CN107491094B - Method for precisely balancing Z-axis weight in real time - Google Patents
Method for precisely balancing Z-axis weight in real time Download PDFInfo
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- CN107491094B CN107491094B CN201710537626.XA CN201710537626A CN107491094B CN 107491094 B CN107491094 B CN 107491094B CN 201710537626 A CN201710537626 A CN 201710537626A CN 107491094 B CN107491094 B CN 107491094B
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- G05D3/12—Control of position or direction using feedback
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Abstract
The invention discloses a method for precisely balancing Z-axis weight in real time, which comprises the following steps: the linear motor module drives the Z-axis moving module to move for a certain distance; after the Z-axis moving module is stable, the grating ruler reading head reads the first position data of the grating ruler and records the first position data into the adjusting software, and the Z-axis moving module continuously falls; adjusting a signal of the software for pressurizing the precise electric proportional valve, slowly filling gas into the rodless cylinder body, and driving the Z-axis moving module to move upwards by the rodless cylinder sliding block; the grating ruler reading head reads second position data of the grating ruler and compares the second position data with the first position data, and when the second position data is the same as the first position data and the waiting position is stable, the adjusting software reads and records pressure data of the precise electric proportional valve; next time the equipment is started to operate, the adjusting software automatically pressurizes the rodless cylinder body according to the measured pressure data so as to balance the gravity. The invention can automatically judge and adjust without stopping, so that the Z-axis moving module reaches a balanced state.
Description
Technical Field
The invention relates to the field of automation equipment, in particular to a method for precisely balancing Z-axis weight in real time.
Background
Along with the development of economy and science and technology, the application of automation equipment is more and more extensive in industrial production, in linear electric motor direct drive's technique, carries out gravity balance with the mode of pneumatics and oil pressure, and it has 2 difficult points: firstly, the existing common mode adjusts the air pressure and the oil pressure through manual adjustment and experience judgment, continuous debugging is needed, and the adjustment result is that the consistency of equipment is judged through experience to be poor, the dependence on personnel is strong, the efficiency is low, the accuracy is poor, and the like. Secondly, when the load of the Z-axis moving module changes, the machine needs to be stopped to adjust the air pressure and the oil pressure in a manual adjustment and experience judgment mode, time and labor are consumed, the consistency of the balance state after adjustment is poor, the motion control is affected, and the motion parameters need to be adjusted again under severe conditions.
Disclosure of Invention
The invention aims to provide a method for precisely balancing Z-axis weight in real time by automatic adjustment without shutdown.
The invention realizes the purpose through the following technical scheme:
a method for precisely balancing Z-axis weight in real time comprises the following steps:
(1) the linear motor module drives the Z-axis moving module to move for a certain distance;
(2) after the Z-axis moving module is stable, the grating ruler reading head reads the first position data of the grating ruler and records the first position data into the adjusting software, and the Z-axis moving module continuously falls;
(3) the adjusting software is used for providing a pressure signal for the precise electric proportional valve, gas is slowly filled into the rodless cylinder body, and the rodless cylinder sliding block drives the Z-axis moving module to move upwards;
(4) the grating ruler reading head reads second position data of the grating ruler and first position data recorded in the adjusting software before, and when the second position data is the same as the first position data and the waiting position is stable, the adjusting software reads and records pressure data of the precise electric proportional valve;
(5) next time the equipment is started to operate, the adjusting software automatically pressurizes the rodless cylinder body according to the measured pressure data so as to balance the gravity.
Further, the linear motor module drives the Z-axis moving module to move for a distance of 10-20 mm.
Furthermore, the grating ruler reading head is connected with the Z-axis moving module.
Furthermore, the Z-axis moving module is connected with a sliding block, and the sliding block is clamped with a sliding rail.
Furthermore, the Z-axis moving module is connected with the rodless cylinder slide block.
Compared with the prior art, the method for precisely balancing the Z-axis weight in real time has the beneficial effects that: the Z-axis moving module can be automatically judged and adjusted without manual intervention, so that the Z-axis moving module can reach a balanced state, is simple and convenient to use and easy to operate, does not need to be shut down, reduces the labor intensity of workers, and has high precision and efficiency.
Drawings
Fig. 1 is a schematic structural diagram of an anti-seize Z-axis balancing apparatus.
Fig. 2 is another angle schematic of fig. 1.
Fig. 3 is another angular schematic of fig. 1.
Fig. 4 is a partially enlarged view of fig. 3.
Detailed Description
Referring to fig. 1 to 4, an anti-seize Z-axis balancing apparatus includes a linear motor module 3, a Z-axis moving module 4 driven by the linear motor module 3, a slider 51 connected to the Z-axis moving module 4, and a slide rail 5 engaged with the slider 51. The two slide rails 5 are arranged in parallel and arranged along the Z-axis direction, and the linear motor module 3 drives the Z-axis moving module 4 to move along the Z axis.
The anti-sticking Z-axis balancing device further comprises two rodless cylinder bodies 2 arranged in parallel, a rodless cylinder sliding block 22 arranged on the rodless cylinder body 2, a sliding groove part 9 connected with the rodless cylinder sliding block 22 and a fixing part 6 connected with the Z-axis moving module 4, the fixing part 6 is connected with a sliding column 82, the fixing part 6 is provided with a fixing groove 81 used for installing the sliding column 82, the sliding column 82 is fixed with the fixing part 6 through a bolt, the sliding groove part 9 is provided with a sliding groove 91, the sliding column 82 is located in the sliding groove 91 and slides along the X-axis direction, a 3mm gap exists between the sliding column 82 and the sliding groove 91 in the Z-axis direction, a 3mm gap exists between the fixing part 6 and the sliding groove part 9 in the Y-axis direction, and the problem that the rodless cylinder and the sliding rail are not parallel when the rodless cylinder is installed can.
The sliding groove 91 of the sliding groove piece 9 adopts a carburizing process to improve the hardness and the wear resistance, and the sliding column 8 adopts a copper material with a small friction coefficient, so that the sliding is smoother, the friction force generated by the sliding column in the sliding groove of the sliding groove piece is greatly reduced, and the precision of motion control is improved.
Dead Z axle balancing unit of anti-sticking still includes the last mounting panel 11 that all is perpendicular to Z axle direction sets up, lower mounting panel 12 and along the backplate 13 that Z axle direction set up, and mounting panel 11, lower mounting panel 12 are fixed in the both ends of backplate 13 respectively, and rodless cylinder body 2 passes through the bolt and fixes with last mounting panel 11, lower mounting panel 12, and slide rail 5 is fixed on backplate 13, still is equipped with the accurate electric proportional valve 21 that is used for driving rodless cylinder slider 22 motion on the backplate 13.
The anti-jamming Z-axis balancing device further comprises a grating ruler 7 and a grating ruler reading head 6 capable of moving relative to the grating ruler 7, the grating ruler reading head 6 is connected with the Z-axis moving module 4, and the grating ruler 7 is fixed on the back plate 13.
The balance cylinder adopts a rodless cylinder, so that the structure of the Z axis is more compact, the moving space is not additionally increased when the Z axis moving module moves, the space is saved, and the equipment is safer to operate;
the cylinder adjusting mechanism consisting of the parts of the chute piece, the sliding column and the fixing piece can greatly reduce the requirement on the coaxiality of the processing of the cylinder mounting holes of the upper mounting plate and the lower mounting plate, reduce the mounting precision between the upper mounting plate and the lower mounting plate and the rodless cylinder body, improve the geometric precision of the movement of the Z-axis moving module, simultaneously eliminate the problem of unstable friction force caused by the fact that the sliding rails are not parallel to the rodless cylinder body, reduce the difficulty of movement control and improve the reliability and stability of the structure of a product.
A method for precisely balancing Z-axis weight in real time comprises the following steps: the linear motor module 3 drives the Z-axis moving module 4 to move for a distance of 10-20 mm, after the Z-axis moving module 4 is stabilized, the grating ruler reading head 7 reads first position data of the grating ruler 6 and records the first position data into the adjusting software, the enabling of the linear motor module 3 is removed, the Z-axis moving module 4 falls down under the action of gravity, the adjusting software is used for providing a signal for pressurizing the precise electric proportional valve 21, gas is slowly filled into the rodless cylinder body 2, the rodless cylinder sliding block 5 is used for driving the Z-axis moving module 4 to move upwards, in the process, the grating ruler reading head 7 reads second position data of the grating ruler 6 and compares the first position data recorded in the adjusting software, when the second position data is the same as the first position data and the waiting position is stable, the adjusting software reads and records pressure data of the precise electric proportional valve, and then the equipment is started to operate, the adjustment software automatically pressurizes the rodless cylinder block 3 according to the measured pressure data to achieve a balanced gravity. When the load of the Z-axis moving part 4 is changed, the machine does not need to be stopped, and the above steps need only be repeated.
The method for precisely balancing the Z-axis weight in real time controls the whole motion logic by adopting software, does not need personnel to record and fill data, is operated by one key, does not need manual intervention to automatically adjust air pressure or oil pressure, enables the Z-axis moving module to reach a balanced state, and is simple and convenient to use and easy to operate.
According to the method for precisely balancing the Z-axis weight in real time, equipment does not need to be stopped when manual adjustment is carried out, the Z-axis moving module is moved repeatedly, the labor intensity of workers is reduced, the experience of debugging personnel is not relied when whether the balance state is achieved or not is judged, and the precision and the efficiency are high.
The method for precisely balancing the weight of the Z axis in real time can be used for a grating ruler feedback and linear motor driven motion system; the servo motor encoder feedback control system can be applied to a motion system for driving a lead screw and feeding back an encoder of a servo motor, a motion system for driving a gear rack and feeding back an encoder of a servo motor, and the like.
What has been described above are merely some embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept thereof, and these changes and modifications can be made without departing from the spirit and scope of the invention.
Claims (4)
1. A method for precisely balancing Z-axis weight in real time is characterized by comprising the following steps:
(1) the linear motor module drives the Z-axis moving module to move for a certain distance;
(2) after the Z-axis moving module is stable, the grating ruler reading head reads the first position data of the grating ruler and records the first position data into the adjusting software, and the Z-axis moving module continuously falls;
(3) adjusting a signal of the software for pressurizing the precise electric proportional valve, slowly filling gas into a rodless cylinder body, driving a Z-axis moving module to move upwards by a rodless cylinder sliding block, and connecting the Z-axis moving module with the rodless cylinder sliding block;
(4) the grating ruler reading head reads second position data of the grating ruler and first position data recorded in the adjusting software before, and when the second position data is the same as the first position data and the waiting position is stable, the adjusting software reads and records pressure data of the precise electric proportional valve;
(5) next time the equipment is started to operate, the adjusting software automatically pressurizes the rodless cylinder body according to the measured pressure data so as to balance the gravity.
2. The method for real-time precision balancing of Z-axis weight of claim 1, wherein: the linear motor module drives the Z-axis moving module to move for a distance of 10-20 mm.
3. The method for real-time precision balancing of Z-axis weight of claim 1, wherein: and the grating ruler reading head is connected with the Z-axis moving module.
4. The method for real-time precision balancing of Z-axis weight of claim 1, wherein: the Z-axis moving module is connected with a sliding block, and the sliding block is clamped with a sliding rail.
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| CN107491094B true CN107491094B (en) | 2020-11-24 |
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| 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 |
| 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 | Priority date | Publication date | Assignee | Title |
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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 |
| CN103506855B (en) * | 2013-07-17 | 2016-08-10 | 华侨大学 | Large stroke and high precision Z axis workbench |
| CN103411773B (en) * | 2013-07-17 | 2016-04-13 | 浙江大学宁波理工学院 | A kind of high-speed precision ball screw pair reliability test and test method thereof |
| CN103398686B (en) * | 2013-08-20 | 2015-12-23 | 厦门大学 | A kind of aperture aspherical optical elements Precision measurement platform Z axis counter weight device |
| CN106041601A (en) * | 2016-08-17 | 2016-10-26 | 福建新恒裕机械科技有限公司 | Z-axis drive mechanism of numerical control machine tool |
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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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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. |
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