CN109166447A - Three axis aggregate motions control actual training device - Google Patents
Three axis aggregate motions control actual training device Download PDFInfo
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- CN109166447A CN109166447A CN201811144497.9A CN201811144497A CN109166447A CN 109166447 A CN109166447 A CN 109166447A CN 201811144497 A CN201811144497 A CN 201811144497A CN 109166447 A CN109166447 A CN 109166447A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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Abstract
The invention discloses a kind of three axis aggregate motions to control experience system, terminal, wire casing are arranged including workbench, movement mould group, Pneumatic assembly, workpiece sensing warehouse compartment, workpiece storage warehouse compartment, servo motor, stepper motor, line, wherein movement mould group includes X-axis movement mould group, Y-axis movement mould group, Z axis movement mould group structure；Pneumatic assembly includes pneumatic triple piece, vacuum generator, filter, solenoid valve, sucker, moves mould group by motor driven and controls sucker in the movement of tri- axis direction of XYZ, the round piece in workpiece sensing warehouse compartment is carried to workpiece storage warehouse compartment.Three axis aggregate motions control actual training device of the invention can carry out the training of multinomial kinetic control system application aspect, and the diversity of training function can more excite the study and research interest of student.
Description
Technical field
The present invention relates to a kind of higher education Mechatronics specialities experimental teaching equipments, and in particular to a kind of three axis aggregate motions
Control experience system.
Background technique
Servo control, step motion control system are very widely used in modern industrial production equipment, and servo is driven
The content of dynamic system, the installation of the drive system using step, debugging and fit applications etc. is the weight of movement control technology and application
Point and difficult point.A set of servo stepping hybrid motion is provided for institution of higher learning relevant speciality teachers and students and controls Practical teaching device, not only
Teachers and students can be helped visually to understand the relevant knowledge of servo and the drive system using step, grasp the development and application side of relevant device
Method can more excite the study and research interest of student.
Many work have also been made in the country in terms of the research of motion control experiment porch, but structure is simple on the whole, function
Can be single, integrated level has to be hoisted.These researchs can be divided into two major classes: one kind is that uniaxial or twin shaft servo control is real
Experiment device, uniaxial servo control experimental provision is merely capable of completing uniaxial linear motion and relevant exploitation training, double
The servo control experimental provision of axis can complete linear interpolation, circular interpolation and relevant exploitation training；Another kind of is only
Vertical the drive system using step experiment porch, this kind of platforms are mainly used for variable motion and positioning of step motion control system etc.
Functional verification.Motion control practical teaching domestic at present lacks a kind of combination two axis servo and drives mutually to be tied with an axis stepper drive
The training system of conjunction, it is unfavorable for the development and application for systematically grasping servo drive system and the drive system using step.
Summary of the invention
Goal of the invention: present invention mainly solves problem mentioned by preceding paragraph, the three axis aggregate motion control device main bodys
It is built using industry movement mould group, two sets of servo drive systems and a set of the drive system using step need to be configured simultaneously, it can be real simultaneously
Existing single-axis servo motion control training, two axis servo motion control training, such as linear interpolation or circular interpolation, uniaxial step speed-adjusting
And it is strong to constitute a set of function in conjunction with the high accuracy positioning grasp handling controlled training of two axis servo and uniaxial stepping for positioning training
Big motion control training device, the device are the training platform with typical meaning for institution of higher learning's relevant speciality,
The more extensive use of domestic kinetic control system also will be effectively pushed simultaneously, with good application prospect and promotion price
Value.
A kind of technical solution: three axis aggregate motions control experience system, which is characterized in that including workbench, mould group is moved,
Pneumatic assembly, workpiece sensing warehouse compartment, workpiece storage warehouse compartment, servo motor, stepper motor, line row terminal, wire casing, round piece,
Control system；The workbench includes universal wheel, table frame and desktop；The movement mould group includes X-axis movement mould group, Y-axis movement
Mould group, Z axis move mould group；X-axis movement mould group, Y-axis move mould group, Z axis movement mould group include a slide unit, one group it is same
Walk wheel belt, a set of industrial aluminum profile pedestal, an origin position sensor and two limit position sensors, two sets of bearing machines
Structure, wherein the axis of a set of Bearning mechanism has protrusion, two sets of Bearning mechanisms are fixed on industrial aluminum profile pedestal both ends, synchronizing wheel band
It is fixed by frame of Bearning mechanism, slide unit is fixed on synchronizing wheel band, realizes reciprocal operation, origin position sensor is installed on each
Mould group middle position is moved, two limit position sensors are respectively arranged in the left and right stroke extreme position of movement mould group；It is described
Pneumatic assembly includes pneumatic triple piece, vacuum generator, filter, solenoid valve, sucker, and wherein pneumatic triple piece, vacuum occur
Device, filter, solenoid valve are fixed on workbench bottom, are connected in series by tracheae, and sucker is fixed on the slide unit of Z axis mould group,
Absorption and carrying for round piece；Workpiece sensing warehouse compartment and workpiece storage warehouse compartment are mounted on two Y direction movement mould groups
Intermediate and front and back is fixed on the table, and workpiece sensing warehouse compartment includes feed bin and to light sensor is penetrated, and feed bin is for being manually placed into
Round piece, it includes blind round hole position that workpiece, which is put in storage warehouse compartment, and the lower section of X-axis movement mould group is arranged in；Universal wheel is mounted on table frame
Four feet positions, Y-axis moves that mould group is fixed on the table, and X-axis movement mould group is fixed on the slide unit of Y-axis movement mould group, Z
Axis movement mould group is fixed on the slide unit of X-axis movement mould group, and the protrusion axle of the Bearning mechanism of X-axis and Y-axis movement mould group is by servo
The protrusion axle of motor driven, Z axis movement mould group Bearning mechanism is driven by stepper motor；Line is arranged terminal and is used for various kinds of sensors
Power supply and signal end lead to control system, are fixedly mounted on the table, and the wire casing setting on the table, is used for all kinds of cables
Wiring；The round piece is manually placed in workpiece sensing warehouse compartment feed bin, is transported by movement mechanism to workpiece and is put in storage warehouse compartment.
Further, XYZ axis movement mould group middle position is respectively mounted an initial point detection sensor, when being used for initial launch
The original point return of each axis of equipment；A limit position sensor is installed at both ends respectively, space when operating normally for equipment
Journey protection.
Further, the round piece diameter 40mm, thickness 10mm.
Further, wherein the crown of roll of a set of Bearning mechanism goes out 20mm.
Further, the tracheal diameter is 6mm.
Further, the blind round hole position is eight, on equally distributed workpiece storage warehouse compartment.
Further, there is a blind hole at 16 center of workpiece sensing warehouse compartment, for placing workpiece.
Further, workpiece is detected to fibre optical sensor is penetrated by blind hole side wall.
Further, the side center of blind hole configures threaded hole, for installing emission sensor.
Further, which is characterized in that the threaded hole is 3mm.
The utility model has the advantages that
Three axis aggregate motions control actual training device of the invention can carry out the instruction of multinomial kinetic control system application aspect
Practice, such as: 1) 1 axis servo position, speed control training；2) 1 axis stepping position, speed control training；3) 2 axis servo straight lines,
Circular interpolation controlled training；4) 3 axis servos, stepping mixing multidimensional INTERPOLATION CONTROL OF PULSE training；5) servo, stepping, atmospheric control
Assembly training
The diversity of three axis aggregate motions control actual training device training function of the invention can more excite student study and
Research interest.The device has positive promotion for the application study of servo drive system, the drive system using step control technology
Effect has very positive meaning for the development of productivity convenient for the training and learning of colleges and universities teachers and students and enterprise engineering teacher.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is main view of the present invention；
Fig. 3 is top view of the invention；
In figure, 1- universal wheel, 2- table frame, 3- desktop, 4- wire casing, 5-Z axis movement mould group, 6- stepper motor, 7-Z axis origin
Detection sensor, 8- sucker, 9- line arrange terminal, and 10-Y axis moves mould group, and 11-X axis moves mould group, 12-Y axis servo motor, 13-
X-axis initial point detection sensor, 14- workpiece are put in storage warehouse compartment, 15-X axis servo motor, 16- workpiece sensing warehouse compartment.
Specific embodiment
Further explanation is done to the present invention with reference to the accompanying drawing.
As shown in Figure 1, Figure 2 and Figure 3, a kind of three axis aggregate motions control experience system, including workbench, move mould group,
Pneumatic assembly, workpiece sensing warehouse compartment 16, workpiece storage warehouse compartment 14, servo motor, stepper motor, line row terminal, wire casing 4, circle
Workpiece, control system；The workbench includes universal wheel 1, table frame 2 and desktop 3；The movement mould group includes X-axis movement mould group
11, Y-axis movement mould group 12, Z axis move mould group 5；The X-axis movement mould group, Y-axis move mould group, and it includes one that Z axis, which moves mould group,
A slide unit, one group of synchronizing wheel band, a set of industrial aluminum profile pedestal, an origin position sensor and two extreme position sensings
Device, two sets of Bearning mechanisms, wherein the crown of roll of a set of Bearning mechanism goes out 20mm, two sets of Bearning mechanisms are fixed on industrial aluminum profile pedestal
Both ends, synchronizing wheel band are fixed by frame of Bearning mechanism, and slide unit is fixed on synchronizing wheel band, realize reciprocal operation, and origin position passes
Sensor is installed on each movement mould group middle position, and two limit position sensors are respectively arranged in the left and right stroke of movement mould group
Extreme position；The Pneumatic assembly includes pneumatic triple piece, vacuum generator, filter, solenoid valve, sucker 8, wherein pneumatic three
Connection part, vacuum generator, filter, solenoid valve are fixed on workbench bottom, are the series connection of 6mm tracheae, sucker 8 by diameter
It is fixed on the slide unit of Z axis mould group, the absorption and carrying for round piece；Workpiece sensing warehouse compartment and workpiece storage warehouse compartment installation
Among two Y direction movement mould groups and front and back is fixed on the table, and workpiece sensing warehouse compartment includes feed bin and passes to light is penetrated
Sensor, feed bin is for being manually placed into round piece, round piece diameter 40mm, thickness 10mm.It includes circle that workpiece, which is put in storage warehouse compartment,
The lower section of X-axis movement mould group 11 is arranged in blind hole position；Universal wheel 1 is mounted on four feet positions of table frame, and Y-axis moves mould group
Fixed X-axis movement mould group is fixed on the slide unit of Y-axis movement mould group on the table, and Z axis movement mould group is fixed on X-axis movement mould
On the slide unit of group, the protrusion axle of the Bearning mechanism of X-axis and Y-axis movement mould group is driven by servo motor, and Z axis moves mould group bearing machine
The protrusion axle of structure is driven by stepper motor；The protrusion axle of drive shaft and X-axis and Y-axis the movement mould group of servo motor passes through shaft coupling
It is coupled, the protrusion axle of the drive shaft and Z axis movement mould group of stepper motor is coupled by shaft coupling.Line row's terminal is used for
The power supply of various kinds of sensors and signal end are led into control system, are fixedly mounted on the table, the wire casing is arranged in desktop
On, the wiring for all kinds of cables；The round piece is manually placed in workpiece sensing warehouse compartment feed bin, is transported by movement mechanism
Warehouse compartment is put in storage to workpiece.XYZ axis movement mould group middle position is respectively mounted an initial point detection sensor, for setting when initial launch
The original point return of standby each axis；A limit position sensor is installed at both ends respectively, overtravel when operating normally for equipment
Protection.
It, will be in workpiece sensing warehouse compartment 16 by motor driven movement mould group control sucker in the movement of tri- axis direction of XYZ
Round piece is carried to workpiece storage warehouse compartment 14；It includes eight equally distributed blind round hole positions, workpiece that workpiece, which is put in storage warehouse compartment 14,
Warehouse compartment is detected for detecting whether there is Workpiece storage feed bin to be handled, is examined by the optical fiber opposite type sensor of blind hole side wall
It surveys.There is a blind hole at 16 center of workpiece sensing warehouse compartment, for placing workpiece, the screw thread of the side center configuration 3mm of blind hole
Workpiece is detected to fibre optical sensor is penetrated by blind hole side wall for installing emission sensor in hole.
Desktop 3 is the carrier of aggregate motion control experience system, and Y-axis movement mould group 10 is fixedly mounted on desktop by lower margin
On, X-axis moves mould group 11 and is fixedly mounted on the slide unit of Y-axis movement mould group by lower margin.It is solid using aluminum component that Z axis moves mould group 5
Dingan County is on the slide unit of X-axis movement mould group 11.Protrusion axle one end that X-axis movement mould group 11, Y-axis move mould group 10 passes through shaft coupling
The drive shaft of device and servo motor 12 is coupled；Protrusion axle one end that Z axis moves mould group 5 passes through shaft coupling and stepper motor 6
Drive shaft be coupled.Servo motor and stepper motor pass through motor cabinet and movement mould group is connected.Sucker 8 is for drawing work
Part is fixed on Z axis by fixture and moves on the slide unit of mould group 5.Line row's terminal 6 is mounted on the right part of desktop.
Desktop 2 is having a size of long 1000mm, wide 720mm；Workpiece sensing warehouse compartment 16 is having a size of 60mm × 60mm × 15mm, center
Blind hole depth 10mm, diameter 40mm, workpiece storage warehouse compartment 14 is evenly equipped with the blind hole of eight same sizes, between blind hole and workpiece are realized
Gap cooperation.
When executing circular interpolation controlled training, by the starting point of set-up of control system circular arc, terminal and radius, X-axis and Y-axis fortune
Dynamic model group will execute circular interpolation under the driving of servo motor, that is to say in two-dimensional surface from the starting point of circular arc run to
Terminal, the radius of circular arc are the radius value that control system is specified.
When executing 3 axis servos, stepping mixing multidimensional INTERPOLATION CONTROL OF PULSE training, mould group is moved by set-up of control system X-axis and Y-axis
Running track, two axis will under the driving of servo motor in two-dimensional surface according to setting track operation, Z axis mould group by
Stepper motor driving, executes up and down motion, and the track of movement is equally set by control system.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of three axis aggregate motions control experience system, which is characterized in that including workbench, move mould group, Pneumatic assembly, work
Part detect warehouse compartment (16), workpiece storage warehouse compartment (14), servo motor, stepper motor, line row terminal, wire casing (4), round piece,
Control system；The workbench includes universal wheel (1), table frame (2) and desktop (3)；The movement mould group includes X-axis movement mould group
(11), Y-axis movement mould group (12), Z axis movement mould group (5)；The X-axis movement mould group, Y-axis move mould group, and it is equal that Z axis moves mould group
Including a slide unit, one group of synchronizing wheel band, a set of industrial aluminum profile pedestal, an origin position sensor and two extreme positions
Sensor, two sets of Bearning mechanisms, wherein the axis of a set of Bearning mechanism has protrusion, two sets of Bearning mechanisms are fixed on industrial aluminum profile
Pedestal both ends, synchronizing wheel band are fixed by frame of Bearning mechanism, and slide unit is fixed on synchronizing wheel band, realize reciprocal operation, origin position
It sets sensor and is installed on each movement mould group middle position, two limit position sensors are respectively arranged in the left and right of movement mould group
Stroke limit position；The Pneumatic assembly includes pneumatic triple piece, vacuum generator, filter, solenoid valve, sucker (8), wherein
Pneumatic triple piece, vacuum generator, filter, solenoid valve are fixed on workbench bottom, are connected in series by tracheae, sucker (8)
It is fixed on the slide unit of Z axis mould group, the absorption and carrying for round piece；Workpiece sensing warehouse compartment and workpiece storage warehouse compartment installation
Among two Y direction movement mould groups and front and back is fixed on the table, and workpiece sensing warehouse compartment includes feed bin and passes to light is penetrated
Sensor, for feed bin for being manually placed into round piece, it includes blind round hole position that workpiece, which is put in storage warehouse compartment, and setting moves mould group in X-axis
(11) lower section；Universal wheel (1) is mounted on four feet positions of table frame, and Y-axis moves mould group and fixes on the table, X-axis movement
Mould group is fixed on the slide unit of Y-axis movement mould group, and Z axis movement mould group is fixed on the slide unit of X-axis movement mould group, X-axis and Y-axis fortune
The protrusion axle of the Bearning mechanism of dynamic model group is driven by servo motor, and Z axis moves the protrusion axle of mould group Bearning mechanism by stepper motor
Driving；Line row's terminal is used to leading to the power supply of various kinds of sensors and signal end into control system, is fixedly mounted on the table, institute
State wire casing setting on the table, the wiring for all kinds of cables；The round piece is manually placed in workpiece sensing warehouse compartment feed bin
In, it is transported by movement mechanism to workpiece and is put in storage warehouse compartment.
2. a kind of three axis aggregate motion according to claim 1 controls experience system, which is characterized in that XYZ axis moves mould
Group middle position is respectively mounted an initial point detection sensor, the original point return of each axis of equipment when for initial launch；Both ends point
Not An Zhuan a miniature limit sensors, for equipment operate normally when overtravel protection.
3. a kind of three axis aggregate motion according to claim 1 controls experience system, which is characterized in that the round piece
Diameter 40mm, thickness 10mm.
4. a kind of three axis aggregate motion according to claim 1 controls experience system, which is characterized in that wherein described a set of
The crown of roll of Bearning mechanism goes out 20mm.
5. a kind of three axis aggregate motion according to claim 1 controls experience system, which is characterized in that the tracheal diameter
For 6mm.
6. a kind of three axis aggregate motion according to claim 1 controls experience system, which is characterized in that the blind round hole
Position is eight, on equally distributed workpiece storage warehouse compartment.
7. a kind of three axis aggregate motion according to claim 1 controls experience system, which is characterized in that workpiece sensing warehouse compartment
There is a blind hole at 16 centers, for placing workpiece.
8. a kind of three axis aggregate motion according to claim 5 controls experience system, which is characterized in that pass through blind hole side wall
To penetrate fibre optical sensor detection workpiece.
9. a kind of three axis aggregate motion according to claim 5 controls experience system, which is characterized in that in the side of blind hole
Heart position configures threaded hole, for installing emission sensor.
10. a kind of three axis aggregate motion according to claim 5 controls experience system, which is characterized in that the threaded hole
For 3mm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811144497.9A CN109166447A (en) | 2018-09-29 | 2018-09-29 | Three axis aggregate motions control actual training device |
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| CN201811144497.9A CN109166447A (en) | 2018-09-29 | 2018-09-29 | Three axis aggregate motions control actual training device |
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| CN201811144497.9A Pending CN109166447A (en) | 2018-09-29 | 2018-09-29 | Three axis aggregate motions control actual training device |
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| CN109949687A (en) * | 2019-04-02 | 2019-06-28 | 亚龙智能装备集团股份有限公司 | A kind of multi-axis synchronized control unit |
| CN113899540A (en) * | 2021-09-30 | 2022-01-07 | 江西理工大学 | Telescopic dining table push-pull service life automatic testing device |
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Application publication date: 20190108 |