CN215006354U - Integrated PLC, vision or force feedback integrated actuating mechanism - Google Patents
Integrated PLC, vision or force feedback integrated actuating mechanism Download PDFInfo
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- CN215006354U CN215006354U CN202120608808.3U CN202120608808U CN215006354U CN 215006354 U CN215006354 U CN 215006354U CN 202120608808 U CN202120608808 U CN 202120608808U CN 215006354 U CN215006354 U CN 215006354U
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Abstract
The utility model discloses an integrated PLC, vision or force feedback's integrated actuating mechanism, including integrated actuating mechanism, integrated actuating mechanism is including the executor, the encoder, motor and servo driver, the executor is used for mechanical transmission, and the executor includes and is not limited to the reduction gear, lead screw and solenoid valve, servo driver includes motor drive module, simulation sensing module and controller, the controller is used for receiving debugger position and logic settlement, outside IO signal triggers, receive vision sensing and force feedback, carry out motion control, realize encoder communication, servo motor's control and drive, controller and force feedback pass through outside cable and connect. This integrated PLC, vision or force feedback's integrated actuating mechanism guarantees that the customer no longer need realize servo controller and servo motor's connection through outside cable, and the cost is reduced has improved servo system performance, has increased security, reliability, ease for use.
Description
Technical Field
The utility model relates to an actuating mechanism technical field specifically is an integrated PLC, vision or force feedback's integrated actuating mechanism.
Background
The existing master control upper computer, the servo driver, the motor and the executing mechanism are mutually independent, and the servo driver does not support PLC (programmable logic unit), visual sensing or force feedback. The general master control upper computer supports a PLC (programmable logic unit), visual sensing or force feedback, controls a servo driver through a command, drives a motor through an electric cable, and drives an actuating mechanism through a mechanical structure.
The scheme needs the cooperation of a master control upper computer, has higher cost and lower real-time performance of network transmission, particularly has larger real-time data volume, and influences the real-time performance of logic control and the precision of position tracking and force control. In industrial production, most of motion tracks are fixed, the position is not necessarily given by an upper computer in real time, the position and logic are designed in advance only through a debugging tool, different position giving is realized through external IO signal triggering, and the position tracking and force control accuracy is corrected in real time through visual sensing or force feedback. According to the scheme, a driving signal and an encoder signal cable between the servo controller and the servo motor are large in length, easy to damage, high in fault and inconvenient to connect, the motor driving signal is transmitted through a long cable, the cost is high, the performance of a servo system is reduced, the EMC is increased, and the system performance is improved.
SUMMERY OF THE UTILITY MODEL
The utility model is not enough to prior art, the utility model provides an integrated PLC, vision or force feedback's integration actuating mechanism, guarantee that the customer no longer need realize servo controller and servo motor's connection through outside cable, the cost is reduced, the servo system performance has been improved, the security has been increased, the reliability, advantages such as ease for use, it is big to have solved drive signal and encoder signal cable length between present servo controller and the servo motor, easy damage, the fault is high, it is inconvenient to connect, and motor drive signal transmits through very long cable, and is with high costs, servo system's performance reduction, the problem of EMC increase.
In order to achieve the above object, the utility model provides a following technical scheme: an integrated execution mechanism integrating PLC (programmable logic controller), vision or force feedback comprises an integrated execution mechanism, wherein the integrated execution mechanism comprises an actuator, an encoder, a motor and a servo driver, the actuator is used for mechanical transmission and comprises a speed reducer, a screw rod and an electromagnetic valve, the servo driver comprises a motor driving module, an analog sensing module and a controller, the controller is used for receiving debugger position and logic setting, external IO (input/output) signal triggering, receiving vision sensing and force feedback and performing motion control to realize encoder communication and control and driving of the servo motor, the controller and the force feedback are connected through an external cable, and the force feedback is used for feeding back force information in real time;
the input of controller is used for the debugger, the debugger is used for realizing position, speed, moment and logic setting to issue servo controller, the controller output is used for motor drive module, controller and visual sensing pass through outside cable connection, just visual sensing is used for the information of real-time feedback position, controller and force feedback pass through outside cable connection, force feedback is used for the information of real-time feedback power, just visual sensing and the force feedback of controller can exist simultaneously or simply.
Preferably, the controller comprises a motion debugging module, a motion control module, a visual position feedback control module, a force feedback control module, a PLC control module, an encoder communication module and a motor control module.
Preferably, the motion control module acts on an input of the motor control module through a position regulator, a speed regulator and a current regulator, the visual position feedback control module acts on the input of the position regulator through position feedback, and the force feedback control module acts on the input of the current regulator through force feedback.
Preferably, the output end of the motor acts on the input end of the encoder, the encoder acts on feedback of the motor position signal, the output end of the encoder acts on the input end of the actuator, the output end of the actuator acts on the input end of the controller, and the motor position signal fed back by the encoder acts on the input end of the position regulator and the input end of the motor control module, and further acts on the input end of the speed regulator as the input end of speed feedback through the speed feedback.
Preferably, the controller and the debugger are connected by a cable, and the debugger is used only in a debugging state.
Preferably, the servo controller is connected with an external IO signal through an external cable, and the external IO signal is used for triggering to realize different positions, speeds, moment giving and logic switching.
Preferably, the servo controller is connected with a visual sensor through an external cable, the visual sensor is used for feeding back position information in real time, and the controller is connected with a power supply through the external cable.
Preferably, the servo controller and the servo motor are connected through an internal cable.
Preferably, the servo controller and the encoder are connected through an internal cable, and the servo motor, the encoder and the actuator are connected through bearings.
Compared with the prior art, the utility model provides an integrated PLC, vision or force feedback's integrated actuating mechanism possesses following beneficial effect:
this integrated PLC, integrated actuating mechanism of vision or force feedback, through integrated PLC, integrated actuating mechanism design of vision sensing or force feedback, the customer no longer needs upper control ware, realize position, speed, moment and logic through the debug instrument and set for, trigger through outside I0 signal and realize different positions, speed, moment are given and the logic switches, and through vision sensing or force feedback real-time correction position tracking and force control precision, the customer no longer need realize servo controller and servo motor's connection through outside cable, the cost is reduced, servo system performance has been improved, the security has been increased, reliability, the ease for use.
Drawings
Fig. 1 is a block diagram of the system structure of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1, an integrated PLC, visual or force feedback integrated actuator includes an integrated actuator, the integrated actuator includes an actuator, an encoder, a motor and a servo driver, the actuator is used for mechanical transmission, and the actuator includes but is not limited to a reducer, a lead screw and a solenoid valve, the servo driver includes a motor driving module, an analog sensing module and a controller, the controller is used for receiving debugger position and logic setting, external IO signal triggering, receiving visual sensing and force feedback, performing motion control, and implementing encoder communication and servo motor control and driving, the controller and force feedback are connected through an external cable, and the force feedback is used for feeding back force information in real time;
the input of controller is used for the debugger, the debugger is used for realizing position, speed, moment and logic setting, and issue servo controller, the controller output is used for motor drive module, controller and visual sensing are connected through outside cable, and visual sensing is used for the information of real-time feedback position, controller and force feedback are connected through outside cable, force feedback is used for the information of real-time feedback power, and the visual sensing and the force feedback of controller can exist simultaneously or simply.
This integrated PLC, vision or force feedback's integrated actuating mechanism guarantees that the customer no longer need realize servo controller and servo motor's connection through outside cable, and the cost is reduced has improved servo system performance, has increased security, reliability, ease for use.
The controller comprises a motion debugging module, a motion control module, a visual position feedback control module, a force feedback control module, a PLC control module, an encoder communication module and a motor control module; the motion control module acts on the input end of the motor control module through a position regulator, a speed regulator and a current regulator, the visual position feedback control module acts on the input end of the position regulator through position feedback, and the force feedback control module acts on the input end of the current regulator through force feedback; the motor output end acts on the input end of the encoder, the encoder acts on feedback of a motor position signal, the output end of the encoder acts on the input end of the actuator, the output end of the actuator acts on the input end of the controller, the motor position signal fed back by the encoder acts on the input end of the position regulator and the input end of the motor control module, and further acts on the input end of the speed regulator through speed feedback; the controller and the debugger are connected through a cable, and the debugger is only used in a debugging state; the servo controller is connected with an external IO signal through an external cable, and the external IO signal is used for triggering to realize different positions, speeds, moment giving and logic switching; the servo controller is connected with a visual sensor through an external cable, the visual sensor is used for feeding back position information in real time, and the controller is connected with a power supply through the external cable; the servo controller is connected with the servo motor through an internal cable; the servo controller is connected with the encoder through an internal cable, and the servo motor, the encoder and the actuator are connected through bearings.
During operation, firstly, power input provides electric quantity for a servo driver, meanwhile, vision, force sensing and IO are utilized to enable a controller to complete corresponding operation and use, corresponding function driving is completed through a motion debugging module, a motion control module, a vision position feedback control module, a force feedback control module, a PLC (programmable logic controller) control module, an encoder communication module and a motor control template in the operation process of the controller, the motion control module adopts single motion control, position adjustment and speed adjustment instructions, then the controller transmits control information to a motor through the motor drive module, and then the operation of an integrated execution mechanism is completed through an encoder and an actuator, so that the use of a servo system is realized.
In conclusion, an upper controller is not needed any more, position, speed, moment and logic setting is realized through a debugging tool, different position, speed, moment setting and logic switching are realized through external I0 signal triggering, the upper controller and cables are saved, the cost is reduced, and the position tracking and force control precision is corrected in real time through visual sensing or force feedback. The customer no longer need realize servo controller and servo motor's connection through outside cable, and servo system's outside cable practices thrift greatly, has reduced system cost. Meanwhile, due to the fact that cables are saved, the influence of parasitic inductance and resistance on a servo system is reduced, and the performance of the servo system is improved; the problem of safety and reliability caused by damage of cables is solved, the problem of usability caused by inconvenient installation of the cables is solved, and the safety, reliability and usability of the servo system are improved.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The utility model provides an integrated actuating mechanism of integrated PLC, vision or force feedback, includes integrated actuating mechanism, its characterized in that: the integrated executing mechanism comprises an actuator, an encoder, a motor and a servo driver, wherein the actuator is used for mechanical transmission, the actuator comprises a speed reducer, a screw rod and an electromagnetic valve, the servo driver comprises a motor driving module, an analog sensing module and a controller, the controller is used for receiving the position and logic setting of a speed regulator, triggering an external IO signal, receiving visual sensing and force feedback and performing motion control to realize the communication of the encoder and the control and driving of the servo motor, the controller and the force feedback are connected through an external cable, and the force feedback is used for feeding back force information in real time;
the input of controller is used for the debugger, the debugger is used for realizing position, speed, moment and logic setting to issue servo controller, the controller output is used for motor drive module, controller and visual sensing pass through external cable and connect, just visual sensing is used for the information of real-time feedback position, the visual sensing and the force feedback of controller can exist simultaneously or simply.
2. The integrated PLC, visual or force feedback actuator of claim 1, wherein: the controller comprises a motion debugging module, a motion control module, a visual position feedback control module, a force feedback control module, a PLC control module, an encoder communication module and a motor control module.
3. The integrated PLC, visual or force feedback actuator of claim 2, wherein: the motion control module acts on the input end of the motor control module through a position regulator, a speed regulator and a current regulator, the visual position feedback control module acts on the input end of the position regulator through position feedback, and the force feedback control module acts on the input end of the current regulator through force feedback.
4. The integrated PLC, visual or force feedback actuator of claim 1, wherein: the motor output end acts on the input end of the encoder, the output end of the encoder acts on the input end of the actuator, the output end of the actuator acts on the input end of the controller, the encoder is used for feeding back a motor position signal, acts on the input end of the position regulator and the input end of the motor control module, further serves as the input end of speed feedback, and acts on the input end of the speed regulator through the speed feedback.
5. The integrated PLC, visual or force feedback actuator of claim 1, wherein: the controller and the debugger are connected through a cable, and the debugger is used only in a debugging state.
6. The integrated PLC, visual or force feedback actuator of claim 1, wherein: the servo controller is connected with an external IO signal through an external cable, and the external IO signal is used for triggering to realize different positions, speeds, moment giving and logic switching.
7. The integrated PLC, visual or force feedback actuator of claim 1, wherein: the servo controller is connected with a visual sensor through an external cable, the visual sensor is used for feeding back position information in real time, and the controller is connected with a power supply through the external cable.
8. The integrated PLC, visual or force feedback actuator of claim 1, wherein: the servo controller is connected with the servo motor through an internal cable.
9. The integrated PLC, visual or force feedback actuator of claim 1, wherein: the servo controller is connected with the encoder through an internal cable, and the servo motor, the encoder and the actuator are connected through bearings.
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| CN202120608808.3U CN215006354U (en) | 2021-03-25 | 2021-03-25 | Integrated PLC, vision or force feedback integrated actuating mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112904794A (en) * | 2021-03-25 | 2021-06-04 | 上海相石智能科技有限公司 | Integrated PLC, vision or force feedback integrated actuating mechanism |
| CN115206079A (en) * | 2022-05-16 | 2022-10-18 | 中国第一汽车股份有限公司 | High-efficiency adjusting system and method for nondestructive inspection |
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2021
- 2021-03-25 CN CN202120608808.3U patent/CN215006354U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112904794A (en) * | 2021-03-25 | 2021-06-04 | 上海相石智能科技有限公司 | Integrated PLC, vision or force feedback integrated actuating mechanism |
| CN115206079A (en) * | 2022-05-16 | 2022-10-18 | 中国第一汽车股份有限公司 | High-efficiency adjusting system and method for nondestructive inspection |
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