CN206393765U - A kind of automatic profiling programing system - Google Patents

Abstract

The utility model is related to a kind of automatic profiling programing system, including control system, X-axis drive device, Y-axis drive device, workbench, pattern positioner, human-computer interaction device and position detector；X-axis drive device, Y-axis drive device, human-computer interaction device and position detector are connected with control system, X-axis drive device is used to drive workbench or pattern positioner to move along the x-axis, Y-axis drive device is used to drive workbench or pattern positioner to move along Y-axis, position detector is for detecting the X-axis position and Y-axis position of workbench or pattern positioner and sending it to control system, and human-computer interaction device is used for control system input instruction；Control system is by controlling X-axis drive device and Y-axis drive device to drive workbench or the movement of pattern positioner workbench is moved relative to pattern positioner.The utility model is simple to operate, can realize the automatic processing of carpenter, reduction labor strength and potential safety hazard.

Description

A kind of automatic profiling programing system

Technical field

The utility model is related to carpenter's Curve Machining technical field, more particularly, to a kind of automatic profiling programing system.

Background technology

It is manually operated that existing carpenter's Curve Machining relies primarily on workman, in operating process, makes workpiece to be processed and profiling Template is fixed together, then manually delivers to workpiece to be processed at pattern bearing position, and control manually makes stencil master tight The mold shaft that reclines holds movement, and workpiece to be processed is processed into stencil master shape.There is following defect in this mode of operation：Profiling Template is yielding, wear and tear, it is necessary to often change stencil master；Manufacturing procedure is comparatively laborious, low production efficiency；To the experience of workman It is required that higher；Labor strength is big, potential safety hazard is high, easily causes workman's physical strain and contingency.

The content of the invention

The purpose of this utility model is to overcome the deficiencies in the prior art there is provided a kind of automatic profiling programing system, and this is System is simple to operate, can realize the automatic processing of carpenter, low to the skill requirement of workman when processing carpenter's workpiece using the system, Labor strength and potential safety hazard can be reduced, the use of stencil master can be reduced, and then save cost.

To reach above-mentioned purpose, the technical solution adopted in the utility model is：

A kind of automatic profiling programing system is provided, including control system, X-axis drive device, Y-axis drive device, workbench, Pattern positioner, human-computer interaction device and position detector；X-axis drive device, Y-axis drive device, human-computer interaction device and Position detector is connected with control system, and X-axis drive device is used to drive workbench or pattern positioner to move along the x-axis, Y Axial brake device is used to drive workbench or pattern positioner to move along Y-axis, and position detector is used to detect workbench or lean on The X-axis position and Y-axis position of mould positioner simultaneously send it to control system, and human-computer interaction device is used for defeated to control system Enter instruction；Control system is by controlling X-axis drive device and Y-axis drive device to drive workbench or the movement of pattern positioner to make Workbench is moved relative to pattern positioner.

In such scheme, after stencil master is fixed on into workbench, workman utilizes human-computer interaction device to control system Sending instruction moves X-axis drive device and Y-axis drive device so that stencil master is close to the movement of pattern positioner, control system The workbench or the positional information of pattern positioner that system is detected according to position detector set up workbench or pattern positioner Motion track curve model, workpiece to be processed is then installed into position on the table where stencil master, control system X-axis drive device and Y-axis driving dress are controlled according to the motion track curve model for the workbench or pattern positioner set up Put motion, you can realize the automatic processing to workpiece to be processed.A kind of automatic profiling programing system of the utility model, operation letter It is single, the automatic processing of carpenter can be realized, it is low to the skill requirement of workman when processing carpenter's workpiece using the system, work can be reduced People's labor intensity and potential safety hazard, can reduce the use of stencil master, and then save cost.

Preferably, the position detector is grating rule displacement sensor, magnetic grid rule displacement sensor or encoder.

Preferably, the pattern positioner is pattern bearing or pattern locating dowel.The profiled shaft, which is contracted, includes fix bar And bearing, bearing and fix bar rotate and be connected, and fix bar is fixed on a certain position and is not moved.

Preferably, the human-computer interaction device is operating case.

Preferably, X-axis drive device includes X-axis motor and X-axis servo-driver, and X-axis motor is connected with workbench, X-axis Servo-driver is connected to the rotation of driving X-axis motor with control system and then drives workbench to move along the x-axis；Y-axis driving dress Put including y-axis motor and Y-axis servo-driver, y-axis motor is connected with workbench, and Y-axis servo-driver is connected with control system For driving y-axis motor to rotate and then driving workbench to be moved along Y-axis.The position of workbench can accurately be controlled by so setting, and be entered And improve the machining accuracy of workpiece.

Preferably, for detecting that the position detector of workbench X-axis position is the encoder of X-axis motor, the volume of X-axis motor The X-axis position of the workbench detected is sent to control system by X-axis servo-driver and preserved by code device；For detecting work The position detector of platform Y-axis position is the encoder of y-axis motor, and the encoder of y-axis motor is by the Y-axis position of the workbench detected Put and control system preservation is sent to by Y-axis servo-driver.The encoder of X-axis motor obtains work by the revolution of X-axis motor Make the X-axis position of platform, the encoder of y-axis motor obtains the Y-axis position of workbench by the revolution of y-axis motor.Energy is so set The position of enough accurate detection workbench, and then improve the machining accuracy of workpiece.

Preferably, X-axis servo-driver includes controlling under torque control pattern and position control mode, torque control pattern System instructs control system under the output torque for controlling X-axis motor, position control mode to pass through X-axis by X-axis servo-driver The position output of servo-driver instruction control X-axis motor；Y-axis servo-driver includes torque control pattern and position control mould Control system instructs the output torque for controlling y-axis motor, position control by Y-axis servo-driver under formula, torque control pattern Control system instructs the position for controlling y-axis motor to export by Y-axis servo-driver under pattern.Under torque control pattern, it is easy to Set up under the curve model of movable workbench track, position control mode, be easy to implement the automatic processing of workpiece to be processed, to drop Security when low human hand degree of participation and raising processing；In addition, the position for being easy to accurate control workbench is so set, and then Further improve the machining accuracy of workpiece to be processed.

Preferably, human-computer interaction device is provided with joystick and control button, and joystick controls X-axis to drive by control system Dynamic device driving workbench or pattern positioner are moved along the x-axis, and joystick controls Y-axis drive device to drive by control system Workbench or pattern positioner are moved along Y-axis, and control button is used for the working method of handover control system.In this way, just In operative's control system.

Preferably, the working method of control system includes track collecting work mode and automatic processing work mode.

During using the automatic profiling programing system, specific control method comprises the following steps：

S1. the curve model of motion track is set up：Stencil master is installed on the table, by controlling workbench or leaning on The movement of mould positioner enables pattern positioner to be close to position detector in stencil master relative movement, moving process The coordinate position of detection workbench or pattern positioner simultaneously sends it to control system, and control system is according to the seat received Cursor position sets up the curve model of motion track；

S2. the automatic processing of workpiece：Unload stencil master and workpiece to be processed is installed into stencil master institute on the table Position, workbench or pattern positioner are controlled according to the curve of the step S1 motion tracks set up by control system Model is moved.

When processing carpenter's workpiece using the automatic profiling programing system, it is only necessary to set up workbench using a stencil master Or the motion track curve model of pattern positioner, you can realize that the batch of carpenter's workpiece is processed automatically, process carpenter's workpiece When, it is low to the skill requirement of workman, the processing efficiency of workpiece, reduction labor strength and potential safety hazard can be improved.

Preferably, in step S1, control system is switched to track collecting work mode, control system by human-computer interaction device Moved by controlling X-axis drive device and Y-axis drive device to drive movable workbench stencil master is close to pattern positioner, Position detector is used to detect the X-axis position and Y-axis position of workbench and sends it to control system preservation in moving process, Control system sets up the curve model of movable workbench track according to the X-axis position of the workbench received with Y-axis position.

Preferably, in step S2, pattern positioner is unloaded and will be with pattern positioner size identical Cutting tool installation manner At the position where pattern positioner, control system is switched to by automatic processing work mode by human-computer interaction device, Control system controls X-axis drive device and Y-axis drive device to drive according to the curve model for the movable workbench track set up Workbench is moved along X-axis and Y-axis, to complete automatic processing of the cutter to workpiece to be processed.

Preferably, the mode that the curve model of movable workbench track is set up in step S1 is to set up mode manually：Utilize Human-computer interaction device is instructed to the real-time input torque of control system, control system is instructed X-axis motor by X-axis servo-driver Moved along the x-axis with the moment values driving workbench of input, moment values of the y-axis motor to input are instructed by Y-axis servo-driver Driving workbench is moved along Y-axis, so that stencil master is close to the coding of X-axis motor in the movement of pattern positioner, moving process The encoder of device and y-axis motor detect the X-axis position and Y-axis position of workbench respectively and send it to control system preservation, Control system sets up the curve model of movable workbench track according to the X-axis position of the workbench received with Y-axis position.

As another alternative scheme, the mode that the curve model of movable workbench track is set up in step S1 adds to be manual Automatically mode is set up：Instructed using human-computer interaction device to the real-time input torque of control system, control system is passed through X-axis servo The moment values driving workbench that driver instructs X-axis motor to input is moved along the x-axis, and Y-axis electricity is instructed by Y-axis servo-driver Machine is moved with the moment values driving workbench inputted along Y-axis, so that stencil master is close to pattern positioner and moved a certain distance Work is detected respectively to produce the encoder of X-axis motor and the encoder of y-axis motor in the leading orbit segment of first paragraph, moving process The X-axis position and Y-axis position of platform simultaneously send it to the movable workbench track that control system preserves to be set up manually Curve model；Torque automatic control function is opened using human-computer interaction device command control system, control system is according to collecting The curve data of the leading orbit segment of workbench first paragraph calculate at the leading track segment endpoint position of first paragraph pattern positioning dress The normal direction torque and tangential torque for being applied to stencil master are put, the normal direction torque and tangential torque are converted to X-axis by control system Servo-driver and Y-axis servo-driver instruct the moment of torsion to X-axis motor and y-axis motor, and X-axis motor and y-axis motor are according to this Torque drive workbench is moved along X-axis and Y-axis to be made stencil master be close to pattern positioner to continue to move to, X-axis in moving process The encoder of motor and the encoder of y-axis motor detect the X-axis position and Y-axis position of workbench and send it to control respectively System processed is preserved with the curve model for the movable workbench track set up automatically, and as latter section of leading track, with This forms full curve model；In specific implementation, according to curve gradual change principle, control system is according to the last period leading orbit segment Curve data calculate pattern positioner at leading track segment endpoint position be applied to the normal direction torque of stencil master with it is tangential Torque, as the foundation of the automatic profiling programing system subsequent drive, iterative calculation makes stencil master be close to pattern positioner It is lasting mobile, in moving process the encoder of X-axis motor and the encoder of y-axis motor detect respectively workbench X-axis position and Y-axis position simultaneously sends it to control system preservation with the full curve model for the movable workbench track set up automatically； Control system is continuous by the curve model for the movable workbench track set up manually and the movable workbench track set up automatically Curve model combines to set up the complete curve model of movable workbench track.

As another alternative scheme, the mode that the curve model of movable workbench track is set up in step S1 is complete Automatically mode is set up：Torque automatic control function is opened using human-computer interaction device command control system, is filled by man-machine interaction Put to control system and input an initial torque command, control system is instructed X-axis motor by X-axis servo-driver with first The moment values driving workbench of beginning is moved along the x-axis, and instructs y-axis motor to be driven with initial moment values by Y-axis servo-driver Workbench is moved along Y-axis, so that stencil master is close to the encoder and Y of X-axis motor in the movement of pattern positioner, moving process The encoder of spindle motor detects the X-axis position and Y-axis position of workbench and sends it to control system and preserves to obtain respectively The curve model of the movable workbench track of fully automated foundation.The curve of movable workbench track can be achieved in these three modes The foundation of model, after curve model is set up, unloads pattern positioner and will pacify with pattern positioner size identical cutter At the position where pattern positioner, workpiece to be processed is installed to the position where stencil master on the table, control System processed controls X-axis drive device and Y-axis drive device to drive work according to the curve model for the movable workbench track set up Make platform to move along X-axis and Y-axis, you can realize the automatic processing of workpiece to be processed.

Preferably, the leading orbit segment of the first paragraph is not less than 1 ㎜.So set that to be easy to control system accurately to determine leading Need to be applied to the moment of torsion of X-axis motor and y-axis motor at orbit segment final position so that control system automatically controls workbench shifting It can guarantee that stencil master is close to all the time with pattern positioner when dynamic, improve the curve model for the movable workbench track set up Precision.

Preferably, during input torque instruction real-time to control system using human-computer interaction device, control system is according to man-machine The direction size control X-axis motor and y-axis motor of joystick input signal on interactive device drive workbench along X-axis and Y-axis It is mobile.The moving direction for being easy to the manually operated control system control workbench of workman and position are so set.

Preferably, gathered by clicking on corresponding control button on human-computer interaction device so that control system is switched into track Working method or automatic processing work mode.The control mode of control button is easy to the working method of workman's handover control system.

Compared with prior art, the beneficial effects of the utility model are：

A kind of automatic profiling programing system of the utility model, after stencil master is fixed on into workbench, workman utilizes people Machine interactive device makes X-axis drive device to control system transmission instruction and Y-axis drive device is moved so that stencil master is fitted snugly against Mould positioner is moved, and the workbench or the positional information of pattern positioner that control system is detected according to position detector are set up The motion track curve model of workbench or pattern positioner, then installs stencil master on the table by workpiece to be processed The position at place, control system controls X-axis according to the motion track curve model for the workbench or pattern positioner set up Drive device and the motion of Y-axis drive device, you can realize the automatic processing to workpiece to be processed, automatic profiling programing system behaviour Make simple, the automatic processing of carpenter can be realized, it is low to the skill requirement of workman when processing carpenter's workpiece using the system, it can drop Low labor strength and potential safety hazard, can reduce the use of stencil master, and then save cost.

Brief description of the drawings

Fig. 1 is a kind of schematic diagram of automatic profiling programing system of the present embodiment.

Fig. 2 is the structural representation of human-computer interaction device in Fig. 1.

Fig. 3 is the normal direction torque and tangential torque that stencil master is applied to based on leading track segment acknowledgement pattern positioner Schematic diagram.

Fig. 4 is the schematic diagram that carpenter's workpiece is processed using the automatic profiling programing system.

Embodiment

The utility model is further described with reference to embodiment.Wherein, being given for example only property of accompanying drawing Illustrate, expression is only schematic diagram, rather than pictorial diagram, it is impossible to be interpreted as the limitation to this patent；In order to which this reality is better described With new embodiment, some parts of accompanying drawing have omission, zoomed in or out, and do not represent the size of actual product；To ability For field technique personnel, some known features and its explanation may be omitted and will be understood by accompanying drawing.

The same or analogous part of same or analogous label correspondence in the accompanying drawing of the utility model embodiment；In this practicality In new description, it is to be understood that if the orientation or position relationship that have the instructions such as term " on ", " under ", "left", "right" are Based on orientation shown in the drawings or position relationship, it is for only for ease of description the utility model and simplifies description, rather than indicate Or imply that signified device or element must have specific orientation, to be retouched in specific azimuth configuration and operation, therefore accompanying drawing Term the being given for example only property explanation of position relationship is stated, it is impossible to be interpreted as the limitation to this patent, for the common skill of this area For art personnel, the concrete meaning of above-mentioned term can be understood as the case may be.

Embodiment

A kind of schematic diagram of automatic profiling programing system of the utility model including control system 1, X-axis as shown in figure 1, drive Device, Y-axis drive device, workbench 6, pattern positioner 8, human-computer interaction device 9 and position detector；X-axis drive device, Y-axis drive device, human-computer interaction device 9 and position detector are connected with control system 1, and X-axis drive device is used to drive work Make platform 6 or pattern positioner 8 is moved along the x-axis, Y-axis drive device is used to drive workbench 6 or pattern positioner 8 along Y-axis Mobile, position detector is for detecting the X-axis position and Y-axis position of workbench 6 or pattern positioner 8 and sending it to control System 1 processed, human-computer interaction device 9 is used for the input instruction of control system 1；Control system 1 is by controlling X-axis drive device and Y Axial brake device drives workbench 6 or the movement of pattern positioner 8 workbench 6 is moved relative to pattern positioner 8.

, can be by position detector on workbench 6 when workbench 6 is moved；, can when pattern positioner 8 is moved By position detector on pattern positioner 8.In the present embodiment, X-axis drive device is used to drive workbench 6 to move along X-axis Dynamic, Y-axis drive device is used to drive workbench 6 to move along Y-axis, and the lower section of workbench 6 enables workbench 6 along guide rail provided with guide rail Slide, specifically can refer to CN201520496532.9；Position detector is for detecting the X-axis position and Y-axis position of workbench 6 simultaneously Send it to control system 1.

When processing carpenter's workpiece using the automatic profiling programing system, stencil master 7 is fixed on workbench 6, workman Sending instruction to control system 1 using human-computer interaction device 9 makes X-axis drive device and Y-axis drive device drive workbench 6 respectively Moved along X-axis and Y-axis, the motion of workbench 6 drives stencil master 7 to move, and workbench 6 makes stencil master 7 be close to pattern when moving Bearing 8 is moved, in the motion process of workbench 6, position detector detect in real time the X-axis position and Y-axis position of workbench 6 and by its The positional information for sending the workbench 6 detected to control system 1, control system 1 according to the position detector received sets up work Make the motion track curve model of platform 6, then unload stencil master 7 and workpiece to be processed is arranged on stencil master 7 on workbench 6 The position at place, reuses human-computer interaction device 9 to the input instruction of control system 1, control system 1 is according to the work set up The motion track curve model control X-axis drive device and Y-axis drive device driving workbench 6 of platform 6 are moved along X-axis and Y-axis, with Complete the automatic processing of workpiece.A kind of automatic profiling programing system of the utility model, the system operatio is simple, can realize carpenter's Automatic processing, it is low to the skill requirement of workman when processing carpenter's workpiece using the system, labor strength and safety can be reduced Hidden danger, can reduce the use of stencil master 7, and then save cost.Showing when the automatic profiling programing system processes carpenter's workpiece It is intended to as shown in Figure 4.

Wherein, the position detector is grating rule displacement sensor, magnetic grid rule displacement sensor or encoder；This implementation In example, position detector is encoder.

In addition, the pattern positioner 8 is pattern bearing or pattern locating dowel.The profiled shaft contract include fix bar and Bearing, bearing is rotated with fix bar and is connected, and fix bar is fixed on a certain position and is not moved.

Wherein, the human-computer interaction device 9 is operating case.

In addition, X-axis drive device includes X-axis motor 2 and X-axis servo-driver 4, X-axis motor 2 is connected with workbench 6, X Axle servo-driver 4 is connected to drive X-axis motor 2 to rotate and then drives workbench 6 to move along the x-axis with control system 1；Y-axis Drive device includes y-axis motor 3 and Y-axis servo-driver 5, and y-axis motor 3 is connected with workbench 6, Y-axis servo-driver 5 and control System 1 processed is connected to driving y-axis motor 3 and rotates and then drive workbench 6 to be moved along Y-axis.Work can accurately be controlled by so setting Make the position of platform 6, and then improve the machining accuracy of workpiece.

Wherein, the position detector of the X-axis position for detecting workbench 6 is the encoder of X-axis motor 2, X-axis motor 2 Encoder the X-axis position of the workbench 6 detected be sent to control system 1 by X-axis servo-driver 4 preserved；For The position detector for detecting the Y-axis position of workbench 6 is the encoder of y-axis motor 3, and the encoder of y-axis motor 3 will be detected The Y-axis position of workbench 6 is sent to control system 1 by Y-axis driver 5 and preserved, as shown in Figure 1.The encoder of X-axis motor 2 The X-axis position of workbench 6 is obtained by the revolution of X-axis motor 2, the encoder of y-axis motor 3 is obtained by the revolution of y-axis motor 3 The Y-axis position of workbench 6.The position of workbench 6 can accurately be detected by so setting, and then improve the machining accuracy of workpiece.

In addition, X-axis servo-driver 4 includes controlling under torque control pattern and position control mode, torque control pattern System 1 instructs control system 1 under the output torque of control X-axis motor 2, position control mode to pass through by X-axis servo-driver 4 The position output of the instruction control X-axis of X-axis servo-driver 4 motor 2；Y-axis servo-driver 5 includes torque control pattern and position Control system 1 instructs the output torque for controlling y-axis motor 3 by Y-axis servo-driver 5 under control model, torque control pattern, Control system 1 instructs the position for controlling y-axis motor 3 to export by Y-axis servo-driver 5 under position control mode.Torque Control Under pattern, it is easy to set up under the curve model of the motion track of workbench 6, position control mode, is easy to implement workpiece to be processed Automatic processing, security during reducing human hand degree of participation and improve processing；It is easy to accurately control work in addition, so setting The position of platform 6, and then further improve the machining accuracy of workpiece.

Wherein, human-computer interaction device 9 is provided with joystick and control button, and joystick controls X-axis to drive by control system 1 Dynamic device driving workbench 6 or pattern positioner 8 are moved along the x-axis, and joystick controls Y-axis drive device by control system 1 Driving workbench 6 or pattern positioner 8 are moved along Y-axis, and control button is used for the working method of handover control system 1, such as Fig. 2 It show the structural representation of human-computer interaction device 9 in the present embodiment.In the present embodiment, workman operates joystick with hand, so that Control system 1 controls X-axis drive device and Y-axis drive device driving workbench 6 to be moved respectively along X-axis with Y-axis, in this way, It is easy to operative's control system 1.

In addition, the working method of control system 1 includes track collecting work mode and automatic processing work mode.

During using the automatic profiling programing system, specific control method comprises the following steps：

S1. the curve model of motion track is set up：Stencil master 7 is arranged on workbench 6, by controlling workbench 6 Or the movement of pattern positioner 8 pattern positioner 8 to be close to stencil master 7 to relatively move, moving process middle position Put the coordinate position of detector detection workbench 6 or pattern positioner 8 and send it to control system 1, control system 1 The curve model of motion track is set up according to the coordinate position received；

S2. the automatic processing of workpiece：Unload stencil master 7 and workpiece to be processed is arranged on stencil master 7 on workbench 6 The position at place, the motion track that workbench 6 or pattern positioner 8 are set up according to step S1 is controlled by control system 1 Curve model movement.

Wherein, in step S1, control system 1 is switched to track collecting work mode, control system by human-computer interaction device 9 1 by controlling X-axis drive device and Y-axis drive device to drive the movement of workbench 6 stencil master 7 is close to pattern positioner 8 Mobile, position detector is used to detect the X-axis position and Y-axis position of workbench 6 and sends it to control system in moving process System 1 is preserved, and control system 1 sets up the song of the motion track of workbench 6 according to the X-axis position of the workbench 6 received with Y-axis position Line model.

In addition, in step S2, pattern positioner 8 is unloaded and will be with the size identical Cutting tool installation manner of pattern positioner 8 At the position where pattern positioner 8, control system 1 is switched to by automatic processing work side by human-computer interaction device 9 Formula, control system 1 controls X-axis drive device and Y-axis drive device according to the curve model for the motion track of workbench 6 set up Driving workbench 6 is moved along X-axis and Y-axis, to complete automatic processing of the cutter to workpiece to be processed.

When processing carpenter's workpiece using the automatic profiling programing system, it is only necessary to set up work using a stencil master 7 The motion track curve model of platform 6, you can realize that the batch of carpenter's workpiece is processed automatically, during processing carpenter's workpiece, to workman's Skill requirement is low, can improve the processing efficiency of workpiece, reduction labor strength and potential safety hazard.

Wherein, the mode that the curve model of the motion track of workbench 6 is set up in step S1 is shared following three kinds：The first is Mode is set up manually, and second is to add to set up mode automatically manually, and the third sets up mode to be fully automated.

Specifically, the first sets up mode manually：Referred to using human-computer interaction device 9 to the real-time input torque of control system 1 Order, makes control system 1 instruct X-axis motor 2 to drive workbench 6 to be moved along X-axis with the moment values of input by X-axis servo-driver 4 It is dynamic, instruct y-axis motor 3 to drive workbench 6 to be moved along Y-axis with the moment values of input by Y-axis servo-driver 5, so that profiling Template 7 is close to pattern positioner 8 and moved, and the encoder of the encoder of X-axis motor 2 and y-axis motor 3 is examined respectively in moving process Survey the X-axis position and Y-axis position of workbench 6 and send it to control system 1 and preserve, control system 1 is according to the work received The curve model of the motion track of workbench 6 is set up in the X-axis position and Y-axis position of making platform 6.

Second manually plus set up mode automatically：Referred to using human-computer interaction device 9 to the real-time input torque of control system 1 Order, makes control system 1 instruct X-axis motor 2 to drive workbench 6 to be moved along X-axis with the moment values of input by X-axis servo-driver 4 It is dynamic, instruct y-axis motor 3 to drive workbench 6 to be moved along Y-axis with the moment values of input by Y-axis servo-driver 5, so that profiling Template 7 is close to pattern positioner 8 and moves a certain distance to produce X-axis motor 2 in the leading orbit segment of first paragraph, moving process The encoder of encoder and y-axis motor 3 detects the X-axis position and Y-axis position of workbench 6 and sends it to control system respectively System 1 is preserved with the curve model for the motion track of workbench 6 set up manually；Utilize the command and control system of human-computer interaction device 9 System 1 opens torque automatic control function, and control system 1 is according to the curve number of the leading orbit segment of the first paragraph of workbench 6 collected The normal direction torque of stencil master 7 is applied to cutting according to pattern positioner 8 at the leading track segment endpoint position of first paragraph is calculated To torque, as shown in figure 3, the normal direction torque and tangential torque are converted to X-axis servo-driver 4 and Y-axis servo by control system 1 Driver 5 instructs the moment of torsion to X-axis motor 2 and y-axis motor 3, and X-axis motor 2 and y-axis motor 3 are according to the torque drive workbench 6 Being moved along X-axis and Y-axis makes stencil master 7 be close to pattern positioner 8 to continue to move to, the encoder of X-axis motor 2 in moving process And the encoder of y-axis motor 3 detects the X-axis position and Y-axis position of workbench 6 and sends it to control system 1 and preserves respectively With the curve model for the motion track of workbench 6 set up automatically, and as latter section of leading track, formed continuously with this Curve model；Specifically, according to curve gradual change principle, control system 1 is calculated according to the curve data of the last period leading orbit segment Go out normal direction torque and tangential torque that pattern positioner 8 at leading track segment endpoint position is applied to stencil master 7, be used as this The foundation of automatic profiling programing system subsequent drive, iterative calculation makes stencil master 7 be close to the persistently movement of pattern positioner 8, The encoder of the encoder of X-axis motor 2 and y-axis motor 3 detects the X-axis position and Y-axis position of workbench 6 respectively in moving process Put and send it to the full curve model for the motion track of workbench 6 that control system 1 preserves to be set up automatically；Control System 1 is by the curve model for the movable workbench track set up manually and the full curve of movable workbench track set up automatically Model combines to set up the complete curve model of movable workbench track.

The third is fully automated to set up mode：Torque is opened using the command control system 1 of human-computer interaction device 9 to automatically control Function, inputs an initial torque command to control system 1 by human-computer interaction device 9, control system 1 is watched by X-axis Take the instruction X-axis of driver 4 motor 2 to move along the x-axis with initial moment values driving workbench 6, referred to by Y-axis servo-driver 5 Y-axis motor 3 is made to be moved with initial moment values driving workbench 6 along Y-axis, so that stencil master 7 is close to pattern positioner 8 and moved Dynamic, the encoder of the encoder of X-axis motor 2 and y-axis motor 3 detects X-axis position and the Y-axis of workbench 6 respectively in moving process Position simultaneously sends it to the curve model that control system 1 preserves the motion track of workbench 6 to obtain fully automated foundation.

The foundation of the curve model of the motion track of workbench 6 can be achieved in three of the above mode, and the present embodiment uses second Kind, i.e., add manually and set up mode automatically；After the curve model of the motion track of workbench 6 is set up, unload pattern positioner 8 and incite somebody to action With the size identical Cutting tool installation manner of pattern positioner 8 at the position where pattern positioner 8, workpiece to be processed is installed Position on workbench 6 where stencil master 7, control system 1 is according to the curve model of the motion track of workbench 6 set up Control X-axis drive device and Y-axis drive device driving workbench 6 moved along X-axis and Y-axis, you can realize workpiece to be processed from Dynamic processing.

In addition, the leading orbit segment of first paragraph is not less than 1 ㎜.So set that to be easy to control system 1 accurately to determine leading The moment of torsion for being applied to X-axis motor 2 and y-axis motor 3 is needed at orbit segment final position so that control system 1 automatically controls work Platform 6 can guarantee that stencil master 7 is close to all the time with pattern positioner 8 when moving, and improve the song for the motion track of workbench 6 set up The precision of line model.

Wherein, using human-computer interaction device 9 to the real-time input torque of control system 1 instruct when, control system 1 is according to man-machine The direction size control X-axis motor 2 and y-axis motor 3 of joystick input signal on interactive device 9 drive workbench 6 along X-axis and Y-axis is moved.The moving direction for being easy to the manually operated control of control system 1 workbench 6 of workman and position are so set.

In addition, being gathered by clicking on corresponding control button on human-computer interaction device 9 so that control system 1 is switched into track Working method or automatic processing work mode.The control mode of control button is easy to the working method of workman's handover control system.

Obviously, above-described embodiment of the present utility model is only intended to clearly illustrate the utility model example, and It is not the restriction to embodiment of the present utility model.For those of ordinary skill in the field, in described above On the basis of can also make other changes in different forms.There is no need and unable to give all embodiments It is exhaustive.All any modifications, equivalent substitutions and improvements made within spirit of the present utility model and principle etc., should be included in Within the utility model scope of the claims.

Claims (9)

1. a kind of automatic profiling programing system, it is characterised in that including control system（1）, X-axis drive device, Y-axis driving dress Put, workbench（6）, pattern positioner（8）, human-computer interaction device（9）And position detector；X-axis drive device, Y-axis driving Device, human-computer interaction device（9）And position detector is and control system（1）Connection, X-axis drive device is used to drive workbench （6）Or pattern positioner（8）Move along the x-axis, Y-axis drive device is used to drive workbench（6）Or pattern positioner（8）Edge Y-axis is moved, and position detector is used to detect workbench（6）Or pattern positioner（8）X-axis position and Y-axis position and by its Send to control system（1）, human-computer interaction device（9）For to control system（1）Input instruction；Control system（1）Pass through control X-axis drive device and Y-axis drive device processed drive workbench（6）Or pattern positioner（8）Movement makes workbench（6）It is relative to lean on Mould positioner（8）It is mobile.

2. a kind of automatic profiling programing system according to claim 1, it is characterised in that the position detector is grating Rule displacement sensor, magnetic grid rule displacement sensor or encoder.

3. a kind of automatic profiling programing system according to claim 1, it is characterised in that the pattern positioner（8） For pattern bearing or pattern locating dowel.

4. a kind of automatic profiling programing system according to claim 1, it is characterised in that the human-computer interaction device（9） For operating case.

5. a kind of automatic profiling programing system according to claim 1, it is characterised in that X-axis drive device includes X-axis electricity Machine（2）And X-axis servo-driver（4）, X-axis motor（2）With workbench（6）Connection, X-axis servo-driver（4）With control system （1）It is connected to drive X-axis motor（2）Rotate and then drive workbench（6）Move along the x-axis；Y-axis drive device includes Y-axis electricity Machine（3）And Y-axis servo-driver（5）, y-axis motor（3）With workbench（6）Connection, Y-axis servo-driver（5）With control system （1）It is connected to drive y-axis motor（3）Rotate and then drive workbench（6）Moved along Y-axis.

6. a kind of automatic profiling programing system according to claim 5, it is characterised in that for detecting workbench（6）X-axis The position detector of position is X-axis motor（2）Encoder, X-axis motor（2）Encoder by the workbench detected（6）X Shaft position passes through X-axis servo-driver（4）It is sent to control system（1）Preserve；For detecting workbench（6）The position of Y-axis position Detector is put for y-axis motor（3）Encoder, y-axis motor（3）Encoder by the workbench detected（6）Y-axis position lead to Cross Y-axis servo-driver（5）It is sent to control system（1）Preserve.

7. a kind of automatic profiling programing system according to claim 5, it is characterised in that X-axis servo-driver（4）Including Control system under torque control pattern and position control mode, torque control pattern（1）Pass through X-axis servo-driver（4）Instruction Control X-axis motor（2）Output torque, control system under position control mode（1）Pass through X-axis servo-driver（4）Instruction control X-axis motor processed（2）Position output；Y-axis servo-driver（5）Including torque control pattern and position control mode, torque control Control system under molding formula（1）Pass through Y-axis servo-driver（5）Instruction control y-axis motor（3）Output torque, position control Control system under pattern（1）Pass through Y-axis servo-driver（5）Instruction control y-axis motor（3）Position output.

8. a kind of automatic profiling programing system according to claim 1, it is characterised in that human-computer interaction device（9）On set There are joystick and control button, joystick passes through control system（1）Control X-axis drive device driving workbench（6）Or pattern is fixed Position device（8）Move along the x-axis, joystick passes through control system（1）Control Y-axis drive device driving workbench（6）Or pattern is fixed Position device（8）Moved along Y-axis, control button is used for handover control system（1）Working method.

9. a kind of automatic profiling programing system according to claim 8, it is characterised in that control system（1）Work side Formula includes track collecting work mode and automatic processing work mode.