CN107491094A - A kind of method of real-time accurate balance Z axis weight - Google Patents
A kind of method of real-time accurate balance Z axis weight Download PDFInfo
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- CN107491094A CN107491094A CN201710537626.XA CN201710537626A CN107491094A CN 107491094 A CN107491094 A CN 107491094A CN 201710537626 A CN201710537626 A CN 201710537626A CN 107491094 A CN107491094 A CN 107491094A
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- mobile module
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- Automation & Control Theory (AREA)
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Abstract
The method of real-time accurate balance Z axis weight of the present invention, comprises the following steps：Linear electric motors module drive Z axis mobile module moves a certain distance；After treating that Z axis mobile module is stable, the first position data that grating ruler reading head reads grating scale recorded in regulation software, and Z axis mobile module continues to fall；The signal that software is pressurized to delicate electrical proportioning valve is adjusted, gas is slowly filled with Rodless cylinder cylinder body, stockless cylinder slipper drives Z axis mobile module to move up；Grating ruler reading head reads the second place data of grating scale compared with the data of first position, and when second place data are identical with first position data, when holding fix is steady, regulation software reads the pressure data and record of delicate electrical proportioning valve；Next device power-up operation, regulation software pressurizes automatically according to the pressure data of measurement to Rodless cylinder cylinder body, to reach balancing gravity.Automatic judgement and regulation of the invention, without shutting down, make Z axis mobile module reach poised state.
Description
Technical field
The present invention relates to automation equipment field, specifically a kind of method of real-time accurate balance Z axis weight.
Background technology
With economic and science and technology development, the utilization of automation equipment is more and more extensive in the industrial production, in straight-line electric
In the technology of machine direct drive, gravitational equilibrium is carried out with pneumatic and oil pressure mode, it has 2 difficult points：First, it is existing frequently-used
Mode air pressure and oil pressure are adjusted by way of manual adjustment, micro-judgment, it is necessary to which constantly examination is adjusted and the result that adjusts
It is to go to judge that the uniformity of equipment is poor, strong to the dependence of personnel by experience, efficiency is low, the problems such as accuracy difference.Next, when
, it is necessary to shut down progress manual adjustment, the mode of micro-judgment adjusts air pressure and oil when the load of Z axis mobile module changes
Press, not only time and effort consuming, the state self-consistentency balanced after regulation is poor, influences motion control, is also needed again under serious situation
Secondary regulation kinematic parameter.
The content of the invention
Automatically adjusted, without the method for the real-time accurate balance Z axis weight shut down it is an object of the invention to provide a kind of.
The present invention is achieved through the following technical solutions above-mentioned purpose：
A kind of method of real-time accurate balance Z axis weight, comprises the following steps：
(1), linear electric motors module drive Z axis mobile module moves a certain distance；
(2) after, treating that Z axis mobile module is stable, the first position data that grating ruler reading head reads grating scale recorded
Adjust in software, Z axis mobile module continues to fall；
(3) signal that software is pressurized to delicate electrical proportioning valve, is adjusted, gas, nothing are slowly filled with Rodless cylinder cylinder body
Bar cylinder sliding block drives Z axis mobile module to move up；
(4), grating ruler reading head read grating scale second place data and be recorded in before regulation software in first
Position data is compared, and when second place data are identical with first position data, when holding fix is steady, regulation software is read
The pressure data and record of delicate electrical proportioning valve；
(5), next device power-up operation, regulation software are carried out automatically according to the pressure data of measurement to Rodless cylinder cylinder body
Pressurization, to reach balancing gravity.
Further, the linear electric motors module drive Z axis mobile module moves 10~20mm distance.
Further, the grating ruler reading head is connected with the Z axis mobile module.
Further, the Z axis mobile module is connected with sliding block, and the sliding block engaging has slide rail.
Further, the Z axis mobile module is connected with the stockless cylinder slipper.
Compared with prior art, the beneficial effect of the method for real-time accurate balance Z axis weight of the present invention is：Without manually doing
It is pre- judge automatically and adjust, Z axis mobile module is reached poised state, it is easy to use easy to operate, without shutting down, reduce work
The labor intensity of people, precision high efficiency are high.
Brief description of the drawings
Fig. 1 is the structural representation of anti-jamming Z axis bascule.
Fig. 2 is Fig. 1 another angle schematic diagram.
Fig. 3 is Fig. 1 another angle schematic diagram.
Fig. 4 is Fig. 3 partial enlarged drawing.
Embodiment
Refer to Fig. 1 to Fig. 4, a kind of anti-jamming Z axis bascule, including linear electric motors module 3, by linear electric motors mould
The Z axis mobile module 4 of the driving of block 3, the sliding block 51 being connected with Z axis mobile module 4, the slide rail 5 engaged with sliding block 51.Slide rail 5 has
Two, two slide rails 5 be arranged in parallel and set along Z-direction, and linear electric motors module 3 drives Z axis mobile module 4 to be moved along Z axis.
Anti-jamming Z axis bascule also includes two Rodless cylinder cylinder bodies 2 be arrangeding in parallel, installed in Rodless cylinder cylinder
Stockless cylinder slipper 22 on body 2, the spout 9 being connected with stockless cylinder slipper 22, the fixation being connected with Z axis mobile module 4
Part 6, fixture 6 are connected with traveller 82, and fixture 6 is provided with the fixing groove 81 for being used for installing traveller 82, traveller 82 by bolt with
Fixture 6 is fixed, and spout 9 is provided with chute 91, and traveller 82 is located in chute 91 and slided along X-direction, traveller 82 and chute
91 have 3mm gap in Z-direction, and fixture 6 has 3mm gap in Y direction with spout 9, can eliminate no bar
Not parallel problem between not coaxial, Rodless cylinder and slide rail when cylinder is installed.
The chute 91 of spout 9 improves hardness and abrasion resistance using the technique of carburizing, and traveller 8 is using the small copper of coefficient of friction
Material, slip is got up more smooth, greatly reduce chute of the traveller in spout caused by frictional force, improve motion control
Precision.
Anti-jamming Z axis bascule also include be each perpendicular to Z-direction setting upper mounting plate 11, lower installation board 12 and
The backboard 13 set along Z-direction, installing plate 11, lower installation board 12 are individually fixed in the both ends of backboard 13, Rodless cylinder cylinder body 2
Fixed by bolt and upper mounting plate 11, lower installation board 12, slide rail 5 is fixed on backboard 13, is additionally provided with backboard 13 for driving
The delicate electrical proportioning valve 21 that dynamic stockless cylinder slipper 22 is moved.
Anti-jamming Z axis bascule also includes grating scale 7 and the grating ruler reading head that can be moved relative to grating scale 7
6, grating ruler reading head 6 is connected with Z axis mobile module 4, and grating scale 7 is fixed on backboard 13.
Balance cylinder make it that the structure of Z axis is compacter from Rodless cylinder, without extra when Z axis mobile module moves
Increase the space of motion, space is more saved, and equipment operation is safer；
Spout, traveller, the cylinder adjusting mechanism of fixture part composition, can substantially reduce upper mounting plate, lower peace
The requirement of the axiality of loading board cylinder mounting holes processing, and the precision that they are installed between Rodless cylinder cylinder body is reduced, improve Z
The geometric accuracy of the motion of axle mobile module, while can eliminate caused by not parallel between slide rail and Rodless cylinder cylinder body
The problem of frictional force is unstable, the difficulty of motion control is reduced, improve the reliability of structure and stability of product.
A kind of method of real-time accurate balance Z axis weight：Linear electric motors module 3 drive Z axis mobile module 4 move 10~
20mm distance, after treating that Z axis mobile module 4 is stable, grating ruler reading head 7 reads the first position data record of grating scale 6
Into regulation software, remove the enabled of linear electric motors module 3, in the presence of gravity, Z axis mobile module 4 can fall, and regulation is soft
The signal that part is pressurized to delicate electrical proportioning valve 21, gas is slowly filled with Rodless cylinder cylinder body 2, and stockless cylinder slipper 5 drives Z
Axle mobile module 4 moves up, and second place data of reading of grating ruler reading head 7 grating scale 6 are remembered with before during this
First position data in software adjust are recorded to be compared, when second place data are identical with first position data, wait position
When horizontalization is steady, regulation software reads the pressure data and record of delicate electrical proportioning valve, later device power-up operation, adjusts software
Rodless cylinder cylinder body 3 is pressurizeed automatically according to the pressure data of measurement, to reach balancing gravity.When Z axis moving parts 4
When load changes, without shutting down, it is only necessary to repeat the above steps.
The method that this real-time accurate balances Z axis weight, whole movement logic is controlled using software, without personnel record and filled out
Write data, operating in a key, automatically adjusted air pressure or oil pressure without manual intervention, Z axis mobile module is reached equilibrium-like
State, it is easy to use easy to operate.
This real-time accurate balance Z axis weight method, without as manual adjustment when equipment downtime, move repeatedly Z axis movement
Module, reduce the labor intensity of worker, when determining whether to reach poised state nor by commissioning staff experience, precision is high
Efficiency high.
The method that this real-time accurate balances Z axis weight, it can be not only used for grating scale feedback, the motion of linear electric motors driving
System；Leading screw driving can be practically applicable to, the encoder of servomotor does the kinematic system fed back and rack-and-pinion drives, watched
The encoder for taking motor does kinematic system fed back etc..
Above-described is only some embodiments of the present invention.For the person of ordinary skill of the art, not
On the premise of departing from the invention design, various modifications and improvements can be made, these belong to the protection model of the present invention
Enclose.
Claims (5)
- A kind of 1. method of real-time accurate balance Z axis weight, it is characterised in that comprise the following steps：(1), linear electric motors module drive Z axis mobile module moves a certain distance；(2) after, treating that Z axis mobile module is stable, the first position data that grating ruler reading head reads grating scale recorded regulation In software, Z axis mobile module continues to fall；(3) signal that software is pressurized to delicate electrical proportioning valve, is adjusted, gas, no bar gas are slowly filled with Rodless cylinder cylinder body Cylinder sliding block drives Z axis mobile module to move up；(4), the first position that grating ruler reading head reads the second place data of grating scale and is recorded in before in regulation software Data are compared, and when second place data are identical with first position data, when holding fix is steady, regulation software reads accurate The pressure data and record of electric Proportion valve；(5), next device power-up operation, regulation software add automatically according to the pressure data of measurement to Rodless cylinder cylinder body Pressure, to reach balancing gravity.
- 2. the method for real-time accurate balance Z axis weight according to claim 1, it is characterised in that：The linear electric motors mould Block driving Z axis mobile module moves 10~20mm distance.
- 3. the method for real-time accurate balance Z axis weight according to claim 1, it is characterised in that：The grating scale reading Head is connected with the Z axis mobile module.
- 4. the method for real-time accurate balance Z axis weight according to claim 1, it is characterised in that：The Z axis mobile module Sliding block is connected with, the sliding block engaging has slide rail.
- 5. the method for real-time accurate balance Z axis weight according to claim 1, it is characterised in that：The Z axis mobile module It is connected with the stockless cylinder slipper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710537626.XA CN107491094B (en) | 2017-07-04 | 2017-07-04 | Method for precisely balancing Z-axis weight in real time |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710537626.XA CN107491094B (en) | 2017-07-04 | 2017-07-04 | Method for precisely balancing Z-axis weight in real time |
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| Publication Number | Publication Date |
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| CN107491094A true CN107491094A (en) | 2017-12-19 |
| CN107491094B CN107491094B (en) | 2020-11-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710537626.XA Active CN107491094B (en) | 2017-07-04 | 2017-07-04 | Method for precisely balancing Z-axis weight in real time |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112104186A (en) * | 2019-06-18 | 2020-12-18 | 高明铁企业股份有限公司 | Pre-loading structure of linear driving device with gravity compensation |
| CN114035490A (en) * | 2021-11-04 | 2022-02-11 | 苏州天准科技股份有限公司 | Driving and control shaft device and balance control method thereof |
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| CN106426151A (en) * | 2016-11-18 | 2017-02-22 | 山东爱而生智能科技有限公司 | Z-axial walking mechanism and gravitational balance mechanism with manipulator |
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| JP2006114559A (en) * | 2004-10-12 | 2006-04-27 | Enomoto Kogyo Kk | Electronic component joining apparatus |
| CN1986337A (en) * | 2006-12-02 | 2007-06-27 | 中国科学院合肥物质科学研究院 | Three-dimensional air floatation platform and air pressure type gravity compensation method |
| CN201218766Y (en) * | 2008-05-14 | 2009-04-08 | 上海力池机械有限公司 | Counterweight balancing device of air pressure differential numerical control integrated processor |
| CN202271225U (en) * | 2011-07-30 | 2012-06-13 | 江苏一重数控机床有限公司 | Z-axis balancing unit of numerically-controlled boring and milling special machine tool |
| CN103411773A (en) * | 2013-07-17 | 2013-11-27 | 浙江大学宁波理工学院 | High-speed precision ball screw pair reliability testing device and testing method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112104186A (en) * | 2019-06-18 | 2020-12-18 | 高明铁企业股份有限公司 | Pre-loading structure of linear driving device with gravity compensation |
| CN114035490A (en) * | 2021-11-04 | 2022-02-11 | 苏州天准科技股份有限公司 | Driving and control shaft device and balance control method thereof |
| CN114035490B (en) * | 2021-11-04 | 2022-07-22 | 苏州天准科技股份有限公司 | Driving and control shaft device and balance control method thereof |
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| Publication number | Publication date |
|---|---|
| CN107491094B (en) | 2020-11-24 |
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Address after: The 215200 West Jiangsu city of Suzhou province Wujiang economic and Technological Development Zone No. 666 Applicant after: BOZHON PRECISION INDUSTRY TECHNOLOGY Co.,Ltd. Applicant after: SUZHOU WUJIAO AUTOMATION EQUIPMENT CO.,LTD. Address before: The 215200 West Jiangsu city of Suzhou province Wujiang economic and Technological Development Zone No. 666 Applicant before: BOZHONG (SUZHOU) PRECISION INDUSTRY TECHNOLOGY Co.,Ltd. Applicant before: SUZHOU WUJIAO AUTOMATION EQUIPMENT CO.,LTD. |
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Inventor after: Shi Zhihu Inventor after: Li Chaojun Inventor after: Meng Jian Inventor after: Chen Liangfeng Inventor after: Li Xiangdong Inventor after: Yu Fuxiang Inventor after: Cong Zhoujian Inventor after: Shi Wenhao Inventor after: Shi Junxin Inventor before: Shi Zhihu Inventor before: Li Chaojun Inventor before: Meng Jian Inventor before: Chen Liangfeng Inventor before: Li Xiangdong Inventor before: Yu Fuxiang Inventor before: Cong Zhoujian Inventor before: Shi Wenhao Inventor before: Shi Junxin |
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Address after: 215200 No. 666 Hu Xin Road, Wujiang economic and Technological Development Zone, Suzhou, Jiangsu Patentee after: BOZHON PRECISION INDUSTRY TECHNOLOGY Co.,Ltd. Patentee after: SuZhou WuJiao Automation Equipment Co.,Ltd. Address before: 215200 No. 666 Hu Xin Road, Wujiang economic and Technological Development Zone, Suzhou, Jiangsu Patentee before: BOZHON PRECISION INDUSTRY TECHNOLOGY Co.,Ltd. Patentee before: SUZHOU WUJIAO AUTOMATION EQUIPMENT CO.,LTD. |