CN109884918A - The control method of experiment porch and experiment porch - Google Patents
The control method of experiment porch and experiment porch Download PDFInfo
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- CN109884918A CN109884918A CN201910266475.8A CN201910266475A CN109884918A CN 109884918 A CN109884918 A CN 109884918A CN 201910266475 A CN201910266475 A CN 201910266475A CN 109884918 A CN109884918 A CN 109884918A
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Abstract
The present invention provides a kind of experiment porch and a kind of control method of experiment porch, wherein experiment porch includes: ontology；Bracket；First driving portion, the first driving portion is arranged on the body, and is connected with one end of bracket, moves in a first direction for driving arm；Swing arm, one end of swing arm and the other end of bracket are rotatedly connected；Second driving portion, the second driving portion are arranged on bracket, and driving swing arm is rotated in second direction；Control unit, control unit are connected with the first driving portion and the second driving portion respectively, generate the working model generation second control signal that first control signal drives the first driving portion and sends according to host computer according to the working model that host computer is sent and drive the second driving portion.Experiment porch proposed by the present invention realizes the motion control of swing arm in the first direction and a second direction, and then realizes required movement according to the control signal that the first control signal of host computer and second control signal form, and then realize spatial manipulation test.
Description
Technical field
The present invention relates to control fields, in particular to a kind of experiment porch and a kind of control method of experiment porch.
Background technique
Generally, existing experiment porch can only realize the drive control to single direction, be unable to satisfy emulation demand, because
This, needs a kind of experiment porch to realize multidirectional Simulation Control.
Summary of the invention
The present invention is directed to solve at least one of the technical problems existing in the prior art or related technologies.
For this purpose, the embodiment of the first aspect of the present invention, is to propose a kind of experiment porch.
The embodiment of the second aspect of the present invention is to propose a kind of control method of experiment porch.
To achieve the above object, the embodiment of the first aspect of the present invention proposes a kind of experiment porch, comprising: ontology；
Bracket；First driving portion, the first driving portion are arranged on the body, and are connected with one end of bracket, for driving arm the
The movement of one direction；Swing arm, one end of swing arm and the other end of bracket are rotatedly connected；Second driving portion, the setting of the second driving portion exist
On bracket, driving swing arm is rotated in second direction；Control unit, control unit are connected with the first driving portion and the second driving portion respectively
It connects, the work that first control signal drives the first driving portion and sent according to host computer is generated according to the working model that host computer is sent
Make model and generates second control signal the second driving portion of driving.
Embodiment provided by the invention proposes a kind of experiment porch, comprising: ontology, bracket, the first driving portion, swing arm,
Second driving portion and control unit.Wherein, control unit is connected with the first driving portion and the second driving portion respectively, and the first driving portion is set
It sets on the body, and is connected with one end of bracket, one end of the swing arm used with support assorted and the other end of bracket turn
It is dynamic to be connected, while the second driving portion is arranged on bracket, generates first in the working model that control unit receives host computer transmission
After controlling signal and second control signal, the first driving portion driving arm is driven to transport in a first direction according to first control signal
It is dynamic, and drive the driving swing arm of the second driving portion to move in second direction according to second control signal, realize swing arm in a first direction
With the motion control in second direction, and then believe according to the control that the first control signal of host computer and second control signal form
Number realize required movement, and then realize spatial manipulation test.
In addition, experiment porch according to the above embodiment of the present invention, can also have the following additional technical features:
In the above-mentioned technical solutions, further, the first driving portion includes: lead screw；First servo motor, the first servo electricity
Machine is connected with lead screw, and according to first control signal driving lead screw rotation, bracket is by the screw thread that matches with lead screw along first
Direction movement；First absolute type encoder, the first absolute type encoder are connected with first servo motor, watch for detecting first
Motor is taken to obtain first position signal, and feeds back to control unit, so that control unit updates first control signal.
In the technical scheme, the first driving portion includes lead screw and first servo motor, in first servo motor rotation,
The lead screw being connected with first servo motor rotates simultaneously, and bracket is moved by the screw thread matched with lead screw along first direction,
Specifically, when servo motor rotates backward, bracket moves opposite side along first direction by the screw thread matched with lead screw
To movement, the first driving part structure being made of lead screw and first servo motor is simple, has stability high；First driving portion is also
Including the first absolute type encoder, the first absolute type encoder is carrying out first servo motor to obtain first in detection process
First position signal corresponding to servo motor, by feeding back to control unit, so that control unit updates first control signal, into one
Step ground, host computer and control unit Direct Communication, and then realize the update control of first control signal and second control signal, user
Real-time control can be carried out according to host computer, simplify the testing process of experiment porch, wherein the first absolute type encoder and the
One servo motor is connected, absolutely unique, anti-interference and without power-failure memory using each position in absolute type encoder
Feature ensures the measurement accuracy of first servo motor, it is preferable that the first absolute type encoder is multi-turn absolute type encoder,
Middle multi-turn absolute type encoder is coding of the measurement rotation more than 360 degree, and therefore, experiment porch does not need to determine zero point, simplifies peace
Fill debugging difficulty.
Further, lead screw is connected with first servo motor by shaft coupling.
In any of the above-described technical solution, further, the second driving portion includes: transmission mechanism；Second servo motor, the
Two servo motors are connected with transmission mechanism, and transmission mechanism is connected with one end of swing arm, drive and pass according to second control signal
Dynamic mechanism controls swing arm is rotated in second direction；Second absolute type encoder, the second absolute type encoder and the second servo motor
It is connected, for detecting the second servo motor to obtain second position signal, and feeds back to control unit, so that control unit updates the
Two control signals.
In the technical scheme, the second driving portion includes transmission mechanism and the second servo motor, and wherein transmission mechanism is distinguished
It is connected with one end of the second servo motor and swing arm, receives the second control signal of control unit sending in the second servo motor
When, drive swing arm to be rotated in a second direction, by transmission mechanism, the second driving being made of transmission mechanism and the second servo motor
Portion's structure is simple, at low cost；Second driving portion further include: the second absolute type encoder, the second absolute type encoder is to second
Servo motor carries out obtaining second position signal corresponding to the second servo motor in detection process, by feeding back to control unit,
So that control unit updates second control signal, further, host computer and control unit Direct Communication, and then realize the second control letter
Number and second control signal update control, user can according to host computer carry out real-time control, simplify the survey of experiment porch
It tries process and utilizes each position in absolute type encoder wherein the second absolute type encoder is connected with the second servo motor
Measurement accuracy absolutely unique, anti-interference and that the second servo motor is ensured without the characteristics of power-failure memory, it is preferable that first absolutely
It is multi-turn absolute type encoder to formula encoder, wherein multi-turn absolute type encoder is coding of the measurement rotation more than 360 degree, because
This, experiment porch does not need to determine zero point, simplifies installation and debugging difficulty.
In any of the above-described technical solution, further, transmission mechanism includes: first gear, with the second servo motor
Output end is connected；Transmission shaft；Second gear, second gear are arranged on transmission shaft, and second gear is matched with first gear；
Third gear, third gear are arranged on transmission shaft；4th gear, the 4th gear are arranged in one end of swing arm, the 4th gear with
Third gear matches.
In the technical scheme, transmission mechanism is by first gear, transmission shaft, second gear, third gear and the 4th gear
Composition, wherein first gear is connected with the output end of the second servo motor, and first gear is under the rotation of the second servo motor
Second gear rotation is driven, since second gear is connected with third gear by transmission shaft, in second gear rotation, third
Gear is rotated according to identical angular speed, since one end of swing arm is arranged in the 4th gear, the band while rotation of third gear
Dynamic 4th gear rotation, and then realize the control of swing arm rotation, further, selected according to the revolving speed of first gear and the 4th gear
The number of teeth for selecting second gear and third gear realizes revolving speed using first gear, second gear, third gear and the 4th gear
Control.
In any of the above-described technical solution, further, ontology is equipped with guide rail, bracket with guide rail is movable is connected.
In the technical scheme, ontology is equipped with guide rail, moves in the first driving portion driving arm according to first direction, by
It is equipped with guide rail in ontology, using guide rail come the direction of motion of correction bracket, it is ensured that the accuracy in support motion direction is evaded
Driven using only lead screw with it is unstable existing for supporting support.
In any of the above-described technical solution, further, control unit includes: control panel；First driver, the first driver
It is connected respectively with first servo motor, control panel and the first absolute type encoder, for receiving the first control of control panel transmission
Signal processed is simultaneously sent to first servo motor, receives first position signal, and will believe according to first control signal and first position
Number the first determining deviation signal is sent to control panel；Second driver, the second driver respectively with the second servo motor, control
Plate and the second absolute type encoder are connected, for receiving the second control signal of control panel transmission and being sent to the second servo electricity
Machine receives second position signal, and the second deviation signal determined according to second control signal and second position signal is sent
To control panel；Control panel is communicated with host computer, is sent first control signal to the first driver and is sent second control signal
To the second driver, and first control signal is updated according to the first deviation signal and the second deviation signal and/or the second control is believed
Number, and the first deviation signal and the second deviation signal are sent to host computer, so that host computer updates working model.
In the technical scheme, control unit specifically includes control panel, the first driver and the second driver, wherein first
Driver is connected with first servo motor, control panel and the first absolute type encoder respectively；Second driver is respectively with second
Servo motor, control panel and the second absolute type encoder are connected.It is raw in the working model that control panel receives host computer transmission
After first control signal and second control signal, first control signal is sent to the first driver, utilizes the first driver
With the connection relationship of first servo motor, first servo motor operation is controlled, while utilizing the first driver and the first absolute type
The connection relationship of encoder obtains the first position signal detected according to the first absolute type encoder and first control signal
The first determining deviation signal, and first control signal is updated according to the first deviation signal, while the first deviation signal being sent
To host computer, so that host computer updates working model；Using the connection relationship of the second driver and the second servo motor, control the
The operation of two servo motors, while using the connection relationship of the second driver and the second absolute type encoder, it obtains according to second absolutely
The second deviation signal that the second position signal and second control signal detect to formula encoder determines, and partially according to second
Difference signal updates second control signal, while the second deviation signal is sent to host computer, so that host computer updates working model,
Working model update setting realize experiment porch emulation and execute control while progress, reduce experiment porch emulation and
Execute the time of control.
In any of the above-described technical solution, further, first servo motor and the second servo motor are durface mounted permanent magnets
Synchronous motor.
In the technical scheme, durface mounted permanent magnet synchronous motor is in output-constant operation, it can be achieved that electric current and torque are steady
Output, significantly reduces the running noises of motor.Further, durface mounted permanent magnet synchronous motor is 2 pairs of pole permanent magnetism of surface-mount type
Zero speed control may be implemented in synchronous motor, and torque can reach maximum torque value, improves driving force.
In any of the above-described technical solution, further, swing arm is equipped with vision inspection apparatus, ultrasonic examination detection device
At least one of with positioning device.
In the technical scheme, by being equipped with vision inspection apparatus, ultrasonic examination detection device and positioning in swing arm
At least one of device, and then realize the emulation testing for a variety of devices under a variety of assembly lines, and then improve whole imitate
True testing efficiency.
In any of the above-described technical solution, further, control panel is communicated by universal serial bus and host computer.
In the technical scheme, in traditional experiment porch between host computer and control panel by using PCI
(Peripheral Component Interconnect, the mark for being used to define local bus of Intel company's release in 1991
It is quasi-) data acquisition port, the use of pci data acquisition port needs specified host computer to be communicated, therefore experiment porch cannot pass through it
He emulates in equipment control, is unfavorable for emulation experiment, and pci data acquisition interface circuit is generally complex, PCI general data
Capture card is expensive, which increase the research and development difficulty and development cost of equipment, and use universal serial bus (USB,
Universal Serial Bus, a kind of external bus standard, for being connected and communicate with for specification computer and external equipment) it can
It realizes using any computer as host computer, and then eliminates the specified limitation of host computer, facilitate and emulated, while reducing into
This.
In any of the above-described technical solution, further, first control signal and second control signal include operation circle number,
At least one of speed of service.
In the technical scheme, first control signal and second control signal including but not limited to run circle number, operation
Speed, can also include runing time, voltage, electric current etc., so as to the control to first servo motor and the second servo motor, with
Improve the control precision to first servo motor and the second servo motor.
The embodiment of the second aspect of the present invention is to propose a kind of control method of experiment porch, for controlling as above
Any one of state experiment porch, wherein method includes: the working model for receiving host computer and sending, and generates the according to working model
One control signal sends first control signal to the first driver, so that the first driver drives first servo motor, and receives
First deviation signal of feedback；And second control signal is generated according to working model, second control signal is sent to the second drive
Dynamic device, so that the second driver drives the second servo motor, and receives the second deviation signal of feedback；According to the first deviation signal
Judge whether first servo motor moves according to the first desired trajectory, whether the second servo motor is judged according to the second deviation signal
It is moved according to the second desired trajectory；First control signal and/or second is updated according to the first judging result and the second judging result
Control signal.
In the technical scheme, after the working model for receiving host computer transmission, the first control is generated according to working model
Signal processed and second control signal.First control signal is sent to the first driver by control panel, utilizes the first driver and
The connection relationship of one servo motor, control first servo motor operation, while utilizing the first driver and the first absolute encoding
The connection relationship of device, obtains the first position signal detected according to the first absolute type encoder and first control signal determines
The first deviation signal, and feed back the first deviation signal；Second control signal is sent to the second driver by control panel, utilizes
The connection relationship of two drivers and the second servo motor, control the second servo motor operation, while utilizing the second driver and the
The connection relationship of two absolute type encoders obtains the second position signal and second detected according to the second absolute type encoder
The second deviation signal that signal determines is controlled, and feeds back the second deviation signal, the first servo electricity is judged by the first deviation signal
Whether whether machine moves according to the first desired trajectory, judge the second servo motor according to the second pre- orbit determination according to the second deviation signal
Mark movement updates first control signal and/or second control signal according to the first judging result and the second judging result, so as to root
Emulation next time is carried out according to updated first control signal and second control signal, passes through first control signal and/or the
The update setting of two control signals realizes experiment porch emulation and executes control while progress, without individually writing control journey
Sequence improves simulation velocity, reduces experiment porch emulation and executes the time of control.
In addition, the control method of experiment porch according to the above embodiment of the present invention, can also have following additional skill
Art feature:
In the above-mentioned technical solutions, further, the control method of experiment porch further include: by the first deviation signal and
Two deviation signals are sent to host computer, so that host computer updates working model.
In the technical scheme, by the way that the first deviation signal and the second deviation signal are sent to host computer, host computer root
Working model is updated according to the first deviation signal and the second deviation signal, is controlled by first control signal and/or second
The update setting of signal realizes experiment porch emulation and executes control while progress and mentions without individually writing control program
High simulation velocity, reduces experiment porch emulation and executes the time of control.
In the above-mentioned technical solutions, further, the first deviation signal is according to first control signal and first servo motor
First position signal determine；Second deviation signal is true according to the second position signal of second control signal and the second servo motor
It is fixed.
In the technical scheme, the first deviation signal is determined according to first control signal, is determined according to second control signal
Second deviation signal updates first control signal using the first deviation signal, updates the second control using the second deviation signal and believes
Number, and then the process of a feedback is formed, and then realize continuous simulation test, first control signal and/or second control signal
Update setting realize experiment porch emulation and execute control while progress, reduce experiment porch emulation and execute control
Time.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 shows the structural schematic diagram of experiment porch according to an embodiment of the invention；
Fig. 2 shows the structural schematic diagrams of experiment porch according to another embodiment of the invention；
Fig. 3 shows the structural schematic diagram of the experiment porch of still another embodiment in accordance with the present invention；
Fig. 4 shows the structural schematic diagram of experiment porch according to still another embodiment of the invention；
Fig. 5 shows the structural schematic diagram of experiment porch according to still another embodiment of the invention；
Fig. 6 shows the structural schematic diagram of experiment porch according to still another embodiment of the invention；
Fig. 7 shows the flow diagram of the control of experiment porch according to an embodiment of the invention；
Fig. 8 shows the flow diagram of the control of experiment porch according to another embodiment of the invention.
Wherein, the appended drawing reference in Fig. 1 and Fig. 6 and the corresponding relationship between component names are as follows:
2 ontologies, 22 guide rails, 4 brackets, 6 first driving portions, 62 lead screws, 64 first servo motors, 66 first absolute encodings
Device, 8 swing arms, 10 second driving portions, 102 transmission mechanisms, 1022, second gear, 1024 third gears, 1026 the 4th gears, 104
Second servo motor, 106 second absolute type encoders, 12 control units, 122 control panels, 124 first drivers, 126 second drivings
Device, 14 host computers, 16 handles, 18 pedestals, 20 shaft couplings.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
To be implemented using other than the one described here other modes, therefore, protection scope of the present invention is not limited to following public affairs
The limitation for the specific embodiment opened.
In the embodiment of first aspect present invention, as shown in Figures 1 to 5, a kind of experiment porch is proposed, it is specific to wrap
It includes: ontology 2；Bracket 4；First driving portion 6, the setting of the first driving portion 6 are connected on ontology 2, and with one end of bracket 4, use
It is moved in a first direction in driving arm 4；Swing arm 8, one end of swing arm 8 and the other end of bracket 4 are rotatedly connected；Second driving portion
10, the second driving portion 10 is arranged on bracket 4, and driving swing arm 8 is rotated in second direction；Control unit 12, control unit 12 respectively with
First driving portion 6 is connected with the second driving portion 10, drives the first driving portion 6 according to the first control signal that host computer 14 is sent
The second driving portion 10 is driven with the second control signal sent according to host computer 14.
The kind experiment porch that embodiment provided by the invention proposes, comprising: ontology 2, bracket 4, the first driving portion 6, swing arm
8, the second driving portion 10, control unit 12 and host computer 14.Wherein, control unit 12 respectively with the first driving portion 6 and the second driving portion
10 are connected, and the setting of the first driving portion 6 is connected on ontology 2, and with one end of bracket 4, the pendulum being used cooperatively with bracket 4
One end of arm 8 and the other end of bracket 4 are rotatedly connected, while the second driving portion 10 is arranged on bracket 4, receive in control unit 12
After the first control signal and second control signal that send to host computer 14, the first driving portion 6 is driven according to first control signal
Driving arm 4 moves in a first direction, and drives the driving swing arm 8 of the second driving portion 10 in second direction according to second control signal
The motion control of swing arm 8 in the first direction and a second direction is realized in movement, and then according to the first control signal of host computer 14
Required movement is realized with the control signal of second control signal composition, and then realizes spatial manipulation test.Wherein, as shown in Figure 1,
Experiment porch is additionally provided with pedestal 18 and the handle connecting with pedestal 18 16, and ontology 2 is arranged on pedestal 18.
In one embodiment of the invention, as shown in Figure 1, the first driving portion 6 includes: lead screw 62；First servo motor
64, first servo motor 64 is connected with lead screw 62, according to first control signal driving lead screw 62 rotate, bracket 4 by with silk
The screw thread that thick stick 62 matches is moved along first direction；First absolute type encoder 66, the first absolute type encoder 66 are watched with first
It takes motor 64 to be connected, for detecting first servo motor 64 to obtain first position signal, and feeds back to control unit 12, for
Control unit 12 updates first control signal.
In this embodiment, the first driving portion 6 includes lead screw 62 and first servo motor 64, at 64 turns of first servo motor
When dynamic, the lead screw 62 being connected with first servo motor 64 rotates simultaneously, and bracket 4 is by the screw thread that matches with lead screw 62 along the
The movement of one direction, specifically, when servo motor rotates backward, bracket 4 is by the screw thread that matches with lead screw 62 along first party
It is moved to the direction for moving opposite, 6 structure of the first driving portion being made of lead screw 62 and first servo motor 64 is simple, has steady
Qualitative height；First driving portion 6 further includes the first absolute type encoder 66, and the first absolute type encoder 66 is to first servo motor
64 carry out obtaining first position signal corresponding to first servo motor 64 in detection process, by feeding back to control unit 12, with
First control signal is updated for control unit 12, further, host computer 14 and 12 Direct Communication of control unit, and then realize the first control
The update of signal processed and second control signal controls, and user can carry out real-time control according to host computer 14, and it is flat to simplify experiment
The testing process of platform, wherein the first absolute type encoder 66 is connected with first servo motor 64, using in absolute type encoder
Each position is absolutely unique, measurement accuracy anti-interference and that first servo motor 64 is ensured without the characteristics of power-failure memory,
Preferably, the first absolute type encoder 66 is multi-turn absolute type encoder, and wherein multi-turn absolute type encoder is that measurement rotation is super
360 degree of coding is crossed, therefore, experiment porch does not need to determine zero point, simplifies installation and debugging difficulty.
Further, as shown in figure 4, lead screw 62 is connected with first servo motor 64 by shaft coupling 20.
In one embodiment of the invention, as shown in Fig. 2, the second driving portion 10 includes: transmission mechanism 102；Second watches
Motor 104 is taken, the second servo motor 104 is connected with transmission mechanism 102, and transmission mechanism is connected with one end of swing arm 8, according to
Second control signal drive transmission device 102 controls swing arm 8 and rotates in second direction；Second absolute type encoder 106, second absolutely
It is connected to formula encoder 106 with the second servo motor 104, for detecting the second servo motor 104 to obtain second confidence
Number, and control unit 12 is fed back to, so that control unit 12 updates second control signal.
In this embodiment, the second driving portion 10 includes transmission mechanism 102 and the second servo motor 104, wherein driver
Structure 102 is connected with one end of the second servo motor 104 and swing arm 8 respectively, receives control unit 12 in the second servo motor 104
When the second control signal of sending, swing arm 8 is driven to be rotated in a second direction, by transmission mechanism 102, by transmission mechanism 102 and the
10 structure of the second driving portion of two servo motors 104 composition is simple, at low cost；Second driving portion 10 further include: the second absolute type
Encoder 106, the second absolute type encoder 106 carry out in detection process to the second servo motor 104, obtain the second servo electricity
Second position signal corresponding to machine 104, by feeding back to control unit 12, so that control unit 12 updates second control signal, into
One step, host computer 14 and 12 Direct Communication of control unit, and then realize the update control of second control signal and second control signal
System, user can carry out real-time control according to host computer 14, simplify the testing process of experiment porch, wherein the second absolute type is compiled
Code device 106 be connected with the second servo motor 104, it is absolutely unique, anti-interference using each position in absolute type encoder and
The measurement accuracy of the second servo motor 104 is ensured without the characteristics of power-failure memory, it is preferable that the first absolute type encoder 66 is
Multi-turn absolute type encoder, wherein multi-turn absolute type encoder is coding of the measurement rotation more than 360 degree, therefore, experiment porch
Zero point is not needed to determine, installation and debugging difficulty is simplified.
In one embodiment of the invention, as shown in Fig. 2, transmission mechanism 102 includes: that first gear (is not shown in figure
Out), it is connected with the output end of the second servo motor 104；Transmission shaft；Second gear 1022, second gear 1022 are arranged in biography
On moving axis, second gear 1022 is matched with first gear；Third gear 1024, third gear 1024 are arranged on transmission shaft；
One end of swing arm 8 is arranged in 4th gear 1026, the 4th gear 1026, and the 4th gear 1026 is matched with third gear 1024.
In this embodiment, transmission mechanism 102 is by first gear, transmission shaft, second gear 1022,1024 and of third gear
4th gear 1026 composition, wherein first gear is connected with the output end of the second servo motor 104, and first gear is watched second
Take drives second gear 1022 to rotate under the rotation of motor 104, since second gear 1022 and third gear 1024 pass through transmission
Axis is connected, and when second gear 1022 rotates, third gear 1024 is rotated according to identical angular speed, due to the 4th gear
1026 are arranged in one end of swing arm 8, the rotation of the 4th gear 1026 are driven while third gear 1024 is in rotation, and then realize
The control that swing arm 8 rotates, further, according to the selection of speed second gear 1022 of first gear and the 4th gear 1026 and the
The number of teeth of three gears 1024 realizes revolving speed using first gear, second gear 1022, third gear 1024 and the 4th gear 1026
Control.
In one embodiment of the invention, as shown in figure 4, ontology 2 is equipped with guide rail 22, bracket 4 can be transported with guide rail 22
It is dynamic to be connected.
In this embodiment, ontology 2 is equipped with guide rail 22, transports in 6 driving arm 4 of the first driving portion according to first direction
It is dynamic, since ontology 2 is equipped with guide rail 22, using guide rail 22 come the direction of motion of correction bracket 4, it is ensured that 4 direction of motion of bracket
Accuracy, evaded using only lead screw 62 drive with it is unstable existing for supporting support 4.
In one embodiment of the invention, as shown in fig. 6, control unit 12 includes: control panel 122；First driver
124, the first driver 124 is connected with first servo motor 64, control panel 122 and the first absolute type encoder 66 respectively, uses
In the first control signal for receiving the transmission of control panel 122 and it is sent to first servo motor 64, receives first position signal, and will
Control panel 122 is sent to according to the first deviation signal that first control signal and first position signal determine；Second driver
126, the second driver 126 is connected with the second servo motor 104, control panel 122 and the second absolute type encoder 106 respectively,
For receiving the second control signal of the transmission of control panel 122 and being sent to the second servo motor 104, reception second position signal,
And the second deviation signal determined according to second control signal and second position signal is sent to control panel 122；Control panel 122
It is communicated with host computer 14, send first control signal to the first driver 124 and sends second control signal to the second driving
Device 126, and the first deviation signal and the second deviation signal are sent to host computer 14, so that host computer 14 updates the first control
Signal and/or second control signal.
In this embodiment, control unit 12 specifically includes control panel 122, the first driver 124 and the second driver 126,
Wherein, the first driver 124 is connected with first servo motor 64, control panel 122 and the first absolute type encoder 66 respectively；The
Two drivers 126 are connected with the second servo motor 104, control panel 122 and the second absolute type encoder 106 respectively.It is controlling
After plate 122 receives the first control signal and second control signal of the transmission of host computer 14, first control signal is sent to the
One driver 124, using the connection relationship of the first driver 124 and first servo motor 64, control first servo motor 64 is transported
Row, while using the connection relationship of the first driver 124 and the first absolute type encoder 66, it obtains according to the first absolute encoding
The first deviation signal that device 66 detects obtained first position signal and first control signal determines, and the first deviation signal is sent out
Host computer 14 is sent, so that host computer 14 updates first control signal；Utilize the second driver 126 and the second servo motor 104
Connection relationship, control the second servo motor 104 operation, while utilizing the second driver 126 and the second absolute type encoder 106
Connection relationship, obtains the second position signal obtained according to the detection of the second absolute type encoder 106 and second control signal determines
The second deviation signal, and by the second deviation signal send host computer 14 so that host computer 14 update second control signal, first
The update setting of control signal and/or second control signal realizes experiment porch emulation and executes control while progress, subtracts
Lack experiment porch emulation and executes the time of control.
In one embodiment of the invention, first servo motor 64 and the second servo motor 104 are that durface mounted permanent magnet is same
Walk motor.
In this embodiment, durface mounted permanent magnet synchronous motor is in output-constant operation, it can be achieved that electric current and torque are steadily defeated
Out, the running noises of motor are significantly reduced.Further, durface mounted permanent magnet synchronous motor is that 2 pairs of pole permanent magnetism of surface-mount type are same
Motor is walked, zero speed control may be implemented, torque can reach maximum torque value, improve driving force.
In one embodiment of the invention, swing arm 8 is equipped with vision inspection apparatus (not shown), ultrasonic examination detection dress
Set at least one of (not shown) and positioning device (not shown).
In this embodiment, it is filled by being equipped with vision inspection apparatus, ultrasonic examination detection device and positioning in swing arm 8
At least one of set, and then realize the emulation testing for a variety of devices under a variety of assembly lines, and then improve whole emulation
Testing efficiency.
In one embodiment of the invention, control panel 122 is communicated by universal serial bus and host computer 14.
In this embodiment, in traditional experiment porch between host computer 14 and control panel 122 by using PCI
(Peripheral Component Interconnect, the mark for being used to define local bus of Intel company's release in 1991
It is quasi-) data acquisition port, the use of pci data acquisition port needs specified host computer 14 to be communicated, therefore experiment porch cannot pass through
Other equipment control emulation, is unfavorable for emulation experiment, and pci data acquisition interface circuit is generally complex, the general number of PCI
It is expensive according to capture card, which increase the research and development difficulty and development cost of equipment, and use universal serial bus (USB,
Universal Serial Bus, a kind of external bus standard, for being connected and communicate with for specification computer and external equipment) it can
It realizes using any computer as host computer 14, and then eliminates the specified limitation of host computer 14, facilitate and emulated, reduced simultaneously
Cost.
In one embodiment of the invention, first control signal and second control signal include operation circle number, operation speed
At least one of degree.
In the technical scheme, first control signal and second control signal including but not limited to run circle number, operation
Speed can also include runing time, voltage, electric current etc., so as to the control to first servo motor 64 and the second servo motor 104
System, to improve the control precision to first servo motor 64 and the second servo motor 104.
In one embodiment of the invention, as shown in Figures 1 to 5, (the U.S. MATLAB is applied in host computer 14
The business software that MathWorks company produces) the Simulink the integration environment of emulation and comprehensive analysis (Modelling of Dynamic System)
RTW (between Real-Time Workshop real-time working) Controlling model of building, (transfers CCS under the integration environment in Simulink
Controlling model is converted to a kind of DSP (digital signal processor, microprocessor) executable code by compiler, is led to
It crosses and DSP executable code is downloaded into the first driver 124 using a kind of XDS100V2 (emulator model) emulator
(TMS320F28069 DSP driver) and the second driver 126 (TMS320F28069 DSP driver) and control panel 122
Operation in (TMS320F28335 DSP control panel) is realized motor driven, motion control function respectively, and will be controlled by emulator
The collected code device signal of making sheet 122 is sent to the detection module in Simulink, to realize PC machine real time monitoring experiment
Data, and dynamic adjustment is carried out to motion control arithmetic parameter.
Specifically, the first driver 124 and the second driver 126 are realized and the first absolute encoding by RS-485 communication
Device 66 and the second absolute type encoder 106 are communicated, and the first driver 124 receives what the first absolute type encoder 66 detected
First position signal, and the first deviation signal that first position signal and first control signal are determined, control panel 122 is to first
Control signal and/or second control signal are updated, wherein the first driver 124 and the second driver 126 pass through controller
Localized network is communicated with control panel 122, is controlled first servo motor 64 and the second servo motor 104 and is turned according to finger fixing turn
It is dynamic, and then control bracket 4 and swing arm 8 are moved according to intended trajectory, wherein control panel 122 passes through USB data line and host computer 14
Easy communication developer carries out the real-time detection of experimental data and carries out dynamic adjustment to motion control arithmetic parameter.This reality
Platform is tested by additionally adding such as at least one of vision inspection apparatus, ultrasonic examination detection device and positioning device,
Increase this vision detection system of industrial camera, the vision-based detection of workpiece can be completed, increases study of detecting wound system with ultrasonic, energy
Ultrasonic wave is completed in real time to stretch forward detection, the product of inferior quality is rejected, increases manipulator grasping system, can be completed to be accurately positioned, be grabbed,
Specifically, the motion range of intended trajectory in a first direction is 0-300mm.Working radius in a second direction is 400mm,
Movement angle range in a second direction is positive and negative 100 degree.
Further, it further includes that the first driver 124 and second drives that host computer 14, which is sent to the working model of control unit 12,
The working model of dynamic device 126, while host computer 14 updates working model, control panel 122, the first driver 124 and second
The working model synchronized update of driver 126.
In one embodiment of the invention, as shown in fig. 7, the process that experiment porch executes specifically includes:
Step 702, the RTW simulation model of system is constructed at MATLAB；
Step 704, the RTW simulation model simulated environment of system is configured；
Step 706, host computer realizes that UART is communicated with control panel and driver；
Step 708, RTW simulation model is run；
Step 710, control panel and driver driving servo motor work；
Step 712, the position signal for detecting servo motor rotation axis, judges whether rotation axis moves according to desired trajectory,
When the judgment result is No, step 714 is executed, otherwise, is terminated；
Step 714, host computer adjusts the parameter of motion control arithmetic in RTW simulation model, and executes step 708.
The use of MATLAB version is R2017a in host computer 14, installation DSP Simulink hardware supported is needed before experiment
Packet.Utilize " Commonly Used Blocks ", " Embedded Coder Support Package for Texas
The tool box C2000 Processors " Instruments building DSP controls system HWIL simulation object module, utilizes target
Modelling RTW (between Real-Time Workshop real-time working) simulation model, and model operating mode is configured to
" Normal mode ", working model automatically generates to communicate by UART when running first carries out data interaction with Simulink
Executable code, and by XDS100v2 emulator download to the first driver 124 (TMS320F28069 DSP driver),
Second driver 126 (TMS320F28069DSP driver) and control panel 122 (TMS320F28335 DSP control panel), fortune
The RTW simulation model of row host computer 14, platform bring into operation.Developer can pass through RTW Simulink HWIL simulation model
The mechanical rotation axis of Scope dynamic monitoring two real time position and the relevant intermediate variable of motion control arithmetic, and according to
The motion control arithmetic parameter of the real-time adjusting system of the data monitored finally makes two mechanical rotation axis execute default rail respectively
The movement of mark, wherein (Universal Asynchronous Receiver/Transmitter, universal asynchronous receiving-transmitting pass UART
Defeated device), belong to a part of host computer 14, for transmission conversion will to be made between serial communication and parallel communications, as parallel input
At the chip of Serial output.
In the embodiment of the second aspect of the present invention, as shown in figure 8, a kind of control method of experiment porch is proposed,
For controlling such as any of the above-described experiment porch, wherein method includes:
Step 802, the working model that host computer is sent is received, and first control signal is generated according to working model, is sent
First control signal so that the first driver drives first servo motor, and receives the first deviation of feedback to the first driver
Signal；And second control signal is generated according to working model, second control signal is sent to the second driver, so that second drives
Dynamic device drives the second servo motor, and receives the second deviation signal of feedback；
Step 804, according to the first deviation signal judge first servo motor whether according to the first desired trajectory move, according to
Second deviation signal judges whether the second servo motor moves according to the second desired trajectory；
Step 806, first control signal is updated according to the first judging result and the second judging result and/or the second control is believed
Number；
Step 808, the first deviation signal and the second deviation signal are sent to host computer, so that host computer updates Working mould
Type.
In this embodiment, it after the working model for receiving host computer transmission, is controlled according to first that working model generates
First control signal is sent to the first driver by signal processed and second control signal, control panel, utilizes the first driver and
The connection relationship of one servo motor, control first servo motor operation, while utilizing the first driver and the first absolute encoding
The connection relationship of device, obtains the first position signal detected according to the first absolute type encoder and first control signal determines
The first deviation signal, and feed back the first deviation signal；Second control signal is sent to the second driver by control panel, utilizes
The connection relationship of two drivers and the second servo motor, control the second servo motor operation, while utilizing the second driver and the
The connection relationship of two absolute type encoders obtains the second position signal and second detected according to the second absolute type encoder
The second deviation signal that signal determines is controlled, and feeds back the second deviation signal, the first servo electricity is judged by the first deviation signal
Whether whether machine moves according to the first desired trajectory, judge the second servo motor according to the second pre- orbit determination according to the second deviation signal
Mark movement updates first control signal and/or second control signal according to the first judging result and the second judging result.
By the way that the first deviation signal and the second deviation signal are sent to host computer, host computer according to the first deviation signal and
Second deviation signal is updated working model, is arranged by the update of first control signal and/or second control signal real
Experiment porch emulation is showed and has executed control while progress, without individually writing control program, has improved simulation velocity, reduce
Experiment porch emulation and the time for executing control.
In one embodiment of the invention, the first deviation signal is according to the of first control signal and first servo motor
One position signal determines；Second deviation signal is determined according to the second position signal of second control signal and the second servo motor.
In this embodiment, the first deviation signal is determined according to first control signal, determines according to second control signal
Two deviation signals, update first control signal using the first deviation signal, update second control signal using the second deviation signal,
And then the process of a feedback being formed, and then realize continuous simulation test, first control signal and/or second control signal are more
New setting realizes experiment porch emulation and executes control while progress, reduce experiment porch emulation and execute control when
Between.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of experiment porch characterized by comprising
Ontology；
Bracket；
First driving portion, the first driving portion setting on the body, and is connected with one end of the bracket, for driving
The bracket is moved to move in a first direction；
Swing arm, one end of the swing arm and the other end of the bracket are rotatedly connected；
Second driving portion, the second driving portion setting on the bracket, drive the swing arm to rotate in second direction；
Control unit, the control unit are connected with first driving portion and second driving portion respectively, are sent out according to host computer
The working model sent generates the working model that first control signal drives first driving portion and sends according to the host computer
It generates second control signal and drives second driving portion.
2. experiment porch according to claim 1, which is characterized in that first driving portion includes:
Lead screw；
First servo motor, the first servo motor are connected with the lead screw, drive institute according to the first control signal
Lead screw rotation is stated, the bracket is moved by the screw thread matched with the lead screw along the first direction；
First absolute type encoder, first absolute type encoder is connected with the first servo motor, for detecting
First servo motor is stated to obtain first position signal, and feeds back to the control unit, so that the control unit updates described the
One control signal.
3. experiment porch according to claim 2, which is characterized in that second driving portion includes:
Transmission mechanism；
Second servo motor, second servo motor are connected with the transmission mechanism, the transmission mechanism and the swing arm
One end be connected, drive swing arm described in the transmission mechanism control to turn in the second direction according to the second control signal
It is dynamic；
Second absolute type encoder, second absolute type encoder is connected with second servo motor, for detecting
The second servo motor is stated to obtain second position signal, and feeds back to the control unit, so that the control unit updates described the
Two control signals.
4. experiment porch according to claim 3, which is characterized in that the transmission mechanism includes:
First gear is connected with the output end of second servo motor；
Transmission shaft；
Second gear, the second gear are arranged on the transmission shaft, and the second gear is matched with the first gear；
Third gear, the third gear are arranged on the transmission shaft；
One end of the swing arm is arranged in 4th gear, the 4th gear, and the 4th gear and the third gear match
It closes.
5. experiment porch according to claim 4, which is characterized in that the ontology is equipped with guide rail, the bracket and institute
State that guide rail is movable to be connected.
6. experiment porch according to claim 3, which is characterized in that the control unit includes:
Control panel；
First driver, first driver respectively with the first servo motor, the control panel and it is described first absolutely
Formula encoder is connected, for receiving the first control signal of the control panel transmission and being sent to the first servo electricity
Machine receives the first position signal, and first will determined according to the first control signal and the first position signal
Deviation signal is sent to the control panel；
Second driver, second driver respectively with second servo motor, the control panel and it is described second absolutely
Formula encoder is connected, for receiving the second control signal of the control panel transmission and being sent to the second servo electricity
Machine receives the second position signal, and second will determined according to the second control signal and the second position signal
Deviation signal is sent to the control panel；
The control panel is communicated with the host computer, is sent the first control signal to first driver and is sent institute
Second control signal is stated to second driver, and institute is updated according to first deviation signal and second deviation signal
State first control signal and/or the second control signal, and by first deviation signal and second deviation signal
It is sent to the host computer, so that the host computer updates the working model.
7. experiment porch according to claim 3, which is characterized in that the first servo motor and second servo electricity
Machine is durface mounted permanent magnet synchronous motor.
8. experiment porch according to claim 1, which is characterized in that the swing arm is equipped with vision inspection apparatus, ultrasonic wave
At least one of carrying out flaw detection device and positioning device；
The control panel is communicated by universal serial bus and the host computer.
9. a kind of control method of experiment porch, for such as experiment porch described in any item of the claim 1 to 8, feature
It is, comprising:
The working model that host computer is sent is received, and first control signal is generated according to the working model, sends the first control
Signal so that first driver drives first servo motor, and receives the first deviation signal of feedback to the first driver；
And second control signal is generated according to the working model, second control signal is sent to the second driver, so that described the
Two drivers drive the second servo motor, and receive the second deviation signal of feedback；
First servo motor is judged whether according to the movement of the first desired trajectory, according to described second according to first deviation signal
Deviation signal judges whether the second servo motor moves according to the second desired trajectory；
The first control signal and/or the second control signal are updated according to the first judging result and the second judging result.
10. the control method of experiment porch according to claim 9, which is characterized in that further include:
First deviation signal and the second deviation signal are sent to the host computer, so that the host computer updates the work
Make model.
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| CN209640684U (en) * | 2019-04-03 | 2019-11-15 | 桂林电子科技大学 | Experiment porch |
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| CN102581745A (en) * | 2012-02-29 | 2012-07-18 | 清华大学 | Handling robot system for chemical mechanical polishing |
| CN103373600A (en) * | 2012-04-27 | 2013-10-30 | 昆山瀚崴自动化设备有限公司 | Swing arm mechanism of sorting and conveying system |
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