CN106297509B - Performance demonstration system of alternating current servo system - Google Patents
Performance demonstration system of alternating current servo system Download PDFInfo
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- CN106297509B CN106297509B CN201610919713.7A CN201610919713A CN106297509B CN 106297509 B CN106297509 B CN 106297509B CN 201610919713 A CN201610919713 A CN 201610919713A CN 106297509 B CN106297509 B CN 106297509B
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Abstract
The invention discloses an alternating current servo system performance demonstration system, which is used for performance demonstration of an alternating current servo system and comprises an electric control assembly, an intermittent demonstration system, an opposite-inserted tooth demonstration system, a vibration suppression demonstration system and a bearing platform, wherein the intermittent demonstration system, the opposite-inserted tooth demonstration system and the vibration suppression demonstration system are respectively connected with the electric control assembly; the electric control assembly comprises servo drivers connected with the servo motors in a one-to-one mode. The invention can fully demonstrate the following performance, the accurate control performance, the vibration suppression performance and other performances of the servo system.
Description
Technical Field
The invention relates to the field of servo system performance demonstration equipment, in particular to an alternating current servo system performance demonstration system.
Background
The motor servo system is one of important driving sources of industrial production equipment and is an indispensable basic technology for equipment automation. The application occasions of the motor are very wide, but the application environment of the motor is also very complex, and sometimes the purchased motor can not ensure that the motor can be suitable for the application occasions and can not test the control effect of the motor. If the control performance and the effect of the motor can be tested before the motor is installed and the parameters for controlling the motor are debugged, the motor can be beneficial to effectively selecting a proper motor and matched equipment, and the debugging time of the motor can be greatly shortened and the performance can be improved. Meanwhile, in the development process of the servo system, the positioning performance, the control performance, the following performance, the vibration suppression performance, and the like of the newly developed servo system need to be tested.
The conventional servo motor test board is only connected with a scale motor and a motor to be detected through a coupler, and is used for testing torque parameters and rotating speed parameters through a torque rotating speed sensor, so that the demonstration of the positioning performance, the control performance, the following performance or the vibration suppression performance of a servo system cannot be met.
Disclosure of Invention
The invention aims to provide an alternating current servo system performance demonstration system which is used for demonstrating the positioning performance, the control performance, the following performance or the vibration suppression performance of a servo system and is convenient to operate in the demonstration process.
The invention is realized by the following technical scheme: an alternating current servo system performance demonstration system is used for performance demonstration of an alternating current servo system and comprises an electric control assembly provided with a servo driver and a demonstration system provided with a driving motor, wherein the servo driver is connected with the driving motor in a one-to-one manner; the demonstration system comprises at least one of an intermittent demonstration system, a tooth insertion demonstration system and a vibration suppression demonstration system.
The servo driver is installed in the electric control assembly, the servo motor is installed in the demonstration system, and the servo driver and the servo motor are connected in a one-to-one mode and are used for performance demonstration through different demonstration systems. The invention demonstrates the performances of response speed, control precision or following accuracy and the like of different driving motors under the control of different servo drivers through an intermittent demonstration system or a tooth insertion demonstration system or a vibration suppression demonstration system.
The intermittent demonstration system is used for demonstrating the intermittent performance and the positioning performance of the servo system, and further reflects the control precision and the corresponding speed of a servo driver in the servo system.
The pair-gear-shaping demonstration system is used for demonstrating the accurate control performance and the accurate following performance of the servo system.
The vibration suppression demonstration system is used for demonstrating the active vibration suppression performance of the servo system.
The intermittent demonstration system, the gear shaping demonstration system and the vibration suppression demonstration system can be independently demonstrated and do not interfere with each other.
Furthermore, in order to better implement the present invention, the electronic control assembly further includes a shaft module and a control module, which are respectively connected to the servo driver, the shaft module converts a control signal sent by the control module to the shaft module into a frequency pulse signal and sends the frequency pulse signal to the servo driver, and the servo driver converts the frequency pulse signal into a current and controls the operation of the servo motor. The control module sends a control signal to the shaft module, the shaft module receives the control signal and converts the control signal into a frequency pulse signal to be sent to the servo driver, and the servo driver converts the frequency pulse signal into current for controlling the rotation of the servo motor, so that the control module drives the servo motor to operate according to a preset program.
Further, in order to better realize the invention, the intermittent demonstration system comprises a continuous motion disc, an intermittent motion disc matched with the continuous motion disc, a first servo motor driving the continuous motion disc to act and a second servo motor driving the intermittent motion disc to act; the continuous motion disc is uniformly distributed with tooth segments and gear teeth along the circumferential direction; intermittent teeth and intermittent gaps are uniformly distributed on the intermittent motion disc along the circumferential direction, and the width of each intermittent gap is matched with the thickness of the continuous motion disc.
The intermittent demonstration system comprises a continuous motion disc, an intermittent motion disc matched with the continuous motion disc, a first servo motor driving the continuous motion disc to act and a second servo motor driving the intermittent motion disc to act; the continuous motion disc is uniformly provided with gear notches and gear teeth along the circumferential direction; intermittent teeth and intermittent gaps are uniformly distributed on the intermittent motion disc along the circumferential direction, and the width of each intermittent gap is matched with the thickness of the continuous motion disc.
The axis of rotation of the intermittent motion disk is located in the plane of rotation of the continuous motion disk. The first servo motor drives the continuous motion disc provided with the cam to rotate continuously, and meanwhile, the second servo motor drives the intermittent motion disc to rotate intermittently. The first servo motor drives the continuous moving disk to rotate continuously and the gear teeth of the continuous rotating disk can just pass through the intermittent gap; and the second servo motor drives the intermittent motion disc to intermittently rotate, and the rotating angle of each time corresponds to the radian of one intermittent tooth, and at the moment, the intermittent tooth just can pass through the tooth gap. If the continuous rotating disk and the intermittent motion disk can be smoothly and mutually interpenetrated and move without mutual interference in a period of time, the process can reflect that the corresponding servo system has high response speed and high control precision.
The intermittent demonstration system also comprises a cam which coaxially rotates with the continuous motion disc, a follow-up pointer of which the tip corresponds to the outer contour position of the cam, and an eighth servo motor which drives the follow-up pointer to linearly move through a lead screw pair; and the first servo motor, the second servo motor and the eighth servo motor are respectively driven by three servo drivers simultaneously.
The first servo motor, the second servo motor and the eighth servo motor are respectively and simultaneously driven by three servo drivers, and one servo driver drives one servo motor, so that the following three actions which are carried out at the same time are realized: firstly, a first servo motor drives a cam which is coaxial with a continuous moving disc and a continuous rotating disc to continuously rotate; the second servo motor drives the intermittent motion disc to intermittently rotate, the intermittent motion disc is driven by the corresponding servo system to pause and rotate in the process that the gear teeth of the continuous motion disc penetrate through the intermittent gaps of the intermittent motion disc, so that the gear teeth of the continuous motion disc accurately and smoothly penetrate through the intermittent gaps, and after the gear teeth penetrate through the intermittent gaps, the intermittent motion disc rapidly responds and rotates under the driving of the corresponding servo system, so that the intermittent teeth accurately and smoothly penetrate through the gear notches and reciprocate once; and thirdly, the eighth servo motor drives the follow-up pointer to realize forward or backward linear movement through the screw rod pair, and the tip of the follow-up pointer is always in contact with the contour line of the continuously rotating cam in the linear movement process of the follow-up pointer and is not lost.
Furthermore, in order to better realize the invention, the opposite-insertion-tooth demonstration system comprises an insertion pin, a scale gear fixedly installed on the insertion pin, a comparison gear provided with an insertion hole matched with the insertion pin in position, a third servo motor driving the scale gear to rotate, a fourth servo motor driving the comparison gear to rotate, a sliding block connected with the comparison gear, and a fifth servo motor driving the sliding block to drive the comparison gear to be close to or far away from the scale gear.
The third servo motor drives the scale gear and the contact pin installed on the scale gear to rotate, and meanwhile, the fourth servo motor drives the comparison gear to rotate and the fifth servo motor drives the comparison gear to move forwards or backwards in a linear mode. When the comparison gear moves forwards, namely approaches to the comparison gear, the contact pins arranged on the scale gear are just inserted into the jacks of the comparison gear one by one; and when the comparison gear moves backwards, namely is far away from the comparison gear, the contact pin just breaks away from the jack. The gear shaping demonstration system provided by the invention demonstrates the control precision of a servo driver in a servo system and the following performance of the servo control system through the mutual pin inserting actions of the scale gear and the comparison gear.
If third servo motor, fourth servo motor drive scale gear, contrast gear respectively and the contact pin still is counterpointed with the jack under two servo driver simultaneous responses, do not have the dislocation promptly, then demonstration that can be fine drives two servo driver of third servo motor, fourth servo motor respectively can accurate synchronization. In other words, the gear shaping demonstration system can embody different servo drivers and can realize accurate control synchronization by controlling different driving motors.
Further, in order to better realize the invention, the vibration suppression demonstration system comprises a vibration suppression demonstration device A provided with a vibration suppression mechanism and a vibration suppression demonstration device B not provided with the vibration suppression mechanism; the A vibration suppression demonstration device comprises an A spring leaf which adopts a strip-shaped insulating base body and is provided with a fixed end and a free end, an A camera which is arranged at the free end of the A spring leaf and a sixth servo motor which drives the A spring leaf to vibrate; the vibration suppression mechanism comprises a driving sheet and a sensing sheet which are adhered to the root part of the fixed end of the spring sheet A, correspond to the upper surface and the lower surface of the spring sheet A and are made of piezoelectric materials, the driving sheet and the sensing sheet are used for actively suppressing vibration, the sensing sheet is connected with a corresponding servo driver (connected) in the electric control assembly, and the vibration suppression demonstration device B comprises a spring sheet B provided with the fixed end and the free end, a camera B arranged at the free end of the spring sheet B and a seventh servo motor for driving the spring sheet B to vibrate.
The A vibration suppression demonstration device is provided with a vibration suppression mechanism, and the vibration suppression mechanism is connected with a servo driver in an electric control assembly. The servo driver which starts the vibration suppression algorithm firstly obtains the running state and the resonance frequency of the sixth servo motor through the driving sheet and the sensing sheet, and the resonance frequency is filtered out from the algorithm, so that the A spring sheet is suppressed by vibration and is very stable when the A camera is in a sudden stop, and the picture shot by the A camera is very clear. Meanwhile, the B camera vibrating in the same way continuously vibrates until the energy is exhausted when the B spring piece is in sudden stop, so that the captured picture is fuzzy. Therefore, the invention can show whether the servo system has excellent vibration suppression performance or not through the vibration suppression demonstration system.
Furthermore, in order to better realize the invention, the A vibration suppression demonstration device also comprises an A movable block arranged at the fixed end of the A spring plate and an A movable single-arm component connected with the A movable block in a sliding manner, and a sixth servo motor drives the A spring plate to vibrate through the A movable single-arm component and the A movable block; the B vibration suppression demonstration device further comprises a B moving block arranged at the fixed end of the B spring piece and a B movable single-arm component connected with the B moving block in a sliding mode, and the seventh servo motor drives the B spring piece to vibrate through the B movable single-arm component and the B moving block.
In the invention, the A movable single-arm component is driven by a sixth servo motor and drives the A spring leaf to move left and right through the A moving block; meanwhile, the B movable single-arm component is driven by a seventh servo motor, and the B spring piece is driven to move left and right through the B moving block to vibrate.
Furthermore, in order to better realize the invention, the invention also comprises a bearing platform used for installing an electric control assembly, an intermittent demonstration system, a pair gear shaping demonstration system and a vibration suppression demonstration system.
Further, in order to better realize the invention, a backboard component provided with a flat panel display is arranged on the bearing platform, and the flat panel display is respectively connected with the camera A and the camera B.
The flat panel display is used for demonstrating real-time pictures captured by the camera A or the camera B. The flat panel display, the camera A and the camera B can be in wired communication or wireless communication.
Further, in order to better realize the invention, the camera A and the camera B are both wireless cameras, and the flat panel display is provided with a wireless communication module and is wirelessly connected with the camera A and the camera B through the wireless communication module.
The camera A and the camera B are respectively connected with the flat panel display through wireless communication modes such as WiFi and Bluetooth so as to display captured pictures in a split screen mode or a same screen mode.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) The invention is provided with an intermittent demonstration system which can demonstrate the intermittence and the positioning performance of the servo system; the intermittent demonstration system can demonstrate the intermittent performance and the positioning performance of the servo system through the mutual movement process of the continuous motion disc and the intermittent motion disc, and further reflect the control precision and the corresponding speed of a servo driver in the servo system; meanwhile, the intermittent demonstration system can demonstrate the following performance of the servo system and the performance of the electronic cam through the process that the following pointer and the outer contour of the cam are tightly followed and are not lost;
(2) The gear shaping demonstration system is arranged to demonstrate the accurate control performance and the following performance of the servo system; the contact pin and the jack in the tooth insertion demonstration system synchronously rotate under the driving of a third servo motor and a fourth servo motor, and meanwhile, the fifth servo motor drives the contact pin and the jack to be repeatedly inserted and withdrawn without dislocation, so that the good synchronization performance of the servo system can be demonstrated;
(3) The invention is provided with a vibration suppression demonstration system to demonstrate the vibration suppression performance of the servo system; the two servo drivers respectively drive the A vibration suppression demonstration device and the B vibration suppression demonstration device through two servo motors, and the A vibration suppression demonstration device is provided with a vibration suppression mechanism connected with the electric control assembly, so that a camera in the A vibration suppression demonstration device is rapidly and stably stopped suddenly, a captured picture is clear, and in contrast, the camera B still shakes during sudden stop to cause the captured picture to be fuzzy, and the phenomenon can demonstrate the good vibration suppression performance of a servo system;
(4) The wireless camera is arranged to acquire the image captured in the vibration suppression performance demonstration process, so that the vibration suppression performance demonstration device is convenient to visually display.
Drawings
FIG. 1 is a schematic view of the present invention.
Fig. 2 is a schematic structural diagram of the electronic control assembly.
Fig. 3 is a schematic structural diagram of an intermittent demonstration system.
Fig. 4 is a schematic structural diagram of a tooth insertion demonstration system and a vibration suppression demonstration system.
Wherein: 1-bearing platform, 2-electronic control component, 20-servo driver, 21-shaft module, 22-control module, 3-intermittent demonstration system, 31-continuous motion disc, 311-cam, 312-tooth gap, 313-gear tooth, 32-intermittent motion disc, 321-intermittent tooth, 322-intermittent gap, 33-follow-up pointer, 4-opposite-insertion-tooth demonstration system, 41-scale gear, 42-comparison gear, 43-insertion needle, 44-sliding block, 5-vibration suppression demonstration system, 51-A camera, 52-B camera, 53-A moving block, 54-B moving block, 55-A moving single-arm component, 56-B moving single-arm component, 57-A spring piece and 58-B spring piece.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. Elements and features depicted in one drawing or one embodiment of the invention may be combined with elements and features shown in one or more other drawings or embodiments. It should be noted that the figures and description omit representation and description of components and processes that are not relevant to the present invention and that are known to those of ordinary skill in the art for the sake of clarity. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
The present invention will be described in further detail with reference to examples, but the embodiments of the present invention are not limited thereto.
Example 1:
the performance demonstration system of the ac servo system of the embodiment is mainly realized by the following technical solutions as shown in fig. 1: an alternating current servo system performance demonstration system is used for performance demonstration of an alternating current servo system and comprises an electric control assembly 2, an intermittent demonstration system 3, an opposite-inserted tooth demonstration system 4 and a vibration suppression demonstration system 5 which are respectively connected with the electric control assembly 2, and a bearing platform 1 used for installing the electric control assembly 2, the intermittent demonstration system 3, the opposite-inserted tooth demonstration system 4 and the vibration suppression demonstration system 5, wherein servo motors for demonstration are independently installed on the intermittent demonstration system 3, the opposite-inserted tooth demonstration system 4 and the vibration suppression demonstration system 5; the electronic control assembly 2 comprises a servo driver 20 connected with the servo motor in a one-to-one manner.
As shown in fig. 2, the electronic control assembly 2 further includes a shaft module 21 and a control module 22 respectively connected to the servo driver 20. The servo driver 20, the shaft module 21 and the control module 22 are electrically connected.
As shown in fig. 3, the intermittent demonstration system 3 comprises a continuous motion disc 31 provided with a cam 311, a following pointer 33 matched with the cam 311, an intermittent motion disc 32 matched with the continuous motion disc 31, a first servo motor driving the continuous motion disc 31 to act and a second servo motor driving the intermittent motion disc 32 to act; the continuous moving disc 31 is uniformly distributed with tooth segments 312 and gear teeth 313 along the circumferential direction; the intermittent motion disk 32 is evenly distributed with intermittent teeth 321 and intermittent gaps 322 along the circumferential direction, and the width of the intermittent gaps 322 is matched with the thickness of the continuous motion disk 31.
The eighth servo motor is connected with the follow-up pointer 33 through a screw pair, and drives the follow-up pointer 33 to move linearly. The tip of the follower finger 33 is in constant contact with the cam line profile of the cam 311 for demonstrating the cam curve characteristics of the servo actuator. During the rotation of the cam 311, the tip of the follower pointer 33 is always in contact with the outer contour of the cam 311 and is not lost, i.e. the follower pointer 33 moves forward or backward along with the shape of the outer contour of the cam 311, so that the capability of the servo driver of an electronic cam is demonstrated, and the servo driver has accurate following performance.
As shown in fig. 4, the pair of gear shaping demonstration systems 4 includes a pin 43, a scale gear 41 fixedly mounted on the pin 43, a comparison gear 42 provided with a jack matched with the pin 43, a third servo motor driving the scale gear 41 to rotate, a fourth servo motor driving the comparison gear 42 to rotate, a slider 44 connected to the comparison gear 42, and a fifth servo motor driving the slider 44 to drive the comparison gear 42 to approach or depart from the scale gear 41.
As shown in fig. 4, the vibration suppression demonstration system 5 includes a vibration suppression demonstration device a and a vibration suppression demonstration device B; the A vibration suppression demonstration device comprises an A spring plate 57 provided with a fixed end and a free end, an A camera 51 arranged at the free end of the A spring plate 57, an A moving block 53 arranged at the fixed end of the A spring plate 57, an A movable single-arm component 55 connected with the A moving block 53 in a sliding mode, and a sixth servo motor for driving the A movable single-arm component 55 to move; the B vibration suppression demonstration device comprises a B spring plate 58, a B camera 52, a B moving block 54, a B moving single-arm component 56 and a seventh servo motor, wherein the B spring plate 58 is provided with a fixed end and a free end, the B camera 52 is installed at the free end of the B spring plate 58, the B moving block 54 is installed at the fixed end of the B spring plate 58, the B moving single-arm component 56 is connected with the B moving block 54 in a sliding mode, and the seventh servo motor drives the B moving single-arm component 56 to move. The flat panel display is provided with a wireless communication module and is wirelessly connected with the A camera 51 and the B camera 52 through the wireless communication module.
The first driving motor, the second driving motor, the third driving motor, the fourth driving motor, the fifth driving motor, the sixth driving motor and the seventh driving motor are respectively connected with seven independently controlled servo drivers 20 in a one-to-one manner.
The invention demonstrates the intermittence and the positioning performance of the servo motor through an intermittence demonstration system 3; demonstrating the following performance of the servo motor by a tooth insertion demonstrating system 4; through vibration suppression demonstration system 5 to demonstration servo motor's vibration suppression performance obtains the image that vibration suppression performance demonstration in-process was caught through wireless camera, the demonstration of being convenient for directly perceived.
Example 2:
the present embodiment is further optimized on the basis of the above embodiment, and further, in order to better implement the present invention, the continuous moving disk 31 is provided with gear teeth 313 and tooth segments 312 uniformly and at intervals along the circumferential direction of the outer contour; the intermittent motion disk 32 is provided with intermittent teeth 321 and intermittent gaps 322 along the circumferential direction of the outline uniformly and at intervals. The teeth 313 are matched with the intermittent gaps 322, and the tooth segments 312 are matched with the intermittent teeth 321.
As shown in fig. 3, the continuous moving disk 31 is driven by the first driving motor to rotate continuously, and the intermittent moving disk 32 is driven by the second driving motor to rotate intermittently, when one gear tooth 313 of the continuous moving disk 31 just passes through one intermittent gap 322 of the intermittent moving disk 32 completely, the intermittent moving disk 32 rotates by the angle of the central angle corresponding to the radian of the intermittent tooth 321, and at this time, the intermittent tooth 321 of the intermittent moving disk 32 just passes through the tooth notch 312 of the continuous moving disk 31 completely.
The continuous motion disk 31 is provided with six equally-arranged sets of teeth notches 312 and teeth 313, and the intermittent motion disk 32 is provided with six equally-arranged sets of intermittent teeth 321 and intermittent gaps 322. The tooth gap 312 matches the intermittent tooth 321 and the tooth 313 matches the intermittent gap 322. Through the structure and the motion process, the accurate control performance and the following performance of the servo driver 20 in the servo system are simply shown.
Other parts of this embodiment are the same as those of the above embodiment, and thus are not described again.
Example 3:
an alternating current servo system performance demonstration system comprises an electric control assembly 2, and an intermittent demonstration system 3, an opposite-slotting demonstration system 4 and a vibration suppression demonstration system 5 which are respectively connected with the electric control assembly 2, wherein servo motors for demonstration are independently installed on the intermittent demonstration system 3, the opposite-slotting demonstration system 4 and the vibration suppression demonstration system 5; the electronic control assembly 2 comprises a servo driver 20 connected with the servo motor in a one-to-one manner.
The intermittent demonstration system 3 comprises a continuous motion disc 31 provided with a cam 311, a follow-up pointer 33 matched with the cam 311, an intermittent motion disc 32 matched with the continuous motion disc 31, a first servo motor driving the continuous motion disc 31 to act and a second servo motor driving the intermittent motion disc 32 to act; the continuous moving disc 31 is uniformly distributed with tooth segments 312 and gear teeth 313 along the circumferential direction; the intermittent motion disk 32 is evenly provided with intermittent teeth 321 and intermittent gaps 322 along the circumferential direction, and the width of the intermittent gaps 322 is matched with the thickness of the continuous motion disk 31.
The axis of rotation of the intermittent motion disk 32 is located in the plane in which the continuous motion disk 31 rotates. The first servo motor drives the continuously moving disk 31 of the setting cam 311 to make continuous rotational movement, while the second servo motor drives the intermittently moving disk 32 to make intermittent rotation.
The first servo motor drives the continuously moving disk 31 to rotate continuously and the gear teeth 313 of the continuously rotating disk 31 just can pass through the intermittent gap 322; and the second servo motor drives the intermittent motion disk 32 to rotate intermittently, and the angle of each rotation corresponds to the radian of one intermittent tooth 321, so that the intermittent tooth 321 just can pass through the tooth notch 312.
The intermittent demonstration system 3 can demonstrate the intermittent performance and the positioning performance of the servo system through the mutual movement process of the continuous motion disc 31 and the intermittent motion disc 32, and further reflect the control precision and the corresponding speed of a servo driver in the servo system.
The tip of the follower finger 33 is in constant contact with the cam line profile of the cam 311 for demonstrating the cam curve characteristics of the servo actuator. During the rotation of the cam 311, the tip of the follower pointer 33 is always in contact with the outer contour of the cam 311 and is not lost, i.e. the follower pointer 33 moves forward or backward along with the outer contour shape of the cam 311, so as to demonstrate the capability of the servo driver 20 of an electronic cam and have accurate following performance.
The pair of gear shaping demonstration system 4 comprises a pin 43, a scale gear 41 fixedly provided with the pin 43, a comparison gear 42 provided with a jack matched with the pin 43 in position, a third servo motor driving the scale gear 41 to rotate, a fourth servo motor driving the comparison gear 42 to rotate, and a fifth servo motor driving the comparison gear 42 to be close to or far away from the scale gear 41 through a sliding block 44 and a driving sliding block 44 which are connected with the comparison gear 42.
The vibration suppression demonstration system 5 comprises an A vibration suppression demonstration device provided with a vibration suppression mechanism and a B vibration suppression demonstration device not provided with the vibration suppression mechanism, the A vibration suppression demonstration device is provided with an A camera 51 which is positioned at the free end of an A spring piece 57 and can vibrate slightly, the B vibration suppression demonstration device is provided with a B camera 52 which is positioned at the free end of a B spring piece 58 and can vibrate slightly, and the A camera 51 and the B camera 52 capture images under the same environment.
The vibration suppression mechanism comprises a driving sheet and a sensing sheet which are adhered to the root part of the fixed end of the spring piece A57 and correspond to the upper surface and the lower surface of the spring piece A and are made of piezoelectric materials, and the driving sheet and the sensing sheet for active vibration suppression are connected with the corresponding servo drivers 20 in the electronic control assembly 2.
The A spring piece 57 adopts a strip-shaped insulating base body and is used for matching with the sensing piece and the driving piece to acquire vibration frequency and suppress vibration, the A spring piece is fixed to a certain extent, and the free end of the A spring piece can drive the A camera 51 to vibrate. The sixth servo motor drives the camera 51A to vibrate through the movable single-arm component 55A, the movable block 53A and the spring leaf 57A, and similarly, the movable single-arm component 56B, the movable block 54B and the spring leaf 58B drive the camera 52B to vibrate. When the two are stopped simultaneously, the spring leaf A is quickly and stably under the action of vibration suppression of the servo driver, so that the picture captured by the camera 51A is clear; the B spring plate continues to vibrate and slowly tends to be stable, so that the picture captured by the B camera 52 is blurred.
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 all simple modifications and equivalent variations of the above embodiments according to the technical spirit of the present invention are included in the scope of the present invention.
Claims (7)
1. The utility model provides an exchange servo performance demonstration system for exchange servo's performance demonstration, its characterized in that: the demonstration system comprises an electric control assembly (2) provided with a servo driver (20) and a demonstration system provided with a driving motor, wherein the servo driver (20) is connected with the driving motor in a one-to-one manner; the demonstration system comprises an intermittent demonstration system (3), a tooth insertion demonstration system (4) and a vibration suppression demonstration system (5);
the intermittent demonstration system (3) comprises a continuous motion disc (31), an intermittent motion disc (32) matched with the continuous motion disc (31), a first servo motor driving the continuous motion disc (31) to act and a second servo motor driving the intermittent motion disc (32) to act; the continuous moving disc (31) is uniformly distributed with tooth segments (312) and gear teeth (313) along the circumferential direction; the intermittent motion disc (32) is uniformly provided with intermittent teeth (321) and intermittent gaps (322) along the circumferential direction, and the width of the intermittent gaps (322) is matched with the thickness of the continuous motion disc (31);
the opposite-insertion-tooth demonstration system (4) comprises an insertion pin (43), a scale gear (41) fixedly provided with the insertion pin (43), a comparison gear (42) provided with an insertion hole matched with the insertion pin (43), a third servo motor driving the scale gear (41) to rotate, a fourth servo motor driving the comparison gear (42) to rotate, a slider (44) connected with the comparison gear (42) and a fifth servo motor driving the slider (44) to drive the comparison gear (42) to be close to or far away from the scale gear (41);
the vibration suppression demonstration system (5) comprises a vibration suppression demonstration device A provided with a vibration suppression mechanism and a vibration suppression demonstration device B not provided with the vibration suppression mechanism; the A vibration suppression demonstration device comprises an A spring piece (57) which adopts a strip-shaped insulating base body and is provided with a fixed end and a free end, an A camera (51) which is arranged at the free end of the A spring piece (57), and a sixth servo motor which drives the A spring piece (57) to vibrate; the vibration suppression mechanism comprises a driving sheet and a sensing sheet which are adhered to the root part of the fixed end of the spring piece A (57), correspond to the upper surface and the lower surface of the spring piece A and are made of piezoelectric materials, and the driving sheet and the sensing sheet for active vibration suppression are connected with corresponding servo drivers (20) in the electric control assembly (2); the B vibration suppression demonstration device comprises a B spring piece (58) provided with a fixed end and a free end, a B camera (52) arranged at the free end of the B spring piece (58) and a seventh servo motor for driving the B spring piece (58) to vibrate.
2. An ac servo system performance demonstration system according to claim 1, wherein: the intermittent demonstration system (3) further comprises a cam (311) which coaxially rotates with the continuous motion disc (31), a follow-up pointer (33) of which the tip corresponds to the outer contour position of the cam (311), and an eighth servo motor which drives the follow-up pointer (33) to linearly move through a lead screw pair; the first servo motor, the second servo motor and the eighth servo motor are respectively and simultaneously driven by three servo drivers (20).
3. An ac servo system performance demonstration system according to claim 1, wherein: the electric control assembly (2) further comprises a shaft module (21) and a control module (22) which are respectively connected with the servo driver (20), the shaft module (21) converts a control signal sent by the control module (22) to a frequency pulse signal and sends the frequency pulse signal to the servo driver (20), and the servo driver (20) converts the frequency pulse signal to a current and controls the servo motor to operate.
4. An ac servo system performance demonstration system according to claim 1, wherein: the device is characterized by further comprising a bearing platform (1) used for installing the electric control assembly (2), the intermittent demonstration system (3), the opposite-insertion demonstration system (4) and the vibration suppression demonstration system (5).
5. An AC servo system performance demonstration system as claimed in claim 4 wherein: install the backplate subassembly that sets up flat panel display on bearing platform (1), flat panel display is connected with A camera (51), B camera (52) that set up in vibration suppression demonstration system (5) respectively.
6. An AC servo system performance demonstration system as claimed in claim 5 wherein: a camera (51) and B camera (52) are wireless cameras, and the flat panel display is provided with a wireless communication module and is in wireless connection with the A camera (51) and the B camera (52) through the wireless communication module.
7. An ac servo system performance demonstration system according to claim 1, wherein: the A vibration suppression demonstration device further comprises an A moving block (53) arranged at the fixed end of the A spring piece (57) and an A movable single-arm component (55) connected with the A moving block (53) in a sliding mode, and the sixth servo motor drives the A spring piece (57) to vibrate through the A movable single-arm component (55) and the A moving block (53); the B vibration suppression demonstration device further comprises a B moving block (54) arranged at the fixed end of the B spring piece (58) and a B movable single-arm component (56) connected with the B moving block (54) in a sliding mode, and the seventh servo motor drives the B spring piece (58) to vibrate through the B movable single-arm component (56) and the B moving block (54).
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