CN112286081A - High-precision multi-axis motion control system and control method - Google Patents
High-precision multi-axis motion control system and control method Download PDFInfo
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- CN112286081A CN112286081A CN202011137397.0A CN202011137397A CN112286081A CN 112286081 A CN112286081 A CN 112286081A CN 202011137397 A CN202011137397 A CN 202011137397A CN 112286081 A CN112286081 A CN 112286081A
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
The invention provides a high-precision multi-axis motion control system, which comprises: the system adopts two groups of servo motion control systems, the second motion mechanism realizes horizontal motion through a belt, and the first motion mechanism realizes rotary motion through a speed reducer. The two sets of systems are integrated through an electric control system and connected with an upper computer to realize high-precision programming motion control. The high-precision multi-axis motion control system provided by the invention adopts the speed reducer to enhance the load capacity of the belt, and realizes high precision and accuracy of motion through programming control. The purpose that the workpiece can realize multi-axis cooperative motion by utilizing the upper computer to program and control in the multi-axis motion control operation process is achieved, the loading capacity is strong, and the system stability is high.
Description
Technical Field
The invention relates to the technical field of motion control, in particular to a high-precision multi-axis motion control system and a control method.
Background
With the upgrading of the machine manufacturing industry, a great amount of machine equipment taking the motion control technology as the core is rapidly developed in various industries, such as numerical control machine tools, industrial robots, offset printing equipment, winding machines, glass processing machines, packaging machines and the like.
High speed and high precision are always the goals pursued by the motion control technology. Motion control technologies can be rapidly developed, mainly benefiting from the development of computers, high-speed digital processors (DSPs), automatic control technologies, and the like. In order to meet the requirements of different processing fields, the numerical control technology in China has great progress, but large-scale, high-precision and high-speed numerical control equipment and a numerical control system still need to be imported, and the improvement of the equipment manufacturing industry and the processing capability in China is greatly restricted.
Currently, an open numerical control system based on a PC and a motion controller is greatly developed, and the research core thereof lies in the key technology of the motion controller, because indexes of the numerical control machine, such as high speed, high precision and high reliability, mainly depend on the performance of the motion controller. The development of Digital Signal Processors (DSPs) has enabled the operational capability of motion control processes to be improved to a great extent, and motion controllers developed using DSPs have become more and more stable in performance and increasingly powerful in function. The strong operational capability of the DSP enables a complex control algorithm in the motion control process to be well supported, so that a motion control system can more effectively perform motion planning, error compensation and more complex kinematics and dynamics calculation, and the motion control precision is higher, the speed is higher and the motion is more stable. Therefore, a system capable of high-precision motion in multi-axis motion is lacking.
Disclosure of Invention
The invention provides a high-precision multi-axis motion control system, which is used for achieving the purpose of improving the motion precision in a multi-axis motion system.
The invention provides a high-precision multi-axis motion control system, which comprises: a main frame, a first motion mechanism and a second motion mechanism,
the first movement mechanism and the second movement mechanism are respectively arranged on the main frame, and the first movement mechanism and the second movement mechanism are respectively provided with an image acquisition unit and a distance acquisition unit;
the first motion mechanism and the second motion mechanism respectively reciprocate the workpiece along a first motion track and a second motion track through the image acquisition unit and the distance acquisition unit.
Preferably, the main frame is a frame body formed by welding square pipes, a first panel is arranged on the main frame, a first movement mechanism and a distribution box are arranged on the lower surface of the first panel at intervals, and the distribution box is electrically connected with the first movement mechanism and the second movement mechanism;
the distribution box is fixed at the inner bottom of the main frame through a first frame body; a support rod is arranged on the lower surface of the first panel and is positioned between the first movement mechanism and the distribution box;
the distribution box is also internally provided with a controller which is respectively and electrically connected with the first movement mechanism;
the support rod is connected with the main frame through an angle plate.
Preferably, a plurality of second frame bodies are arranged on the inner bottom surface of the main frame at intervals, and the second frame bodies are used for erecting the first movement mechanism;
the first motion mechanism includes: the third panel is erected on one surface, close to the first panel, of the second frame body through a plurality of reinforcing plates, and through holes are formed in the first panel and the third panel;
the through hole of the first panel is used for the tray to pass through and reciprocate; the lower surface of the tray is connected with the rotating end of the motor through a rotating shaft, the motor penetrates through the through hole of the third panel, and one end, far away from the rotating end, of the motor is fixed on the third panel.
Preferably, a plurality of first sliding rails are arranged on the side wall of the main frame at intervals, a plurality of fixed blocks are arranged on the first sliding rails in a sliding manner, and the lower surfaces of the fixed blocks are connected with first connecting rods;
the first connecting rod penetrates through the sliding groove of the first sliding rail and extends towards one surface of the first panel;
the two first connecting rods are respectively connected with two ends of a connecting plate, a screw rod penetrates through the center of the connecting plate, one end, close to the first sliding rail, of the screw rod is in threaded connection with a fixed block, the end part of the screw rod is connected with a rocking wheel, and the rocking wheel is used for rotating connection of the screw rod on the fixed block;
the other end of the screw rod is rotatably connected with a clamping block, and the clamping block is fixed on the upper surface of the first panel.
Preferably, two clamping blocks are arranged on the upper surface of the connecting plate at intervals, the clamping blocks respectively clamp second connecting rods, one ends, close to the upper surface of the first panel, of the second connecting rods are respectively connected to one side of a fourth panel, the upper surface of the fourth panel is respectively provided with an image acquisition unit and a distance acquisition unit, and the acquisition ends of the image acquisition unit and the distance acquisition unit face the inside of the main frame;
wherein, the distance acquisition unit is erected on the fourth panel through the L plate.
Preferably, the second movement mechanism includes: a second slide rail, a sixth panel and a slide module,
the second slide rails are arranged inside the main frame at intervals, a sixth panel is erected between every two adjacent second slide rails, a sliding module is arranged on the sixth panel, one side, close to the first movement mechanism, of the sliding module is provided with a sliding box, and the sliding box is used for clamping workpieces to reciprocate on the second slide rails along with the sliding module.
Preferably, a seventh panel is slidably arranged on the slide way of the second slide rail, a lower surface of one end, away from the second slide rail, of the seventh panel is connected with the second panel, a plurality of clamping blocks are arranged on one surface, away from the second slide rail, of the second panel at intervals, each clamping block is used for clamping a second connecting rod, and one end, facing the first panel, of each second connecting rod is fixedly connected with a fifth panel;
a T-shaped plate is connected to the fifth panel, sliding boxes are respectively arranged on two sides of one end, far away from the fifth panel, of the T-shaped plate, and the sliding boxes are used for erecting workpieces;
an image acquisition unit and a distance acquisition unit are respectively installed on the surface of the fifth panel, and the acquisition ends of the image acquisition unit and the distance acquisition unit face the first panel;
the distance acquisition unit is arranged on the surface of the fifth panel through an L-shaped plate frame.
The invention provides a high-precision multi-axis motion control system which adopts two groups of servo motion control systems, wherein a second motion mechanism realizes horizontal motion through a belt, and a first motion mechanism realizes rotary motion through a speed reducer. The two sets of systems are integrated through an electric control system and connected with an upper computer to realize high-precision programming motion control.
The high-precision multi-axis motion control system provided by the invention adopts the speed reducer to enhance the load capacity of the belt, and realizes high precision and accuracy of motion through programming control. The purpose that the workpiece can realize multi-axis cooperative motion by utilizing the upper computer to program and control in the multi-axis motion control operation process is achieved, the loading capacity is strong, and the system stability is high.
The invention provides a high-precision multi-axis motion control method, which is suitable for a high-precision multi-axis motion control system and comprises the following steps:
erecting the workpiece on a sliding box;
respectively acquiring first axial image information and first axial distance information of the workpiece on the sliding box by utilizing image acquisition information and distance acquisition information arranged on a fourth panel;
according to the acquired image information and the acquired distance information, a controller is utilized to drive a sliding module of a second movement mechanism to move on a second sliding rail;
or, erecting the workpiece on a tray;
respectively acquiring second axial image information and distance information of the workpiece on the tray by using an image acquisition unit and a distance acquisition unit which are arranged on a fifth panel;
and driving a motor of the first movement mechanism to drive a rotating shaft to rotate by using the controller according to the acquired image information and the acquired distance information.
The invention provides a high-precision multi-axis motion control method, which adopts two groups of servo motion control systems, wherein one group realizes the reciprocating motion of a workpiece by taking a second axial direction as a reference through a second motion mechanism; namely, the belt realizes horizontal movement, and the sensor can be suspended to realize high-precision fixed-length reciprocating movement;
the other group realizes that the workpiece reciprocates by taking the first axial direction as a reference through the first motion mechanism; that is, the motor increases the load capacity, and drives the tray to realize the rotary motion. The controller integrates the two systems to realize the purpose that the workpiece respectively reciprocates by taking the first axial direction and the second axial direction as the reference; namely, the purpose that the workpiece can rotate by taking the Y axis as a central line and can perform directional fixed-length movement by taking the X axis as the central line is realized.
In the invention, the controller is also connected with a cloud server through an internet module and respectively uploads the image information and the distance information of the workpiece to the cloud server; respectively comparing the collected image information and the collected distance information with prestored information of a cloud server; if the first motion mechanism triggers a motion instruction, the workpiece is rotated along the Y axis through the first motion mechanism; if the second motion mechanism starts a motion instruction, the second motion mechanism realizes the fixed-length directional displacement of the workpiece in the x axis.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a high-precision multi-axis motion control system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a first motion mechanism of a high-precision multi-axis motion control system according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a second motion mechanism of a high-precision multi-axis motion control system according to an embodiment of the present invention;
wherein, 1-a main frame, 2-a distribution box, 3-a first frame body, 4-a tray, 5-a first panel, 6-a first connecting rod, 7-a connecting plate, 8-a fixed block, 9-a slideway, 10-a rocking wheel, 11-a second panel and 12-a second sliding rail,
13-a second frame body, 14-a third panel, 15-a reinforcing plate, 16-a motor, 17-a rotating shaft, 18-a supporting rod,
19-a fixture block, 20-an image acquisition unit, 21-a first slide rail, 22-a fourth panel, 23-an L-shaped plate, 24-a distance acquisition unit, 25-a fifth panel, 26-a sliding box, 27-a T-shaped plate, 28-an angle plate, 29-a sixth panel, 30-a sliding module, 31-a sixth panel, 32-a seventh panel and 33-a second connecting rod.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
According to fig. 1-3, the present invention provides a high precision multi-axis motion control system comprising: the device comprises a main frame 1, a first movement mechanism and a second movement mechanism, wherein the first movement mechanism and the second movement mechanism are respectively arranged on the main frame 1, and are respectively provided with an image acquisition unit 20 and a distance acquisition unit 24;
the first motion mechanism and the second motion mechanism reciprocate the workpiece along the first motion track and the second motion track through the image acquisition unit 20 and the distance acquisition unit 24, respectively.
The invention provides a high-precision multi-axis motion control system which adopts two groups of servo motion control systems, wherein a second motion mechanism realizes horizontal motion through a belt, and a first motion mechanism realizes rotary motion through a speed reducer. The two sets of systems are integrated through an electric control system and connected with an upper computer to realize high-precision programming motion control.
The high-precision multi-axis motion control system provided by the invention adopts the speed reducer to enhance the load capacity of the belt, and realizes high precision and accuracy of motion through programming control. The purpose that the workpiece can realize multi-axis cooperative motion by utilizing the upper computer to program and control in the multi-axis motion control operation process is achieved, the loading capacity is strong, and the system stability is high.
The first motion trail is that the workpiece rotates along the Y axis, and the second motion trail is that the workpiece displaces along the X axis.
In one embodiment, the main frame 1 is a frame body formed by welding square pipes, a first panel 5 is arranged on the main frame 1, a first motion mechanism and a distribution box 2 are arranged on the lower surface of the first panel 5 at intervals, and the distribution box 2 is electrically connected with the first motion mechanism and a second motion mechanism; the distribution box 2 is fixed at the inner bottom of the main frame 1 through a first frame body 3; a support rod 18 is arranged on the lower surface of the first panel 5, and the support rod 18 is positioned between the first motion mechanism and the distribution box 2; a controller is further arranged in the distribution box 2, and the controllers are respectively and electrically connected with the first movement mechanism; the support bar 18 is connected to the main frame 1 by a gusset 28.
The controller is used for controlling the opening or closing of the first motion mechanism and the second motion mechanism and controlling the motion speed of the first motion mechanism and the second motion mechanism; the supporting rod is used for improving the bearing capacity of the first panel, and the upper surface of the first panel or the tray can bear more bearing articles.
In one embodiment, a plurality of second frame bodies 13 are arranged at intervals on the inner bottom surface of the main frame 1, and the second frame bodies 13 are used for erecting the first movement mechanism; the first motion mechanism includes: the tray comprises a third panel 14, a rotating shaft 17 and a tray 4, wherein the third panel 14 is erected on one surface, close to the first panel 5, of the second frame body 13 through a plurality of reinforcing plates 15, and through holes are formed in the first panel 5 and the third panel 14; the through hole of the first panel 5 is used for the tray 4 to pass through and reciprocate; the lower surface of the tray 4 is connected with the rotating end of a motor 16 through a rotating shaft 17, the motor 16 penetrates through a through hole of the third panel 14, and one end, far away from the rotating end, of the motor 16 is fixed on the third panel 14.
When the first movement mechanism works, the motor is started through the controller, the rotating shaft is driven to rotate through the rotating end after the motor works, and the tray is driven to rotate together with the rotating shaft after the rotating shaft rotates, so that the aim of rotating a workpiece placed on the upper surface of the tray is fulfilled; still be equipped with a plurality of pilot holes at the interval on the tray, the pilot hole is used for installing the work piece for the work piece can not cause because of centrifugal force the condition that breaks away from the tray at rotatory in-process.
In one embodiment, a plurality of first sliding rails 21 are arranged on the side wall of the main frame 1 at intervals, a plurality of fixing blocks 8 are slidably arranged on the first sliding rails 21, and the lower surfaces of the fixing blocks 8 are connected with first connecting rods 6; the first connecting rod 6 penetrates through the sliding groove of the first sliding rail 21 and extends towards one surface of the first panel 5; the two first connecting rods 6 are respectively connected with two ends of a connecting plate 7, a screw rod penetrates through the center of the connecting plate 7, one end, close to the first sliding rail 21, of the screw rod is in threaded connection with a fixed block 8, the end part of the screw rod is connected with a rocking wheel 10, and the rocking wheel 10 is used for rotationally connecting the screw rod on the fixed block 8; the other end of the screw rod is rotatably connected with a clamping block 19, and the clamping block 19 is fixed on the upper surface of the first panel 5.
Two clamping blocks 31 are arranged on the upper surface of the connecting plate 7 at intervals, the clamping blocks 31 are respectively clamped with second connecting rods 33, one ends, close to the upper surface of the first panel 5, of the second connecting rods 33 are respectively connected to one side of a fourth panel 22, the upper surface of the fourth panel 22 is respectively provided with an image acquisition unit 20 and a distance acquisition unit 24, and the acquisition ends of the image acquisition unit 20 and the distance acquisition unit 24 face the inside of the main frame 1; wherein, the distance acquisition unit 24 is erected on the fourth panel 22 through the L-shaped panel 23.
The fixed block can reciprocate on the slide way of the first slide rail, so that the aim of adjusting the position of the clamping block connected to the connecting plate to move is fulfilled; the fourth panel position that the clamp splice is connected is further realized moving to realize the purpose that image acquisition unit and the distance acquisition unit of installation carry out the displacement on the fourth panel, realize from this adjusting the position of image acquisition unit and distance acquisition unit collection end, thereby realize to the work piece on the first panel can adjust the purpose thereupon when carrying out image information or distance information collection.
And the connecting plate is arranged on the first connecting rod in a penetrating mode, the screw rod with the rocking wheel is fixed on the connecting plate, the other end of the screw rod is in threaded connection with the clamping block, so that when the rocker is rotated, the height of the connecting plate can be adjusted, the heights of the image acquisition unit and the acquisition end of the distance acquisition unit are further achieved, and the purpose that the image acquisition unit and the distance acquisition unit can be adjusted along with a workpiece in the working process in a matching mode is achieved.
In this embodiment, the image acquisition unit and the distance acquisition unit mainly acquire information for a workpiece moving in the X-axis direction.
In one embodiment, the second motion mechanism comprises: second slide rail 12, sixth panel 29 and slip module 30, second slide rail 12 interval is established the inside of main frame 1, adjacent two sixth panel 29 has erect between second slide rail 12, be equipped with slip module 30 on the sixth panel 29, slip module 30 is close to one side of first motion is equipped with slip box 26, slip box 26 is used for pressing from both sides and establishes the work piece along with slip module 30 reciprocating motion on second slide rail 12.
When the second movement mechanism works, the sliding module is started through the controller, and the sliding module can be a linear driver or a mechanism that a driving wheel and a driven wheel are driven by a belt; the sliding box is used for installing a workpiece needing to be displaced, and the sliding module drives the workpiece installed on the sliding box to reciprocate on the second sliding rail, so that the purpose that the workpiece can be displaced in the X-axis direction is achieved.
In one embodiment, a seventh panel 32 is slidably disposed on the slideway 9 of the second slide rail 12, a second panel 11 is connected to a lower surface of one end of the seventh panel 32, which is far away from the second slide rail 12, a plurality of clamping blocks 31 are disposed at intervals on one surface of the second panel 11, which is far away from the second slide rail 12, each clamping block 31 is used for clamping a second connecting rod 33, and a fifth panel 25 is fixedly connected to one end of the second connecting rod 33, which faces the first panel 5; a T-shaped plate 27 is connected to the fifth panel 25, two sides of one end, away from the fifth panel 25, of the T-shaped plate 27 are respectively provided with a sliding box 26, and the sliding boxes 26 are used for erecting workpieces; an image acquisition unit 20 and a distance acquisition unit 24 are respectively installed on the surface of the fifth panel 25, and the acquisition ends of the image acquisition unit 20 and the distance acquisition unit 24 face the first panel 5; wherein, the distance collecting unit 24 is disposed on the surface of the fifth panel 25 through an L-plate frame.
In this embodiment, the seventh panel and the second panel are matched together to erect the image acquisition units and the distance acquisition units, so that the purpose of acquiring image information and distance information of the workpiece placed on the upper surface of the first panel by at least two image acquisition units and a group of distance acquisition units is achieved, and the purpose of acquiring workpiece information of the upper surfaces of the tray and the first panel is achieved; the image acquisition unit is image or video information, and the distance acquisition unit is height or depth information of features such as bulges or depressions on the workpiece. The purpose of acquiring information of the workpiece on the first panel or the tray is further achieved.
The first movement mechanism and the second movement mechanism are combined with the two sets of image acquisition units and the distance acquisition units, and information acquisition is carried out on the workpiece on the first panel or the tray together, so that the purpose of scanning a three-dimensional model of the workpiece is achieved, and further equidistant equivalent movement of the first movement mechanism and the second movement mechanism can be achieved through the controller in the scanning process, and the purpose of high-precision movement is achieved.
The invention provides a high-precision multi-axis motion control method, which is suitable for a high-precision multi-axis motion control system and comprises the following steps:
mounting the work on the slide cassette 26;
respectively collecting first axial image information and first axial distance information of the workpiece on the slide box 26 by using the image collecting information and the distance collecting information installed on the fourth panel 22;
according to the collected image information and the collected distance information, a controller is utilized to drive a sliding module 30 of the second movement mechanism to move on the second sliding rail 12;
alternatively, the work is mounted on the pallet 4;
respectively acquiring second axial image information and distance information of the workpiece on the tray 4 by using the image acquisition unit 20 and the distance acquisition unit 24 which are arranged on the fifth panel 25;
and driving the motor 16 of the first movement mechanism to drive the rotating shaft 17 to rotate by using the controller according to the acquired image information and the acquired distance information.
The invention provides a high-precision multi-axis motion control method, which adopts two groups of servo motion control systems, wherein one group realizes the reciprocating motion of a workpiece by taking a second axial direction as a reference through a second motion mechanism; namely, the belt realizes horizontal movement, and the sensor can be suspended to realize high-precision fixed-length reciprocating movement;
the other group realizes that the workpiece reciprocates by taking the first axial direction as a reference through the first motion mechanism; that is, the motor increases the load capacity, and drives the tray to realize the rotary motion. The controller integrates the two systems to realize the purpose that the workpiece respectively reciprocates by taking the first axial direction and the second axial direction as the reference; namely, the purpose that the workpiece can rotate by taking the Y axis as a central line and can perform directional fixed-length movement by taking the X axis as the central line is realized.
In the invention, the controller is also connected with a cloud server through an internet module and respectively uploads the image information and the distance information of the workpiece to the cloud server; respectively comparing the collected image information and the collected distance information with prestored information of a cloud server; if the first motion mechanism triggers a motion instruction, the workpiece is rotated along the Y axis through the first motion mechanism; if the second motion mechanism starts a motion instruction, the second motion mechanism realizes the fixed-length directional displacement of the workpiece in the x axis.
The image acquisition unit is image or video information, and the distance acquisition unit is height or depth information of features such as bulges or depressions on the workpiece. The purpose of acquiring information of the workpiece on the first panel or the tray is further achieved.
The first movement mechanism and the second movement mechanism are combined with the two sets of image acquisition units and the distance acquisition units, and information acquisition is carried out on the workpiece on the first panel or the tray together, so that the purpose of scanning a three-dimensional model of the workpiece is achieved, and further equidistant equivalent movement of the first movement mechanism and the second movement mechanism can be achieved through the controller in the scanning process, and the purpose of high-precision movement is achieved.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (8)
1. A high precision multi-axis motion control system, comprising: a main frame (1), a first motion mechanism and a second motion mechanism,
the first movement mechanism and the second movement mechanism are respectively arranged on the main frame (1), and the first movement mechanism and the second movement mechanism are both provided with an image acquisition unit (20) and a distance acquisition unit (24);
the first motion mechanism and the second motion mechanism respectively reciprocate the workpiece along a first motion track and a second motion track through the image acquisition unit (20) and the distance acquisition unit (24).
2. A high-precision multi-axis motion control system according to claim 1, wherein the main frame (1) is a square tube welded frame, a first panel (5) is disposed on the main frame (1), a first motion mechanism and a distribution box (2) are disposed at intervals on the lower surface of the first panel (5), and the distribution box (2) is electrically connected to the first motion mechanism and the second motion mechanism;
the distribution box (2) is fixed at the inner bottom of the main frame (1) through a first frame body (3); a support rod (18) is arranged on the lower surface of the first panel (5), and the support rod (18) is positioned between the first movement mechanism and the distribution box (2);
a controller is further arranged in the distribution box (2), and the controllers are respectively and electrically connected with the first motion mechanisms;
the supporting rod (18) is connected with the main frame (1) through an angle plate (28).
3. A high precision multi-axis motion control system as claimed in claim 1, wherein the inner bottom surface of the main frame (1) is provided with a plurality of second frame bodies (13) at intervals, the second frame bodies (13) are used for erecting the first motion mechanism;
the first motion mechanism includes: the tray comprises a third panel (14), a rotating shaft (17) and a tray (4), wherein the third panel (14) is erected on one surface, close to the first panel (5), of the second frame body (13) through a plurality of reinforcing plates (15), and through holes are formed in the first panel (5) and the third panel (14);
the through hole of the first panel (5) is used for the tray (4) to pass through and reciprocate; the lower surface of tray (4) is through pivot (17) connection motor (16) rotation end, motor (16) run through the through-hole of third panel (14), the one end that the rotation end was kept away from in motor (16) is fixed on third panel (14).
4. A high-precision multi-axis motion control system as claimed in claim 1, wherein the side wall of the main frame (1) is provided with a plurality of first slide rails (21) at intervals, the first slide rails (21) are provided with a plurality of fixed blocks (8) in a sliding manner, and the lower surfaces of the fixed blocks (8) are connected with first connecting rods (6);
the first connecting rod (6) penetrates through the sliding groove of the first sliding rail (21) and extends towards one surface of the first panel (5);
the two first connecting rods (6) are respectively connected with two ends of a connecting plate (7), a screw rod penetrates through the center of the connecting plate (7), one end, close to the first sliding rail (21), of the screw rod is connected with a fixed block (8) in a threaded mode, the end portion of the screw rod is connected with a rocking wheel (10), and the rocking wheel (10) is used for enabling the screw rod to be rotatably connected on the fixed block (8);
the other end of the screw rod is rotatably connected with a clamping block (19), and the clamping block (19) is fixed on the upper surface of the first panel (5).
5. A high-precision multi-axis motion control system as claimed in claim 4, wherein the upper surface of the connecting plate (7) is provided with two clamping blocks (31) at intervals, the clamping blocks (31) respectively clamp second connecting rods (33), one ends of the second connecting rods (33) close to the upper surface of the first panel (5) are respectively connected to one side of a fourth panel (22), the upper surface of the fourth panel (22) is respectively provided with an image acquisition unit (20) and a distance acquisition unit (24), and the acquisition ends of the image acquisition unit (20) and the distance acquisition unit (24) face to the inside of the main frame (1);
wherein the distance acquisition unit (24) is erected on the fourth panel (22) through an L-shaped plate (23).
6. A high accuracy multi-axis motion control system as defined in claim 1 wherein said second motion mechanism comprises: a second slide rail (12), a sixth panel (29) and a slide module (30),
second slide rail (12) interval is established the inside of main frame (1), adjacent two sixth panel (29) have been erect between second slide rail (12), be equipped with slip module (30) on sixth panel (29), slip module (30) are close to one side of first motion is equipped with slip box (26), slip box (26) are used for pressing from both sides and establish the work piece along with slip module (30) reciprocating motion on second slide rail (12).
7. A high-precision multi-axis motion control system as claimed in claim 6, wherein a seventh panel (32) is slidably disposed on the slide way (9) of the second slide rail (12), a second panel (11) is connected to a lower surface of one end of the seventh panel (32) far away from the second slide rail (12), a plurality of clamping blocks (31) are disposed at intervals on one surface of the second panel (11) far away from the second slide rail (12), each clamping block (31) is used for clamping a second connecting rod (33), and a fifth panel (25) is fixedly connected to one end of the second connecting rod (33) facing the first panel (5);
a T-shaped plate (27) is connected to the fifth panel (25), two sides of one end, far away from the fifth panel (25), of the T-shaped plate (27) are respectively provided with a sliding box (26), and the sliding boxes (26) are used for erecting workpieces;
an image acquisition unit (20) and a distance acquisition unit (24) are respectively installed on the surface of the fifth panel (25), and the acquisition ends of the image acquisition unit (20) and the distance acquisition unit (24) face the first panel (5);
wherein the distance acquisition unit (24) is arranged on the surface of the fifth panel (25) through an L-shaped plate frame.
8. A high-precision multi-axis motion control method applied to a high-precision multi-axis motion control system according to any one of claims 1 to 7, comprising the steps of:
erecting the workpiece on a slide cassette (26);
respectively acquiring first axial image information and first axial distance information of the workpiece on the sliding box (26) by utilizing image acquisition information and distance acquisition information installed on the fourth panel (22);
according to the collected image information and the collected distance information, a controller is utilized to drive a sliding module (30) of a second movement mechanism to move on a second sliding rail (12);
or, the work piece is erected on the tray (4);
an image acquisition unit (20) and a distance acquisition unit (24) which are arranged on a fifth panel (25) are used for respectively acquiring second axial image information and distance information of the workpiece on the tray (4);
and according to the acquired image information and the acquired distance information, a motor (16) of the first movement mechanism is driven by the controller to drive a rotating shaft (17) to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011137397.0A CN112286081B (en) | 2020-10-22 | 2020-10-22 | High-precision multi-axis motion control system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011137397.0A CN112286081B (en) | 2020-10-22 | 2020-10-22 | High-precision multi-axis motion control system and control method |
Publications (2)
| Publication Number | Publication Date |
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| CN114084619A (en) * | 2021-11-24 | 2022-02-25 | 华中科技大学鄂州工业技术研究院 | Intelligent control system and method for production line |
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