CN115821448A

CN115821448A - Full automatically regulated hank reel with memory function

Info

Publication number: CN115821448A
Application number: CN202211209909.9A
Authority: CN
Inventors: 温光勇
Original assignee: Jiangsu Yingmaijie Machinery Co ltd
Current assignee: Jiangsu Yingmaijie Machinery Co ltd
Priority date: 2022-09-30
Filing date: 2022-09-30
Publication date: 2023-03-21

Abstract

The invention discloses a full-automatic adjusting reeling frame with a memory function, which comprises a telescopic bracket mechanism; one side of the telescopic bracket mechanism is connected with a rotary winch mechanism; one side of the rotary winch mechanism is connected with a support telescopic control mechanism; one side of the support expansion control mechanism is connected with a stepping motor; the rotary winch mechanism is connected with the servo motor; the servo motor and the stepping motor are connected with the operation control system; the operation control system comprises a PLC control panel and a servo driver; the PLC control panel is connected with the servo motor and the stepping motor. This device can let the preparation of dyeing hank yarn more convenient, the quality is more reliable, degree of automation is higher, should shake hank the device and can easily carry out strutting and the shrink of capstan winch to strutting and the position of shrink can carry out flexible position memory function through PLC chip control panel program code, reach appointed flexible position or creel diameter size and can lock, conveniently carry out the key operation management of electric control, the operative employee of being convenient for easily takes off finished product hank yarn fast.

Description

Full automatically regulated hank reel with memory function

Technical Field

The invention relates to a full-automatic reeling frame, in particular to a full-automatic adjusting reeling frame with a memory function.

Background

The traditional common hank reeling equipment is integrally driven and controlled, so that the flexibility is not as convenient as single spindle control, spindle-to-spindle interaction is large, when one spindle has a problem, all spindle positions have to be stopped for maintenance, and great yield loss is caused; the operation mode of the traditional hank reeling machine is a manual operation mode (especially yarn taking operation), the finished hank reeling product yarn can be taken down only by manual operation after the machine is stopped every time, the consumed time is long, and the produced hank in unit time is little; in the period of very short labor force nowadays, too low automation degree of old equipment causes relative backward productivity and also influences the economic benefit of production type enterprises.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a full-automatic adjusting reeling frame with a memory function, so that the technical problems are solved.

In order to achieve the purpose, the invention adopts the technical scheme that: a full-automatic adjustment cradle with a memory function comprises a telescopic bracket mechanism, a rotary winch mechanism, a bracket telescopic control mechanism, a servo motor, a stepping motor and an operation control system; the telescopic bracket mechanism is connected with yarns in a winding way; one side of the telescopic bracket mechanism is connected with a rotary winch mechanism; one side of the rotary winch mechanism is connected with a support expansion control mechanism; one side of the support expansion control mechanism is connected with the stepping motor through a synchronous belt II; the rotary winch mechanism is connected with the servo motor through a synchronous belt I; the servo motor and the stepping motor are connected with the operation control system; the operation control system comprises a PLC control panel and a servo driver; and the PLC control board is connected with the servo motor and the stepping motor.

Furthermore, the telescopic support mechanism comprises a plurality of telescopic joint assemblies, wherein each telescopic joint assembly comprises a telescopic sleeve, a first connecting rod, a second connecting rod, a third connecting rod, a claw-shaped support and a telescopic rod; one side of the telescopic bracket mechanism is connected with an end shield; the claw-shaped bracket is connected with the telescopic rod; one side of the claw-shaped bracket is connected with a third connecting rod through a pin; a small-size bearing is arranged in the end shield; a telescopic sleeve is connected in the small-size bearing; one end of the third connecting rod is hinged with a second connecting rod through a pin; one side of the middle part of the connecting rod close to the upper end is hinged with a first connecting rod through a pin; and one end of the second connecting rod, which is far away from the connecting part of the connecting rod, is hinged and fixed with the winch base where the telescopic rod is located through a pin.

Further, the rotating winch mechanism comprises a winch base and an inner seat; a middle bearing is arranged between the winch base and the inner seat; a large-size bearing is connected to the position, close to the outer side, of the winch base; the large-size bearing is arranged in the first bearing seat; one end of the inner seat is also connected with an inner synchronous belt pulley; the inner synchronous belt wheel is connected with the servo motor through a first synchronous belt; an induction magnet is fixed on one side of the inner synchronous belt wheel; a speed sensor is arranged on one side of the induction magnet; the speed sensor gathers and feeds back a speed signal to the operation control system.

Further, the support telescoping control mechanism comprises a threaded shaft; one end of the threaded shaft is connected with the outer synchronous belt wheel, and the other end of the threaded shaft is connected with the telescopic sleeve through the embedded threaded sleeve; the outer synchronous belt wheel is connected with the motor belt wheel through a second synchronous belt, and the motor belt wheel is connected to the stepping motor; a second bearing seat is arranged on one side, close to the outer synchronous belt pulley, of the threaded shaft; a ball bearing is arranged in the second bearing seat; a position sensing base is arranged on one side of the second bearing seat; and a position sensor is arranged on the position sensing base.

Further, the position induction base is connected to the threaded shaft, a plurality of signal induction points which are uniformly arranged are arranged on an annular body of the position induction base, and the position induction base is induced by the position sensor, so that the number of rotation turns of the threaded shaft can be obtained, and meanwhile, the accurate rotation position of the threaded shaft can also be obtained.

Furthermore, the threaded shaft is in threaded fit connection with the embedded threaded sleeve, and the embedded threaded sleeve can axially slide in the inner seat to form a lead screw slide rail mechanism.

Further, the operation control system comprises a touch screen; which is connected with the servo driver; the servo driver is connected with the PLC control panel; the PLC control panel controls the servo motor and the stepping motor to move; the position sensor and the speed sensor transmit the sensing signal to the PLC control panel

The invention has the beneficial effects that:

1) The fully-automatic telescopic hank reel structure is high in automation degree, a single-spindle single-control mode can enable a user to carry out differentiation setting according to actual requirements, and product function compatibility and expansibility are better.

2) The drive and control system adopts a PLC control chip and a servo drive, so that the control precision is high, the speed is high, the operation is simpler and more convenient, the labor intensity of the operation is greatly reduced, the friendliness of a human-computer interaction interface is improved, and the output efficiency is high;

3) The automatic production concept of reducing cost and reducing the number of people is implemented, unnecessary labor expenditure of enterprises is reduced, the production problems of difficult employment, difficult management and high cost of the existing line operators are solved, and the enterprise is helped to solve the biggest dilemma in the actual production.

Drawings

FIG. 1 is a schematic front view of a fully automatic adjusting reeling frame structure with memory function according to the present invention;

FIG. 2 is a schematic rear view of the fully automatic adjusting cradle with memory function of the present invention;

FIG. 3 is a schematic side view of the fully automatic adjusting cradle with memory function of the present invention;

FIG. 4 is a schematic cross-sectional view of a fully automatic adjusting cradle with memory function according to the present invention;

FIG. 5 is a schematic cross-sectional view of the telescoping support mechanism of the present invention;

FIG. 6 is a schematic cross-sectional view of the construction of the rotary capstan mechanism of the present invention;

FIG. 7 is a schematic cross-sectional view of the structure of the telescoping control mechanism of the stand of the present invention;

FIG. 8 is a schematic structural view of a retractable skein system of the present invention;

FIG. 9 is a structural view of the contraction and expansion action of the retractable skein system of the present invention;

FIG. 10 is a schematic view of the electric control system for the stretching principle of the skein frame of the present invention;

FIG. 11 is a schematic view of the driving principle of the rotation of the skein frame of the present invention (the skein frame is expanded according to the setting);

FIG. 12 is a schematic view of the driving principle of the rotation of the skein frame of the present invention (the skein frame is expanded according to the setting);

FIG. 13 is a schematic view of the electric control system of the rotation principle of the skein frame of the present invention.

In the figure: 1. the device comprises a telescopic support mechanism 11, a telescopic sleeve 12, a first connecting rod 13, a second connecting rod 14, a third connecting rod 15, a claw-shaped support 16, a telescopic rod 17, an end cover 18, a small-size bearing 2, a rotary winch mechanism 21, a winch base 22, an inner base 23, a medium-size bearing 24, a large-size bearing 25, a first bearing seat 26, an inner synchronous pulley 27, an induction magnet 28, a speed sensor 3, a support telescopic control mechanism 31, a threaded shaft 32, an outer synchronous pulley 33, a second bearing seat 34, a ball bearing 35, a position sensing base 351, a position sensor 36, an embedded screw sleeve 4, a servo motor 5, a stepping motor 51, a motor pulley 6, a yarn 7, a first synchronous belt 8 and a synchronous belt two.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, and the terminology used herein in the description of the present invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the present invention.

As shown in fig. 1, 2 and 3, a fully automatic adjusting cradle with memory function comprises a telescopic bracket mechanism 1, a rotary winch mechanism 2, a bracket telescopic control mechanism 3, a servo motor 4, a stepping motor 5 and an operation control system; the telescopic bracket mechanism 1 is wound and connected with yarns 6; one side of the telescopic bracket mechanism 1 is connected with a rotary winch mechanism 2; one side of the rotary winch mechanism 2 is connected with a support expansion control mechanism 3; one side of the support expansion control mechanism 3 is connected with the stepping motor 5 through a synchronous belt II 8; the rotary winch mechanism 2 is connected with the servo motor 4 through a synchronous belt I7; the servo motor 4 and the stepping motor 5 are connected with an operation control system; the operation control system comprises a PLC control panel and a servo driver; the PLC control panel is connected with the servo motor 4 and the stepping motor 5.

Referring to fig. 5, in the present mechanism, preferably, the telescopic bracket mechanism 1 includes a plurality of telescopic joint assemblies, which include a telescopic tube 11, a first connecting rod 12, a second connecting rod 13, a third connecting rod 14, a claw-shaped bracket 15 and a telescopic rod 16; one side of the telescopic bracket mechanism 1 is connected with an end shield 17; the claw-shaped bracket 15 is connected with a telescopic rod 16; one side of the claw-shaped bracket 15 is connected with a third connecting rod 14 through a pin; a small-size bearing 18 is arranged in the end shield 17; the small-size bearing 18 is internally connected with a telescopic sleeve 11; one end of the third connecting rod 14 is hinged with a second connecting rod 13 through a pin; one side of the middle part of the connecting rod 13 close to the upper end is hinged with a first connecting rod 12 through a pin; one end of the second connecting rod 13, which is far away from the connecting part of the first connecting rod 14, is hinged and fixed with the winch base 21 where the telescopic rod 16 is located through a pin.

Referring to fig. 6, the present mechanism preferably, the rotating winch mechanism 2 includes a winch base 21 and an inner seat 22; a middle bearing 23 is arranged between the winch base 21 and the inner seat 22; a large-size bearing 24 is connected to the position, close to the outer side, of the winch base 21; the large-size bearing 24 is arranged in the bearing seat I25; one end of the inner seat 22 is also connected with an inner synchronous belt wheel 26; the inner synchronous pulley 26 is connected with the servo motor 4 through a synchronous belt I7; an induction magnet 27 is fixed on one side of the inner synchronous belt wheel 26; a speed sensor 28 is arranged on one side of the induction magnet 27; the speed sensor 28 gathers speed signals for feedback to the operating control system.

Referring to fig. 7, in the present mechanism, the stand telescoping control mechanism 3 preferably includes a threaded shaft 31; one end of the threaded shaft 31 is connected with the outer synchronous belt wheel 32, and the other end of the threaded shaft is connected with the telescopic sleeve 11 through the embedded threaded sleeve 36; the outer synchronous belt wheel 32 is connected with the motor belt wheel 51 through a second synchronous belt 8, and the motor belt wheel 51 is connected to the stepping motor 5; a second bearing seat 33 is arranged on one side of the threaded shaft 31 close to the outer synchronous pulley 32; a ball bearing 34 is arranged in the second bearing seat 33; a position sensing base 35 is arranged on one side of the second bearing seat 33; the position sensing base 35 is provided with a position sensor 35.

Preferably, the position sensing base 35 is connected to the threaded shaft 31, a plurality of uniformly arranged signal sensing points are arranged on an annular body of the position sensing base, and the position sensing base is sensed by the position sensor 35, so that the number of rotation turns of the threaded shaft 31 can be obtained, and meanwhile, the accurate rotation position of the threaded shaft 31 can also be obtained.

Preferably, the threaded shaft 31 is in threaded fit connection with the embedded threaded sleeve 36, and the embedded threaded sleeve 36 can axially slide in the inner seat 22 to form a lead screw sliding rail mechanism.

Preferably, the operation control system comprises a touch screen; which is connected with the servo driver; the servo driver is connected with the PLC control panel; the PLC control panel controls the servo motor 4 and the stepping motor 5 to move; the position sensor 35 and the speed sensor 28 transmit the sensing signals to the PLC control board.

Continuing to refer to fig. 5, the telescopic bracket mechanism 1 belongs to a novel reeling bracket telescopic linkage device with a memory function, the telescopic bracket mechanism 1 adopts a 4-link form to realize contraction and expansion, the expansion and contraction of the telescopic bracket mechanism 1 are driven under the control of a bracket telescopic control mechanism 3, a built-in threaded shaft 31 is driven by the rotation of a stepping motor 5 to provide original power, and the telescopic stroke and the position can be accurately controlled; meanwhile, the servo motor 4 provides rotary power to drive the rotary winch mechanism 2 and the telescopic bracket mechanism 1 to rotate at a high speed, so that the winding length of the yarn 6 wound in a certain direction is set according to the number of rotary turns through a system software operation program, and when the telescopic bracket mechanism 1 is opened, the skein 6 is tightened and cannot be taken down; when the telescopic bracket mechanism 1 contracts, the skein 6 is loosened and can be easily taken down.

Continuing to refer to fig. 6, rotatory capstan winch mechanism 1 belongs to novel hank capstan winch rotary device that shakes that has memory function, servo motor 4 provides output power, through hold-in range 7 with torque and power transmission to interior synchronous pulley 26 on, induction magnet 27 is fixed the outside follow rotation on interior synchronous pulley 26, data such as speed, the number of turns finally form induction signal by speedtransmitter 28 and carry out data collection feedback, again with rotatory power transmission to capstan winch base 21 on, telescopic link 16 is being connected on the capstan winch base 21, so final rotatory power can transmit to whole telescopic bracket mechanism 1 on.

Continuing to refer to fig. 7, the support telescoping control mechanism 3 belongs to a power mechanism for controlling the telescoping speed, the telescoping amplitude and the position of the winch frame, the stepping motor 5 provides the power of the telescoping and expanding sources of the support, the output shaft end of the stepping motor 5 is connected with a motor belt pulley 51, the stepping motor 5 can drive the motor belt pulley 51 to rotate together, the motor belt pulley 51 can transmit the power to the outer synchronous belt pulley 32 under the action of the second synchronous belt 8, the outer synchronous belt pulley 32 and the threaded shaft 31 are synchronous and integrated, the second bearing seat 33 is internally provided with a ball bearing 34, the threaded shaft 31 can rotate by itself after passing through the bearing, and the threaded shaft 31 can rotate forwards or backwards according to the requirements under the driving of the power of the outer synchronous belt pulley 32; the position sensing sensor 351 can sense the number of turns of the rotation of the threaded shaft 31 in time, the position sensing base 35 is a signal transmitting end, and a plurality of sensing points are arranged on the position sensing base 35 in order to obtain the accurate rotation position of the threaded shaft 31.

Referring to fig. 8, in this embodiment, an instruction is transmitted to the stepping motor 5 by the PLC control board, if the stepping motor 5 starts to rotate counterclockwise and drives the motor pulley 51 to rotate together, and meanwhile, the synchronous belt 2 transmits power to the outer synchronous pulley 32, since the threads between the threaded shaft 31 and the embedded threaded sleeve 36 are matched with each other, and the embedded threaded sleeve 36 can slide axially in the inner seat 22, a lead-type lead screw sliding rail structure is formed, along with the continuous rotation of the threaded shaft 31, the embedded threaded sleeve 36 drives the telescopic sleeve 11 and the assembly thereof to continuously eject leftward along the inner seat 22 as a guide, and the end cover 17 drives the first connecting rod 12 to pull out leftward while the first connecting rod 12 drives the second connecting rod 13 and the third connecting rod 14 to form an action, and finally drives the claw-shaped bracket 15 to slide and contract along the arrow direction, and the lower end of the telescopic rod is retracted into the winch base 21 by the action force of the connecting rod, and finally forms a contraction state;

referring to fig. 9, the direction marked by the arrow is the moving direction of each component, when the operating command is sent to the stepping motor 5 by the PLC control board, the rotation direction of the stepping motor 5 and the linkage direction of each part are exactly opposite to those in fig. 8, and the claw-shaped bracket 15 begins to expand to the periphery, which is the process of supporting the winch; whether the screw is contracted or propped up, the position sensor 351 can capture the rotation number of the screw shaft 31 and the stop position in the whole process, the accurate induction reflection is provided by the position sensing base arranged in the middle of the screw shaft 31, the pitch lead on the screw shaft 31 can form a corresponding relation with the expansion and contraction perimeter and width of the telescopic reel,

referring to fig. 10, all programs can be imported into the PLC after being written, parameters such as the speed of expansion and contraction and the diameter a are set by operating the parameters through the touch screen keys, the system also records the parameters in the CPU through the driver and the single board program to form a memory location, and when an operator needs to call, the operator only needs to operate one key on the external touch screen or the parameter button.

Referring to fig. 11, the reel is in an expanded state, and the expanded diameter is that the telescopic shape of B is locked; when an operator presses a start button after setting the winding speed to W, the servo motor 4 drives the inner synchronous pulley 26 to rotate at the speed of W through the transmission action of the motor pulley and the synchronous belt I7, and the winch base 21 obtains the rotating speed of W because the inner synchronous pulley 26 is assembled with the winch base 21; similarly, the telescopic support mechanism 1 assembled on the winch base 21 obtains the rotating power of the speed W, provides the winding power for the drawn yarn, and winds the drawn skein bundles according to a certain arrangement sequence.

Referring to fig. 12, at this time, the skein frame is in a contracted state, the contracted diameter is B1 (assuming that the memory position setting is performed according to the process requirements of the user, B1 is to memorize the memory position size stored last time, the telescopic shape is locked, when the operator sets the winding speed to be W and then presses the start button, all actions are the same as the rotation principle of fig. 11, finally the rotation speed of the skein frame activity W, the induction magnet 27 arranged on the outer side of the inner synchronous pulley 26 can transmit the signal of each turn to the speed sensor 28 in time, and the user can see the instantaneous rotation speed, the number of turns already twisted and the winding length of the skein converted on the display screen of the operation end.

The automatic adjustable hank reeling frame device can enable hank yarns for dyeing to be manufactured more conveniently, has more reliable quality and higher automation degree, can easily perform the stretching and shrinking of a winch (and the stretching and shrinking positions can be programmed through a PLC chip control panel program to execute a stretching position memory function, and can be locked when reaching the specified stretching position or the diameter of a creel), is convenient for one-key operation management of electrification control, and is also convenient for an operator to quickly and easily take off finished hank yarns; the full-automatic single-spindle control type hank stand is high in hank yarn production speed and low in energy consumption; a servo motor and a servo driver are configured, the highest twisting rotation speed is 1.5 times of the original motor speed, and the energy consumption of the motor is saved by about 10 percent compared with the original gear type transmission; the fully-automatic adjusting hank reeling frame with the memory function can set the extension or retraction of the hank reeling frame according to the process requirements of the perimeter or the diameter of the hank reeling, and can store memory data after setting, can be quickly adjusted in place by one key, is very convenient and fast, improves the efficiency, and also reduces the time cost of manually and manually feeding and taking the hank reeling; accurate winding speed and winding progress control, supporting high accuracy sensor ensure hank creel's rotation rate and accurate controllable, and the winding length of hank yarn is very accurate moreover, has reduced the waste of yarn.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. A full-automatic adjustment reeling frame with a memory function is characterized by comprising a telescopic support mechanism (1), a rotary winch mechanism (2), a support telescopic control mechanism (3), a servo motor (4), a stepping motor (5) and an operation control system; the telescopic bracket mechanism (1) is connected with a yarn (6) in a winding way; one side of the telescopic bracket mechanism (1) is connected with a rotary winch mechanism (2); one side of the rotary winch mechanism (2) is connected with a support expansion control mechanism (3); one side of the support telescopic control mechanism (3) is connected with the stepping motor (5) through a synchronous belt II (8); the rotary winch mechanism (2) is connected with the servo motor (4) through a synchronous belt I (7); the servo motor (4) and the stepping motor (5) are connected with an operation control system; the operation control system comprises a PLC control panel and a servo driver; the PLC control panel is connected with the servo motor (4) and the stepping motor (5).

2. The fully automatic adjusting reeling frame with the memory function according to claim 1, characterized in that the telescoping bracket mechanism (1) comprises a plurality of telescopic joint components, including a telescopic tube (11), a first connecting rod (12), a second connecting rod (13), a third connecting rod (14), a claw bracket (15) and a telescopic rod (16); one side of the telescopic bracket mechanism (1) is connected with an end shield (17); the claw-shaped bracket (15) is connected with a telescopic rod (16); one side of the claw-shaped support (15) is connected with a third connecting rod (14) through a pin; a small-size bearing (18) is arranged in the end shield (17); a telescopic sleeve (19) is connected in the small-size bearing (18); one end of the third connecting rod (14) is hinged with a second connecting rod (13) through a pin; one side of the middle part of the connecting rod (13), which is close to the upper end, is hinged with a first connecting rod (12) through a pin; one end of the second connecting rod (13) far away from the connecting part of the first connecting rod (14) is hinged and fixed with a winch base (21) where the telescopic rod (16) is located through a pin.

3. The fully automatic adjusting cradle with memory function according to claim 1, characterized by the fact that said rotating winch mechanism (2) comprises a winch base (21) and an inner seat (22); a medium-sized bearing (23) is arranged between the winch base (21) and the inner seat (22); a large-size bearing (24) is connected to the position, close to the outer side, of the winch base (21); the large-size bearing (24) is arranged in the bearing seat I (25); one end of the inner seat (22) is also connected with an inner synchronous belt wheel (26); the inner synchronous belt wheel (26) is connected with the servo motor (4) through a synchronous belt I (7); an induction magnet (27) is fixed on one side of the inner synchronous pulley (26); a speed sensor (28) is arranged on one side of the induction magnet (27); the speed sensor (28) gathers a speed signal for feedback to an operational control system.

4. The fully automatic adjusting reeling frame with memory function according to claim 1, characterized in that the frame telescoping control mechanism (3) comprises a threaded shaft (31); one end of the threaded shaft (31) is connected with the outer synchronous belt wheel (32), and the other end of the threaded shaft is connected with the telescopic sleeve (11) through the embedded threaded sleeve (36); the outer synchronous belt wheel (32) is connected with a motor belt wheel (51) through a second synchronous belt (8); the motor belt wheel (51) is connected to the stepping motor (5); a second bearing seat (33) is arranged on one side, close to the outer synchronous belt wheel (32), of the threaded shaft (31); a ball bearing (34) is arranged in the second bearing seat (33); a position sensing base (35) is arranged on one side of the second bearing seat (33); and a position sensor (35) is arranged on the position sensing base (35).

5. The fully automatic adjusting reeling frame with the memory function according to claim 4, wherein the position sensing base (35) is connected to the threaded shaft (31), a plurality of signal sensing points which are uniformly arranged are arranged on an annular body of the position sensing base, and the signal sensing points are sensed by the position sensor (351), so that the number of rotation turns of the threaded shaft (31) can be obtained, and meanwhile, the accurate rotation position of the threaded shaft (31) can also be obtained.

6. The fully automatic adjusting reeling frame with the memory function according to claim 4, wherein the threaded shaft (31) is in threaded fit connection with an embedded threaded sleeve (36), and the embedded threaded sleeve (36) can axially slide in the inner seat (22) to form a lead screw and slide rail mechanism.

7. The fully automatic adjusting cradle with memory function according to claim 1, wherein said operation control system comprises a touch screen; which is connected with the servo driver; the servo driver is connected with the PLC control panel; the PLC control board controls the servo motor (4) and the stepping motor (5) to move; the position sensor (35) and the speed sensor (28) transmit the sensing signals to the PLC control board.