CN109353133A - A kind of spray head lifting localization method - Google Patents
A kind of spray head lifting localization method Download PDFInfo
- Publication number
- CN109353133A CN109353133A CN201811254926.8A CN201811254926A CN109353133A CN 109353133 A CN109353133 A CN 109353133A CN 201811254926 A CN201811254926 A CN 201811254926A CN 109353133 A CN109353133 A CN 109353133A
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- CN
- China
- Prior art keywords
- spray head
- mounting rack
- goes
- localization method
- lifting
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J25/00—Actions or mechanisms not otherwise provided for
- B41J25/304—Bodily-movable mechanisms for print heads or carriages movable towards or from paper surface
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- Spray Control Apparatus (AREA)
Abstract
The invention discloses a kind of spray heads to go up and down localization method, and the opposite sides of mounting rack is mounted on 2 lifting leading trucks (1)；Spray head is mounted on mounting rack；Ball screw (2) are set on lifting leading truck；It goes up and down leading truck and ball screw is 2,2 ball screws are separately mounted on 2 lifting leading trucks；The both ends of mounting rack are sleeved on 2 ball screws；When servo motor rotates, mounting rack and spray head lifting can be driven by the transmission of ball screw；Mounting rack is equipped with the obliquity sensor for detecting mounting rack inclination angle；2 ball screws are driven by 2 independent servo motors (6) respectively；Obliquity sensor is connected with MCU；Servo motor is controlled by MCU；MCU controls the height of mounting rack and spray head by control servo motor, realizes the lifting positioning of spray head.The spray head goes up and down localization method, and positioning accuracy is high, easy to implement.
Description
Technical field
The present invention is more particularly directed to a kind of spray heads to go up and down localization method.
Background technique
Existing spray head lifting positioning, maximum problem is that positioning accuracy is not high, in addition, high-precision fixed to realize
Position, even positioning accuracy of lifting whole-course when will print, the structure of stroke big in this way as the positioning accuracy of machine tool,
It is difficult to realize, difficulty of processing with machine tool processing, assembly difficulty, the cost of frock clamp is all the geometry of machine tool
Multiple, therefore, it is necessary to design the locating scheme that a kind of completely new cost is low and positioning accuracy is high.
Therefore, it is necessary to design a kind of spray head lifting localization method.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of spray heads to go up and down localization method, which goes up and down localization method
It is compact-sized, it is easy to implement.
The technical solution of invention is as follows:
A kind of spray head lifting localization method, the opposite sides of mounting rack is mounted on 2 lifting leading trucks (1)；Spray head
It is mounted on mounting rack；
Ball screw (2) are set on lifting leading truck；
It goes up and down leading truck and ball screw is 2,2 ball screws are separately mounted on 2 lifting leading trucks；Installation
The both ends of frame are sleeved on 2 ball screws；When servo motor rotates, mounting rack and spray can be driven by the transmission of ball screw
Head lifting；
Mounting rack is equipped with the obliquity sensor for detecting mounting rack inclination angle；
2 ball screws are driven by 2 independent servo motors (6) respectively；
Obliquity sensor is connected with MCU；Servo motor is controlled by MCU；
MCU controls the height of mounting rack and spray head by control servo motor, realizes the lifting positioning of spray head.
Mounting rack is connect by resilient coupling (5) with lifting leading truck, and resilient coupling is led as mounting rack and lifting
To the buffering between frame.
Mounting rack or resilient coupling are equipped with multiple upper and lower position locating pieces (3), and upper and lower position locating piece is mounting rack
Decline provide lower end limit, pass through upper and lower position locating piece realize mounting rack positioning, the precision of upper and lower position locating piece
Determine the whole positioning accuracy of spray head.
Upper and lower position locating piece is 4, and resilient coupling is 2, and 2 upper bottoms are respectively provided on each resilient coupling
Locating piece is set, is fixed with stylobate (specific stylobate corresponding with the upper and lower position locating piece in the bottom of lifting leading truck
For cake type or circular platform type, upper and lower position locating piece is cylindrical component).
It goes up and down leading truck and is equipped with falling proof device.
Falling proof device is spring；The upper end of lifting leading truck is arranged in the upper end of spring, and the lower end of spring connects installation
Frame.
Obliquity sensor is gyroscope.
Mounting rack is equipped with multiple spray heads.It is preferred that 64 spray heads.
The effect of angle locating piece (4) is limited for installation frame, and installation frame can rotate, and angle locating piece can be with hand
Dynamic its position of adjusting and angle, the precision of angle locating piece determine the precision of installation frame rotational angle.
The utility model has the advantages that
Spray head of the invention goes up and down localization method, has the following characteristics that
(1) gradient is detected by angular transducer, ensures the inclination angle of installation frame in preset accuracy rating.
(2) installation frame is realized by resilient coupling and goes up and down the flexible connection of leading truck, avoided to spray head installing frame
Frame damages.
(3) maximum one of feature of the invention is to realize the positioning of installation frame by upper and lower position locating piece, i.e.,
Positioning when working condition.
(4) there is anti-falling mechanism
Prevent installation frame from falling by spring mechanism, it is highly-safe.
(5) there is high-precision displacement detection module
Cooperated using fixed pulley and coding disk, coding disk precision itself is high, therefore can accurately detect displacement, and puts
The amplification factor of big device is adjustable, and flexibility is good.
(6) there is display screen, and display screen is equipped with Intelligent dimming circuit, (including displacement is shown convenient for status display
It is shown with warning message).
In conclusion spray head lifting localization method of the invention is easy to implement, precision is high, and at low cost, compact-sized.
Detailed description of the invention
Fig. 1 is the perspective view that spray head goes up and down localization method；
Fig. 2 is the main view that spray head goes up and down localization method；
Fig. 3 is the side view that spray head goes up and down localization method.
Label declaration: 1- goes up and down leading truck, 2- ball screw, the upper and lower position 3- locating piece, 4- angle locating piece, 5- elasticity
Connector, 6- servo motor, 7- gyroscope, 8- installation frame, 9- spray head.
Specific embodiment
To facilitate the understanding of the present invention, invention herein is done below in conjunction with Figure of description and preferred embodiment more complete
Face meticulously describes, but protection scope of the present invention is not limited to specific embodiment.
Unless otherwise defined, all technical terms used hereinafter are generally understood meaning phase with those skilled in the art
Together.Technical term used herein is intended merely to the purpose of description specific embodiment, and it is of the invention to be not intended to limitation
Protection scope.
Embodiment 1:
A kind of Fig. 1-3, spray head lifting localization method, the opposite sides of mounting rack is mounted on 2 lifting leading trucks 1；
Spray head is mounted on mounting rack；
Ball screw 2 is set on lifting leading truck；
It goes up and down leading truck and ball screw is 2,2 ball screws are separately mounted on 2 lifting leading trucks；Installation
The both ends of frame are sleeved on 2 ball screws；When servo motor rotates, mounting rack and spray can be driven by the transmission of ball screw
Head lifting；
Mounting rack is equipped with the obliquity sensor for detecting mounting rack inclination angle；
2 ball screws are driven by 2 independent servo motors 6 respectively；
Obliquity sensor is connected with MCU；Servo motor is controlled by MCU；
MCU controls the height of mounting rack and spray head by control servo motor, realizes the lifting positioning of spray head.
Mounting rack is connect by resilient coupling 5 with lifting leading truck, and resilient coupling is oriented to as mounting rack and lifting
Buffering between frame.
Mounting rack or resilient coupling are equipped with multiple upper and lower position locating pieces 3, and upper and lower position locating piece is mounting rack
Decline provides the limit of lower end, and the positioning of mounting rack is realized by upper and lower position locating piece, and the precision of upper and lower position locating piece is determined
The whole positioning accuracy of spray head is determined.
Upper and lower position locating piece is 4, and resilient coupling is 2, and 2 upper bottoms are respectively provided on each resilient coupling
Locating piece is set, is fixed with stylobate (specific stylobate corresponding with the upper and lower position locating piece in the bottom of lifting leading truck
For cake type or circular platform type, upper and lower position locating piece is cylindrical component).
It goes up and down leading truck and is equipped with falling proof device.
Falling proof device is spring；The upper end of lifting leading truck is arranged in the upper end of spring, and the lower end of spring connects installation
Frame.
Obliquity sensor is gyroscope.
Mounting rack is equipped with multiple spray heads.It is preferred that 64 spray heads.
In the present solution, coupling two ball-screw synchronously control spray head installation frame liters using each servo motor in both sides
Drop, it is flexible between flexible connector, 4 angles of spray head installation frame and lifting leading truck between ball-screw and spray head frame
Connector, it is print job position that spray head installation frame, which is preferably minimized, and spray head guarantees to determine by going up and down the locating piece at 4 angles of leading truck
Position precision, after printing, spray head rises sealing again, and the tolerance of lifting structure is allowed by resilient coupling,
Advantage using this scheme is: printing only need spray head installation frame position when precision can, no
Need the positioning accuracy of lifting process, if positioning accuracy when lifting whole-course will print, the structure of stroke big in this way and
The positioning accuracy of machine tool is the same.It is difficulty of processing difficult to realize, assembly difficulty, frock clamp with machine tool processing
Cost be all geometric multiple, so, this programme can significant save the cost, and in turn ensure positioning accuracy.In addition elastic construction
Have a good fault-tolerance, the structure of this spline span, if it is rigid structure, if error lifting force unbalance, can deform or
Structure is destroyed, and the safety of spray head is threatened, and resilient connection structure has allowed inclined presence by flexible deformation, guarantees structure safety,
Through breaking test, 20 degree of guarantee structures safety can be tilted, by the top of spray head installation frame center installation when actual motion
The gradient of the both direction of spiral shell instrument real-time monitoring spray head installation frame, any direction are tilted beyond 1 degree of shutdown that reports an error automatically, watch
Take the lifting of motor synchronously control, an error, the phenomenon that report an error shutdown automatically, and guarantee is not in unilateral force unbalance production
Raw, the limitation of servo motor torque increases if the inclination of spray head installation frame will cause unilateral servo motor torque, and system detection arrives
Afterwards, report an error shutdown.The tilt angle information that two servo motors are fed back according to gyroscope passes through two differential real-time control liters
The position of spray head installation frame when drop, guarantee will not be tilted beyond 1 degree.Gyroscope power-off or aged deterioration, system report an error lifting
It does not work.
There is falling proof device on lifting leading truck, hauls spray head installation frame in lifting travel by spring and guide rod, it is real
Gravity compensation when now going up and down reduces the stress abrasion of rolling lead screw, and mechanical structure prevents spray head installation frame from falling when failing, because
This, it is highly-safe.
Localization method realizes that spray head lifting position control device includes MCU, displacement using spray head lifting position control device
Detection device and display screen；Displacement detector is connected with MCU with display screen；
The displacement detector is 2 sets, is set up separately in the two sides of spray head elevating mechanism；
Spray head elevating mechanism includes lifting leading truck 1, ball screw 2 and servo motor 6；When servo motor rotates, it can lead to
The transmission for crossing ball screw drives mounting rack and spray head lifting；Spray head is mounted on mounting rack；
Displacement detector includes bracing wire, fixed pulley and coding disk；
Fixed pulley is mounted on the top of lifting leading truck,
The lower end of bracing wire is fixed on mounting rack；The upper end of bracing wire is wrapped on fixed pulley；Keep fixed pulley and mounting rack
Between bracing wire vertical direction；
The shaft of fixed pulley is equipped with coding disk, and the pulse output end of coding disk is connected with the input signal end of MCU.
Display screen is equipped with the light adjusting circuit for adjusting backlight；It goes up and down leading truck and is equipped with light intensity sensor Rx；Light intensity
Sensor is connected by amplifier with MCU；
LED light string includes the LED light of multiple concatenations；The anode of LED light string meets positive pole Vcc；The cathode of LED light string connects
The pole E of the pole C of triode, triode is grounded through second resistance R2；The output end for meeting MCU of the pole B of triode.Positive pole
Vcc is 5V, and A/D converter is 8 Bits Serial output type converters.
Amplifier is the amplification factor adjustable amplifying circuit based on variable connector and operation amplifier device.
MCU drives servo motor by motor-drive circuit.
Display screen is connected with MCU, and light adjusting circuit includes LED light string, triode, light intensity sensor Rx and is built in MCU
A/D converter；Triode is NPN type triode；
Light intensity sensor Rx and first resistor R1 concatenates to form partial pressure branch, and partial pressure branch one terminates positive pole Vcc, point
Press the other end ground connection of branch；The tie point of light intensity sensor Rx and first resistor R1 connect the input terminal of amplifier；Amplifier
The input port of the A/D converter of output termination MCU；
LED light string includes the LED light of multiple concatenations；The anode of LED light string meets positive pole Vcc；The cathode of LED light string connects
The pole E of the pole C of triode, triode is grounded through second resistance R2；The output end for meeting MCU of the pole B of triode.Positive pole
Vcc is 5V, and A/D converter is 8 Bits Serial output type converters.
Light intensity sensor is connected by adjustable amplification factor amplifier with the end ADC of MCU；
The amplifier of adjustable amplification factor includes operational amplifier U1 and variable connector U2；Variable connector U2 selects for four
Select device；
The output end Vin of light intensity sensor connects the inverting input terminal of operational amplifier U1 through resistance R0；Operational amplifier U1
Non-inverting input terminal be grounded through resistance R06, the noninverting input of operational amplifier U1 also connects four through 4 resistance R01-R04 respectively
Select 4 input channels of a selector, four select the output channel of a selector to meet the output end vo ut, Vout of operational amplifier U1
Connect the end ADC of MCU；
2 output ports of MCU connect four respectively and the channel of a selector are selected to select end A and B；
Operational amplifier U1 uses LM393 device.
The calculation formula of Vout and Vin:
Vout=Vin* (Rx+R0)/R0；Wherein, Rx=R01, R02, R03 or R04；Selection is determined based on gated end AB
Which resistance；And R01, R02, R03 and R04 are different；Preferred R04=5*R03=25*R02=100*R01；R01=
5*R0. realizes range and precision switching in which can be convenient.
Claims (8)
1. a kind of spray head goes up and down localization method, which is characterized in that the opposite sides of mounting rack is mounted on 2 lifting leading trucks
(1) on；Spray head is mounted on mounting rack；
Ball screw (2) are set on lifting leading truck；
It goes up and down leading truck and ball screw is 2,2 ball screws are separately mounted on 2 lifting leading trucks；Mounting rack
Both ends are sleeved on 2 ball screws；When servo motor rotates, mounting rack and spray head liter can be driven by the transmission of ball screw
Drop；
Mounting rack is equipped with the obliquity sensor for detecting mounting rack inclination angle；
2 ball screws are driven by 2 independent servo motors (6) respectively；
Obliquity sensor is connected with MCU；Servo motor is controlled by MCU；
MCU controls the height of mounting rack and spray head by control servo motor, realizes the lifting positioning of spray head.
2. spray head according to claim 1 goes up and down localization method, which is characterized in that mounting rack passes through resilient coupling (5)
It is connect with lifting leading truck, resilient coupling is as the buffering between mounting rack and lifting leading truck.
3. spray head according to claim 1 goes up and down localization method, which is characterized in that mounting rack or resilient coupling are equipped with
Multiple upper and lower position locating pieces (3), upper and lower position locating piece provide the limit of lower end for the decline of mounting rack.
4. spray head according to claim 2 goes up and down localization method, which is characterized in that upper and lower position locating piece is 4, elasticity
Connector is 2, is respectively provided with 2 upper and lower position locating pieces on each resilient coupling.
5. spray head according to claim 1 goes up and down localization method, which is characterized in that lifting leading truck is filled equipped with fall arrest
It sets.
6. spray head according to claim 5 goes up and down localization method, which is characterized in that falling proof device is spring；Spring
The upper end of lifting leading truck is arranged in upper end, and the lower end of spring connects mounting rack.
7. spray head according to claim 1 goes up and down localization method, which is characterized in that obliquity sensor is gyroscope.
8. spray head according to claim 1-7 goes up and down localization method, which is characterized in that mounting rack is equipped with multiple
Spray head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811254926.8A CN109353133B (en) | 2018-10-26 | 2018-10-26 | Nozzle lifting and positioning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811254926.8A CN109353133B (en) | 2018-10-26 | 2018-10-26 | Nozzle lifting and positioning method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109353133A true CN109353133A (en) | 2019-02-19 |
| CN109353133B CN109353133B (en) | 2020-10-27 |
Family
ID=65346878
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811254926.8A Active CN109353133B (en) | 2018-10-26 | 2018-10-26 | Nozzle lifting and positioning method |
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| Country | Link |
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| CN (1) | CN109353133B (en) |
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| CN101270535A (en) * | 2008-05-07 | 2008-09-24 | 何伟斌 | Flat seaming machine for socks end |
| CN101565930A (en) * | 2009-06-02 | 2009-10-28 | 天津市市政工程研究院 | Movable span lifting device of vertical lift balance bridge |
| CN204088090U (en) * | 2014-09-29 | 2015-01-07 | 河北工业大学 | A kind of automatic transfer switch for triple power supplies device |
| CN204165748U (en) * | 2014-11-15 | 2015-02-18 | 北华航天工业学院 | A kind of sensor spring leaf elasticity coefficient test macro |
| CN105346080A (en) * | 2015-11-13 | 2016-02-24 | 赵晓玲 | Intelligent 3D printer with accurate displacement control capability |
| CN106426926A (en) * | 2016-10-09 | 2017-02-22 | 深圳市玖品空气净化科技有限公司 | Desktop-grade 3D printing device based on internet of things |
| CN107521098A (en) * | 2017-08-02 | 2017-12-29 | 时伟 | A kind of safe and reliable type 3D printer with wireless transmission function |
-
2018
- 2018-10-26 CN CN201811254926.8A patent/CN109353133B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101270535A (en) * | 2008-05-07 | 2008-09-24 | 何伟斌 | Flat seaming machine for socks end |
| CN101565930A (en) * | 2009-06-02 | 2009-10-28 | 天津市市政工程研究院 | Movable span lifting device of vertical lift balance bridge |
| CN204088090U (en) * | 2014-09-29 | 2015-01-07 | 河北工业大学 | A kind of automatic transfer switch for triple power supplies device |
| CN204165748U (en) * | 2014-11-15 | 2015-02-18 | 北华航天工业学院 | A kind of sensor spring leaf elasticity coefficient test macro |
| CN105346080A (en) * | 2015-11-13 | 2016-02-24 | 赵晓玲 | Intelligent 3D printer with accurate displacement control capability |
| CN106426926A (en) * | 2016-10-09 | 2017-02-22 | 深圳市玖品空气净化科技有限公司 | Desktop-grade 3D printing device based on internet of things |
| CN107521098A (en) * | 2017-08-02 | 2017-12-29 | 时伟 | A kind of safe and reliable type 3D printer with wireless transmission function |
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| Publication number | Publication date |
|---|---|
| CN109353133B (en) | 2020-10-27 |
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