CN109949687B - Multi-axis synchronous control unit - Google Patents
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- CN109949687B CN109949687B CN201910263104.4A CN201910263104A CN109949687B CN 109949687 B CN109949687 B CN 109949687B CN 201910263104 A CN201910263104 A CN 201910263104A CN 109949687 B CN109949687 B CN 109949687B
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- 230000033001 locomotion Effects 0.000 claims abstract description 66
- 238000002474 experimental method Methods 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims description 21
- 238000000429 assembly Methods 0.000 claims description 16
- 230000000712 assembly Effects 0.000 claims description 16
- 230000006870 function Effects 0.000 abstract description 8
- 238000004804 winding Methods 0.000 description 11
- 239000004744 fabric Substances 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
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Abstract
The application provides a multi-axis synchronous control unit, which comprises a base, a motion control unit and an electrical control cabinet, wherein the motion control unit is arranged on the base and further comprises: the electronic gear movement unit is arranged on the base, and is used for completing an electronic gear movement control experiment when being independently used, and completing an interpolation or synchronous movement control experiment when being matched with the movement control unit; tension control unit, tension control unit setting is on the base, and tension control unit is located between two supporting guide rails, and tension control experiment is accomplished when tension control unit independently uses, and tension control unit and motion control unit accomplish the follow-up of strap and cut motion control experiment when the cooperation. The multi-axis synchronous control unit provided by the application can be combined, installed and debugged differently according to different training requirements or different working tasks, so that the purposes of simulating the productivity function and integrating the learning function are achieved.
Description
Technical Field
The invention relates to the technical field of practical training teaching equipment, in particular to a multi-axis synchronous control unit.
Background
At present, in teaching of all institutions, a teaching mode of combining practical training teaching and theoretical teaching is mostly adopted, practical training teaching is carried out by simulating a practical working environment and combining theory and practice by adopting practical cases from a real work project, so that the expertise, practical experience and team cooperation consciousness of students are improved in the shortest time. However, the function of the teaching equipment capable of performing the motion control training in the current market is relatively simple, only one training content can be generally realized, and furthermore, schools often need to purchase and be equipped with various teaching equipment so as to enrich the training teaching, so that the cost is high and the occupied space is large.
In summary, how to improve the teaching function singleness of the existing practical training teaching device is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a multi-axis synchronous control unit, which solves the problem of single teaching function of the conventional practical training teaching equipment.
In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides a multiaxis synchronous control unit, includes base, motion control unit and electrical control cabinet, motion control unit sets up on the base still includes: the electronic gear moving unit is arranged on the base, the electronic gear moving unit is positioned below the motion control unit, the electronic gear moving unit is used for completing an electronic gear motion control experiment when being independently used, and the electronic gear moving unit is used for completing an interpolation or synchronous motion control experiment when being matched with the motion control unit, wherein the electronic gear moving unit comprises two parallel support guide rails, two side clamping assemblies and a fourth driving mechanism, and the fourth driving mechanism is used for driving the side clamping assemblies to reciprocate along the corresponding support guide rails; tension control unit, tension control unit sets up on the base, tension control unit is located between two supporting rail, tension control unit accomplishes tension control experiment when independently using, tension control unit with accomplish the chase scissors motion control experiment of strap when the motion control unit cooperation, wherein, tension control unit includes the second support, sets up a plurality of supporting deflector roll, belt and a pair of receive and release subassembly on the second support, the both ends of belt link to each other with the receive and release subassembly that corresponds respectively, and a plurality of supporting deflector roll supports to press on the bottom surface of belt.
Further, the tension control unit further comprises two groups of tensioning assemblies, the tensioning assemblies are arranged on one side of the winding and unwinding assemblies, each tensioning assembly comprises three tensioning rollers and a tension sensor, each tension sensor is arranged on the tensioning roller located at the middle position, the tensioning rollers located on the two sides act on one side face of the belt, and the tensioning rollers located at the middle position act on the other side face of the belt.
Further, the winding and unwinding assembly comprises a winding roller and a fourth driving motor for driving the winding roller to rotate.
Still further, the tension control unit further comprises a conveying roller, a cushion roller and a fifth driving motor, wherein the conveying roller and the cushion roller are respectively arranged on two sides of the belt, and the fifth driving motor is used for driving the conveying roller to rotate.
Further, the support guide rail comprises a third bracket fixed on the base and a second X-axis linear module fixed on the third bracket.
Further, two symmetrically arranged side clamping assemblies are respectively arranged on the corresponding second X-axis linear modules, and each side clamping assembly comprises a sixth driving motor fixed on an X-axis sliding block of the corresponding second X-axis linear module and a clamping plate connected to an output shaft of the sixth driving motor.
Further, the motion control unit comprises two parallel first supports, two first X-axis linear modules arranged on the two first supports, a Y-axis linear module arranged between the two first X-axis linear modules, a vertical moving mechanism arranged on the Y-axis linear module, a first driving mechanism and a second driving mechanism, wherein the first driving mechanism is used for driving the Y-axis linear module to reciprocate along the first X-axis linear module, and the second driving mechanism is used for driving the vertical moving mechanism to reciprocate along the Y-axis linear module.
Still further, the first X-axis linear module comprises an X-axis sliding rail, an X-axis sliding table arranged on the X-axis sliding rail in a sliding manner and an X-axis belt transmission mechanism arranged on the X-axis sliding rail, an X-axis synchronous belt of the X-axis belt transmission mechanism is connected with the X-axis sliding table, and the first driving mechanism drives a pair of X-axis sliding tables to synchronously move.
Still further, the vertical movement mechanism comprises a carriage and a third driving mechanism arranged on the carriage, a screw rod arranged on the carriage is in threaded connection with a Y-axis sliding table of the Y-axis linear module, and the third driving mechanism drives the carriage to move up and down by driving the screw rod to rotate.
Further, a laser pen is arranged at the bottom of the sliding frame.
As can be seen from the technical scheme, the invention has the following beneficial effects:
According to the invention, the electronic gear movement unit is used for completing an electronic gear movement control experiment when being independently used, the electronic gear movement unit is used for completing an interpolation or synchronous movement control experiment when being matched with the movement control unit, the tension control unit is used for completing a tension control experiment when being independently used, the tension control unit is used for completing a cloth belt follow-up movement control experiment when being matched with the movement control unit, the working units are relatively independent and can be mutually combined, and when in use, different combinations, installation and debugging can be performed according to different practical training requirements or different working tasks, so that the purposes of simulating the productive function and integrating the learning function are achieved, and the electronic gear movement unit is suitable for professional training of enterprises besides teaching practical training.
The invention is described in further detail below with reference to the drawings and the detailed description.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic perspective view of the present invention.
Fig. 3 is a schematic perspective view of a motion control unit according to the present invention.
Fig. 4 is a schematic structural view of the motion control unit of the present invention.
Fig. 5 is a schematic structural view of the tension control unit of the present invention.
Fig. 6 is a schematic perspective view of a tension control unit according to the present invention.
Fig. 7 is a schematic perspective view of an electronic gear unit according to the present invention.
Reference numerals illustrate: base 1, motion control unit 2, first bracket 21, first X-axis linear module 22, Y-axis linear module 23, first beam frame 231, vertical movement mechanism 24, carriage 241, lead screw 242, lead screw nut 243, slide bar 244, first driving mechanism 25, first driving motor 251, first transmission shaft 252, second driving mechanism 26, second driving motor 261, third driving mechanism 27, third driving motor 271, laser pen 28, tension control unit 3, second bracket 31, supporting guide roller 32, winding and unwinding assembly 33, fourth driving motor 331, winding roller 332, tensioning assembly 34, tensioning roller 341, tension sensor 342, fifth driving motor 35, conveying roller 36, backup roller 37, belt 38, electronic gear motion unit 4, supporting guide rail 41, third bracket 411, second X-axis linear module 412, side clamping assembly 42, sixth driving motor 421, clamping plate 422, clamping groove 4221, frame 423, fourth driving mechanism 43, seventh driving motor 431, second transmission shaft 432, drawing plate 44, second beam frame 45, electrical cabinet 5, and training table 6.
Detailed Description
Embodiments of the invention are described in detail below with reference to the attached drawings, but the invention can be implemented in a number of different ways, which are defined and covered by the claims.
The present invention is further described below with reference to fig. 1 to 7, and the multi-axis synchronous control unit shown in fig. 1 comprises a base 1, a motion control unit 2, a tension control unit 3, an electronic gear motion unit 4 and an electrical control cabinet 5, wherein the motion control unit 2, the tension control unit 3 and the electronic gear motion unit 4 are all arranged on the base 1, the electronic gear motion unit 4 is positioned below the motion control unit 2, the tension control unit 3 is positioned between two parallel support rails 41 of the electronic gear motion unit 4, and the electrical control cabinet 5 is used for controlling the motion control unit 2, the tension control unit 3 and the electronic gear motion unit 4 to respectively work independently or cooperate to complete corresponding function display, and when in use, the multi-axis synchronous control unit is placed on a training table 6.
In this embodiment, as shown in fig. 3 and 4, the motion control unit 2 includes two parallel first brackets 21, two first X-axis linear modules 22 disposed on the two first brackets 21, a Y-axis linear module 23 disposed between the two first X-axis linear modules 22, a vertical movement mechanism 24 disposed on the Y-axis linear module 23, a first driving mechanism 25, and a second driving mechanism 26, the first driving mechanism 25 being for driving the Y-axis linear module 23 to reciprocate along the first X-axis linear module 22, and the second driving mechanism 26 being for driving the vertical movement mechanism 24 to reciprocate along the Y-axis linear module 23.
In this embodiment, as shown in fig. 3 and 4, the first X-axis linear module 22 includes an X-axis sliding rail, an X-axis sliding table slidingly disposed on the X-axis sliding rail, and an X-axis belt transmission mechanism disposed on the X-axis sliding rail, the X-axis sliding rail is fixed on the top of the first bracket 21, the X-axis belt transmission mechanism includes an X-axis driving pulley disposed at one end of the X-axis sliding rail, an X-axis synchronous belt, and an X-axis driven pulley disposed at the other end of the X-axis sliding rail, the X-axis synchronous belt is disposed between the X-axis driving pulley and the X-axis driven pulley, and the X-axis synchronous belt is connected with the X-axis sliding table, the first driving mechanism 25 includes a first driving motor 251 and a first transmission shaft 252, two ends of the first transmission shaft 252 are connected with the two X-axis driving pulleys, one end of the first driving motor 251 is fixedly connected with one end of the first transmission shaft 252, and a first beam frame 231 is connected between the two X-axis sliding tables, and the first driving mechanism 25 drives a pair of X-axis sliding tables to move synchronously, and the first driving motor 251 adopts a servo motor.
In this embodiment, as shown in fig. 3 and 4, the Y-axis linear module 23 includes a Y-axis sliding rail, a Y-axis sliding table slidingly disposed on the Y-axis sliding rail, and a Y-axis belt transmission mechanism disposed on the Y-axis sliding rail, two ends of the Y-axis sliding rail are respectively fixed on the two X-axis sliding tables, the Y-axis belt transmission mechanism includes a Y-axis driving pulley disposed at one end of the Y-axis sliding rail, a Y-axis synchronous belt, and a Y-axis driven pulley disposed at the other end of the Y-axis sliding rail, the Y-axis synchronous belt is disposed between the Y-axis driving pulley and the Y-axis driven pulley, and the Y-axis synchronous belt is connected with the Y-axis sliding table, the second driving mechanism 26 includes a second driving motor 261, an output shaft of the second driving motor 261 is connected with the Y-axis driving pulley, and the second driving motor 261 adopts a servo motor.
In this embodiment, as shown in fig. 3 and 4, the vertical moving mechanism 24 includes a carriage 241 and a third driving mechanism 27 disposed on the carriage 241, a screw rod 242 disposed on the carriage 241 is in threaded connection with a screw nut 243 disposed on the Y-axis sliding table, a pair of sliding rods 244 disposed on the carriage 241 are slidably matched with sliding holes on the screw nut 243, a third driving motor 271 of the third driving mechanism 27 is mounted on the top of the carriage 241 and is in transmission connection with the screw rod 242, the third driving motor 271 drives the carriage 241 to move up and down by driving the screw rod 242 to rotate, a laser pen 28 is disposed at the bottom of the carriage 241, and the third driving motor 271 adopts a stepping motor.
In this embodiment, as shown in fig. 5 and 6, the tension control unit 3 includes a second bracket 31, three supporting guide rollers 32 disposed on the second bracket 31, a belt 38, a pair of winding and unwinding components 33, two sets of tensioning components 34, a transfer roller 36, a pad roller 37, a fifth driving motor 35 and an encoder, the second bracket 31 is fixed on the base 1, two ends of the belt 38 are respectively connected with the corresponding winding and unwinding components 33, one supporting guide roller 32 is disposed in the middle of the top of the second bracket 31, the remaining two supporting guide rollers 32 are respectively disposed at two ends of the top of the second bracket 31, three supporting guide rollers 32 are disposed on the same horizontal position, and the three supporting guide rollers 32 are pressed against the bottom surface of the belt, in addition, the number of the supporting guide rollers 32 can be four or five, the winding and unwinding components 33 include a winding roller 332 and a fourth driving motor 331 for driving the winding roller 332 to rotate, the fourth driving motor 331 adopts gear motor, the encoder is installed to the axle head of fourth driving motor 331, during operation, a roller 332 rolling, a roller 332 unreels, tensioning assembly 34 sets up in the one side of corresponding receipts unreel assembly 33, tensioning assembly 34 includes three tensioning roller 341 and tension sensor 342, tension sensor 342 sets up on the tensioning roller 341 that is located the intermediate position, the tensioning roller that is located both sides acts on one side of belt, the tensioning roller 341 that is located the intermediate position acts on the other side of belt, transfer roller 36 and backing roll 37 all set up the one end at the top of second support 31, and transfer roller 36 and backing roll 37 set up the both sides at the belt respectively, fifth driving motor 35 is used for driving transfer roller 36 rotation, assist realization tension control through transfer roller 36 and backing roll 37.
In this embodiment, as shown in fig. 1,2, 5, and 6, the tension control unit 3 may perform PID control of tension by using a gear motor, so as to independently complete a tension control experiment; the gear motor carries out moment control through the analog quantity, so that positive and negative rotation is realized, when the motion control unit 2 and the tension control unit 3 work cooperatively, the laser pen 28 can realize that materials are tracked to reach and shear the cloth belt after synchronization, so that the tension control unit 3 and the motion control unit 2 cooperate to complete a cloth belt tracking and shearing motion control experiment, and the motion control requirement of multi-unit combination is realized.
In this embodiment, as shown in fig. 7, the electronic gear moving unit 4 further includes two side clamping assemblies 42 and a fourth driving mechanism 43, the supporting rail 41 includes a third bracket 411 fixed on the base 1 and a second X-axis linear module 412 fixed on the third bracket 411, the structure of the second X-axis linear module 412 is the same as that of the first X-axis linear module 22, the fourth driving mechanism 43 is used for driving the side clamping assemblies 42 to reciprocate along the corresponding supporting rail 41, the fourth driving mechanism 43 includes a seventh driving motor 431 and a second transmission shaft 432, two ends of the second transmission shaft 432 are respectively connected with driving pulleys of the two second X-axis linear modules 412, the seventh driving motor 431 is connected with one end of the second transmission shaft 432 through a transmission structure, the transmission structure here can be a gear transmission structure and a belt transmission structure, the seventh driving motor 431 adopts a servo motor, a second beam frame 45 is fixedly connected between X-axis sliding tables of the two second X-axis linear modules 412, and the two symmetrically arranged side clamping assemblies 42 are respectively arranged on the X-axis sliding tables of the corresponding second X-axis linear modules 412.
In this embodiment, as shown in fig. 7, the side clamping assembly 42 includes a sixth driving motor 421 and a clamping plate 422 connected to an output shaft of the sixth driving motor 421, the sixth driving motor 421 is fixed on an X-axis slider of the second X-axis linear module 412 through a frame 423, a clamping groove 4221 is formed on the clamping plate 422, an end portion of the drawing board 44 can be clamped in the clamping groove 4221, so that the drawing board 44 is connected between the pair of clamping plates 422, and the sixth driving motor 421 adopts a stepper motor.
In this embodiment, as shown in fig. 1, 2 and 7, the electronic gear movement unit 4 may complete simulated electronic gear control, and combine the electronic gear ratio with the pulse, so as to implement precision movement control, and independently complete an electronic gear movement control experiment; the electronic gear movement unit 4 and the movement control unit 2 complete interpolation or synchronous movement control experiments when being matched, linear interpolation and circular interpolation can be realized by two axes in a two-dimensional plane, and triaxial linear interpolation movement can be realized in three axes.
In this embodiment, as shown in fig. 1, the electrical control cabinet 5 integrates important components such as a servo driving system, a step driving system, a bus slave station, an NJ controller, etc., and the electrical control cabinet 5 and the mechanical part are designed in a combined manner, and can be separated alone or combined with a single module to complete corresponding practical training tasks.
The multi-axis synchronous control unit can be used for the practical training of the static control of the motion control system, and is more focused on the training of the dynamic control technology, a unit combined structure is adopted, and all working units are relatively independent and can be mutually combined.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a multiaxis synchronous control unit, includes base (1), motion control unit (2) and electrical control cabinet (5), motion control unit (2) set up on base (1), its characterized in that still includes:
The electronic gear moving unit (4), the electronic gear moving unit (4) is arranged on the base (1), the electronic gear moving unit (4) is positioned below the movement control unit (2), the electronic gear moving unit (4) is used for completing an electronic gear movement control experiment when being independently used, the electronic gear moving unit (4) is used for completing an interpolation or synchronous movement control experiment when being matched with the movement control unit (2), wherein the electronic gear moving unit (4) comprises two parallel support guide rails (41), two side clamping assemblies (42) and a fourth driving mechanism (43), and the fourth driving mechanism (43) is used for driving the side clamping assemblies (42) to reciprocate along the corresponding support guide rails (41);
Tension control unit (3), tension control unit (3) set up on base (1), tension control unit (3) are located between two supporting rail (41), tension control unit (3) accomplish tension control experiment when independently using, tension control unit (3) with accomplish the motion control experiment that follows shear of strap when motion control unit (2) cooperate, wherein, tension control unit (3) include second support (31), set up a plurality of supporting idler roller (32) on second support (31), belt (38) and a pair of receive and release subassembly (33), the both ends of belt (38) link to each other with corresponding receive and release subassembly (33) respectively, and a plurality of supporting idler roller (32) support and press on the bottom surface of belt.
2. Multiaxial contemporaneous control unit according to claim 1, wherein the tension control unit (3) further comprises two sets of tensioning assemblies (34), the tensioning assemblies (34) being arranged on one side of the unwind assembly (33), the tensioning assemblies (34) comprising three tensioning rollers (341) and a tension sensor (342), the tension sensor (342) being arranged on the tensioning roller (341) in an intermediate position, the tensioning rollers on both sides acting on one side of the belt, the tensioning roller (341) in an intermediate position acting on the other side of the belt.
3. Multiaxial synchronous control unit according to claim 2 where the unwind and wind-up assembly (33) comprises a wind-up roller (332) and a fourth drive motor (331) for driving the wind-up roller (332) in rotation.
4. A multi-axis synchronous control unit according to claim 3, characterized in that the tension control unit (3) further comprises a conveying roller (36), a backing roller (37) and a fifth driving motor (35), the conveying roller (36) and the backing roller (37) are respectively arranged at both sides of the belt, and the fifth driving motor (35) is used for driving the conveying roller (36) to rotate.
5. Multiaxial synchronous control unit according to claim 1 characterized in that the support rail (41) comprises a third bracket (411) fixed on the base (1) and a second X-axis linear module (412) fixed on the third bracket (411).
6. The multi-axis synchronous control unit according to claim 5, wherein two symmetrically arranged side clamping assemblies (42) are respectively arranged on the corresponding second X-axis linear modules (412), and the side clamping assemblies (42) comprise a sixth driving motor (421) fixed on an X-axis sliding block of the second X-axis linear modules (412) and a clamping plate (422) connected to an output shaft of the sixth driving motor (421).
7. The multi-axis synchronous control unit according to claim 1, wherein the motion control unit (2) comprises two parallel first brackets (21), two first X-axis linear modules (22) arranged on the two first brackets (21), a Y-axis linear module (23) arranged between the two first X-axis linear modules (22), a vertical moving mechanism (24) arranged on the Y-axis linear module (23), a first driving mechanism (25) and a second driving mechanism (26), wherein the first driving mechanism (25) is used for driving the Y-axis linear module (23) to reciprocate along the first X-axis linear module (22), and the second driving mechanism (26) is used for driving the vertical moving mechanism (24) to reciprocate along the Y-axis linear module (23).
8. The multi-axis synchronous control unit according to claim 7, wherein the first X-axis linear module (22) comprises an X-axis sliding rail, an X-axis sliding table slidingly arranged on the X-axis sliding rail, and an X-axis belt transmission mechanism arranged on the X-axis sliding rail, an X-axis synchronous belt of the X-axis belt transmission mechanism is connected with the X-axis sliding table, and the first driving mechanism (25) drives a pair of X-axis sliding tables to synchronously move.
9. The multi-axis synchronous control unit according to claim 7, wherein the vertical movement mechanism (24) comprises a carriage (241) and a third driving mechanism (27) arranged on the carriage (241), a screw rod (242) arranged on the carriage (241) is in threaded connection with a Y-axis sliding table of the Y-axis linear module (23), and the third driving mechanism (27) drives the carriage (241) to move up and down by driving the screw rod (242) to rotate.
10. Multiaxial synchronous control unit according to claim 9 where the bottom of the carriage (241) is provided with a laser pen (28).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910263104.4A CN109949687B (en) | 2019-04-02 | 2019-04-02 | Multi-axis synchronous control unit |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910263104.4A CN109949687B (en) | 2019-04-02 | 2019-04-02 | Multi-axis synchronous control unit |
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| CN109949687A CN109949687A (en) | 2019-06-28 |
| CN109949687B true CN109949687B (en) | 2024-04-30 |
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| CN1440006A (en) * | 2002-02-20 | 2003-09-03 | 程常现 | Tension control experimental facility |
| CN102874637A (en) * | 2012-10-18 | 2013-01-16 | 北京印刷学院 | Multi-shaft synchronous control device |
| CN107437347A (en) * | 2017-09-12 | 2017-12-05 | 辽宁机电职业技术学院 | A kind of SERVO CONTROL experience system and method |
| CN108335559A (en) * | 2018-04-03 | 2018-07-27 | 南京康尼电气技术有限公司 | A kind of motion control training device and chasing after cuts, flying shear analogy method |
| CN109166447A (en) * | 2018-09-29 | 2019-01-08 | 南京工程学院 | Three axis aggregate motions control actual training device |
| CN210052417U (en) * | 2019-04-02 | 2020-02-11 | 亚龙智能装备集团股份有限公司 | Multi-axis synchronous control unit |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050061092A1 (en) * | 2003-09-19 | 2005-03-24 | Nordson Corporation | Modular motion unit with tensioner |
-
2019
- 2019-04-02 CN CN201910263104.4A patent/CN109949687B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1440006A (en) * | 2002-02-20 | 2003-09-03 | 程常现 | Tension control experimental facility |
| CN102874637A (en) * | 2012-10-18 | 2013-01-16 | 北京印刷学院 | Multi-shaft synchronous control device |
| CN107437347A (en) * | 2017-09-12 | 2017-12-05 | 辽宁机电职业技术学院 | A kind of SERVO CONTROL experience system and method |
| CN108335559A (en) * | 2018-04-03 | 2018-07-27 | 南京康尼电气技术有限公司 | A kind of motion control training device and chasing after cuts, flying shear analogy method |
| CN109166447A (en) * | 2018-09-29 | 2019-01-08 | 南京工程学院 | Three axis aggregate motions control actual training device |
| CN210052417U (en) * | 2019-04-02 | 2020-02-11 | 亚龙智能装备集团股份有限公司 | Multi-axis synchronous control unit |
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