CN110145575B - Linear module synchronous belt supporting system and control method - Google Patents
Linear module synchronous belt supporting system and control method Download PDFInfo
- Publication number
- CN110145575B CN110145575B CN201811295746.4A CN201811295746A CN110145575B CN 110145575 B CN110145575 B CN 110145575B CN 201811295746 A CN201811295746 A CN 201811295746A CN 110145575 B CN110145575 B CN 110145575B
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- synchronous belt
- control unit
- supporting device
- lifting mechanism
- linear module
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/18—Means for guiding or supporting belts, ropes, or chains
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/18—Means for guiding or supporting belts, ropes, or chains
- F16H2007/185—Means for guiding or supporting belts, ropes, or chains the guiding surface in contact with the belt, rope or chain having particular shapes, structures or materials
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a synchronous belt supporting system of a linear module, which comprises a linear module and a synchronous belt supporting device fixed on the linear module, wherein the linear module comprises a track, a synchronous belt and a sliding seat, the sliding seat can move along the track, and the synchronous belt supporting device is separated from the synchronous belt before the sliding seat moves to the synchronous belt supporting device; after the sliding seat moves to the synchronous belt supporting device, the synchronous belt supporting device is combined with the synchronous belt. A supporting control method for the synchronous belt of linear module is also disclosed. The invention can effectively reduce the sagging of the synchronous belt, and can not cause any influence on the service performance of the synchronous belt when the synchronous belt is arranged on the linear module.
Description
Technical Field
The invention belongs to the field of mechanical transmission, and relates to a linear module synchronous belt supporting system and a control method.
Background
The common linear module at present is characterized in that a synchronous belt is fixedly connected to a sliding seat through a fastening device, and sealing is completed at the sliding seat; the two sides of the linear track of the linear module are provided with rolling shafts; the sliding seat is provided with a roller which can do linear motion along the roller; the lower part of the sliding seat is fixedly connected with mobile equipment; therefore, under the drive of the motor, the synchronous belt wheel drives the synchronous belt to operate, and further drives the sliding seat fixedly connected with the synchronous belt to reciprocate along the axis direction of the linear module.
However, according to the deformation calculation formula of the simple beam of the material mechanics, it can be known that: for the synchronous belt below the linear track, the slide seat is equivalent to a support; when the sliding seat is at the middle position, the sagging amount is minimum; when the limiting positions of the two sides of the synchronous belt are reached, the sagging amount of the synchronous belt is maximum; and the larger the sagging amount is as the length of the synchronous belt increases. When excessive sagging occurs, excessive component force is generated on the synchronous belt in the vertical direction, and transmission is affected. In addition, the vibration condition of the synchronous belt is aggravated when the mobile equipment runs, particularly, larger transverse vibration and longitudinal vibration can occur when the mobile equipment accelerates and decelerates, if the natural frequency of the vibration is close to that of surrounding equipment, resonance can occur, and the equipment work and the service life of the synchronous belt are seriously affected. Therefore, the current synchronous belt linear module is generally less than 10 meters in service length, and the application range is greatly limited.
Disclosure of Invention
The invention aims to provide a linear module synchronous belt supporting system and a control method thereof, wherein the system can effectively reduce sagging of a synchronous belt, and is arranged on a linear module without influencing the service performance of the linear module.
The technical scheme adopted for solving the technical problems is as follows: a synchronous belt supporting system of a linear module comprises a linear module and a synchronous belt supporting device fixed on the linear module, wherein the linear module comprises a track, a synchronous belt and a sliding seat, the sliding seat can move along the track, and the synchronous belt supporting device is separated from the synchronous belt before the sliding seat moves to the synchronous belt supporting device; after the sliding seat moves to the synchronous belt supporting device, the synchronous belt supporting device is combined with the synchronous belt.
As the preferable scheme, the synchronous belt supporting device comprises a lifting mechanism, a slewing mechanism, a telescopic mechanism and a supporting wheel, wherein the lifting mechanism, the slewing mechanism, the telescopic mechanism and the supporting wheel are arranged on the linear module, the slewing mechanism is arranged on the lifting mechanism, the telescopic mechanism is arranged on the slewing mechanism, and the supporting wheel is arranged on the telescopic mechanism.
As the preferable scheme, the lifting mechanism and the telescopic mechanism both adopt electric push rods, and the rotary mechanism adopts an electric rotary motor. The telescoping accuracy of the electric push rod is higher. The electric motor has simple structure and light weight, and reduces the load born by the linear module; the volume is small, and the occupied space of the supporting device is reduced.
As the preferable scheme, the synchronous belt supporting device comprises a lifting mechanism installation seat and a telescopic mechanism installation seat, wherein the lifting mechanism is fixed with the track through the lifting mechanism installation seat, and the slewing mechanism is fixed with the telescopic mechanism through the telescopic mechanism installation seat.
As a preferable scheme, the side surface of the rail is provided with a groove, and the lifting mechanism mounting seat is fixed with the groove through a screw and a nut.
As the preferable scheme, the synchronous belt supporting device comprises a supporting wheel shaft and a proximity sensor, one end of the supporting wheel shaft is fixed with the telescopic mechanism, the other end of the supporting wheel shaft is fixed with the proximity sensor, the supporting wheel is fixed with the supporting wheel shaft through a bearing, and the supporting wheel shaft penetrates through the supporting wheel.
Preferably, the supporting wheel shaft is a hollow shaft.
As a preferable scheme, a first position tag and a second position tag are fixed on the track, and the first position tag and the second position tag are respectively positioned on two sides of the synchronous belt supporting device; the slide is provided with a position tag reading device.
Preferably, the first position tag, the second position tag and the position tag reading device all adopt RFID tags.
As the preferable scheme, the track is provided with a driving motor, a driving belt pulley and a driven belt pulley, wherein the driving belt pulley and the driven belt pulley are positioned at two ends of the track, an output shaft of the driving motor is fixed with the driving belt pulley, and the driving belt pulley and the driven belt pulley are driven by a synchronous belt.
As a preferred scheme, the sliding seat is provided with a control unit which is electrically connected with the proximity sensor, the lifting mechanism, the telescopic mechanism, the slewing mechanism, the position tag reading device and the driving motor respectively.
A supporting control method of a linear module synchronous belt comprises the following steps:
step 1: the sliding seat moves to the front of the synchronous belt supporting device, the control unit reads the current running direction of the driving motor, and when the position tag reading device reads the first position tag, the current position tag information is fed back to the control unit; the current position tag information is a first position tag;
step 2: the control unit controls the driving motor to stop according to the running direction of the driving motor and the position label information;
step 3: the control unit sends a control instruction to the synchronous belt supporting device, and the synchronous belt supporting device is separated from the synchronous belt;
step 4: the sliding seat moves to the rear of the synchronous belt supporting device, the control unit reads the current running direction of the driving motor, and when the position tag reading device reads the second position tag, the current position tag information is fed back to the control unit; the current position tag information is a second position tag;
step 5: the control unit controls the driving motor to stop according to the current running direction of the driving motor and the position label information;
step 6: the control unit sends a control instruction to the synchronous belt supporting device, and the synchronous belt supporting device is combined with the synchronous belt.
As a preferable aspect, in step 3, the method for separating the synchronous belt supporting device from the synchronous belt includes the following steps:
step 3.1, the control unit sends a control instruction to the lifting mechanism, and the lifting mechanism descends;
step 3.2, the control unit sends a control instruction to the telescopic mechanism, and the telescopic mechanism is contracted to the shortest;
step 3.3, the control unit sends a control instruction to the slewing mechanism, and the slewing mechanism drives the telescopic mechanism and the proximity sensor to rotate 360 degrees;
and 3.4, the control unit sends a control instruction to the lifting mechanism, and the lifting mechanism ascends to the limit position.
As a preferable aspect, in step 6, a method for combining a synchronous belt supporting device with a synchronous belt includes the following steps:
step 6.1, the control unit sends a control instruction to the lifting mechanism, and the lifting mechanism descends;
step 6.2, the control unit sends a control instruction to the slewing mechanism, and the slewing mechanism drives the telescopic mechanism and the proximity sensor to reversely rotate for 360 degrees;
step 6.3, the control unit sends a control instruction to the telescopic mechanism, and the telescopic mechanism stretches;
and 6.4, the control unit sends a control instruction to the lifting mechanism, the lifting mechanism drives the telescopic mechanism and the proximity sensor to approach the linear module, and when the proximity sensor reaches the sensing distance, the lifting mechanism stops moving.
The invention has the beneficial effects that:
(1) The invention greatly reduces the sagging amount of the synchronous belt without affecting the normal operation of the linear module, effectively improves the transmission condition, simultaneously reduces the transverse vibration and the longitudinal vibration generated during the acceleration and the deceleration of the synchronous belt, effectively improves the working condition of equipment and prolongs the service life of the synchronous belt.
(2) By installing a plurality of synchronous belt supporting devices on the linear module, the using length of the synchronous belt linear module can be prolonged, and the application range of the synchronous belt linear module is enlarged.
(3) The synchronous belt supporting device has the degrees of freedom in the horizontal direction, the vertical direction and the rotation direction, and the respective degrees of freedom realize the movement in sequence, so that the synchronous belt supporting device is simple in structure and easy to control.
(4) According to the invention, the lifting mechanism mounting seat is fixed with the nuts in the grooves through the screws, so that the distance between the synchronous belt supporting device and the synchronous belt is reduced, and the lifting stroke of the lifting mechanism and the telescopic stroke requirement of the telescopic mechanism are reduced.
(5) The wiring modes of the proximity sensor, the telescopic mechanism and the slewing mechanism are all hidden wires, and finally the wires pass through the track grooves, so that the wires are prevented from being wound, the external abrasion and damage to the wires are avoided, and the wiring is attractive.
Drawings
Fig. 1 is a schematic structural diagram of a conventional linear module.
Fig. 2 is a schematic structural view of a conventional linear module slider portion.
Fig. 3 is a schematic structural view of the linear module after the synchronous belt supporting device is installed.
Fig. 4 is a schematic view of the structure of the present invention when combined.
Fig. 5 is a schematic view of the structure of the lifting mechanism in the invention when the lifting mechanism descends.
Fig. 6 is a schematic view of the telescopic mechanism of the present invention when contracted.
Fig. 7 is a schematic view of the structure of the swing mechanism of the present invention when the swing mechanism swings 360 °.
Fig. 8 is a schematic view of the lifting mechanism of the present invention when lifting.
Fig. 9 is a schematic diagram showing sagging variation of the front and rear timing belts according to the present invention.
The marks in the figure are as follows: 1. a synchronous belt supporting device; 101. a lifting mechanism mounting seat; 102. a lifting mechanism; 103. a telescopic mechanism mounting seat; 104. a telescoping mechanism; 105. supporting the wheel axle; 106. a support wheel; 108. a proximity sensor; 109. a slewing mechanism; 2. a first location tag; 3. a second location tag; 4. a linear module; 401. a synchronous belt; 402. the device comprises a sliding seat, a roller, 4021, a roller, 4022 and a roller; 403. track, 4031, groove, 404, driving motor, 405, driving pulley, 406, driven pulley.
Detailed Description
The invention is further described below with reference to the drawings and the detailed description.
Fig. 1-2 show a linear module 4 commonly used at present, wherein the linear module 4 comprises a track 403, a sliding seat 402 and a synchronous belt 401, the sliding seat 402 is fixedly connected to the synchronous belt 401 through a fastening device, and the sliding seat 402 is closed; the two sides of the rail 403 are provided with rollers 4021, the slide carriage 402 is provided with rollers 4022, and the rollers 4022 can linearly move along the rollers 4021; a mobile device is fixedly connected below the sliding seat 402, and the mobile device can be a detection device, such as a camera or a thermal infrared imager, and also can be a robot; in this way, the synchronous belt 401 is driven by the driving motor to drive the synchronous belt 401 to run, and then drives the sliding seat 402 fixedly connected with the synchronous belt 401 to reciprocate along the track axis direction.
As shown in fig. 3, the linear module synchronous belt supporting system comprises a linear module 4 and a synchronous belt supporting device 1 arranged on the linear module 4, wherein the linear module 4 comprises a track 403, a synchronous belt 401 and a sliding seat 402, the sliding seat 402 moves along the track, and the synchronous belt supporting device 1 is separated from the synchronous belt 401 before the sliding seat 402 moves to the synchronous belt supporting device 1; after the carriage 402 moves to the timing belt supporting device 1, the timing belt supporting device 1 incorporates the timing belt 401.
As a specific embodiment, as shown in fig. 4, the synchronous belt supporting device 1 includes a lifting mechanism mounting base 101, a lifting mechanism 102, a swing mechanism 109, a telescopic mechanism 104, a telescopic mechanism mounting base 103, a supporting wheel shaft 105 and a supporting wheel 106, wherein the lifting mechanism 102 is fixed to the rail 403 through the lifting mechanism mounting base 101, one end of the swing mechanism 109 is fixed to the lifting mechanism 102, the other end is fixed to the telescopic mechanism mounting base 103, one end of the telescopic mechanism 104 is connected to the telescopic mechanism mounting base 103, the other end of the telescopic mechanism 104 is fixed to the supporting wheel shaft 105, and the supporting wheel shaft 105 is fixed to the supporting wheel 106. Specifically, the supporting wheel 106 is sleeved on the supporting wheel shaft 105 through a bearing, and the supporting wheel shaft 105 passes through the supporting wheel 106. The lifting mechanism 102 can lift and the telescoping mechanism 104 can telescope. The slewing mechanism 109 can drive the telescopic mechanism 104 to rotate 360 ° in the plane.
Specifically, the groove 4031 is formed in the side surface of the track 403, the lifting mechanism mounting seat 101 is fixed with a nut in the groove 4031 through a screw, and the lifting mechanism mounting seat is mounted in such a way, so that the distance between the synchronous belt supporting device 1 and the synchronous belt 401 is reduced, the lifting stroke of the lifting mechanism and the telescopic stroke requirement of the telescopic mechanism are reduced, the volumes and the weights of the lifting mechanism and the telescopic mechanism are reduced, the weight of the synchronous belt supporting device borne by the track is reduced, the volume of the synchronous belt supporting device is reduced, and the lifting mechanism is convenient, fast and stable to mount.
As an embodiment, the lifting mechanism 102 and the telescopic mechanism 104 are both electric push rods, and the turning mechanism 109 is an electric turning motor. The telescoping accuracy of the electric push rod is higher. The electric motor has simple structure and light weight, and reduces the load born by the linear module; the volume is small, and the space occupied by the synchronous belt supporting device is reduced. In this embodiment, when adopting electric putter, electric putter opens there is the passageway for power supply cable and control cable pass through, avoid the cable to expose to the external wearing and tearing that cause the cable and destroy, the wiring is also pleasing to the eye.
As an embodiment, as shown in fig. 4, the timing belt supporting apparatus 1 includes a proximity sensor 108, and the supporting hub 105 is fixed to the proximity sensor 108. The sensing distance of the proximity sensor 108 should ensure that the normal operation of the linear module is not affected when the synchronous belt supporting device 1 is combined with the synchronous belt 401. The proximity sensor 108 is a device having the ability to sense the proximity of an object, which uses the sensitivity characteristics of the displacement sensor to recognize the proximity of an object to which it is approaching, and outputs a corresponding switching signal. In this embodiment, proximity sensor 108 is used, model number TAP-34X35U1-DA 3.
As a specific embodiment, the support axle 105 is a hollow axle. The cable connected with the proximity sensor passes through the supporting wheel shaft, so that wiring is facilitated, and the cable is prevented from being exposed to the outside.
As a specific embodiment, as shown in fig. 3, the track 403 is fixed with a first position tag 2 and a second position tag 3, and the first position tag 2 and the second position tag 3 are located on both sides of the synchronous belt supporting device 1, respectively. The carriage 402 is equipped with a position tag reading device. Specifically, the first position tag 2, the second position tag 3 and the position tag reading device all adopt RFID tags. RFID is a wireless radio frequency identification technology, automatically identifies a target object through radio frequency signals and acquires related data, and the identification work does not need manual intervention.
As an embodiment, as shown in fig. 1, a track 403 is provided with a driving motor 404, a driving pulley and a driven pulley, the driving motor 404 is fixed to the track 403, the driving pulley 405 and the driven pulley 406 are positioned at both ends of the track 403, an output shaft of the driving motor is fixed to the driving pulley 405, and the driving pulley 405 and the driven pulley 406 are driven by a timing belt 401.
As an embodiment, the carriage 402 is provided with a control unit electrically connected to the proximity sensor 108, the lifting mechanism 102, the telescopic mechanism 104, the swing mechanism 109, the position tag reading device, and the driving motor 404, respectively.
As a specific embodiment, the track 403 is fixed with a control box, the system includes a control cable and a power cable, the lifting mechanism 102, the slewing mechanism 109 and the telescopic mechanism 104 are all provided with channels for the cables to pass through, the control cable and the power cable are led out from the control box and then sequentially pass through the track grooves, the channels of the lifting mechanism, the slewing mechanism and the telescopic mechanism, the hollow shaft of the supporting wheel shaft, and finally are connected with the proximity sensor, and are respectively connected with the lifting mechanism, the slewing mechanism and the telescopic mechanism in the wiring process, so that the lifting mechanism, the slewing mechanism and the telescopic mechanism are powered and controlled, the wiring mode is a hidden wire, the winding between the cables is avoided, the abrasion and damage of the cables are avoided, and the wiring is attractive.
Specifically, the invention is implemented by two conditions of left movement and right movement of the sliding seat:
(1) The carriage moving from left to right
When the first position label is read, the control unit combines the first position label information and the rotation direction of the current driving motor to send a motion stopping instruction to the driving motor; simultaneously, a disengaging instruction is sent to the synchronous belt supporting device; when the second position label is read, the control unit combines the second position label information and the rotation direction of the current driving motor, and sends a combined instruction to the synchronous belt supporting device.
(2) The carriage moving from right to left
When the second position label is read, the control unit combines the second position label information and the rotation direction of the current driving motor to send a motion stopping instruction to the driving motor; simultaneously, a disengaging instruction is sent to the synchronous belt supporting device; when the first position label is read, the control unit combines the first position label information and the rotation direction of the current driving motor, and sends a combined instruction to the synchronous belt supporting device.
A supporting control method of a linear module synchronous belt, as shown in fig. 5-8, comprises the following steps:
step 1: the sliding seat moves to the front of the synchronous belt supporting device, the control unit reads the current running direction of the driving motor, and when the position tag reading device reads the first position tag, the current position tag information is fed back to the control unit; the current position tag information is a first position tag;
step 2: according to the running direction of the linear module driving motor and the position label information, the control unit controls the driving motor to stop, wherein the stop of the driving motor means that the driving motor stops running;
step 3: the control unit sends a control instruction to the synchronous belt supporting device, and the synchronous belt is separated from the synchronous belt supporting device;
step 4: the sliding seat moves to the rear of the synchronous belt supporting device, the control unit reads the current running direction of the driving motor, and when the position tag reading device reads the second position tag, the current position tag information is fed back to the control unit; the current position tag information is a second position tag;
step 5: according to the current running direction of the linear module driving motor and the position label information, the control unit controls the driving motor to stop, wherein the driving motor stops refers to stopping running of the driving motor;
step 6: the control unit sends a control instruction to the synchronous belt supporting device, and the synchronous belt is combined with the synchronous belt supporting device.
As a preferable aspect, in step 3, the method for separating the synchronous belt from the synchronous belt supporting device includes the steps of:
step 3.1, the control unit sends a control instruction to the lifting mechanism, and the lifting mechanism descends;
step 3.2, the control unit sends a control instruction to the telescopic mechanism, and the telescopic mechanism is contracted to the shortest;
step 3.3, the control unit sends a control instruction to the slewing mechanism, and the slewing mechanism drives the telescopic mechanism and the proximity sensor to rotate 360 degrees;
and 3.4, the control unit sends a control instruction to the lifting mechanism, and the lifting mechanism ascends to the limit position. The limit position is the maximum position that the lifting mechanism can lift.
As a preferable aspect, in step 6, the method for combining the synchronous belt with the synchronous belt supporting device includes the following steps:
step 6.1, the control unit sends a control instruction to the lifting mechanism, and the lifting mechanism descends;
step 6.2, the control unit sends a control instruction to the slewing mechanism, and the slewing mechanism drives the telescopic mechanism and the proximity sensor to reversely rotate for 360 degrees;
step 6.3, the control unit sends a control instruction to the telescopic mechanism, and the telescopic mechanism stretches;
and 6.4, the control unit sends a control instruction to the lifting mechanism, the lifting mechanism drives the telescopic mechanism and the proximity sensor to approach the linear module, and when the proximity sensor reaches the sensing distance, the lifting mechanism stops moving.
In fig. 9, the solid line is a schematic view of the sagging condition of the linear module synchronous belt, and the dotted line is a schematic view of the sagging condition of the synchronous belt after adding 2 sets of synchronous belt supporting devices 1. As known from the material mechanics, if n sets of synchronous belt supporting devices 1 are added, the maximum sagging amount is reduced to 1/(n+1) 4 . By installing a plurality of synchronous belt supporting devices on the linear module, the using length of the synchronous belt linear module can be prolonged, and the application range of the synchronous belt linear module is enlarged.
The embodiments described in the present specification are merely examples of implementation forms of the inventive concept, and the scope of protection of the present invention should not be construed as being limited to the specific forms set forth in the embodiments, and the scope of protection of the present invention and equivalent technical means that can be conceived by those skilled in the art based on the inventive concept.
Claims (7)
1. A linear module hold-in range braced system, its characterized in that: the synchronous belt supporting device is separated from the synchronous belt before the sliding seat moves to the synchronous belt supporting device; after the sliding seat moves to the synchronous belt supporting device, the synchronous belt supporting device is combined with the synchronous belt;
the synchronous belt supporting device comprises a lifting mechanism, a slewing mechanism, a telescopic mechanism and supporting wheels, wherein the lifting mechanism, the slewing mechanism, the telescopic mechanism and the supporting wheels are arranged on the linear module;
the synchronous belt supporting device comprises a lifting mechanism installation seat and a telescopic mechanism installation seat, wherein the lifting mechanism is fixed with the track through the lifting mechanism installation seat, the track is provided with a groove, and the lifting mechanism installation seat is fixed with a nut in the groove through a screw; the slewing mechanism is fixed with the telescopic mechanism through a telescopic mechanism mounting seat.
2. A linear modular timing belt support system as set forth in claim 1, wherein: the lifting mechanism and the telescopic mechanism both adopt electric push rods, and the rotary mechanism adopts an electric rotary motor.
3. A linear modular timing belt support system as set forth in claim 1, wherein: the synchronous belt supporting device comprises a supporting wheel shaft and a proximity sensor, one end of the supporting wheel shaft is fixed with the telescopic mechanism, the other end of the supporting wheel shaft is fixed with the proximity sensor, the supporting wheel is fixed with the supporting wheel shaft through a bearing, and the supporting wheel shaft penetrates through the supporting wheel; the supporting wheel shaft is a hollow shaft.
4. A linear modular timing belt support system as described in claim 3, wherein: the track is fixed with a first position tag and a second position tag which are respectively positioned at two sides of the synchronous belt supporting device; the slide is provided with a position tag reading device.
5. The linear modular timing belt support system as in claim 4, wherein: the track is provided with a driving motor, a driving belt pulley and a driven belt pulley, the driving belt pulley and the driven belt pulley are positioned at two ends of the track, an output shaft of the driving motor is fixed with the driving belt pulley, and the driving belt pulley and the driven belt pulley are driven by a synchronous belt; the slide is provided with a control unit which is electrically connected with the proximity sensor, the lifting mechanism, the telescopic mechanism, the slewing mechanism, the position tag reading device and the driving motor respectively.
6. A supporting control method of a linear module synchronous belt comprises the following steps:
step 1: the sliding seat moves to the front of the synchronous belt supporting device, the control unit reads the current running direction of the driving motor, and when the position tag reading device reads the first position tag, the current position tag information is fed back to the control unit;
step 2: the control unit controls the driving motor to stop according to the running direction of the driving motor and the position label information;
step 3: the control unit sends a control instruction to the synchronous belt supporting device, and the synchronous belt supporting device is separated from the synchronous belt;
step 4: the sliding seat moves to the rear of the synchronous belt supporting device, the control unit reads the current running direction of the driving motor, and when the position tag reading device reads the second position tag, the current position tag information is fed back to the control unit;
step 5: the control unit controls the driving motor to stop according to the current running direction of the driving motor and the position label information;
step 6: the control unit sends a control instruction to the synchronous belt supporting device, and the synchronous belt supporting device is combined with the synchronous belt;
in step 3, the method for separating the synchronous belt supporting device from the synchronous belt comprises the following steps:
step 3.1, the control unit sends a control instruction to the lifting mechanism, and the lifting mechanism descends;
step 3.2, the control unit sends a control instruction to the telescopic mechanism, and the telescopic mechanism is contracted to the shortest;
step 3.3, the control unit sends a control instruction to the slewing mechanism, and the slewing mechanism drives the telescopic mechanism and the proximity sensor to rotate 360 degrees;
and 3.4, the control unit sends a control instruction to the lifting mechanism, and the lifting mechanism ascends to the limit position.
7. The method for controlling the supporting of the synchronous belt of the linear module according to claim 6, wherein: in step 6, the method for combining the synchronous belt supporting device with the synchronous belt comprises the following steps:
step 6.1, the control unit sends a control instruction to the lifting mechanism, and the lifting mechanism descends;
step 6.2, the control unit sends a control instruction to the slewing mechanism, and the slewing mechanism drives the telescopic mechanism and the proximity sensor to reversely rotate for 360 degrees;
step 6.3, the control unit sends a control instruction to the telescopic mechanism, and the telescopic mechanism stretches;
and 6.4, the control unit sends a control instruction to the lifting mechanism, the lifting mechanism drives the telescopic mechanism and the proximity sensor to approach the linear module, and when the proximity sensor reaches the sensing distance, the lifting mechanism stops moving.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811295746.4A CN110145575B (en) | 2018-11-01 | 2018-11-01 | Linear module synchronous belt supporting system and control method |
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| CN201811295746.4A CN110145575B (en) | 2018-11-01 | 2018-11-01 | Linear module synchronous belt supporting system and control method |
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| CN110145575B true CN110145575B (en) | 2023-10-03 |
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| CN110145576A (en) * | 2018-11-01 | 2019-08-20 | 浙江大学山东工业技术研究院 | Synchronous belt support device |
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| CN1204616A (en) * | 1997-06-30 | 1999-01-13 | 杰维斯·B·韦伯国际公司 | Movable backup bar assembly |
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| KR20150095985A (en) * | 2014-02-13 | 2015-08-24 | 주식회사 드림로봇 | Belt drive belt bite prevention device of cartesian coordinates robot |
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