CN108803688A - A kind of Synchronous motion control device and method of rotary motion and linear movement - Google Patents
A kind of Synchronous motion control device and method of rotary motion and linear movement Download PDFInfo
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- CN108803688A CN108803688A CN201810658168.XA CN201810658168A CN108803688A CN 108803688 A CN108803688 A CN 108803688A CN 201810658168 A CN201810658168 A CN 201810658168A CN 108803688 A CN108803688 A CN 108803688A
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- synchronous
- motion
- pulling force
- linear movement
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
Abstract
The invention discloses the Synchronous motion control device and methods of a kind of rotary motion and linear movement, including linear moving mechanism part, rotational motion mechanism part, pull force calculation part and control section；The linear moving mechanism part keeps the sliding block constant velocity linear of two completely the same guide rail mechanisms to move using synchronous belt and synchronous pulley, the rotating mechanism part being placed on sliding block simultaneously is rotated therewith to wind off thin-film material, the pulling force that film is subject to is detected by pull force calculation part, the pulling force that the rotating speed that last control section adjusts rotating mechanism part is subject to when thin-film material being made to wind off is in OK range.The device can realize linear movement and rotary motion rate-matched, and the thin-film material moment is allowed to be within suitable weight range.
Description
Technical field
The present invention relates to Synchronous motion control fields, and in particular to a kind of rotary motion and linear movement move synchronously control
Device and method processed.
Background technology
Exploration for the reply mankind to unknown space, the research direction of space flight and aviation are just fast-developing.To cope with badly
The energy supply of space environment (such as low temperature, cosmic radiation is strong), also equipment has difficulties, and the mankind are to required lighter, bigger, stronger
More stringent requirements are proposed for spacecraft.And Environment Science is the unfolding mechanism in relation to spacecraft solar energy sailboard at present, among these
Be related to being unfolded the synchronization, the linear movement of expansion arm and thin-film solar cells of the linear movement of arm when winding off rotary motion it is same
Step, rigid structure movement and flexible structure move synchronous etc..If the linear movement of expansion arm and thin-film solar cells are wound off
When rotary motion it is asynchronous or synchronous effect is poor, it would be possible to cause thin-film solar cells to be pulled off or be freely suspended in space
In, this directly results in the waste of various resources.
The synchronous belt drive mechanism of synchronous belt and synchronous pulley composition combines V belt translation, chain drive and gear drive respectively
The advantages of, there is certain advantage for Machine Design, it is accurate to be such as driven, and when work is fricton-tight, has constant transmission ratio；It passes
It is dynamic steady, have buffering, damping capacity, noise low；Transmission efficiency, energy-saving effect are apparent；Maintaining is convenient, is not required to moisten
Sliding, maintenance cost is low.
Pulling force sensor is increasingly developed new purposes, and idea more advanced at present is that the pulling force signal that will be acquired is used
In terms of synchronous control, with certain advantage, such as precision height, wide range of measurement, long lifespan is simple in structure, Frequency Response
It is good, it can work under severe conditions, it is easy to accomplish miniaturization, integration and diversification of varieties etc..But for strained greatly compared with
It is big it is non-linear, output signal is weaker, certain indemnifying measure can be taken.
Invention content
In order to overcome shortcoming and deficiency of the existing technology, it is an object of the present invention to provide a kind of rotary motion and
The Synchronous motion control device of linear movement.
It is a further object to provide a kind of Synchronous motion control method of rotary motion and linear movement, this hairs
The bright influence for having fully considered suffered tension variations when high load winds off guide rail slide block linear movement and thin-film material.
The present invention adopts the following technical scheme that：
A kind of Synchronous motion control device of rotary motion and linear movement, including linear moving mechanism part, rotation fortune
Dynamic mechanism section, pull force calculation part and control section；
The linear moving mechanism part includes first servo motor, the first speed reducer, two mobile devices, the first synchronization
Belt wheel, the second synchronous pulley and synchronous belt；
Two mobile devices are arranged in parallel on experimental bench, the input of the output shaft of first servo motor and the first speed reducer
End connection, the output end of the first speed reducer are connect with one of mobile device one end, and the end of the mobile device passes through first
Synchronous pulley and synchronous band connection, the end of another mobile device pass through the second synchronous pulley and synchronous band connection, synchronous belt
Drive first and second synchronous pulley synchronous rotary；
The rotational motion mechanism part includes platform, the second servo motor, the second speed reducer and roller, and the platform is solid
It is scheduled in two mobile devices, the both ends of roller are fixed on by bearing block on platform, and second servo motor subtracts with second
The input terminal of fast machine connects, and the output end of the second speed reducer connect the rotary motion of driving drum with roller one end；
The pull force calculation part includes thin-film material, fixed plate and pulling force sensor, one end volume of the thin-film material
It is wound on the central axis segment of roller, the other end is fixed on template, and pulling force sensor is arranged between template and fixed plate, is used for
Detect the tension variations of thin-film material；
The control section：
Including computer, motion control card, motor servo driver I and motor servo driver II, the computer with
Motion control card connects, and pulling force sensor connect with motion control card, motion control card respectively with motor servo driver I and watch
Motor driver II connections are taken, first servo motor and the rotation of the second servo motor are further driven.
Two mobile devices are respectively first movement device and the second mobile device, include sliding block, guide rail and lead screw；
In first movement device, the motion of main shaft of first servo motor is transmitted to lead screw, lead screw by the deceleration of the first speed reducer
Convert rotational motion sliding block moved on guide rail,
In second mobile device, synchronous pulley drives lead screw rotation, the convert rotational motion sliding block of lead screw to be transported on guide rail
It is dynamic.
The template is L-type plate, and the end of thin-film material is short by being fixed on L-type plate with three consistent iron hooks of material
Side, one end of pulling force sensor are fixed on the long side of L-type plate, and the other end of pulling force sensor is fixed in fixed plate.
The pulling force sensor, iron hook are three, and the distance of adjacent center is 92.5mm.
The thin-film material is copper indium gallium selenide cell plate.
The end of the thin-film material opens that there are three rectangular openings for tangling iron hook.
A kind of method of the Synchronous motion control device of rotary motion and linear movement, includes the following steps：
Two mobile devices are made to realize linear movement using motor servo driver I drivings first servo motor, it is synchronous to move
Two dynamic sliding blocks drive rotational motion mechanism to move integrally；
The pulling force for detecting L-type plate respectively using pulling force sensor, obtains corresponding measuring signal；It will by motion control card
Analog signal conversion digital signal, and be input in computer；
Computer carries out corresponding control algolithm and obtains corresponding tension feedback signal, via the D/A moulds of motion control card
Block export, export motor servo driver II, make the second servo motor adjust roller rotation, accurately control thin-film material by
Pressure.
Beneficial effects of the present invention：
(1) present invention can effectively be mitigated load of all parts of platform and its top to sliding block, be made using double guide rail mechanisms
It moves linearly more acurrate efficient.
(2) two guide rail mechanisms are established using synchronous belt and synchronous pulley and are contacted by the present invention, and two slider edges is made to move linearly
It is synchronous, to make platform and rotating mechanism horizontal stable move linearly, basis is carried out for synchronizing for rotary motion.
(3) heretofore described experimental provision uses toothed belt transmission, is passed compared to V belt translation, chain drive and gear
Dynamic, it has, and transmission is accurate, stable drive, transmission efficiency, ratio coverage is big, maintaining is convenient, pretightning force is small, axis and axis
Bear that load is small, the advantages that can be used for being driven over long distances.
(4) present invention uses the pulling force suffered by pulling force sensor detection thin-film material as control signal, this detection
Mode is intuitively efficient, is conducive to improve control effect.
(5) present invention feeds back rotary motion rotating speed using pulling force signal, and to adjust pulling force, this control mode compares
Novelty can provide a kind of new thinking for synchronous control field.
Description of the drawings
Fig. 1 is a kind of general structure schematic diagram of the Synchronous motion control device of rotary motion and linear movement；
Fig. 2 is the structural schematic diagram of rotating mechanism；
Fig. 3 is the vertical view of linear moving mechanism；
Fig. 4 is the front view of pull force calculation mechanism；
Fig. 5 is the synchronous control flow diagram of experimental provision.
Specific implementation mode
With reference to embodiment and attached drawing, the present invention is described in further detail, but embodiments of the present invention are not
It is limited to this.
Embodiment
As Figure 1-Figure 5, the Synchronous motion control device of a kind of rotary motion and linear movement, including linear movement machine
Structure part, rotational motion mechanism part, pull force calculation part and control section.
The linear moving mechanism part includes
First servo motor 1, the first speed reducer 2, first shaft coupling 3, the first guide rail 5, the second guide rail 27, the first sliding block 6,
Second sliding block 26, the first lead screw 14, the second lead screw 22, the first support base 4, the second support base 29, the first bearing 16, the second bearing
20, the first synchronous pulley 17, the second synchronous pulley 19 and synchronous belt 18.
The output shaft of the first servo motor is connect with the input terminal of the first speed reducer, and the casing bolts connection of the two is simultaneously
Be fixed on jointly on experimental bench 25, first shaft coupling the output shaft of the first speed reducer with the first lead screw is concentric connect, first
Bar is placed in the first support base 4 and the first bearing 6, and the first sliding block is mounted on the first guide rail, the first lead screw terminal shaft and first
Synchronous pulley 17 is fixed.
Second lead screw 22 is placed in the second support base 27 and the second bearing 20, and the second sliding block is mounted on the second guide rail 27,
First guide rail and the second guide rail parallel arrangement are fixed on experimental bench, and position and second of first sliding block relative to the first guide rail
Sliding block is completely the same relative to the position of the second guide rail.
The terminal shaft of second lead screw and the second synchronous pulley 19 are fixed, and the first synchronous pulley passes through same with the second synchronous pulley
Step band forms connection, and two guide rails of mechanism, two lead screws, two sliding blocks, two synchronous pulleys, the model of two support bases and two bearings are complete
It is complete consistent；Torque is transmitted to first by the main axis of first servo motor after the deceleration of the first speed reducer by first shaft coupling 3
The convert rotational motion of lead screw 14, the first lead screw 14 is linear movement of first sliding block in the first guide rail, meanwhile, the first lead screw 14
End is rotated synchronously by second shaft coupling 15 and the first synchronous pulley 17, and synchronous belt is by the first synchronous pulley and the second synchronous belt
Synchronous rotary is taken turns, the second synchronous pulley is rotated synchronously also by third shaft coupling 21 and the second lead screw 22, to the second lead screw
Convert rotational motion is linear movement of second sliding block 26 on the second guide rail.
The rotational motion mechanism part, including platform 7, the second servo motor 9, the second speed reducer 8, the 4th shaft coupling
10, first bearing seat 11, first bearing 12, roller 13, second bearing seat 23 and second bearing 24；
Platform is fixed on the first sliding block and the second sliding block, the input of the output shaft of the second servo motor and the second speed reducer
End connection, the shell of the two are fixed with bolt and are fixed on platform.4th shaft coupling is the second speed reducer output shaft and roller
One end axis connects with one heart, and roller two end axles are mounted on first bearing 12 and second bearing 24, and two bearings are separately mounted to first axle
In bearing and second bearing seat, two bearing blocks are fixed on platform, main shaft the subtracting through the second speed reducer 8 of the second servo motor
Torque is passed to roller by the 4th shaft coupling, realizes the rotary motion of roller by speed.
Linear moving mechanism is set to realize that linear movement, the first sliding block and the second sliding block drive rotation using first servo motor
Motion integrally moves linearly, and the pulling force of three pulling force sensor detection L-type plates obtains measuring signal, passes through motion control
Card is transferred in computer, and computer obtains tension feedback signal, is exported via the D/A modules of motion control card, is output to and watches
It takes in motor driver II and is responded, the second servo motor II is to adjust the rotating speed of roller for driving, has finally accurately controlled thin
The pulling force that membrane material is subject to, by changing control parameter, repetition test obtains many experiments as a result, obtaining linear movement and rotation
Synchronous control effect is moved in transhipment.
The pull force calculation part includes thin-film material 28, L-type plate 31, iron hook 32, pulling force sensor 33 and fixed plate 30.
Thin-film material outputs three completely the same rectangular openings of size wound on centre of the drum's shaft part, and in end, three
Hole is tangled with three completely the same iron hooks of material, size respectively, and three iron hooks are welded on L-type plate short side one end, three drawings
The threaded hole of one end of force snesor is fixed with one terminal bolt of L-type plate long side respectively, the other end groove of three pulling force sensors
It is embedded in fixed plate, pulling force sensor is used to detect the pressure of thin-film material, wherein each rectangular opening, iron hook and pulling force sensor
Adjacent center linear distance be 92.2mm.
Control section includes：
The completely the same servo-driver of two sizes, models, respectively motor servo driver I34 and servo motor drive
Dynamic device II37, motor servo driver I are wired to the rotation of first servo motor driving motor, and motor servo driver II is wired to
Second servo motor driving motor rotates；3 pulling force sensors are wired on motion control card 36, and the pulling force signal of detection is passed
It is defeated to carry out signal processing, such as A/D conversions to motion control card 36；Motion control card 36 transfer signals to again computer 35 into
Row control algolithm operation passes obtained result back motion control card and carries out signal processing, such as D/A conversions, then signal is passed
To motor servo driver II to drive the second servo motor to adjust 13 rotating speed of roller, and 13 rotating speed of roller affects thin-film material
Pulling force between 28 and pulling force sensor 33 finally feeds back to pulling force sensor 33, pulling force is made to change.
Linear moving mechanism part includes completely the same guide rail, lead screw, the sliding block synchronous pulley that both sides are arranged symmetrically
Consistent linear movement is realized with synchronous band connection；The device can be used in disperseing platform and its all above part to sliding block
And the stress of guide rail, extend the service life of the parts such as guide rail slide block, and be conducive to synchronous with rotary motion.
Three rectangular openings, center line adjacent spaces are 92.5mm；Across 3 iron hooks of three rectangular openings, center line
Adjacent spaces are 92.5mm；3 pulling force sensors are fixed in fixed plate, and center line adjacent spaces are 92.5mm, be can be used for
The pulling force information for detecting thin-film material, computer is input to as feedback signal.
The linear movement and rotary motion synchronize specifically include thin-film material on roller, as platform drives
Roller moves linearly, and roller also will wind off thin-film material with certain suitable rotating speed, make the pulling force that thin-film material is subject to suitable
In range, realize that synchronous linear movement is synchronous with rotary motion.
The present invention makes two mobile devices realize linear movement using motor servo driver I drivings first servo motor,
Synchronization-moving two sliding blocks drive rotational motion mechanism to move integrally；
The pulling force for detecting L-type plate respectively using pulling force sensor, obtains corresponding measuring signal；It will by motion control card
Analog signal conversion digital signal, and be input in computer；
Computer carries out corresponding control algolithm and obtains corresponding tension feedback signal, via the D/A moulds of motion control card
Block export, export motor servo driver II, make the second servo motor adjust roller rotation, accurately control thin-film material by
Pressure.
Dotted line in Fig. 1 indicates the line relationship between each equipment, and direction arrow, which is shown, detects and controls signal
The direction of transfer of stream.
In the present embodiment, first servo motor and the second servo motor are all made of the SGMAH-04AAA2S of peace river brand
Type servo motor, rated voltage are exchange 200V, output power 400W.Speed reducer is all made of the PX60-5-S1- of star card brand
P2 planetary reducers, reduction ratio 5,0.18kg.cm2Rotary inertia, the output torque of 46.32Nm.Motor servo driver
It is all made of the servo-driver of the model SGDM-04ADA of star card brand, maximum adaptation capacity motor is 400W, specified electricity
200V is pressed, continuous output current 2.8Arms, input power is all single-phase AC200-230V for major loop and control loop, is adopted
It is controlled with single-phase full-wave rectifier circuit IGBT PWM, sine-wave current type of drive, serial encoder is carried in driver and is fed back.Meter
The CPU model core76650U2.2GHz of calculation machine, memory 4G have PCI-e slots in mainboard, can install motion controller.Two
A lead screw is all made of the nominal diameter 20mm of meter Si meter brands, helical pitch 10mm, the ball screw of accuracy class C5.Guide rail, sliding block,
The uniaxial component that lead screw, support base form is the model KUT2020L-820-200-B1 of meter Si meter brands.Shaft coupling is adopted
With the double diaphragm-type shaft couplings of the diaphragm types of meter Si meter brands, model GCPSWRK33-12-16, aperture axis be respectively 12mm and
16mm.Bearing is the deep groove ball bearing of model 16001.Bearing block is the bearing block of model 205.3 pulling force sensors are equal
For the MLC302 pulling force sensors of XNSENSOR brands, rated load 20kg, sensitivity is 2.0m V/V.Synchronous pulley is adopted
With the T10 type synchronous pulleys of the model TTPK44T10500-B-P12 of meter Si meter, shaft hole diameter 12mm, the number of teeth is 44 teeth.
The length, width and height size of experimental bench is respectively 1600mm, 1200mm and 1166mm, is to be assembled by aluminium section bar, passes through screw and type
Material connects, and each junction of proximate matter has angle bar to fix.Platform is the aluminium of a block length wide high 800mm, 200mm and 10mm respectively
Profile plate.What thin-film material was selected is copper indium gallium selenide cell plate.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by the embodiment
Limitation, it is other it is any without departing from the spirit and principles of the present invention made by changes, modifications, substitutions, combinations, simplifications,
Equivalent substitute mode is should be, is included within the scope of the present invention.
Claims (7)
1. the Synchronous motion control device of a kind of rotary motion and linear movement, which is characterized in that including linear moving mechanism portion
Point, rotational motion mechanism part, pull force calculation part and control section；
The linear moving mechanism part includes first servo motor, the first speed reducer, two mobile devices, the first synchronous belt
Wheel, the second synchronous pulley and synchronous belt；
Two mobile devices are arranged in parallel on experimental bench, and the input terminal of the output shaft of first servo motor and the first speed reducer connects
It connects, the output end of the first speed reducer is connect with one of mobile device one end, and the end of the mobile device is synchronized by first
Belt wheel and synchronous band connection, by the second synchronous pulley and synchronous band connection, synchronous belt drives for the end of another mobile device
First and second synchronous pulley synchronous rotary；
The rotational motion mechanism part includes platform, the second servo motor, the second speed reducer and roller, and the platform is fixed on
In two mobile devices, the both ends of roller are fixed on by bearing block on platform, second servo motor and the second speed reducer
Input terminal connection, the output end of the second speed reducer connect the rotary motion of driving drum with roller one end；
The pull force calculation part includes thin-film material, fixed plate and pulling force sensor, one end of the thin-film material wound on
The central axis segment of roller, the other end are fixed on template, and pulling force sensor is arranged between template and fixed plate, for detecting
The tension variations of thin-film material；
The control section：
Including computer, motion control card, motor servo driver I and motor servo driver II, the computer and movement
Control card connects, and pulling force sensor is connect with motion control card, and motion control card is electric with motor servo driver I and servo respectively
The II connections of machine driver further drive first servo motor and the rotation of the second servo motor.
2. the Synchronous motion control device of a kind of rotary motion according to claim 1 and linear movement, which is characterized in that
Two mobile devices are respectively first movement device and the second mobile device, include sliding block, guide rail and lead screw；
In first movement device, the motion of main shaft of first servo motor is transmitted to lead screw, the rotation of lead screw by the deceleration of the first speed reducer
Turn conversion of motion sliding block to move on guide rail,
In second mobile device, synchronous pulley drives lead screw rotation, the convert rotational motion sliding block of lead screw to be moved on guide rail.
3. the Synchronous motion control device of a kind of rotary motion according to claim 1 and linear movement, which is characterized in that
The template is L-type plate, and by being fixed on L-type plate short side with three consistent iron hooks of material, pulling force passes for the end of thin-film material
One end of sensor is fixed on the long side of L-type plate, and the other end of pulling force sensor is fixed in fixed plate.
4. the Synchronous motion control device of a kind of rotary motion according to claim 3 and linear movement, which is characterized in that
The pulling force sensor, iron hook are three, and the distance of adjacent center is 92.5mm.
5. the Synchronous motion control device of a kind of rotary motion according to claim 1 and linear movement, which is characterized in that
The thin-film material is copper indium gallium selenide cell plate.
6. the Synchronous motion control device of a kind of rotary motion according to claim 3 and linear movement, which is characterized in that
The end of the thin-film material opens that there are three rectangular openings for tangling iron hook.
7. a kind of method of the Synchronous motion control device of rotary motion and linear movement described in application claim 2, special
Sign is, includes the following steps：
Two mobile devices are made to realize linear movement using motor servo driver I drivings first servo motor, it is synchronization-moving
Two sliding blocks drive rotational motion mechanism to move integrally；
The pulling force for detecting L-type plate respectively using pulling force sensor, obtains corresponding measuring signal；It will be simulated by motion control card
Signal conversion digital signal, and be input in computer；
Computer carries out corresponding control algolithm and obtains corresponding tension feedback signal, defeated via the D/A modules of motion control card
Go out, export motor servo driver II, so that the second servo motor is adjusted the rotation of roller, accurately control the pressure that thin-film material is subject to
Power.
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| CN201810658168.XA CN108803688B (en) | 2018-06-25 | 2018-06-25 | Synchronous motion control device and method for rotary motion and linear motion |
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| CN201810658168.XA CN108803688B (en) | 2018-06-25 | 2018-06-25 | Synchronous motion control device and method for rotary motion and linear motion |
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| CN108803688B (en) | 2023-08-18 |
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