CN106228895A - A kind of portable servomotor demonstration box - Google Patents

A kind of portable servomotor demonstration box Download PDF

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Publication number
CN106228895A
CN106228895A CN201610873151.7A CN201610873151A CN106228895A CN 106228895 A CN106228895 A CN 106228895A CN 201610873151 A CN201610873151 A CN 201610873151A CN 106228895 A CN106228895 A CN 106228895A
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CN
China
Prior art keywords
servomotor
servo
driver
motion controller
portable
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.)
Pending
Application number
CN201610873151.7A
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Chinese (zh)
Inventor
周浙天
陈开亮
陈宗雨
杨合跃
夏风
贺东升
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Phase Motion Control Solution Wuhan Co Ltd
Original Assignee
Phase Motion Control Solution Wuhan Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Phase Motion Control Solution Wuhan Co Ltd filed Critical Phase Motion Control Solution Wuhan Co Ltd
Priority to CN201610873151.7A priority Critical patent/CN106228895A/en
Publication of CN106228895A publication Critical patent/CN106228895A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G09EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09BEDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B25/00Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
    • G09B25/02Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery

Abstract

The present invention relates to robot control field, being particularly related to a kind of portable servomotor demonstration box. the present invention is integrated host computer, motion controller, servo-driver, servomotor and electric power system in casing, not only be convenient for carrying, be not easy to omit accessory, and connected mode is simple, without repeating wiring, greatly facilitate the on-the-spot demonstration work of servomotor, improved promotion effect; Also can use in the various experimental situations that need servo-drive system, increase work efficiency simultaneously.

Description

A kind of portable servomotor demonstration box
Technical field
The present invention relates to robot control field, particularly a kind of portable servomotor demonstration box.
Background technology
Product demonstration, the i.e. characteristic of demiware and advantage at the scene, actuate consumer buys so that seeing is believing. and product demonstration is a kind of promotion method of getting instant result. and general servo-drive system demonstration is all static demonstrations, but static demonstration cannot be fully by the characteristic outpost display of whole system to client, can only carry out by PPT etc. the displaying of word, picture, video, if these methods do not have the sense of reality. want Dynamic Display actual characteristic, just need to carry numerous accessories, very inconvenient also easily omission, scene is built and is wasted time and energy simultaneously.
Summary of the invention
The invention provides a kind of portable servomotor demonstration box, solved above-described technical problem.
The technical scheme that the present invention solves the problems of the technologies described above is as follows: a kind of portable servomotor demonstration box, and comprise casing and be arranged on host computer, motion controller, servo-driver, servomotor and the electric power system in casing,
Described host computer is provided with touch display screen, and host computer is generated control instruction and sent to motion by touch display screen Controller;
Described motion controller is used for receiving described control instruction, and according to control instruction to servo-driver and servo electricity Machine is controlled, or the encoder data sending for receiving described servomotor, and adjusts servo according to encoder data The running status of motor;
Described electric power system is used to described host computer, motion controller, servo-driver and servomotor power supply.
The invention has the beneficial effects as follows: the present invention in casing integrated host computer, motion controller, servo-driver, watch Take motor and electric power system, be not only convenient for carrying, be not easy to omit accessory, and connected mode is simple, without repeating wiring, the utmost point The large on-the-spot demonstration work that has facilitated servomotor, has improved promotion effect; Also can use at various needs servo simultaneously In the experimental situation of system, increase work efficiency.
On the basis of technique scheme, the present invention can also do following improvement.
Further, described electric power system comprises dc bus power pack and 24V power supply, described dc bus power pack is used to described servo-driver and servomotor power supply, described 24V power supply is used to motion controller and host computer power supply, and described dc bus power pack connects 380V or 220V alternating current by power line.
Further, described host computer is teaching machine.
Adopt the beneficial effect of above-mentioned further scheme to be: this further adopts touch display screen in technical scheme, not only intuitive is strong but also simple to operate, demonstration effect is good, by motion controller being operated on display, allow motion controller on request servomotor be controlled, display systems characteristic.
Further, servo-driver and servomotor adopt integral structure, and described servomotor is provided with the encoder for generating encoder data, and described encoder data comprises position of magnetic pole, corner and/or the rotating speed of servomotor.
Adopt the beneficial effect of above-mentioned further scheme to be: in this further technical scheme, servo-driver and motor adopt integral structure, have saved the line between motor and servo-driver, make whole system more energy-conservation, and wiring more economizes, and has reduced interference.
Further, described encoder is multi-turn absolute value encoder.
Above-mentioned further scheme is used to provide the benefit that:in this further technical scheme, to use multi-turn absolute encoder device, multi-turn absolute value encoder is because measurement category is large, actual use is often rich more, so when mounted needn't small change point, also without carrying out back to zero by external signal, only need to just can find voluntarily motor zero-bit using a certain centre position as starting point, so greatly simplify installation and debugging process, used very convenient.
Further, described servo-driver is provided with dc bus interface, is provided with rectification in described dc bus power pack Inversion unit, described commutation inversion unit connects described servo-driver by described dc bus interface.
Use above-mentioned further scheme to provide the benefit that:this further technical scheme uses common DC bus technology and servo-driver motor integration technology, save the line between motor and servo-driver, make whole system more energy-conservation, cloth Line more saves, and reduces interference.
Further, described host computer is connected with described motion controller by modbus ICP/IP protocol;Described motion control Device processed obtains encoder data by fieldbus, and is carried out data transmission with described servo-driver by differential mode.
Further, described fieldbus includes EtherCAT or CANopen bus.
Above-mentioned further scheme is used to provide the benefit that: in this further technical scheme, the control of motor uses bus to lead to The mode of news, breaches the maximum pulse rate of traditional pulse mode to maximum speed and the restriction of maximal accuracy, is ensureing height Realizing at high speed under the situation degree of precision, use EtherCAT to carry out communication between motion controller and motor, its wiring is more square Just, maintenance cost is lower, and faster, a control periodic Control is within 2ms, and precision is higher for transmission speed.Control system is permissible Easily reading all parameters in servo-driver, convenient carrying out various controls operation.
Further, described motion controller is provided with parameter testing module, and described parameter testing module is for institute on connecting The servo-driver stating motion controller carries out parameter testing.
Further, described motion controller is additionally provided with router, and described parameter testing module is used by described router Wireless mode carries out parameter testing to the servo-driver connecting upper described motion controller.
Above-mentioned further scheme is used to provide the benefit that: at motion controller integrated parameter in this further technical scheme Third party's instrument such as debugging module and/or router, can directly be debugged by motion controller and be connected on motion controller The parameter of servo-driver, it is not necessary to go back to switch the connection of servo-driver, servo-driver parameter can be realized Adjust;What debugging line motion controller also can be taken over as being connected to the route of servo-driver, drive by servo The software that dynamic device carries is debugged, thus reduces debugging difficulty.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention portable servomotor demonstration box.
Detailed description of the invention
Being described principle and the feature of the present invention below in conjunction with accompanying drawing, example is served only for explaining the present invention, and Non-for limiting the scope of the present invention.
As it is shown in figure 1, be the structural representation of a kind of portable servomotor demonstration box of the present embodiment, including casing and setting Putting the host computer in casing, motion controller, servo-driver, servomotor and electric power system, described host computer is provided with tactile Touching display screen, host computer generates control instruction by touching display screen and is sent to motion controller;Described motion controller is used In receiving described control instruction, and according to control instruction, servo-driver and servomotor are controlled, or are used for receiving The encoder data that described servomotor sends, and the running status of servomotor is adjusted according to encoder data;Described power supply System is for powering for described host computer, motion controller, servo-driver and servomotor.In the present embodiment, servomotor Torque mode, acceleration module, mode position, position interpolation, synchronous circulating moment, synchronous circulating speed can be gathered, synchronize to follow Ring position isotype is controlled, thus realizes various control effect.The present embodiment passes through integrated host computer, motion in casing Controller, servo-driver, servomotor and electric power system, be not only convenient for carrying, be not easy to omit accessory, and connected mode Simply, without repeating wiring, greatly facilitate the on-the-spot demonstration work of servomotor, improve promotion effect;Also may be used simultaneously So that being used in the various experimental situation needing servosystem, improve work efficiency.
Preferably, in the present embodiment, servo-driver and servomotor use integral structure, and described servomotor sets Having the encoder for generating encoder data, described encoder data includes the position of magnetic pole of servomotor, corner and/or turns Speed, encoder uses multi-turn absolute value encoder.By using servo-driver and motor to use integral structure, can save Line between motor and servo-driver, makes whole system more energy efficient, and wiring more saves, and reduces interference.And multi-turn absolute value Encoder is big owing to measuring scope, actually used the most rich more, the most when mounted need not small change point, without by outward Portion's signal carries out back to zero, it is only necessary to a certain centre position just can be found motor zero-bit as starting point, the most voluntarily Simplify installation and debugging process, use very convenient.
Preferably, host computer described in the present embodiment is demonstrator, and described display screen is for touching display screen, not only intuitive Strong and simple to operate, demonstrating effect is good, by over the display motion controller being operated, allow motion controller by want Ask and servomotor is controlled, display systems characteristic.Described electric power system includes that dc bus power pack and 24V power electricity Source, described dc bus power pack for powering for described servo-driver and servomotor, described 24V power supply be used for be Motion controller and host computer are powered, and described dc bus power pack connects 380V or 220V alternating current by power line.Institute State servo-driver and be provided with dc bus interface, in described dc bus power pack, be provided with commutation inversion unit, described rectification Inversion unit connects described servo-driver by described dc bus interface.Use common DC bus technology and servo-driver Motor integration technology, saves the line between motor and servo-driver, makes whole system more energy efficient, and wiring more saves, fall Low interference.
In the present embodiment, described host computer is connected with described motion controller by modbus ICP/IP protocol;Described fortune Movement controller obtains encoder data by fieldbus, and carries out data biography by differential mode and described servo-driver Defeated, described fieldbus includes EtherCAT or CANopen bus.The present embodiment uses the mode of bus communication, breaches biography The maximum pulse rate of system pulse mode, to maximum speed and the restriction of maximal accuracy, realizes under ensureing high-precision situation degree At high speed.And between motion controller and motor, use EtherCAT to carry out communication, and connect up more convenient, maintenance cost is lower, Faster, a control periodic Control is within 2ms, and precision is higher, and control system can easily read servo-drive for transmission speed All parameters in device, convenient carry out various control operation.And the transmission side data of motion controller in the present embodiment Formula can use differential mode to carry out, such as, twisted-pair feeder can be used must to divide as transmission medium, the two paths of signals of transmitting terminal A pair twisted-pair feeder is not used to carry out signal transmission, the signal that the two paths of signals transmission amplitude equal phase of transmitting terminal is contrary, motion The two paths of signals received is done subtraction by the unit that receives of controller, thus obtains the signal that amplitude is double, if two-way Signal all receives same interference signal, owing to receiving unit, two paths of signals is done subtraction, and therefore interference signal is by base This counteracting, so that the capacity of resisting disturbance of whole system is strengthened.
Preferably, the motion controller of the present embodiment is additionally provided with parameter testing module and router, parameter testing module and Router as third party's Tool integration, can directly be debugged by controller and be connected to motion controller on motion controller On the parameter of servo-driver, it is not necessary to go back to switch the connection of servo-driver, servo-driver parameter can be realized Adjustment;What debugging line controller also can be taken over as being connected to the route of servo-driver, use servo-drive The software that device carries is debugged, thus reduces debugging difficulty.
In the concrete type selecting of the present embodiment, the motion controller used in system is the uRMC2 of Robox, this controller Itself be integrated with two Ethernet interfaces, two Ethernet interfaces can support standard Ethercat/CANopen agreement and Modbus Transmission Control Protocol, one of them Ethernet interface is used for connecting 4 servo-drivers and motor, and walks Ethercat/ CANopen agreement;Another Ethernet interface is used for connecting display screen, walks Modbus Transmission Control Protocol.Integrated 8 way switch of this controller Amount input, 8 way switch amount outputs, are all PNP types.This controller has 128K power-off and keeps memory block, not by special place Reason just can be with safe storage parameter.This controller uses Freescale Power PC MPC5200 controller, 1.2G double-core, profile Size: 230x77x85mm, 64Mbyte DRAM, 128Kbyte CMOS, can install with horizontal and vertical.It is aobvious that this system uses Display screen is the RHMI10 of Robox, 10 cun, the TFT TFT True Color LCD of 65536 colors, aluminum alloy casing.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all spirit in the present invention and Within principle, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.

Claims (10)

1. a portable servomotor demonstration box, it is characterised in that include casing and the host computer being arranged in casing, motion Controller, servo-driver, servomotor and electric power system,
Described host computer is provided with touch display screen, and host computer generates control instruction by touching display screen and is sent to motor control Device;
Described motion controller is used for receiving described control instruction, and enters servo-driver and servomotor according to control instruction Row controls, or for receiving the encoder data that described servomotor sends, and adjust servomotor according to encoder data Running status;
Described electric power system is for powering for described host computer, motion controller, servo-driver and servomotor.
Portable servomotor demonstration box the most according to claim 1, it is characterised in that described electric power system includes direct current Bus power pack and 24V power supply, described dc bus power pack is used for powering for described servo-driver and servomotor, Described 24V power supply is for powering for motion controller and host computer, and described dc bus power pack is connected by power line 380V or 220V alternating current.
Portable servomotor demonstration box the most according to claim 1, it is characterised in that described host computer is demonstrator.
4. according to the arbitrary described portable servomotor demonstration box of claims 1 to 3, it is characterised in that servo-driver and Servomotor uses integral structure, and described servomotor is provided with the encoder for generating encoder data, described coding Device data include the position of magnetic pole of servomotor, corner and/or rotating speed.
Portable servomotor demonstration box the most according to claim 4, it is characterised in that described encoder is that multi-turn is absolute Value encoder.
Portable servomotor demonstration box the most according to claim 5, it is characterised in that described servo-driver is provided with Dc bus interface, is provided with commutation inversion unit in described dc bus power pack, described commutation inversion unit by described directly Stream bus interface connects described servo-driver.
Portable servomotor demonstration box the most according to claim 6, it is characterised in that described host computer passes through modbus ICP/IP protocol and described motion controller communication;Described motion controller obtains encoder data by fieldbus, and logical Cross differential mode to carry out data transmission with described servo-driver.
Portable servomotor demonstration box the most according to claim 7, it is characterised in that described fieldbus includes EtherCAT or CANopen bus.
Portable servomotor demonstration box the most according to claim 8, it is characterised in that described motion controller is provided with ginseng Number debugging module, described parameter testing module is for carrying out parameter tune to the servo-driver connecting upper described motion controller Examination.
Portable servomotor demonstration box the most according to claim 9, it is characterised in that described motion controller also sets Having router, described parameter testing module uses wireless mode to watch connecting upper described motion controller by described router Take driver and carry out parameter testing.
CN201610873151.7A 2016-09-30 2016-09-30 A kind of portable servomotor demonstration box Pending CN106228895A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108189556A (en) * 2017-12-07 2018-06-22 武汉菲仕运动控制系统有限公司 A kind of flexible printing machine control system and method
CN112532122A (en) * 2020-11-06 2021-03-19 北京精密机电控制设备研究所 Electromechanical servo actuator zero setting device using encoder

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CN204667130U (en) * 2015-06-09 2015-09-23 江苏工程职业技术学院 A kind of Electric Machine Control experimental provision
CN205353630U (en) * 2015-12-03 2016-06-29 上海福赛特机器人有限公司 Servo drive control integrated device
CN105881504A (en) * 2016-05-11 2016-08-24 武汉菲仕运动控制系统有限公司 Delta robot control system with traction visual teaching function

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6330485B1 (en) * 1999-02-03 2001-12-11 Industrial Technology Research Institute High-speed multi-task system
CN202975687U (en) * 2012-11-30 2013-06-05 中广核中电能源服务(深圳)有限公司 Servo system parameter calibration and state real-time monitoring device
CN204229676U (en) * 2014-12-05 2015-03-25 山东中烟工业有限责任公司 A kind of cigarette machine teaching simulated experiment platform
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108189556A (en) * 2017-12-07 2018-06-22 武汉菲仕运动控制系统有限公司 A kind of flexible printing machine control system and method
CN112532122A (en) * 2020-11-06 2021-03-19 北京精密机电控制设备研究所 Electromechanical servo actuator zero setting device using encoder
CN112532122B (en) * 2020-11-06 2022-12-20 北京精密机电控制设备研究所 Electromechanical servo actuator zero setting device using encoder

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