematic axis and stop mobile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610344076.5A CN106042043A (en) | 2016-05-23 | 2016-05-23 | Anti-collision system and anti-collision method of code drilling machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610344076.5A CN106042043A (en) | 2016-05-23 | 2016-05-23 | Anti-collision system and anti-collision method of code drilling machine |
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| Publication Number | Publication Date |
|---|---|
| CN106042043A true CN106042043A (en) | 2016-10-26 |
Family
ID=57176565
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610344076.5A Pending CN106042043A (en) | 2016-05-23 | 2016-05-23 | Anti-collision system and anti-collision method of code drilling machine |
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| Country | Link |
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| CN (1) | CN106042043A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129653A (en) * | 2018-08-07 | 2019-01-04 | 南通牧野机械有限公司 | The soft limit controller of sponge cutting device |
| CN110076625A (en) * | 2019-03-11 | 2019-08-02 | 大族激光科技产业集团股份有限公司 | Collision-proof method, device and computer readable storage medium |
| CN110288932A (en) * | 2019-06-24 | 2019-09-27 | 深圳市福瑞达显示技术有限公司 | The collision-proof method and splicing fan screen of splicing fan screen based on FPGA |
| CN113799123A (en) * | 2021-08-30 | 2021-12-17 | 深圳市朗宇芯科技有限公司 | Manipulator anti-collision control method and system, intelligent terminal and storage medium |
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| CN110288932A (en) * | 2019-06-24 | 2019-09-27 | 深圳市福瑞达显示技术有限公司 | The collision-proof method and splicing fan screen of splicing fan screen based on FPGA |
| CN113799123A (en) * | 2021-08-30 | 2021-12-17 | 深圳市朗宇芯科技有限公司 | Manipulator anti-collision control method and system, intelligent terminal and storage medium |
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Application publication date: 20161026 |