CN207664897U - A kind of multi-axis machines synchronous control system - Google Patents
A kind of multi-axis machines synchronous control system Download PDFInfo
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- CN207664897U CN207664897U CN201820075042.5U CN201820075042U CN207664897U CN 207664897 U CN207664897 U CN 207664897U CN 201820075042 U CN201820075042 U CN 201820075042U CN 207664897 U CN207664897 U CN 207664897U
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- power supply
- motor
- driving mechanism
- axis machines
- energy storage
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Abstract
The utility model discloses a kind of multi-axis machines synchronous control systems, the control system includes power supply, controller, multi-axis machines, multiple driving mechanisms and at least one stored energy mechanism, multiple shaft member of the multi-axis machines are corresponded with driving mechanism, the multiple driving mechanism is connected in parallel with the stored energy mechanism, the power supply is used for while powering for the driving mechanism and stored energy mechanism, under the control of the controller, the driving mechanism drives the shaft member rotation, and multi-axis machines is made to rotate synchronously；When power supply disconnects, the controller controls the stored energy mechanism and is fed to driving mechanism, and in this feed procedures, the controller control driving mechanism is slowed down so that the multi-axis machines, which synchronize, to slow down until stopping operating.The utility model provides power supply under power blackout situation by stored energy mechanism for each spindle motor driver, realizes that each spindle motor synchronizes and shuts down, and power-off is avoided to cause synchronization loss and generating device dislocation wear phenomenon.
Description
Technical field
The utility model is related to motor synchronous control field, more particularly to a kind of multi-axis machines synchronous control system.
Background technology
Beverage filling machine is mainly made of bottle placer, Cover whirling Machine and multiple handing-over driver plates, and each driver plate that joins is by one
A axis drives its rotation, and the operation between these axis is by the driving operation of respective servo motor, and each axis is according to controller
The speed given is run with position signal, needs to keep operating synchronously under any circumstance.Under normal circumstances, the motor of each axis
It may be implemented to run simultaneously, but power off suddenly in the equipment running process, the motor of each axis becomes respective inertia and stops after power-off
Machine causes have bottle operating in the dislocation between each axis, especially operational process, and the synchronization loss after power-off can cause machinery
The handing-over hand of equipment squeezes bad, causes to damage to mechanical equipment.
Utility model content
In order to solve problems in the prior art, the utility model provides a kind of multi-axis machines synchronous control system so that
It synchronizes each spindle motor under power blackout situation to shut down, avoids mechanical failure caused by dislocation, the technical solution is as follows：
On the one hand, the utility model provides a kind of multi-axis machines synchronous control system, including power supply, controller,
Multi-axis machines, multiple driving mechanisms and at least one stored energy mechanism, multiple shaft member and the driving mechanism of the multi-axis machines
It corresponding, the stored energy mechanism includes flywheel, and the power supply is used for while powering for the driving mechanism and flywheel,
Under the control of the controller, the driving mechanism drives the shaft member rotation, and the multi-axis machines is made to rotate synchronously；
When power supply disconnects, the controller controls the flywheel and is fed to driving mechanism, in this feed procedures,
The controller control driving mechanism is slowed down so that the multi-axis machines, which synchronize, to slow down until stopping operating.
Further, the stored energy mechanism further includes energy storage motor and energy storage motor driver, the power supply just
Often when power supply, the flywheel converts electrical energy into kinetic energy, and when the power supply disconnects, the flywheel can convert kinetic energy
For electric energy；The driving mechanism includes driving motor and drive motor driver, the energy storage motor driver and multiple drivings
The drive motor driver of mechanism is connected in parallel.
Further, the multi-axis machines further include joining disk correspondingly with the shaft member, and the multi-axis machines are same
Step includes that the handing-over disk is synchronous and/or shaft member synchronizes.
Further, the energy storage motor driver and multiple drive motor drivers are total with the control of the controller
Line connects.
Further, the power supply includes three-phase mains power supply and power rectifier, the three-phase mains power supply with
The input terminal of the power rectifier connects, the energy storage motor driver and multiple drive motor drivers with the power supply
The DC bus of rectifier output end connects.
Further, the driving motor is servo motor, and the drive motor driver is servo-driver.
Further, pass through motor power cable and encoder feedback between the energy storage motor driver and energy storage motor
Cable connection is connected between the drive motor driver and driving motor by motor power cable and encoder feedback cable
It connects.
Further, the shaft member is arranged at the center of handing-over disk correspondingly.
What technical solution provided by the utility model was brought has the beneficial effect that：
A. when normal power supply operates, energy storage motor exists energy storage by the rotation of flywheel as motor operation
It operates in kinetic energy；
B. mechanical kinetic energy is converted to electric energy by energy storage motor in grid power blackout by power generation, and by DC bus electricity
It is transported on each motor servo driver, it is controllable to carry out to enable the electricity that each axis is sent out by energy storage motor in the event of a loss of power
Ground, which synchronizes, shuts down；
C. make to synchronize from each spindle motor under power blackout situation and shut down, dislocation is avoided to cause component wear.
Description of the drawings
It is required in being described below to embodiment in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the utility model
Example is applied, it for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the structural schematic diagram for the multi-axis machines synchronous control system that the utility model embodiment provides；
Fig. 2 is the mains-supplied status diagram that the utility model embodiment provides；
Fig. 3 is the status diagram powered by energy storage motor after the power-off that the utility model embodiment provides；
Fig. 4 is the handing-over disk vertical view for the multi-axis machines that the utility model embodiment provides.
Wherein, reference numeral includes：1- controllers, 11- controlling bus, 21- flywheels, 22- energy storage motors, 23- energy storage electricity
Machine driver, 31- driving motors, 32- drive motor drivers, the three-phase mains 41- power supply, 42- power rectifiers, 43- direct currents
Busbar, 51- motor power cables, 52- encoder feedback cables, 6- join disk.
Specific implementation mode
In order to make those skilled in the art more fully understand the utility model, below in conjunction with the utility model reality
The attached drawing in example is applied, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that described
Embodiment is only the embodiment of the utility model part, instead of all the embodiments.Based on the reality in the utility model
Example is applied, every other embodiment obtained by those of ordinary skill in the art without making creative efforts is all answered
When the range for belonging to the utility model protection.
It should be noted that term " first " in the specification and claims of the utility model and above-mentioned attached drawing,
" second " etc. is for distinguishing similar object, without being used to describe specific sequence or precedence.It should be appreciated that in this way
The data used can be interchanged in the appropriate case, so that the embodiments of the present invention described herein can be in addition at this
In illustrate or description those of other than sequence implement.In addition, term " comprising " and " having " and their any deformation, meaning
Figure be to cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, apparatus, product or equipment
Those of be not necessarily limited to clearly to list step or unit, but may include not listing clearly or for these processes,
The intrinsic other steps of method, product or equipment or unit.
In one embodiment of the utility model, a kind of multi-axis machines synchronous control system, including power supply electricity are provided
Source, controller, multi-axis machines, multiple driving mechanisms and at least one stored energy mechanism (are stored up in the utility model embodiment with one
Can be illustrated for mechanism, the utility model is not construed as limiting the number of stored energy mechanism), multiple shaft member of the multi-axis machines
It is corresponded with the driving mechanism, the multiple driving mechanism is connected in parallel with the stored energy mechanism, and the power supply is used
It powers for the driving mechanism and stored energy mechanism in simultaneously, under the control of the controller, described in the driving mechanism driving
Shaft member rotates, and the multi-axis machines is made to rotate synchronously, and the multi-axis machines further include joining correspondingly with the shaft member
Disk, the multi-axis machines synchronization include that the handing-over disk is synchronous and/or shaft member synchronizes；
When power supply disconnects, the controller controls the stored energy mechanism and is fed to driving mechanism, feeds herein
Cheng Zhong, the controller control driving mechanism are slowed down so that the multi-axis machines, which synchronize, to slow down until stopping operating.
The control section structure of the synchronous control system is specifically as shown in Figure 1：The driving mechanism includes driving motor
31 and drive motor driver 32, it is preferable that the driving motor 31 is servo motor, and the drive motor driver 32 is to watch
Take driver；The stored energy mechanism includes flywheel 21, energy storage motor 22 and energy storage motor driver 23, and the energy storage motor 22 was both
Motor is can be used as, can also be used as generator, (energy storage motor 22 is used as motor operation when normal power supply operates, by flying
The rotation of wheel 21, energy storage in operating kinetic energy, energy storage motor 22 is driven when each synchronous element is run simultaneously by servo
Dynamic device control operates always；When having a power failure, energy storage motor 22 is converted into kinetic energy by the rotation of flywheel 21 as generator
Electric energy continues to drive the synchronizing motors of each axis to shut down), the energy storage motor 22 carries flywheel 21 and carries out operating energy storage, institute
The driver (energy storage motor driver 23) and other axis driver (drive motor driver 32) busbars for stating energy storage motor 22 connect
It connects, in the power supply normal power supply, the flywheel 21 converts electrical energy into kinetic energy, when the power supply disconnects,
The flywheel can convert the kinetic energy into electrical energy.The energy storage motor driver 23 and the driving motor of multiple driving mechanisms drive
Device 32 is connected in parallel, and the parallel-connection structure of driver is as follows：
The power supply includes three-phase mains power supply 41 and power rectifier 42, the three-phase mains power supply 41 with it is described
The input terminal of power rectifier 42 connects, the energy storage motor driver 23 and multiple drive motor drivers 32 with the electricity
The DC bus 43 of 42 output end of source rectifier connects.All servo-driver DC bus are attached, the energy storage motor
22 have a power failure when as generator application, generated electricity by the kinetic energy of flywheel, 22 electricity of energy storage motor is fed back to
On DC master row, all servo-drivers are existed by the servo motor of the electric control institute band of DC master row, the servo motor
It is shut down according to preset conditional synchronization in the case of controllable, each handing-over disk 6 of coaxial equipment is controlled by the motor of connection to be realized
It is synchronous to shut down.
In order to realize control of the controller to stored energy mechanism and each driving mechanism, it is preferable that the energy storage motor driving
Device 23 and multiple drive motor drivers 32 are connect with the controlling bus of the controller 1 11；The energy storage motor driver
It is connected by motor power cable 51 and encoder feedback cable 52 between 23 and energy storage motor 22, the drive motor driver
It is connected by motor power cable 51 and encoder feedback cable 52 between 32 and driving motor 31, specifically, on each driver
Energization pins connected by motor power cable 51 and corresponding motor, the encoder serial ports on each driver passes through encoder
Feedback cable 52 is connected with corresponding motor, and the servo motor has encoder feedback, each servo-drive is controlled by controller
Device realizes the synchronization of multi-axis machines, specific as follows：
Each synchronizing shaft uses mains-supplied in normal mains-supplied, and the energy storage motor 22 is in normal mains-supplied
When get into smooth, and operate energy storage always when synchronizing shaft operates synchronously, when mains failure, which utilizes flywheel 21
Kinetic energy be converted to electric energy, and each servo-driver persistently passes to electric energy by DC bus, servo motor passes through servo
Driver is synchronous under the control of the controller to shut down.
The technical solution adopted in the utility model is：The servo-driver of energy storage motor and the servo-drive of other synchronizing shafts
Device DC bus is connected, and alternating current is rectified into direct current by power rectifier and is connected to DC bus, and DC bus is each servo
Driver is run for electric drive motor.When needing synchronous operation, each synchronous spindle motor is run simultaneously by controller, energy storage electricity
Machine also begins to run with flywheel, converts electrical current into kinetic energy, and be always maintained at operating when other synchronizing shafts are run.Work as alternating current
After power failure, energy storage motor starts the kinetic energy of rotation by flywheel to be converted to electric energy, and the driver handle of energy storage motor is electrically fed against
It on DC bus, is supplied on each electromotor synchronization servo drive by DC bus, each servo-driver is synchronous in the case where there is electricity
It shuts down, prevents the generation of each axis dislocation.
In the embodiments of the present invention, handing-over disk 6 connects servo motor, the fortune of servo motor by corresponding shaft member
Turn that handing-over disk 6 is driven to operate；Servo motor is controlled by servo-driver motor power cable 51 and encoder feedback cable 52
Operation；Alternating current enters power rectifier 42 by alternating current inlet wire, and power rectifier 42 passes through commercial power rectification at direct current straight
Busbar 43 is flowed to power to each servo-driver and energy storage motor driver 23.
When normal operation such as Fig. 2, alternating current give each servo-driver and energy storage motor driver 23 by power rectifier 42
Power supply, driving servo motor are operated with energy storage motor 22；Controller 1 controls servo driver drives servo motor, makes handing-over disk 6
Transmission can be operated synchronously, while controlling energy storage motor driver 23 and operating energy storage motor 22, drives flywheel 21 to operate, passes through flywheel
21 convert electrical current into kinetic energy.
When power-off such as Fig. 3, when handing-over disk 6 is operating synchronously, rotation function is passed through energy storage electricity by alternating current power-off, flywheel 21
Machine 22 is converted into electric energy, and by energy storage motor driver, 23 electrically communicate on DC bus 43, and DC bus 43 continues electricity
It is supplied to each servo-driver, the normal electricity consumption of each servo-driver, motion controller 1 is kept to be controlled by controlling servo-driver
Each servo motor is made, makes the servo motor of each axis is synchronous within the regular hour to shut down, each handing-over disk 6, which synchronizes, shuts down, Bu Huiyin
Equipment is damaged for dislocation.
In one embodiment of the utility model, a kind of multi-axis machines synchronous control system as described above is provided
Control method, including：
(power supply direction is that three-phase mains power supply 41 is powered by power rectifier 42 to DC bus 43) as shown in Figure 2,
In normal power supply, controller (is run) according to preset control strategy according to scheduled sync bit and speed, control
Each driving mechanism and stored energy mechanism work, the stored energy mechanism is in storage energy state, in the driving of the driving mechanism
Under, multi-axis machines operate synchronously；
(power supply direction is flywheel 21 by energy storage motor 22 and energy storage motor driver 23 to DC bus as shown in Figure 3
43 power supplies), when power supply disconnects, controller sends feed instruction to stored energy mechanism, is instructed according to the feed, the storage
Energy mechanism provides electric energy for each driving mechanism, i.e., rotation function is converted into electric energy by flywheel by energy storage motor, and passes through storage
Transformed electric energy is sent to DC bus by energy motor driver, and in the process, the controller controls each driving motor
Slow down and (run according to scheduled sync bit and speed), so that multi-axis machines is synchronized and slow down until stopping.
The above is only the preferred embodiment of the present invention, is not intended to limit the utility model, all in this practicality
Within novel spirit and principle, made by any modification, equivalent replacement, deformation and transformation etc., the utility model should all be fallen into
Claims determine protection domain in.
Claims (8)
1. a kind of multi-axis machines synchronous control system, which is characterized in that including power supply, controller (1), multi-axis machines, more
A driving mechanism and at least one stored energy mechanism, multiple shaft member and the driving mechanism of the multi-axis machines correspond, institute
It includes flywheel (21) to state stored energy mechanism, and the power supply is used for while powering for the driving mechanism and flywheel (21), in institute
Under the control for stating controller (1), the driving mechanism drives the shaft member rotation, and the multi-axis machines is made to rotate synchronously；
When power supply disconnects, the controller (1) controls the flywheel (21) and is fed to driving mechanism, in this feed procedures
In, controller (1) the control driving mechanism is slowed down so that the multi-axis machines, which synchronize, to slow down until stopping operating.
2. synchronous control system according to claim 1, which is characterized in that the stored energy mechanism further includes energy storage motor
(22) and energy storage motor driver (23), in the power supply normal power supply, the flywheel (21) converts electrical energy into dynamic
Can, when the power supply disconnects, the flywheel can convert the kinetic energy into electrical energy；The driving mechanism includes driving motor
(31) and drive motor driver (32), the drive motor driver of energy storage motor driver (23) and multiple driving mechanisms
(32) it is connected in parallel.
3. synchronous control system according to claim 1, which is characterized in that the multi-axis machines further include and the shaft member
One-to-one handing-over disk (6), the multi-axis machines synchronization include that the handing-over disk (6) is synchronous and/or shaft member synchronizes.
4. synchronous control system according to claim 2, which is characterized in that the energy storage motor driver (23) and multiple
Drive motor driver (32) is connect with the controlling bus of the controller (1) (11).
5. synchronous control system according to claim 2, which is characterized in that the power supply includes three-phase mains power supply
(41) it is connect with the input terminal of the power rectifier (42) with power rectifier (42), the three-phase mains power supply (41), institute
It is straight with the power rectifier (42) output end to state energy storage motor driver (23) and multiple drive motor drivers (32)
Busbar (43) is flowed to connect.
6. synchronous control system according to claim 2, which is characterized in that the driving motor (31) is servo motor,
The drive motor driver (32) is servo-driver.
7. synchronous control system according to claim 2, which is characterized in that the energy storage motor driver (23) and energy storage
It is connected by motor power cable (51) and encoder feedback cable (52) between motor (22), the drive motor driver
(32) it is connect by motor power cable (51) and encoder feedback cable (52) between driving motor (31).
8. synchronous control system according to claim 3, which is characterized in that the shaft member setting joins correspondingly
The center of disk (6).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820075042.5U CN207664897U (en) | 2018-01-17 | 2018-01-17 | A kind of multi-axis machines synchronous control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820075042.5U CN207664897U (en) | 2018-01-17 | 2018-01-17 | A kind of multi-axis machines synchronous control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108134542A (en) * | 2018-01-17 | 2018-06-08 | 江苏新美星包装机械股份有限公司 | A kind of multi-axis machines synchronous control system and control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108134542A (en) * | 2018-01-17 | 2018-06-08 | 江苏新美星包装机械股份有限公司 | A kind of multi-axis machines synchronous control system and control method |
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| TR01 | Transfer of patent right |
Effective date of registration: 20220406 Address after: 215618 South District, Zhangjiagang Economic Development Zone, Suzhou, Jiangsu (Xinjing East Road, xinmeixing) Patentee after: Jiangsu xinmeixing Industrial Research Institute Co.,Ltd. Address before: 215618 Xinjing East Road, Zhangjiagang Economic and Technological Development Zone, Suzhou City, Jiangsu Province (xinmeixing) Patentee before: JIANGSU NEWAMSTAR PACKAGING MACHINERY Co.,Ltd. |