CN210627652U - Four-axis motion control teaching training system - Google Patents
Four-axis motion control teaching training system Download PDFInfo
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- CN210627652U CN210627652U CN201920937742.5U CN201920937742U CN210627652U CN 210627652 U CN210627652 U CN 210627652U CN 201920937742 U CN201920937742 U CN 201920937742U CN 210627652 U CN210627652 U CN 210627652U
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Abstract
The utility model relates to the technical field of electromechanical teaching equipment, in particular to a four-axis motion control teaching training system, which comprises a training system platform, an electrical control mechanism, a mechanical motion mechanism and a software control mechanism, wherein the electrical control mechanism comprises a power supply, a motion controller, a linear motor driver, a servo motor driver, a detection sensor and a motion sliding table; and the motion controller is communicated with the linear motor driver and the servo motor driver through a real-time industrial Ethernet. The utility model is not only provided with a typical four-axis physical control object, but also can complete the laser route control project type practical training based on the control of the motion control card; various typical 3D virtual control objects are also matched, and the virtual control objects can be used as pre-practice items before practical training of the real object control objects, so that the condition that the life of the real object is shortened due to unfamiliarity with a programming system is avoided; and the project practical training range of different industrial objects can be expanded under the condition of not increasing hardware investment.
Description
Technical Field
The utility model relates to an electromechanical teaching equipment technical field especially relates to a real standard system of four-axis motion control teaching based on real-time industrial ethernet.
Background
Motion control generally refers to real-time control and management of the position, speed, etc. of a moving part, and converts a predetermined control scheme and a planning instruction into a desired mechanical motion, so as to realize that a moving mechanical device completes corresponding precise actions according to an expected track and specified motion parameters (such as speed, torque, etc.) to meet the requirements of a production process and other applications. As an important class of advanced industrial automation industries, motion control technology is widely used in industrial robots, numerical control machines, electronics, packaging, printing, textile, assembly, and other industries. In addition, under the trend of the new round of industrial internet, the control end of the servo motor is developing towards networking trend in the traditional pulse system, simulation system and other modes.
The motion control teaching device in the market has the following limitations: 1) a servo motor system or a linear motor system is independently adopted, and a comprehensive system combining the servo motor system and the linear motor system is lacked; 2) the traditional pulse and analog systems are more, and the industrial network control forms are fewer; 3) no object control object exists, so that students are inconvenient to understand the actual industrial application scene of the related technology; 4) the single physical object is used for controlling the object, so that students are limited to programming training items for different types of typical practical industrial application objects.
SUMMERY OF THE UTILITY MODEL
The utility model discloses an overcome the problem that exists among the above-mentioned prior art, provide a real standard system of four-axis motion control teaching based on real-time industrial ethernet.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a four-axis motion control teaching practical training system comprises a practical training system platform, an electrical control mechanism, a mechanical motion mechanism and a software control mechanism, wherein the electrical control mechanism comprises a power supply, a motion controller, a linear motor driver, a servo motor driver, a detection sensor and a motion sliding table; the motion controller is communicated with the linear motor driver and the servo motor driver through a real-time industrial Ethernet; the mechanical motion mechanism is a four-axis motion system consisting of an X axis, a Y axis, a Z axis and a rotating shaft; the software control mechanism consists of a physical mechanical object system control program and a virtual object control program.
The utility model discloses a real standard system of four-axis motion control teaching in motion controller and driver have adopted real-time industry ethernet communication mode, carry out linear electric motor and servo motor's straight line interpolation, circular interpolation, helix and space circular interpolation, control such as principal and subordinate's motion, accord with the networked development trend of motion control industry, follow closely on industry practical application. The laser route control project practical training based on motion control card control can be finished by matching a typical four-axis physical control object; various typical 3D virtual control objects are also matched, and the virtual control objects can be used as pre-practice items before practical training of the real object control objects, so that the condition that the life of the real object is shortened due to unfamiliarity with a programming system is avoided; and the project practical training range of different industrial objects can be expanded under the condition of not increasing hardware investment. The power supply is supplied with AC220V, DC24V power required for device operation.
Preferably, the material object mechanical object system control program comprises a network configuration file, an axis parameter configuration program, a manual control program, an automatic processing path program and a human-computer operation interface program; the virtual object control program comprises a 3D virtual mechanical object and a custom 3D object document, wherein the custom 3D object document can be imported by a user in real time, and the programming control of virtual objects of various different processes is conveniently realized in an expanded mode.
Preferably, the 3D virtual machine object includes a rectangular coordinate robot, a multi-joint robot, and a SCARA robot. The linear motor control system and the alternating current servo control system are provided, and the comprehensiveness is high.
Preferably, the X-axis and the Y-axis are driven by linear motors, and the Z-axis and the rotation axis are driven by servo motors.
Preferably, the mechanical movement mechanism is provided with a metal bottom plate, and a portal frame is vertically arranged above the metal bottom plate; the X-axis and the Y-axis are vertically and crosswise fixed between the portal frame and the metal bottom plate, the X-axis is provided with a working table, the Z-axis and the rotating shaft are fixed on the portal frame, and the rotating shaft is provided with a laser emitting device for laser processing simulation.
Preferably, grating displacement sensors are arranged at the sliding tables of the X axis and the Y axis, and photoelectric encoders coaxial with the servo motors are arranged on the Z axis and the rotating shaft; and the X axis, the Y axis, the Z axis and the rotating shaft are provided with limit sensors. The X-axis sliding table and the Y-axis sliding table are provided with grating displacement sensors for detecting the current sliding table motion position in real time and feeding signals back to the linear motor driver; the positions of the Z axis and the rotating shaft are detected by a photoelectric encoder which is coaxial with the servo motor, and signals are fed back to a servo motor driver; each shaft moving part is provided with a limit position sensor and feeds back signals to the motion controller.
The block diagram of the main components of the electric control mechanism is shown in fig. 1.
Preferably, a closed protective wall is arranged at the upper part of the practical training system platform, and the mechanical motion mechanism is arranged in the protective wall; the lower part of the practical training system platform is provided with a cabinet body, and the cabinet body is provided with a transparent cabinet door. The closed protective wall can effectively protect an operator when the equipment runs.
Preferably, the cabinet body is made of cold-rolled steel sheets, and universal wheels are arranged at the bottom of the cabinet body, so that the equipment can be conveniently moved.
Preferably, the protective wall is composed of an aluminum alloy section frame and a transparent glass plate, and the protective wall is provided with a protective door. The protective wall body adopts transparent material, observes the running state when convenient operation, and the design of guard gate is convenient for install and remove the simulation processing object.
Therefore, the utility model discloses following beneficial effect has:
(1) the system has a linear motor control system and an alternating current servo control system, and is high in comprehensiveness;
(2) the motion controller and the driver adopt a real-time industrial Ethernet communication mode to control linear interpolation, circular interpolation, spiral line and space circular interpolation, master-slave motion and the like of the linear motor and the servo motor. The method conforms to the networking development trend of the motion control industry and follows the practical industrial application;
(3) the laser route control project practical training based on motion control card control can be finished by matching a typical four-axis physical control object; various typical 3D virtual control objects are also matched, and the virtual control objects can be used as pre-practice items before practical training of the real object control objects, so that the condition that the life of the real object is shortened due to unfamiliarity with a programming system is avoided; and the project practical training range of different industrial objects can be expanded under the condition of not increasing hardware investment.
Drawings
FIG. 1 is a block diagram of the configuration of the major components of an electrical control system
Fig. 2 is a schematic structural diagram of an embodiment of the present invention.
Fig. 3 is a perspective view of the mechanical movement mechanism.
Fig. 4 is a side view of fig. 3.
In the figure: training system platform 1, mechanical motion mechanism 2, aluminum alloy section bar frame 3, transparent glass board 4, guard gate 5, cold-rolled steel sheet material cabinet body 6, transparent cabinet door 7, universal wheel 8, X axle 9, Y axle 10, table surface 11, Z axle 12, rotation axis 13, metal bottom plate 14, portal frame 15, laser emission device 16, linear electric motor 17, servo motor 18.
Detailed Description
The technical solution of the present invention is further specifically described below by way of specific embodiments and with reference to the accompanying drawings.
As shown in fig. 1, a four-axis motion control teaching practical training system comprises a practical training system platform 1, an electrical control mechanism, a mechanical motion mechanism 2 and a software control mechanism, wherein a closed protective wall composed of an aluminum alloy section frame 3 and a transparent glass plate 4 is arranged at the upper part of the practical training system platform, and the protective wall is provided with a protective door 5; the mechanical motion mechanism is arranged in the protective wall; the lower part of the practical training system platform is provided with a cold-rolled steel plate cabinet body 6 with a transparent cabinet door 7, and the bottom of the cabinet body is provided with universal wheels 8.
The block diagram of the main components of the electric control mechanism is shown in fig. 2. The electric control system is mainly provided with a power supply system, a motion controller, a linear motor driver, a sliding table driven by a motor, a servo motor driver, a component driven by the motor, various detection sensors and the like. The power supply system is provided with AC220V and DC24V power supplies required by the device to work; the motion controller communicates with the linear motor driver and the servo motor driver through a real-time industrial Ethernet.
The software control system comprises a control program of a physical mechanical object system and a control program of a virtual object. The control program of the physical mechanical object system comprises a network configuration file, a parameter configuration program of each axis, a manual control program, an automatic processing path program, a man-machine operation interface program and the like. The control program of the virtual object provides a sample 3D virtual mechanical object (such as a direct coordinate manipulator, a multi-joint manipulator and the like), and also supports a user to import a custom 3D object document, so that the programming control of the virtual object of various different processes is conveniently expanded and realized.
As shown in fig. 3 and 4, the mechanical motion mechanism is a four-axis motion system composed of an X axis 9, a Y axis 10, a Z axis 12 and a rotation axis 13, the X axis and the Y axis are driven by a linear motor 17, the Z axis and the rotation axis are driven by a servo motor 18, the mechanical motion mechanism is provided with a metal bottom plate 14, and a portal frame 15 is vertically arranged above the metal bottom plate; the X-axis and the Y-axis are vertically and crosswise fixed between the portal frame and the metal bottom plate, the X-axis is provided with a working table 11, the Z-axis and the rotating shaft are fixed on the portal frame, the rotating shaft is provided with a laser emitting device 16, the sliding tables of the X-axis and the Y-axis are provided with grating displacement sensors, and the Z-axis and the rotating shaft are provided with photoelectric encoders coaxial with the servo motors; and the X axis, the Y axis, the Z axis and the rotating shaft are provided with limit sensors. The X-axis sliding table and the Y-axis sliding table are provided with grating displacement sensors for detecting the current sliding table motion position in real time and feeding signals back to the linear motor driver; the positions of the Z axis and the rotating shaft are detected by a photoelectric encoder which is coaxial with the servo motor, and signals are fed back to a servo motor driver; each shaft moving part is provided with a limit sensor and feeds back signals to the motion controller
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and other variations and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. A four-axis motion control teaching practical training system is characterized by comprising a practical training system platform, an electrical control mechanism, a mechanical motion mechanism and a software control mechanism, wherein the electrical control mechanism comprises a power supply, a motion controller, a linear motor driver, a servo motor driver, a detection sensor and a motion sliding table; the motion controller is communicated with the linear motor driver and the servo motor driver through a real-time industrial Ethernet; the mechanical motion mechanism is a four-axis motion system consisting of an X axis, a Y axis, a Z axis and a rotating shaft; the software control mechanism consists of a physical mechanical object system control program and a virtual object control program.
2. The four-axis motion control teaching and training system of claim 1, wherein the physical mechanical object system control program comprises a network configuration file, an axis parameter configuration program, a manual control program, an automatic processing path program and a human-machine interface program; the virtual object control program includes a 3D virtual machine object and a custom 3D object document.
3. The four-axis motion control teaching and training system as claimed in claim 2, wherein the 3D virtual machine object comprises a rectangular coordinate robot, a multi-joint robot and a SCARA robot.
4. The four-axis motion control teaching and training system as claimed in claim 1, wherein the X-axis and the Y-axis are driven by linear motors, and the Z-axis and the rotation axis are driven by servo motors.
5. The four-axis motion control teaching and training system as claimed in claim 1, wherein the mechanical motion mechanism is provided with a metal bottom plate, and a portal frame is vertically arranged above the metal bottom plate; the X-axis and the Y-axis are vertically and crosswise fixed between the portal frame and the metal bottom plate, the X-axis is provided with a working table, the Z-axis and the rotating shaft are fixed on the portal frame, and the rotating shaft is provided with a laser emitting device.
6. The four-axis motion control teaching and training system as claimed in claim 1, wherein the sliding table positions of the X axis and the Y axis are provided with grating displacement sensors, and the Z axis and the rotating axis are provided with photoelectric encoders coaxial with the servo motor; and the X axis, the Y axis, the Z axis and the rotating shaft are provided with limit sensors.
7. The four-axis motion control teaching and training system as claimed in claim 1, wherein a closed protective wall is arranged at the upper part of the training system platform, and the mechanical motion mechanism is arranged in the protective wall; the lower part of the practical training system platform is provided with a cabinet body, and the cabinet body is provided with a transparent cabinet door.
8. The four-axis motion control teaching and training system as claimed in claim 7, wherein the cabinet body is made of cold-rolled steel plate, and universal wheels are arranged at the bottom of the cabinet body.
9. The four-axis motion control teaching and training system as claimed in claim 7, wherein the protective wall is composed of an aluminum alloy profile frame and a transparent glass plate, and is provided with a protective door.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920937742.5U CN210627652U (en) | 2019-06-20 | 2019-06-20 | Four-axis motion control teaching training system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920937742.5U CN210627652U (en) | 2019-06-20 | 2019-06-20 | Four-axis motion control teaching training system |
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| Publication Number | Publication Date |
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| CN210627652U true CN210627652U (en) | 2020-05-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920937742.5U Active CN210627652U (en) | 2019-06-20 | 2019-06-20 | Four-axis motion control teaching training system |
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| CN (1) | CN210627652U (en) |
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