CN115407714B - Multi-axis motion position synchronous control method - Google Patents
Multi-axis motion position synchronous control method Download PDFInfo
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- CN115407714B CN115407714B CN202211042601.XA CN202211042601A CN115407714B CN 115407714 B CN115407714 B CN 115407714B CN 202211042601 A CN202211042601 A CN 202211042601A CN 115407714 B CN115407714 B CN 115407714B
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- G—PHYSICS
- 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
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35349—Display part, programmed locus and tool path, traject, dynamic locus
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a multi-axis motion position synchronous control method, which comprises the following steps: (1) The first linear driving mechanism drives the first moving body to move at a uniform speed along a straight line; (2) The second linear driving mechanism drives the second moving body to do linear motion in the same direction as the first moving body; a synchronous following module is arranged between the first moving body and the second moving body so that the first moving body and the second moving body reach a state of determining relative position relation and synchronously moving; (3) When the first moving body and the second moving body reach a state of relative position relation determination and synchronous movement, the first moving body and the second moving body are locked together by utilizing the position locking device, so that the first moving body and the second moving body are locked together to form integral forward synchronous movement. The invention realizes synchronous control of two moving bodies by adopting a mode of combining speed tracking synchronization and mechanical synchronization, forms strict synchronous motion, and does not generate any speed error in the subsequent moving process.
Description
Technical Field
The invention relates to a motion control method, in particular to a multi-axis motion position synchronous control method.
Background
The multi-axis motion mechanism is widely applied to industrial production, such as processing, assembly and other occasions of parts. In the working process of the multi-axis motion mechanism, synchronous motion is required between two motion parts in part occasions, for example, in the field of automatic processing, a workpiece to be processed is sequentially conveyed forwards on a workpiece conveying line which continuously moves forwards in a straight line, and a processing module is arranged beside the workpiece conveying line. In the machining process of the synchronous motion, in order to ensure the machining precision, the workpiece and the machining module must be in strict synchronous motion, in the prior art, the workpiece and the machining module are always controlled by respectively controlling the motion speeds of the workpiece and the machining module, so that the workpiece and the machining module realize synchronous motion, but the workpiece and the machining module are difficult to achieve strict synchronization due to factors such as motion errors of mechanical parts, and particularly for high-precision machining, the machining precision of the workpiece is influenced by the precision of the synchronism.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a multi-axis motion position synchronous control method which can ensure that two moving bodies in a multi-axis motion mechanism move strictly synchronously.
The aim of the invention is achieved by the following technical scheme:
a multi-axis motion position synchronous control method is used for realizing synchronous motion between two moving bodies, wherein a first moving body moves along a straight line, and the first moving body is driven by a first straight line driving mechanism to move in a straight line; the second moving body is a multi-axis operation mechanism and is arranged on one side of the movement route of the first moving body, the second moving body comprises a tail end operation module and a multi-axis driving structure for driving the tail end operation module to move in a three-dimensional space, the second moving body is connected to a second linear driving mechanism, and the second linear driving mechanism drives the second moving body to do linear motion along the movement direction of the first moving body; the method comprises the following steps:
(1) The first linear driving mechanism drives the first moving body to move at a uniform speed along a straight line;
(2) The second moving body is positioned at the initial position, and when the first moving body is about to reach the second moving body, the second linear driving mechanism drives the second moving body to do linear motion in the same direction as the first moving body; a synchronous following module is arranged between the first moving body and the second moving body to enable the first moving body and the second moving body to synchronously move, and the synchronous following module comprises a light source arranged on the first moving body, a light carrying plate arranged on the second moving body and a visual identification module arranged on the second moving body; the visual recognition module performs image recognition on light spots on the light carrier plate in the process that the second moving body follows the first moving body, and when the image recognition module recognizes that the light spots are positioned at the set position of the light carrier plate and are kept unchanged, the first moving body and the second moving body reach a state that the relative position relation is determined and the movement is synchronous;
(3) When the first moving body and the second moving body reach a state of relative position relation determination and synchronous movement, the first moving body and the second moving body are locked together by utilizing a position locking device, the position locking device comprises a locking bolt arranged on the second moving body, a locking driving mechanism for driving the locking bolt to do telescopic movement and a locking hole arranged on the first moving body, when the first moving body and the second moving body reach a state of relative position relation determination and synchronous movement, the locking bolt is aligned with the locking hole, and the locking driving mechanism pushes the locking bolt into the locking hole, so that the first moving body and the second moving body are locked together to form integral forward synchronous movement.
Preferably, the second linear driving mechanism comprises a second driving motor, a screw transmission mechanism and a linear moving seat, wherein the second driving motor is connected with a screw in the screw transmission mechanism, a screw nut in the screw transmission mechanism is arranged on the linear moving seat, and a synchronous driving hole is arranged on the linear moving seat; the position locking device is also provided with a synchronous driving locking block which is driven by a locking driving mechanism to synchronously move with the locking bolt; in the process that the second linear driving mechanism drives the second moving body to do linear motion, the synchronous driving locking block is matched in the synchronous driving hole; in the step (3), when the locking driving mechanism pushes the locking bolt into the locking hole, the synchronous driving locking block is driven to leave the synchronous driving hole, so that the driving power of the second linear driving mechanism to the second moving body is cut off.
Preferably, the locking driving mechanism adopts an electromagnet; the locking bolt is connected with the synchronous driving locking block and is connected with the telescopic end of the electromagnet; the entrance of the locking hole is provided with a conical opening, and the tail end of the locking bolt is provided with a conical structure so as to facilitate the locking bolt to be locked into the locking hole; the tail end of the synchronous driving locking block is arranged into an inclined surface structure so that the synchronous driving locking block can be conveniently locked into the synchronous driving hole.
Preferably, after step (3) is completed, step (4) is further included: in the process that the first moving body and the second moving body are locked together to form integral forward synchronous movement, a tail end operation module on the second moving body processes a workpiece in the first moving body; meanwhile, the second linear driving mechanism keeps the original speed to continue to move forwards, so that the linear moving seat and the second moving body synchronously move; when the tail end operation module finishes processing the workpiece in the first moving body, the locking driving mechanism drives the locking bolt to leave the locking hole and drives the synchronous driving locking block to reenter the synchronous driving hole, and then the second linear driving mechanism drives the second moving body to reversely move, so that the second linear driving mechanism is restored to the initial position and waits for the next operation.
Preferably, in the second moving body, the multi-axis driving structure includes an X-axis motion driving mechanism, a Y-axis motion driving mechanism, and a Z-axis motion driving mechanism, which respectively drive the end operation module to move in the X-axis direction and the Y-axis direction in the Z-axis direction, and the end operation module is disposed on the X-axis motion driving mechanism; in the process that the first moving body and the second moving body are locked together to form integral forward synchronous movement, after the relative position relation of the first moving body and the second moving body is determined and the synchronous movement state is achieved, the X-axis movement driving mechanism, the Y-axis movement driving mechanism and the Z-axis movement driving mechanism drive the tail end operation module to move in a three-dimensional space so as to process a workpiece on the first moving body.
Preferably, the multi-shaft driving structure is arranged on the movable frame, the locking driving mechanism is fixed on the movable frame, and the second linear driving mechanism drives the movable frame to move by driving the movable frame, so that the multi-shaft driving structure and the tail end operation module are driven to move.
Preferably, the image recognition module is arranged on the movable frame, the camera of the image recognition module is arranged downwards, and the light carrying plate is arranged right below the camera; the light carrying plate is a semitransparent plate, and the light source is positioned below the light carrying plate; the light source projects a cross-shaped light spot on the light carrying plate; the image recognition module compares the position of the light spot center at the current moment with the position of the light carrier plate and transmits the position difference data of the light spot center at the current moment to the control module, meanwhile, the image recognition module also compares the position of the light spot center at the current moment with the position of the light carrier plate at the last moment, calculates the speed difference data of the first moving body and the second moving body and transmits the speed difference data to the control module, the second linear driving mechanism adjusts the control parameters in real time according to the position difference data and the speed difference data, and the second linear driving mechanism controls the movement speed of the second moving body, so that the light spot center moves towards the target position at the position of the light carrier plate and finally the speed of the first moving body and the speed of the second moving body are consistent, and the first moving body and the second moving body reach a relative position relation to determine and synchronous movement state; the control module then sends a control signal to the position locking device, which locks the first moving body and the second moving body together.
Preferably, the second moving bodies are two groups and are oppositely arranged at two sides of the moving direction of the first moving body; the first moving bodies are multiple and are uniformly arranged along the moving direction; when the first group of second moving bodies and the corresponding first moving bodies synchronously move and carry out processing operation, the second group of second moving bodies are in a state of finishing the operation and returning to an initial position, and when the second group of second moving bodies and the corresponding first moving bodies synchronously move and carry out processing operation, the first group of second moving bodies are in a state of finishing the operation and returning to the initial position, namely, the first group of second moving bodies and the second group of second moving bodies alternately carry out the operation, and the processing of two workpieces is completed in one processing period.
Preferably, the second moving bodies are two groups, and are arranged along the moving direction of the first moving body; the first moving bodies are multiple and are uniformly arranged along the moving direction; when the first group of second moving bodies synchronously move with the corresponding first moving bodies and carry out machining operation, the second group of second moving bodies synchronously move with the corresponding first moving bodies and carry out machining operation; when the first group of second moving bodies are in a state of finishing the operation and returning to the initial position, the second group of second moving bodies are also in a state of finishing the operation and returning to the initial position, namely the first group of second moving bodies and the second group of second moving bodies synchronously operate, and the processing of two workpieces is completed in one processing period.
Preferably, the first linear driving mechanism is a synchronous belt driving mechanism and consists of a motor, a synchronous belt wheel and a synchronous belt, the first moving body is a workpiece seat which is fixedly connected to the synchronous belt, and the light source is arranged on the workpiece seat; two guide grooves are oppositely formed in two sides of the synchronous belt, a conical guide opening is formed in the starting end of each guide groove, and guide blocks are arranged on two sides of the workpiece seat and are matched with the guide grooves, so that the workpiece seat moves strictly according to a linear track in the moving process.
Compared with the prior art, the invention has the following beneficial effects:
1. in the prior art, two relatively independent moving bodies keep synchronous movement, and synchronous movement is usually realized by respectively controlling the speed of each moving body to be consistent, but the speed difference of the two moving bodies can occur in the continuous synchronous movement process due to control precision errors, manufacturing errors of the moving mechanism of the moving bodies and the like, continuous adjustment is needed, and for high-precision machining, the machining precision is greatly reduced due to poor synchronism; in the invention, synchronous control of the two moving bodies is realized by adopting a mode of combining speed tracking synchronization and mechanical synchronization, specifically, in the speed tracking stage, the speed of the first moving body and the speed of the second moving body reach the consistency by utilizing the synchronous following module, the relative position reaches the determined position, and then the first moving body and the second moving body are locked together by adopting a mechanical locking mode, so that the first moving body and the second moving body form a rigid whole, thereby forming strict synchronous movement, avoiding any speed error in the subsequent moving process, carrying out processing operation in the process, and meeting the processing requirement of high precision.
2. According to the invention, the synchronous following module projects light spots to the light-carrying plate arranged on the second moving body by utilizing the light source arranged on the first moving body, the light spots on the light-carrying plate are identified by the visual identification module arranged on the second moving body, and the speed difference between the first moving body and the second moving body is judged by judging the position and the change of the position of the light spots on the light-carrying plate, so that the two moving bodies realize direct comparison of the speed difference in a non-contact process.
Drawings
Fig. 1 is an electrical schematic block diagram of a multi-axis motion position synchronization control method of the present invention.
Fig. 2 and 3 are schematic structural views of a specific automatic processing apparatus to which the multi-axis motion position synchronization control method of the present invention is applied, wherein fig. 2 is a top view and fig. 3 is a perspective view.
Fig. 4 and 5 are perspective structural views of the second moving body in the structure shown in fig. 2 and 3.
Fig. 6 is a schematic view of a second linear driving mechanism in the structure shown in fig. 2 and 3.
Fig. 7 is a schematic view of a first linear driving mechanism in the structure shown in fig. 2 and 3.
Fig. 8 is a schematic structural view of another specific automated processing equipment to which the multi-axis motion position synchronization control method of the present invention is applied.
Detailed Description
The invention is further described below with reference to examples and figures, but embodiments of the invention are not limited thereto.
Example 1
Referring to fig. 1 to 7, the multi-axis motion position synchronous control method of the present embodiment is used to realize synchronous motion between two moving bodies. The first moving body 1 moves along a straight line, and the first moving body 1 is driven by the first straight line driving mechanism 3 to move along the straight line; the second moving body 2 is a multi-axis operation mechanism, the second moving body 2 is arranged on one side of the movement route of the first moving body 1, the second moving body 2 comprises a tail end operation module 2-1 and a multi-axis driving structure for driving the tail end operation module 2-1 to move in a three-dimensional space, the second moving body 2 is connected to a second linear driving mechanism 4, and the second linear driving mechanism 4 drives the second moving body 2 to do linear motion along the movement direction of the first moving body 1. The method comprises the following steps:
(1) The first linear driving mechanism 3 drives the first moving body 1 to move at a uniform speed along a straight line;
(2) The second moving body 2 is positioned at the initial position, and when the first moving body 1 is about to reach the second moving body 2, the second linear driving mechanism 4 drives the second moving body 2 to do linear motion in the same direction as the first moving body 1; providing a synchronous following module 6 between the first moving body 1 and the second moving body 2 to enable the first moving body 1 and the second moving body 2 to synchronously move, wherein the synchronous following module 6 comprises a light source 6-1 arranged on the first moving body 1, a light carrying plate 6-2 arranged on the second moving body 2 and a visual recognition module 6-3 arranged on the second moving body 2; in the process that the second moving body 2 follows the first moving body 1, the light source 6-1 projects light onto the light carrying plate 6-2, the visual recognition module 6-3 carries out image recognition on light spots on the light carrying plate 6-2, and when the image recognition module 6-3 recognizes that the light spots are positioned at the set position of the light carrying plate 6-2 and keep unchanged, the first moving body 1 and the second moving body 2 reach a relative position relation to determine and synchronously move states;
(3) When the relative positional relationship between the first moving body 1 and the second moving body 2 is determined and the movement state is synchronized, the first moving body 1 and the second moving body 2 are locked together by using a position locking device 5, the position locking device 5 comprises a locking bolt 5-1 arranged on the second moving body 2, a locking driving mechanism 5-2 for driving the locking bolt 5-1 to make telescopic movement and a locking hole 5-4 arranged on the first moving body 1, when the relative positional relationship between the first moving body 1 and the second moving body 2 is determined and the movement state is synchronized, the locking bolt 5-1 is aligned with the locking hole 5-4, and the locking driving mechanism 5-2 pushes the locking bolt 5-1 into the locking hole 5-4, so that the first moving body 1 and the second moving body 2 are locked together to form integral forward synchronous movement.
As a specific implementation means, the second linear driving mechanism 4 includes a second driving motor 4-1, a screw transmission mechanism and a linear moving seat 4-2, wherein the second driving motor 4-1 is connected with a screw in the screw transmission mechanism, a screw nut in the screw transmission mechanism is arranged on the linear moving seat 4-2, and a synchronous driving hole 4-3 is arranged on the linear moving seat 4-2; the position locking device 5 is also provided with a synchronous driving locking block 5-3, and the synchronous driving locking block 5-3 is driven by a locking driving mechanism 5-2 to synchronously move with the locking bolt 5-1; in the process of driving the second moving body 2 to do linear motion by the second linear driving mechanism 4, the synchronous driving locking block 5-3 is matched in the synchronous driving hole 4-3. In step (3), when the locking driving mechanism 5-2 pushes the locking bolt 5-1 into the locking hole 5-4, the synchronous driving locking block 5-3 is driven to leave the synchronous driving hole 4-3, so that the driving power of the second linear driving mechanism 4 to the second moving body 2 is cut off. Thus, when the first moving body 1 and the second moving body 2 are locked together, the first linear driving mechanism 3 drives the two moving bodies to perform linear motion, so that motion interference caused by simultaneous driving of two power is avoided, and better synchronism of the two moving bodies is ensured. Specifically, the second driving motor 4-1 is disposed on the frame 7, and a linear guide mechanism is disposed between the linear motion seat 4-2 and the frame 7 to ensure the motion accuracy of the linear motion seat 4-2.
Referring to fig. 2-5 and fig. 7, in this embodiment, the locking driving mechanism 5-2 is formed by an electromagnet, and the electromagnet can realize the driving of linear motion in the switching process of the power-on state and the power-off state. The locking bolt 5-1 is connected with the synchronous driving locking block 5-3 and is connected with the telescopic end of the electromagnet; the entrance of the locking hole 5-4 is provided with a conical opening, and the tail end of the locking bolt 5-1 is provided with a conical structure, so that the locking bolt 5-1 can be conveniently locked into the locking hole 5-4, and the first moving body 1 and the second moving body 2 can be accurately locked together even if a certain position error exists. Similarly, the tail end of the synchronous driving locking block 5-3 is provided with an inclined surface structure, so that the synchronous driving locking block 5-3 is conveniently locked into the synchronous driving hole 4-3. The electromagnet is utilized to drive the locking bolt 5-1 and the synchronous driving locking block 5-3 to synchronously move, the synchronous driving locking block 5-3 leaves the synchronous driving hole 4-3 while the locking bolt 5-1 is locked in the locking hole 5-4, and the power of the second linear driving mechanism 4 is timely cut off to avoid motion interference.
Referring to fig. 2 to 7, after step (3) is completed, step (4) is further included: in the process that the first moving body 1 and the second moving body 2 are locked together to form integral forward synchronous movement, a tail end operation module 2-1 on the second moving body 2 processes a workpiece in the first moving body 1; at the same time, the second linear driving mechanism 4 keeps the original speed to continue to move forwards, so that the linear moving seat 4-2 and the second moving body 2 synchronously move; after the end operation module 2-1 finishes processing the workpiece in the first moving body 1, the locking driving mechanism 5-2 drives the locking bolt 5-1 to leave the locking hole 5-4 and drives the synchronous driving locking block 5-3 to reenter the synchronous driving hole 4-3, and then the second linear driving mechanism 4 drives the second moving body 2 to reversely move, so that the second moving body is restored to the initial position and waits for the next operation. In the operation process, the second linear drive keeps the original speed to move forwards continuously, so that after the operation is finished, the synchronous drive locking block 5-3 and the synchronous drive hole 4-3 are still in an aligned state, and at the moment, the second linear drive mechanism 4 and the second moving body 2 can be quickly jointed together and return to the initial position, the auxiliary time of return stroke is reduced, and the production efficiency is improved.
Referring to fig. 4 and 5, in the second moving body 2, the multi-axis driving structure includes an X-axis movement driving mechanism 2-3, a Y-axis movement driving mechanism 2-4, and a Z-axis movement driving mechanism 2-5, which respectively drive the end operation module 2-1 to move in the X-axis direction and the Y-axis direction in the Z-axis direction, and the end operation module 2-1 is disposed on the X-axis movement driving mechanism 2-3; in the process that the first moving body 1 and the second moving body 2 are locked together to form integral forward synchronous movement, after the first moving body 1 and the second moving body 2 reach a relative position relation determining and synchronous movement state, the X-axis movement driving mechanism 2-3, the Y-axis movement driving mechanism 2-4 and the Z-axis movement driving mechanism 2-5 drive the tail end operation module 2-1 to move in a three-dimensional space so as to process a workpiece on the first moving body 1. The X-axis motion driving mechanism 2-3, the Y-axis motion driving mechanism 2-4 and the Z-axis motion driving mechanism 2-5 are all composed of a motor and a screw transmission mechanism. The end working module 2-1 can be flexibly determined according to the actual working occasion, such as a welding head for welding or a laser head for laser engraving, etc.
Referring to fig. 2-5, the multi-axis driving structure is disposed on the moving frame 2-2, the locking driving mechanism 5-2 is fixed on the moving frame 2-2, and the second linear driving mechanism 4 drives the moving frame 2-2 to move, so as to drive the multi-axis driving structure and the terminal operation module 2-1 to move. In order to ensure the accuracy of the linear motion, a linear guide mechanism is also provided between the moving frame 2-2 and the frame 7.
Referring to fig. 1, 4, 5 and 7, the image recognition module 6-3 is disposed on the moving frame 2-2, the camera of the image recognition module 6-3 is disposed downward, and the light-carrying plate 6-2 is disposed under the camera; the light carrying plate 6-2 is a semitransparent plate, and the light source 6-1 is positioned below the light carrying plate 6-2, so that light spots projected onto the semitransparent light carrying plate 6-2 from below can be identified by the image identification module 6-3 above; the light source 6-1 projects a cross-shaped light spot on the light carrying plate 6-2; the image recognition module 6-3 acquires the light spot image on the light carrier plate 6-2 in real time, and calculates the position of the current light spot center on the light carrier plate 6-2 in real time, wherein the specific calculation method can adopt the image recognition algorithm in the prior art for processing; the image recognition module 6-3 compares the position of the light spot center at the current moment on the light carrying plate 6-2 with the target position, and transmits the position difference data of the light spot center at the current moment to the control module, meanwhile, the image recognition module 6-3 also compares the position of the light spot center at the current moment on the light carrying plate 6-2 with the position of the light spot center at the last moment on the light carrying plate 6-2, calculates the speed difference data of the first moving body 1 and the second moving body 2, and transmits the speed difference data to the control module, the control module adjusts the control parameters to the second linear driving mechanism 4 in real time according to the position difference data and the speed difference data, and the second linear driving mechanism 4 controls the movement speed of the second moving body 2, so that the light spot center moves to the target position at the position of the light carrying plate 6-2, and finally the speeds of the first moving body 1 and the second moving body 2 are consistent, and the relative position relation between the first moving body 1 and the second moving body 2 is ensured, and the synchronous movement state is achieved; the control module then sends a control signal to the position locking device 5, which locks the first moving body 1 and the second moving body 2 together by the position locking device 5. In this way, the speeds of the first moving body 1 and the second moving body 2 are consistent, synchronous movement is realized, the speeds are consistent, and the position relationship between the first moving body 1 and the second moving body is in a determined state, so that the position relationship between the first moving body and the second moving body is located at a zero position, and then the multi-axis driving structure takes the zero position as a reference to perform movement control of subsequent processing operation, thereby being beneficial to obtaining higher-precision processing.
Referring to fig. 2 and 3, in the present embodiment, the second moving bodies 2 are two groups, and are arranged along the moving direction of the first moving body 1; the first moving bodies 1 are a plurality of and are uniformly arranged along the moving direction; when the first group of second moving bodies 2 and the corresponding first moving bodies 1 synchronously move and perform machining operation, the second group of second moving bodies 2 and the corresponding first moving bodies 1 synchronously move and perform machining operation; when the first set of second moving bodies 2 is in a state of finishing the operation and returning to the initial position, the second set of second moving bodies 2 is also in a state of finishing the operation and returning to the initial position, that is, the first set of second moving bodies 2 and the second set of second moving bodies 2 synchronously operate, and the processing of two workpieces is completed in one processing cycle. By providing two sets of second moving bodies 2, the production efficiency can be doubly improved.
Referring to fig. 7, in this embodiment, the first linear driving mechanism 3 is a synchronous belt driving mechanism, and is composed of a first driving motor 3-2, a synchronous belt 3-1 wheel and a synchronous belt 3-1, the first moving body 1 is a workpiece seat, the workpiece seat is fixedly connected to the synchronous belt 3-1, and the light source 6-1 is disposed on the workpiece seat; two guide grooves 3-3 are oppositely formed in two sides of the synchronous belt 3-1, a conical guide opening 3-4 is formed in the starting end of the guide groove 3-3, and guide blocks are arranged on two sides of the workpiece seat and are matched with the guide grooves 3-3, so that the workpiece seat moves strictly according to a linear track in the moving process.
Example 2
Referring to fig. 8, the difference between the embodiment and embodiment 1 is that in this embodiment, the second moving bodies 2 are two groups, which are oppositely disposed at two sides of the moving direction of the first moving body 1; the first moving bodies 1 are a plurality of and are uniformly arranged along the moving direction; when the first group of second moving bodies 2 and the corresponding first moving bodies 1 synchronously move and carry out processing operation, the second group of second moving bodies 2 are in a state of finishing the operation and returning to an initial position, and when the second group of second moving bodies 2 and the corresponding first moving bodies 1 synchronously move and carry out processing operation, the first group of second moving bodies 2 are in a state of finishing the operation and returning to the initial position, namely, the first group of second moving bodies 2 and the second group of second moving bodies 2 alternately carry out the operation, and the processing of two workpieces is finished in one processing period.
The foregoing is illustrative of the present invention, and is not to be construed as limiting thereof, but rather as various changes, modifications, substitutions, combinations, and simplifications which may be made without departing from the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (10)
1. A multi-axis motion position synchronous control method is used for realizing synchronous motion between two moving bodies, wherein a first moving body moves along a straight line, and the first moving body is driven by a first straight line driving mechanism to move in a straight line; the second moving body is a multi-axis operation mechanism and is arranged on one side of the movement route of the first moving body, the second moving body comprises a tail end operation module and a multi-axis driving structure for driving the tail end operation module to move in a three-dimensional space, the second moving body is connected to a second linear driving mechanism, and the second linear driving mechanism drives the second moving body to do linear motion along the movement direction of the first moving body; the method comprises the following steps:
(1) The first linear driving mechanism drives the first moving body to move at a uniform speed along a straight line;
(2) The second moving body is positioned at the initial position, and when the first moving body is about to reach the second moving body, the second linear driving mechanism drives the second moving body to do linear motion in the same direction as the first moving body; a synchronous following module is arranged between the first moving body and the second moving body to enable the first moving body and the second moving body to synchronously move, and the synchronous following module comprises a light source arranged on the first moving body, a light carrying plate arranged on the second moving body and a visual identification module arranged on the second moving body; the visual recognition module performs image recognition on light spots on the light carrier plate in the process that the second moving body follows the first moving body, and when the image recognition module recognizes that the light spots are positioned at the set position of the light carrier plate and are kept unchanged, the first moving body and the second moving body reach a state that the relative position relation is determined and the movement is synchronous;
(3) When the first moving body and the second moving body reach a state of relative position relation determination and synchronous movement, the first moving body and the second moving body are locked together by utilizing a position locking device, the position locking device comprises a locking bolt arranged on the second moving body, a locking driving mechanism for driving the locking bolt to do telescopic movement and a locking hole arranged on the first moving body, when the first moving body and the second moving body reach a state of relative position relation determination and synchronous movement, the locking bolt is aligned with the locking hole, and the locking driving mechanism pushes the locking bolt into the locking hole, so that the first moving body and the second moving body are locked together to form integral forward synchronous movement.
2. The multi-axis motion position synchronous control method according to claim 1, wherein the second linear driving mechanism comprises a second driving motor, a screw transmission mechanism and a linear moving seat, wherein the second driving motor is connected with a screw in the screw transmission mechanism, a screw nut in the screw transmission mechanism is arranged on the linear moving seat, and a synchronous driving hole is arranged on the linear moving seat; the position locking device is also provided with a synchronous driving locking block which is driven by a locking driving mechanism to synchronously move with the locking bolt; in the process that the second linear driving mechanism drives the second moving body to do linear motion, the synchronous driving locking block is matched in the synchronous driving hole; in the step (3), when the locking driving mechanism pushes the locking bolt into the locking hole, the synchronous driving locking block is driven to leave the synchronous driving hole, so that the driving power of the second linear driving mechanism to the second moving body is cut off.
3. The multi-axis motion position synchronization control method according to claim 2, wherein the locking driving mechanism adopts an electromagnet; the locking bolt is connected with the synchronous driving locking block and is connected with the telescopic end of the electromagnet; the entrance of the locking hole is provided with a conical opening, and the tail end of the locking bolt is provided with a conical structure so as to facilitate the locking bolt to be locked into the locking hole; the tail end of the synchronous driving locking block is arranged into an inclined surface structure so that the synchronous driving locking block can be conveniently locked into the synchronous driving hole.
4. The multi-axis motion position synchronization control method according to claim 3, further comprising the step (4) of, after the completion of the step (3): in the process that the first moving body and the second moving body are locked together to form integral forward synchronous movement, a tail end operation module on the second moving body processes a workpiece in the first moving body; meanwhile, the second linear driving mechanism keeps the original speed to continue to move forwards, so that the linear moving seat and the second moving body synchronously move; when the tail end operation module finishes processing the workpiece in the first moving body, the locking driving mechanism drives the locking bolt to leave the locking hole and drives the synchronous driving locking block to reenter the synchronous driving hole, and then the second linear driving mechanism drives the second moving body to reversely move, so that the second linear driving mechanism is restored to the initial position and waits for the next operation.
5. The method according to any one of claims 1 to 4, wherein in the second moving body, the multi-axis driving mechanism includes an X-axis movement driving mechanism, a Y-axis movement driving mechanism, and a Z-axis movement driving mechanism, which respectively drive the end operation module to move in the X-axis direction and the Y-axis direction in the Z-axis direction, the end operation module being provided on the X-axis movement driving mechanism; in the process that the first moving body and the second moving body are locked together to form integral forward synchronous movement, after the relative position relation of the first moving body and the second moving body is determined and the synchronous movement state is achieved, the X-axis movement driving mechanism, the Y-axis movement driving mechanism and the Z-axis movement driving mechanism drive the tail end operation module to move in a three-dimensional space so as to process a workpiece on the first moving body.
6. The method according to claim 1, wherein the multi-axis driving structure is disposed on a moving frame, the locking driving mechanism is fixed on the moving frame, and the second linear driving mechanism drives the moving frame to move, so as to drive the multi-axis driving structure and the terminal operation module to move.
7. The method for synchronously controlling the multi-axis motion positions according to claim 6, wherein the image recognition module is arranged on the moving frame, a camera of the image recognition module is arranged downwards, and the light carrier plate is arranged under the camera; the light carrying plate is a semitransparent plate, and the light source is positioned below the light carrying plate; the light source projects a cross-shaped light spot on the light carrying plate; the image recognition module compares the position of the light spot center at the current moment with the position of the light carrier plate and transmits the position difference data of the light spot center at the current moment to the control module, meanwhile, the image recognition module also compares the position of the light spot center at the current moment with the position of the light carrier plate at the last moment, calculates the speed difference data of the first moving body and the second moving body and transmits the speed difference data to the control module, the second linear driving mechanism adjusts the control parameters in real time according to the position difference data and the speed difference data, and the second linear driving mechanism controls the movement speed of the second moving body, so that the light spot center moves towards the target position at the position of the light carrier plate and finally the speed of the first moving body and the speed of the second moving body are consistent, and the first moving body and the second moving body reach a relative position relation to determine and synchronous movement state; the control module then sends a control signal to the position locking device, which locks the first moving body and the second moving body together.
8. The method according to claim 1, wherein the second moving bodies are provided in two groups, and are disposed opposite to each other on both sides of the moving direction of the first moving body; the first moving bodies are multiple and are uniformly arranged along the moving direction; when the first group of second moving bodies and the corresponding first moving bodies synchronously move and carry out processing operation, the second group of second moving bodies are in a state of finishing the operation and returning to an initial position, and when the second group of second moving bodies and the corresponding first moving bodies synchronously move and carry out processing operation, the first group of second moving bodies are in a state of finishing the operation and returning to the initial position, namely, the first group of second moving bodies and the second group of second moving bodies alternately carry out the operation, and the processing of two workpieces is completed in one processing period.
9. The multi-axis motion position synchronization control method according to claim 1, wherein the second moving bodies are arranged in two groups along the moving direction of the first moving body; the first moving bodies are multiple and are uniformly arranged along the moving direction; when the first group of second moving bodies synchronously move with the corresponding first moving bodies and carry out machining operation, the second group of second moving bodies synchronously move with the corresponding first moving bodies and carry out machining operation; when the first group of second moving bodies are in a state of finishing the operation and returning to the initial position, the second group of second moving bodies are also in a state of finishing the operation and returning to the initial position, namely the first group of second moving bodies and the second group of second moving bodies synchronously operate, and the processing of two workpieces is completed in one processing period.
10. The method according to claim 1, wherein the first linear driving mechanism is a synchronous belt driving mechanism, and is composed of a motor, a synchronous pulley and a synchronous belt, the first moving body is a workpiece seat, the workpiece seat is fixedly connected to the synchronous belt, and the light source is arranged on the workpiece seat; two guide grooves are oppositely formed in two sides of the synchronous belt, a conical guide opening is formed in the starting end of each guide groove, and guide blocks are arranged on two sides of the workpiece seat and are matched with the guide grooves, so that the workpiece seat moves strictly according to a linear track in the moving process.
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