CN206075152U - Based on the Biaxial synchronous motion control device that laser displacement sensor feeds back - Google Patents
Based on the Biaxial synchronous motion control device that laser displacement sensor feeds back Download PDFInfo
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- CN206075152U CN206075152U CN201621029810.0U CN201621029810U CN206075152U CN 206075152 U CN206075152 U CN 206075152U CN 201621029810 U CN201621029810 U CN 201621029810U CN 206075152 U CN206075152 U CN 206075152U
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Abstract
The utility model discloses a kind of Biaxial synchronous motion control device fed back based on laser displacement sensor, described device includes Biaxial synchronous motion control device body, displacement detection system and control assembly；Biaxial synchronous motion control device body includes the first drive mechanism, the second drive mechanism, first straight line motion platform, second straight line motion platform and laboratory table；Displacement detection system includes long range laser displacement sensor, high precision laser displacement sensor, reflector, workbench, the first index dial and the second index dial；Control assembly is connected with the first drive mechanism, the second drive mechanism, long range laser displacement sensor and high precision laser displacement sensor respectively.This utility model causes the range of movement of Biaxial synchronous motor control to increase, breach the limitation of traditional fixed pattern detection means, without the need for back to zero and calibration, make it stable, accurately and rapidly reach and be synchronized with the movement, and can interference occur motion it is asynchronous when fast resumption synchronization.
Description
Technical field
This utility model is related to a kind of Biaxial synchronous motion control device, especially a kind of anti-based on laser displacement sensor
The Biaxial synchronous motion control device of feedback, belongs to Biaxial synchronous control field.
Background technology
In modern manufacturing industry, people are to high production rate, the demand more and more higher of low cost, such as surface stick-mounting machine sum
When some complex parts are processed or in order to reduce the operation of Product processing, traditional single axial movement is often difficult to meet control lathe
Need, in production, mechanical axis is synchronized with the movement and arises at the historic moment, also just because of this, multiple axes system extensively should in modern industry production
With such as the multiaxis roller-way in the ship lift used in Three Gorges Projects, briquetting press, metallurgical works, paper machine, bridge-type or Gantry
Machine and various robot systems.But with the development of society, people put forward higher requirement to multiple axes system, such as at a high speed
Degree, high-precision processing request seem more and more important in the production of the industries such as papermaking, printing and dyeing, weaving, in order to improve multiple shafting
The combination property of system, will not only consider the Control platform of single axle, also the motor control organic coordination between each axle is got up,
Can be only achieved the optimization of the overall overall situation performance of system.
Multiple axes system is non-linear, close coupling multi-input multi-output system, the coordination control of its multiple axle be one very
Complicated and critically important problem.It is in machining, direct to the profile errors that the distance for expecting profile is produced by physical location
It is related to the quality of product, it is the key for reducing profile errors to reduce synchronous error.High-speed gantry shifting bond(s) Milling Machining Center
The exemplary being synchronized with the movement, column can obtain very high acceleration characteristic along guide rail length feed, but due to crossbeam,
The structure and stress of the Large-scale Mobile part such as knife rest is not Striking symmetry, along with there is various uncertain disturbances, institute
With it cannot be guaranteed that the high consistency of gantry frame movement, the mechanical couplings that this discordance is produced will reduction synchro-feed journey
Degree, affects crudy, in some instances it may even be possible to make gantry frame or driving element be damaged.Synchronous control technique is this kind of lathe drop
Low profile error, the key for ensureing machining accuracy.Using the numerical controlled machinery of multiple axes system synchronous control technique with digital control and
Servo techniques replaces traditional mechanical transmission mechanism, simplifies the frame for movement of equipment, improve the precision of equipment, motility,
Life-span and efficiency.Therefore, multiple axes system synchronous control technique is an important development side of Current mechanical design and fabrication technology
To.
Utility model content
The purpose of this utility model is for the defect for solving above-mentioned prior art, there is provided a kind of to be passed based on laser displacement
The Biaxial synchronous motion control device of sensor feedback, the device cause the range of movement of Biaxial synchronous motor control to increase, and break through
The limitation of traditional fixed pattern detection means, without the need for back to zero and calibration, makes it stable, accurately and rapidly reaches synchronous fortune
It is dynamic, and can interference occur motion it is asynchronous when fast resumption synchronization.
The purpose of this utility model can be reached by adopting the following technical scheme that：
Based on the Biaxial synchronous motion control device that laser displacement sensor feeds back, including Biaxial synchronous motion control device
Body, displacement detection system and control assembly；
The Biaxial synchronous motion control device body includes the first drive mechanism, the second drive mechanism, first straight line fortune
Moving platform, second straight line motion platform and laboratory table；First drive mechanism and the second drive mechanism are respectively provided with photoelectricity volume
Code device, and be installed in parallel in laboratory table, the first straight line motion platform is arranged in the first drive mechanism, and is driven by first
Motivation structure drives, and the second straight line motion platform is arranged in the second drive mechanism, and is driven by the second drive mechanism；
The displacement detection system include long range laser displacement sensor, high precision laser displacement sensor, reflector,
Workbench, the first index dial and the second index dial；First index dial is arranged on first straight line motion platform, and described second
Index dial is arranged on second straight line motion platform, and the reflector is fixed on the first index dial, and the workbench is fixed on
On second index dial；The long range laser displacement sensor is arranged on the right side of workbench, and the high-precision laser displacement is passed
Sensor is arranged on the left side of workbench, the detecting head laser emitting surface and high-precision laser of the long range laser displacement sensor
The detecting head laser emitting surface of displacement transducer is parallel；
The control assembly respectively with the first drive mechanism, the second drive mechanism, long range laser displacement sensor and height
Precision laser displacement transducer connects, and for processing to the signal that photoelectric encoder is detected, obtains feedback speed signal, with
And the signal that long range laser displacement sensor and high precision laser displacement sensor are detected is processed, obtain position feedback
Signal, and the first drive mechanism and the second drive mechanism are controlled according to feedback speed signal and position feed back signal.
Used as a kind of preferred version, first drive mechanism includes the first servomotor, the first shaft coupling being sequentially connected
Device and the first ball-screw, the both sides of first ball-screw are provided with first straight line guide rail, set on the first straight line guide rail
There is the first slide block, the first straight line motion platform is arranged on the first ball-screw, and both sides are fixed on the first slide block；The
One servomotor drives the first ball-screw by first shaft coupling, makes the first straight line motion platform on the first ball-screw exist
Move along first straight line guide rail in the presence of first slide block；
Second drive mechanism includes the second servomotor, second shaft coupling and the second ball-screw being sequentially connected,
The both sides of second ball-screw are provided with second straight line guide rail, and the second straight line guide rail is provided with the second slide block, and described
Two linear motion platforms are arranged on the second ball-screw, and both sides are fixed on the second slide block；Second servomotor is by the
Two shaft couplings drive the second ball-screw, make the second straight line motion platform on the second ball-screw in the presence of the second slide block
Move along second straight line guide rail；
First servomotor and the second servomotor are respectively provided with photoelectric encoder, the base of first ball-screw
The pedestal of seat and the second ball-screw is installed in parallel in laboratory table.
Used as a kind of preferred version, the control assembly includes industrial computer, motion control card, the first servo-drive
Device, the second servo-driver, A/D transition cards and controller, the industrial computer are watched with first respectively by motion control card
Driver and the connection of the second servo-driver are taken, and is connected with controller by A/D transition cards；First servo-driver with
First servomotor connects, and second servo-driver is connected with the second servomotor, the controller respectively with long range
Laser displacement sensor and high precision laser displacement sensor connection；
After motion control card, two passages of motion control card will refer to the command pulse that industrial computer sends respectively
The first servo-driver of pulse input and the second servo-driver, first the first servomotor of servo-driver output control is made to turn
Dynamic, so as to drive first straight line motion platform to move, second the second servomotor of servo-driver output control is rotated, so as to drive
Dynamic second straight line motion platform motion；
The photoelectric encoder of the first servomotor detects the angular displacement signal of the first servomotor, the light of the second servomotor
Photoelectric coder detects the angular displacement signal of the second servomotor, and the angular displacement signal of the first servomotor is through the first servo-drive
Industrial computer is input into after device and motion control card, the velocity feedback letter of the first servomotor after industrial computer process, is obtained
Number, the angular displacement signal of the second servomotor is input into industrial computer, work after the second servo-driver and motion control card
The feedback speed signal of the second servomotor is obtained after control computer disposal；
During being synchronized with the movement of first straight line motion platform and second straight line motion platform, long range laser displacement is passed
The distance change of sensor and high precision laser displacement sensor detection and reflector, the signal input for being detected to controller, control
The signal of device output processed is input into industrial computer after generating digital signal Jing after the conversion of A/D transition cards, after industrial computer process
Obtain the relative displacement of first straight line motion platform and second straight line motion platform, forming position feedback signal.
Used as a kind of preferred version, first index dial includes the first stator and the first rotor, and first stator is solid
Be scheduled on first straight line motion platform, the first rotor it is rotatable it is arbitrarily angled after be fixed on the first stator；Described second
Index dial includes the second stator and the second rotor, and second stator is fixed on second straight line motion platform, described second turn
It is sub rotatable it is arbitrarily angled after be fixed on the second stator；The reflector is fixed on the first rotor of the first index dial, institute
State workbench to be fixed on the second rotor of the second index dial.
As a kind of preferred version, the detecting head of the long range laser displacement sensor and the reference range of measured surface
The first reference range is designated as, the detecting head of high precision laser displacement sensor is designated as the second benchmark with the reference range of measured surface
Distance, the detecting head laser emitting surface of the long range laser displacement sensor and the detecting head of high precision laser displacement sensor
The vertical dimension of laser emitting surface is the difference of the first reference range and the second reference range.
As a kind of preferred version, detecting head mounting surface and the high-precision laser position of the long range laser displacement sensor
The detecting head mounting surface of displacement sensor is parallel, and the detecting head mounting surface of long range laser displacement sensor is swashed higher than high accuracy
The detecting head mounting surface of Optical displacement sensor.
Used as a kind of preferred version, the long range laser displacement sensor is long range laser position with the distance of reflector
The reference range of displacement sensor and measured surface, the high precision laser displacement sensor are swashed for high accuracy with the distance of reflector
The reference range of Optical displacement sensor and measured surface.
Used as a kind of preferred version, the bottom of the laboratory table has four support feets, the adjacent support feet of each two it
Between a horizontal support is installed.
This utility model has following beneficial effect relative to prior art：
1st, detecting head detection twin shaft of the Biaxial synchronous motion control device of the present utility model using laser displacement sensor
Between relative distance, with existing Biaxial synchronous motion need to twin shaft arrange zero point as motion datum mark, in zero point and phase
Photoswitch is installed in the middle of adjacent 2 points of signals, biaxial movement must carry out back to zero before starting and compare with error analyses, can avoid zero
Point is arranged and error analyses, and has certainty of measurement high using laser displacement sensor, and sample frequency is high, and dynamic response is fast
Advantage, can make Biaxial synchronous with the displacement measurement between the detecting head of dynamic calibration laser displacement sensor and reflector
Motion detection is more accurately, quickly；Meanwhile, laser displacement sensor has high precision laser displacement sensor and long range laser position
Displacement sensor, has high-precision change in displacement detection, larger position can be also met when twin shaft is distant when twin shaft is closer to the distance
The detection of variable quantity is moved, so as to realize displacement variable detection when large pitch and degree of precision Biaxial synchronous are moved.
2nd, Biaxial synchronous motion control device detection mode of the present utility model flexibly, can both fix twin shaft distance, lead to
Overregulating the angle rotated by the rotor of two index dials makes the detecting head of laser displacement sensor meet standard inspection needed for work
Find range from, it is also possible to fix the angle rotated by the rotor of two index dials, change two drive mechanisms (ball-screw) away from
Meet with a distance from standard detection needed for work from the detecting head of laser displacement sensor is made.
3rd, Biaxial synchronous motion control device of the present utility model adopts master-slave mode Synchronous motion control strategy, it is also possible to adopt
Other Strategy For Synchronization Controls are used, such as serial synchronous Motion Control Strategies, parallel synchronous Motion Control Strategies, virtual electronic main shaft is same
Step Motion Control Strategies etc., to verify that Various Complex control strategy provides a good platform.
Description of the drawings
Biaxial synchronous motion control device general structure schematic diagrams of the Fig. 1 for this utility model embodiment 1.
Biaxial synchronous motion control device top views of the Fig. 2 for this utility model embodiment 1.
Fig. 3 becomes for Biaxial synchronous motion relative displacement in the Biaxial synchronous motion control device of this utility model embodiment 1
Change the geometrical principle figure of measurement.
Biaxial synchronous motor control sides of the Fig. 4 for the Biaxial synchronous motion control device realization of this utility model embodiment 1
Method block diagram.
Wherein, 1- first straight lines motion platform, 2- second straight line motion platforms, 3- laboratory tables, the first servomotors of 4-, 5-
First shaft coupling, the first ball-screws of 6-, 7- first straight line guide rails, the first slide blocks of 8-, the second servomotors of 9-, 10- second
Axle device, the second ball-screws of 11-, 12- second straight line guide rails, the second slide blocks of 13-, 14- long range laser displacement sensors, 15-
High precision laser displacement sensor, 16- reflectors, 17- workbench, the first stators of 18-, 19- the first rotors, the second stators of 20-,
The second rotors of 21-, 22- industrial computers, 23- motion control cards, the first servo-drivers of 24-, the second servo-drivers of 25-,
26-A/D transition cards, 27- controllers, 28- support feets, 29- horizontal supports.
Specific embodiment
This utility model is described in further detail with reference to embodiment and accompanying drawing, but enforcement of the present utility model
Mode not limited to this.
Embodiment 1：
As depicted in figs. 1 and 2, present embodiments provide a kind of Biaxial synchronous motion fed back based on laser displacement sensor
Control device, including Biaxial synchronous motion control device body, displacement detection system and control assembly；
The Biaxial synchronous motion control device body includes the first drive mechanism, the second drive mechanism, first straight line fortune
Moving platform 1, second straight line motion platform 2 and laboratory table 3, the first drive mechanism constitute a wherein axle, first straight line motion platform 1
Move on the axle；Second drive mechanism constitutes an other axle, and second straight line motion platform 2 is moved on the axle, first straight line
Motion platform 1 and being synchronized with the movement for second straight line motion platform 2 move as Biaxial synchronous；
First drive mechanism includes the first servomotor 4, first shaft coupling 5 and the first ball-screw being sequentially connected
6, the both sides of first ball-screw 6 are provided with first straight line guide rail 7, and the first straight line guide rail 7 is provided with the first slide block 8,
The first straight line motion platform 1 is arranged on the first ball-screw 6, and both sides are fixed on the first slide block 8；First servo electricity
Machine 4 drives the first ball-screw 6 by first shaft coupling 5, makes first straight line motion platform 1 on the first ball-screw 6 the
Move along first straight line guide rail 7 in the presence of one slide block 8；
Second drive mechanism includes the second servomotor 9, second shaft coupling 10 and the second ball wire being sequentially connected
Thick stick 11, the both sides of second ball-screw 11 are provided with second straight line guide rail 12, and the second straight line guide rail 12 is provided with second
Slide block 13, the second straight line motion platform 2 are arranged on the second ball-screw 11, and both sides are fixed on the second slide block 13；
Second servomotor 9 drives the second ball-screw 11 by second shaft coupling 10, makes the second straight line on the second ball-screw 11
Motion platform 2 is moved along second straight line guide rail 12 in the presence of the second slide block 13；
First servomotor 4 and the second servomotor 9 are respectively provided with photoelectric encoder, first ball-screw 6
Pedestal and the pedestal of the second ball-screw 7 be installed in parallel in laboratory table 3, that is to say, that the first drive mechanism and second drives
Mechanism is parallel each other, and the distance (i.e. wheelbase) of the first ball-screw 6 and the second ball-screw 7 flexibly can change；
In the present embodiment, the first servomotor 4 and the second servomotor 9 select 400 watts of MIT's production
Model HC-KFS43 of AC servo motor, the first servomotor 4 and the second servomotor 9；First straight line guide rail 7 and second
Line slideway 12 thinks the miniature line slideway of rice MISUMI from Japanese rice, and model SSEBW20-700, material are rustless steel,
Guide rail width W1 is 54mm, and assembled height H is 20mm, and rail length L is 700mm, and (first straight line guide rail 7 is matched somebody with somebody to be furnished with standard slider
Be the first slide block 8, what second straight line guide rail 12 was matched somebody with somebody be the second slide block 13)；First ball-screw 6 and the second ball-screw 11 can
The accurate ball-screws of rice MISUMI are thought from Japanese rice, model BSSE is furnished with standard ball feed screw nut, ball-screw
Support side component selects C-BUNF20 types, ball-screw affixed side component to select C-BSFW20 types；First shaft coupling 5 and the second shaft coupling
Device 10 can select high torque clamp-type (double diaphragm-types) diaphragm type coupler of meter Si meter MISUMI companies model MCSLC.
The displacement detection system includes long range laser displacement sensor 14, high precision laser displacement sensor 15, anti-
Tabula rasa 16, workbench 17, the first index dial and the second index dial；
First index dial includes the first stator 18 and the first rotor 19, and first stator 18 is fixed on first straight line
On motion platform 1, the first rotor 19 it is rotatable it is arbitrarily angled after be fixed on the first stator 18；The second index dial bag
The second stator 20 and the second rotor 21 are included, second stator 20 is fixed on second straight line motion platform 2, second rotor
21 it is rotatable it is arbitrarily angled after be fixed on the second stator 20；
The long range laser displacement sensor 14 is arranged on the right side of workbench 17, the high-precision laser displacement sensing
Device 15 is arranged on the left side of workbench 17, detecting head laser emitting surface and the high accuracy of the long range laser displacement sensor 14
The detecting head laser emitting surface of laser displacement sensor 15 is parallel；
The use of long range laser displacement sensor 14 and high precision laser displacement sensor 15, both ensure that displacement detecting
Precision, meet the detection requirement of long range on a large scale, long range laser displacement sensor 14 and high-precision laser displacement again
LK series CCD laser displacement sensor of the sensor 15 from Japanese Keyemce company production, model LK-503, to difference
Surface energy stably measured, it is seen that laser spot diameter is 30 μm, and the scattered reflection type of triangulation is installed；The CCD laser position
Displacement sensor is under long range pattern, you can used as long range laser displacement sensor 14, and its repeatable accuracy is 50 μm, over long distances
The reference range of the detecting head and measured surface of laser displacement sensor 14 is 500mm, and measurement range is 250mm～750mm, i.e.,
Measurement range250mm～+250mm, corresponding analog electrical output5V～+5V；The CCD laser displacement sensors are in high accuracy
Under measurement pattern, you can as high precision laser displacement sensor 15, repeatable accuracy is 10 μm, high precision laser displacement sensor
15 detecting head and the reference range of measured surface are 350mm, and measurement range is 250mm～450mm, that is, measure range
100mm～+100mm, corresponding analog electrical output5V～+5V；For two kinds of measurement patterns, the linearity of sensor is ±
0.1%, when the distance between measured surface and the laser displacement sensor detecting head surface of emission exceed measurement range, detecting head
Analog output voltage remains 12V；The reference range of the detecting head and measured surface of long range laser displacement sensor 14 is designated as
First reference range, the reference range of the detecting head and measured surface of high precision laser displacement sensor 15 are designated as the second stand-off
From making the detecting head laser emitting surface of long range laser displacement sensor 14 and the detecting head of high precision laser displacement sensor 15
Laser emitting surface vertical dimension is the difference of the first reference range and the second reference range, as 500mm-350mm=150mm,
The detecting head mounting surface of long range laser displacement sensor 14 is pacified higher than the detecting head of high precision laser displacement sensor 15 simultaneously
Dress face, the vertical dimension being higher by the present embodiment are 230mm, to prevent long range laser displacement sensor 14 and high-precision laser
Displacement transducer 15 is interfered；
The reflector 16 selects the preferable minute surface aluminium sheet of reflective function, and specification is 2.0mm × 180mm × 400mm, reflective
The length of plate 16 is suitably lengthened, and displacement detection system can be made to have longer time of measuring, if can avoid system delay time compared with
The slide block movement speed of long or ball-screw and the detection failure that causes；Reflector 16 is fixed on the first of the first index dial
On rotor 19, the workbench 17 is fixed on the second rotor 21 of the second index dial；Can be by changing two drive mechanisms
The distance of (two ball-screws), or by adjusting the angle rotated by reflector 16 and workbench 17, make long range laser position
The distance of displacement sensor 14 and reflector 16 is the stand-off of the detecting head and measured surface of long range laser displacement sensor 14
From (the first reference range, i.e. 500mm), and high precision laser displacement sensor 15 and the distance of reflector 16 is made to swash for high accuracy
The reference range (the second reference range, i.e. 350mm) of the detecting head and measured surface of Optical displacement sensor 15；
Laser displacement sensor has certainty of measurement high, and sample frequency is high, and the fast advantage of dynamic response can be with dynamic calibration
Displacement measurement between the detecting head and reflector 16 of laser displacement sensor；
As shown in figure 3, the geometrical principle figure measured for Biaxial synchronous motion relative displacement variable quantity, before starting detection, will
Fixation after the certain angle, θ of 16 rotate counterclockwise of reflector, workbench 17 are consolidated after rotating identical angle, θ in same direction
It is fixed so that the detecting head of laser displacement sensor (long range laser displacement sensor 14 or high precision laser displacement sensor 15)
The surface of emission moves into θ angle with the second ball-screw 7, writes down the distance between laser displacement sensor detecting head and reflector for l1
Initial distance is designated as, now laser displacement sensor detecting head is located at 1. position；When occurring asynchronous during two axle movement,
So that the detecting head place ball-screw motion of laser displacement sensor is very fast as an example, it can be seen in figure 3 that now laser displacement
The detecting head of sensor is located at 2. position, and now the distance between detecting head and reflector of laser displacement sensor are l '1, l '1
With l1The increment compared is designated as l2, then understand that the moving displacement between two axles has differed l by geometrical relationship2, this displacement knots modification is then
As the Displacement Feedback signal of two-axis synchronization motor control.
The control assembly includes that industrial computer 22, motion control card 23, the first servo-driver 24, the second servo are driven
Dynamic device 25, A/D transition cards 26 and controller 27, the industrial computer 22 are driven with the first servo respectively by motion control card 23
Dynamic device 24 and the second servo-driver 25 connect, and are connected with controller 27 by A/D transition cards 26；First servo-drive
Device 24 is connected with the first servomotor 4, and second servo-driver 25 is connected with the second servomotor 9, the controller 27
It is connected with long range laser displacement sensor 14 and high precision laser displacement sensor 15 respectively；
After motion control card 23, two passages of motion control card 23 divide the command pulse that industrial computer 22 sends
Command pulse the first servo-driver 24 and the second servo-driver 25 are not input into into, 24 output control of the first servo-driver the
One servomotor 4 is rotated, and so as to drive first straight line motion platform 1 to move, 25 output control of the second servo-driver second is watched
Take motor 9 to rotate, so as to drive second straight line motion platform 2 to move；
The photoelectric encoder of the first servomotor 4 detects the angular displacement signal of the first servomotor 4, the second servomotor 9
Photoelectric encoder detect the angular displacement signal of the second servomotor 9, the angular displacement signal of the first servomotor 4 watched through first
Industrial computer 22 is input into after taking driver 24 and motion control card 23, after the process of industrial computer 22, the first servomotor is obtained
4 feedback speed signal, the angular displacement signal of the second servomotor 9 is after the second servo-driver 25 and motion control card 23
Input industrial computer 22, obtains the feedback speed signal of the second servomotor 9 after the process of industrial computer 22；
During Biaxial synchronous motion (first straight line motion platform 1 and second straight line motion platform 2 be synchronized with the movement),
Long range laser displacement sensor 14 and the detection of high precision laser displacement sensor 15 and the distance change of reflector 16, are detected
Signal input to controller 27, the signal of the output of controller 27 is input into after digital signal is generated Jing after the conversion of A/D transition cards 26
Industrial computer 22, obtains the relative of first straight line motion platform 1 and second straight line motion platform 2 after the process of industrial computer 22
Displacement, forming position feedback signal；
In the present embodiment, motion control card 23 can select model DMC-18x6PCI of GALIL companies of U.S. production
Model MR-J2S-40A of 4 axis motion control cards, the first servo-driver 25 and the first servo-driver 24.
In the present embodiment, the bottom of the laboratory table 3 have four support feets 28, the adjacent support feet 28 of each two it
Between a horizontal support 29 is installed, by four support feets 28 can detection when laboratory table 3 is supported, horizontal support 29 can
So that four support feets 28 are more firm.
As shown in figure 4, the Biaxial synchronous motion control method that the Biaxial synchronous motion control device of the present embodiment is realized, bag
Include following steps：
Step one, the angular displacement signal that the first servomotor 4 is detected using the photoelectric encoder of the first servomotor 4, and
The angular displacement signal of the second servomotor 9 is detected using the photoelectric encoder of the second servomotor 9；
Step 2, the first servomotor 4 angular displacement signal after the first servo-driver 24 and motion control card 23
Input industrial computer 22, obtains the feedback speed signal of the first servomotor 4, the second servo electricity after the process of industrial computer 22
The angular displacement signal of machine 9 is input into industrial computer 22 after the second servo-driver 25 and motion control card 23, and industry control is calculated
The feedback speed signal of the second servomotor 9 is obtained after the process of machine 22；
The detection of step 3, long range laser displacement sensor 14 and high precision laser displacement sensor 15 and reflector 16
Distance change, the signal input for being detected to controller 27, the signal of the output of controller 27 are generated Jing after the conversion of A/D transition cards 26
Industrial computer 22 is input into after digital signal, after the process of industrial computer 22, first straight line motion platform 1 and second straight line is obtained
The relative displacement of motion platform 2, forming position feedback signal；
Step 4, resulting feedback speed signal and position feed back signal, the control set in industrial computer 22
Algorithm (control algolithm is prior art) processed generates the pulse signal that control servomotor is rotated, pulse signal Jing after processing
After motion control card 23, the first servomotor 4 is exported to by the first servo-driver 24, and passes through the second servo-driver
25 outputs make the first servo to the second servomotor 9 so as to realize that the double-closed-loop control of position and speed is carried out to servomotor
Motor 4 and the second servomotor 9 keep high-precise synchronization to move on request.
Using such scheme, can be real by designing friendly human-computer interaction interface in the control process of industrial computer
When show measurement of correlation signal and control signal performance graph, be easy to the opening and closing of real-time monitored and control, control plan
The operations such as the slightly modification input of parameter, data preservation, analyze when being easy to debug in real time and change parameter.
In sum, Biaxial synchronous motion control device of the present utility model is examined using the detecting head of laser displacement sensor
The relative distance surveyed between twin shaft, need to arrange zero point as motion datum mark with the motion of existing Biaxial synchronous, zero to twin shaft
Photoswitch is installed in the middle of point and adjacent 2 points of signals, biaxial movement must carry out back to zero before starting and compare with error analyses, can be with
Reset and error analyses are avoided, and has certainty of measurement high using laser displacement sensor, sample frequency is high, and dynamic is rung
Fast advantage is answered, can be made double with the displacement measurement between the detecting head of dynamic calibration laser displacement sensor and reflector
Axle is synchronized with the movement detection more accurately, quickly；Meanwhile, laser displacement sensor has high precision laser displacement sensor and long range
Laser displacement sensor, has the detection of high-precision change in displacement when twin shaft is closer to the distance, can also meet when twin shaft is distant compared with
The detection of big displacement variable, so as to realize displacement variable inspection when large pitch and degree of precision Biaxial synchronous are moved
Survey.
The above, the protection domain of only this utility model patent preferred embodiment, but this utility model patent is simultaneously
Be not limited to this, any those familiar with the art in the scope disclosed in this utility model patent, according to this
The technical scheme of utility model patent and its utility model design in addition equivalent or change, belong to this utility model patent
Protection domain.
Claims (8)
1. the Biaxial synchronous motion control device for being fed back based on laser displacement sensor, it is characterised in that：Transport including Biaxial synchronous
Dynamic control device body, displacement detection system and control assembly；
The Biaxial synchronous motion control device body includes that the first drive mechanism, the second drive mechanism, first straight line motion are flat
Platform, second straight line motion platform and laboratory table；First drive mechanism and the second drive mechanism are respectively provided with photoelectric encoder,
And be installed in parallel in laboratory table, the first straight line motion platform is arranged in the first drive mechanism, and by the first driving machine
Structure drives, and the second straight line motion platform is arranged in the second drive mechanism, and is driven by the second drive mechanism；
The displacement detection system includes long range laser displacement sensor, high precision laser displacement sensor, reflector, work
Platform, the first index dial and the second index dial；First index dial is arranged on first straight line motion platform, second indexing
Disk is arranged on second straight line motion platform, and the reflector is fixed on the first index dial, and the workbench is fixed on second
On index dial；The long range laser displacement sensor is arranged on the right side of workbench, the high precision laser displacement sensor
Installed in the left side of workbench, detecting head laser emitting surface and the high-precision laser displacement of the long range laser displacement sensor
The detecting head laser emitting surface of sensor is parallel；
The control assembly respectively with the first drive mechanism, the second drive mechanism, long range laser displacement sensor and high accuracy
Laser displacement sensor connects, and for processing to the signal that photoelectric encoder is detected, obtains feedback speed signal, and right
The signal of long range laser displacement sensor and high precision laser displacement sensor detection is processed, and obtains position feedback letter
Number, and the first drive mechanism and the second drive mechanism are controlled according to feedback speed signal and position feed back signal.
2. it is according to claim 1 based on laser displacement sensor feed back Biaxial synchronous motion control device, its feature
It is：
First drive mechanism includes the first servomotor, first shaft coupling and the first ball-screw being sequentially connected, described
The both sides of the first ball-screw are provided with first straight line guide rail, and the first straight line guide rail is provided with the first slide block, and described first is straight
Line motion platform is arranged on the first ball-screw, and both sides are fixed on the first slide block；First servomotor passes through first
Axle device drives the first ball-screw, makes the first straight line motion platform on the first ball-screw in the presence of the first slide block along the
One line slideway is moved；
Second drive mechanism includes the second servomotor, second shaft coupling and the second ball-screw being sequentially connected, described
The both sides of the second ball-screw are provided with second straight line guide rail, and the second straight line guide rail is provided with the second slide block, and described second is straight
Line motion platform is arranged on the second ball-screw, and both sides are fixed on the second slide block；Second servomotor passes through second
Axle device drives the second ball-screw, makes the second straight line motion platform on the second ball-screw in the presence of the second slide block along the
Two line slideways are moved；
First servomotor and the second servomotor are respectively provided with photoelectric encoder, the pedestal of first ball-screw and
The pedestal of the second ball-screw is installed in parallel in laboratory table.
3. it is according to claim 2 based on laser displacement sensor feed back Biaxial synchronous motion control device, its feature
It is：The control assembly includes industrial computer, motion control card, the first servo-driver, the second servo-driver, A/D
Transition card and controller, the industrial computer by motion control card respectively with the first servo-driver and the second servo-drive
Device connects, and is connected with controller by A/D transition cards；First servo-driver is connected with the first servomotor, described
Second servo-driver is connected with the second servomotor, the controller respectively with long range laser displacement sensor and high accuracy
Laser displacement sensor connects；
After motion control card, two passages of motion control card will instruct arteries and veins to the command pulse that industrial computer sends respectively
Punching the first servo-driver of input and the second servo-driver, first the first servomotor of servo-driver output control are rotated,
So as to drive first straight line motion platform to move, second the second servomotor of servo-driver output control is rotated, so as to drive
Second straight line motion platform is moved；
The photoelectric encoder of the first servomotor detects the angular displacement signal of the first servomotor, and the photoelectricity of the second servomotor is compiled
Code device detects the angular displacement signal of the second servomotor, the angular displacement signal of the first servomotor through the first servo-driver and
Industrial computer is input into after motion control card, the feedback speed signal of the first servomotor after industrial computer process, is obtained, the
The angular displacement signal of two servomotors is input into industrial computer after the second servo-driver and motion control card, and industry control is calculated
The feedback speed signal of the second servomotor is obtained after machine process；
During being synchronized with the movement of first straight line motion platform and second straight line motion platform, long range laser displacement sensor
With high precision laser displacement sensor detection and the distance change of reflector, the signal input for being detected to controller, controller
The signal of output is input into industrial computer after generating digital signal Jing after the conversion of A/D transition cards, obtain after industrial computer process
The relative displacement of first straight line motion platform and second straight line motion platform, forming position feedback signal.
4. it is according to claim 1 based on laser displacement sensor feed back Biaxial synchronous motion control device, its feature
It is：First index dial includes the first stator and the first rotor, and first stator is fixed on first straight line motion platform
On, the first rotor it is rotatable it is arbitrarily angled after be fixed on the first stator；Second index dial include the second stator and
Second rotor, second stator are fixed on second straight line motion platform, and second rotor is rotatable arbitrarily angled rear solid
It is scheduled on the second stator；The reflector is fixed on the first rotor of the first index dial, and the workbench is fixed on second point
On second rotor of scale.
5. according to any one of claim 1-4 based on laser displacement sensor feed back Biaxial synchronous motor control dress
Put, it is characterised in that：The detecting head of long range laser displacement sensor is designated as the first base with the reference range of measured surface
Quasi- distance, the detecting head of high precision laser displacement sensor are designated as the second reference range with the reference range of measured surface, described
The detecting head laser emitting surface of long range laser displacement sensor and the detecting head Laser emission of high precision laser displacement sensor
The vertical dimension in face is the difference of the first reference range and the second reference range.
6. according to any one of claim 1-4 based on laser displacement sensor feed back Biaxial synchronous motor control dress
Put, it is characterised in that：The detecting head mounting surface of the long range laser displacement sensor and high precision laser displacement sensor
Detecting head mounting surface is parallel, and the detecting head mounting surface of long range laser displacement sensor is higher than high-precision laser displacement sensing
The detecting head mounting surface of device.
7. according to any one of claim 1-4 based on laser displacement sensor feed back Biaxial synchronous motor control dress
Put, it is characterised in that：The distance of the long range laser displacement sensor and reflector be long range laser displacement sensor with
The reference range of measured surface, the high precision laser displacement sensor are high-precision laser displacement sensing with the distance of reflector
The reference range of device and measured surface.
8. according to any one of claim 1-4 based on laser displacement sensor feed back Biaxial synchronous motor control dress
Put, it is characterised in that：The bottom of the laboratory table has four support feets, installs one horizontal between the adjacent support feet of each two
Support.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106125774A (en) * | 2016-08-31 | 2016-11-16 | 华南理工大学 | Biaxial synchronous motion control device based on laser displacement sensor feedback and method |
| CN107389287A (en) * | 2017-07-18 | 2017-11-24 | 华南理工大学 | Vibrating flexible beam measurement and control device and method based on laser displacement sensor |
| CN108803688A (en) * | 2018-06-25 | 2018-11-13 | 华南理工大学 | A kind of Synchronous motion control device and method of rotary motion and linear movement |
| CN109660064A (en) * | 2019-01-29 | 2019-04-19 | 广东极迅精密仪器有限公司 | A kind of gearshift based on mixing displacement sensor and planar motor |
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2016
- 2016-08-31 CN CN201621029810.0U patent/CN206075152U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106125774A (en) * | 2016-08-31 | 2016-11-16 | 华南理工大学 | Biaxial synchronous motion control device based on laser displacement sensor feedback and method |
| CN106125774B (en) * | 2016-08-31 | 2023-09-26 | 华南理工大学 | Double-shaft synchronous motion control device and method based on laser displacement sensor feedback |
| CN107389287A (en) * | 2017-07-18 | 2017-11-24 | 华南理工大学 | Vibrating flexible beam measurement and control device and method based on laser displacement sensor |
| CN107389287B (en) * | 2017-07-18 | 2023-03-21 | 华南理工大学 | Flexible arm vibration measurement and control device and method based on laser displacement sensor |
| CN108803688A (en) * | 2018-06-25 | 2018-11-13 | 华南理工大学 | A kind of Synchronous motion control device and method of rotary motion and linear movement |
| CN108803688B (en) * | 2018-06-25 | 2023-08-18 | 华南理工大学 | Synchronous motion control device and method for rotary motion and linear motion |
| CN109660064A (en) * | 2019-01-29 | 2019-04-19 | 广东极迅精密仪器有限公司 | A kind of gearshift based on mixing displacement sensor and planar motor |
| CN109660064B (en) * | 2019-01-29 | 2024-05-17 | 苏州隐冠半导体技术有限公司 | Displacement device based on hybrid displacement sensor and planar motor |
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Granted publication date: 20170405 Termination date: 20200831 |