CN203025529U - Double-axis synchronous control system based on electronic gears - Google Patents
Double-axis synchronous control system based on electronic gears Download PDFInfo
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- CN203025529U CN203025529U CN 201220621161 CN201220621161U CN203025529U CN 203025529 U CN203025529 U CN 203025529U CN 201220621161 CN201220621161 CN 201220621161 CN 201220621161 U CN201220621161 U CN 201220621161U CN 203025529 U CN203025529 U CN 203025529U
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Abstract
The utility model discloses a double-axis synchronous control system based on electronic gears, which mainly comprises a mechanical support unit, a walking unit, a servo drive unit and a controller. The mechanical support unit comprises a framework and a portal frame. The walking unit comprises a linear rack, a bearing wheel and a guide wheel. The servo drive unit comprises a servo motor and a driver thereof, a speed reducer and a drive gear. According to the technical scheme of the utility model, the double-axis synchronous control system ensures the strictly synchronous motion of two motors, so that the smooth and linear motion of a large-span portal frame is realized.
Description
Technical field
The utility model belongs in large-sized gantry formula and bridge type numerical control equipment, adopts the mode of electronic gear to drive bilateral motor strict synchronous technology, particularly a kind of Biaxial synchronous control system based on electronic gear.
Background technology
popularization along with Numeric Control Technology, large-sized numerical control equipment is widely used various field of machining, large to satisfy some volumes, precision is high, production cycle requires short workpiece process requirements, for these large-sized gantry formulas and bridge type numerical control equipment, often have the strict synchronous demand of twin shaft or multiaxis, realize that this is synchronous, although can adopt single motor to drive bilateral scheme by mechanical mechanisms such as bevel gears, but because the general span of these equipment is larger, designed complicated mechanism, the gap is larger, easily cause the unstable of closed-loop control system, and running noises is large, difficult in maintenance.
The utility model content
The purpose of this utility model is to provide a kind of Biaxial synchronous control system based on electronic gear, realizes that bilateral motor is strictly synchronous.
The technical solution that realizes the utility model purpose is: a kind of Biaxial synchronous control system based on electronic gear, comprise mechanical support unit, traveling unit, servo drive unit, master controller, wherein the mechanical support unit comprises first, second, third and fourth framework and first and second portal frame, first and third, two, four frameworks join end to end and consist of the four sides framework, first and second framework is parallel, third and fourth framework is parallel, and first and second portal frame is separately positioned on first and second framework;
the traveling unit comprises the first linear gear rack, the second linear gear rack, the first BOGEY WHEEL, the second BOGEY WHEEL, the 3rd BOGEY WHEEL, the 4th BOGEY WHEEL, the 5th BOGEY WHEEL, the 6th BOGEY WHEEL, the 7th BOGEY WHEEL, the 8th BOGEY WHEEL, the first angle sheave, the second angle sheave, the 3rd angle sheave, the 4th angle sheave, the 5th angle sheave, the 6th angle sheave, the 7th angle sheave, the 8th angle sheave, the first linear gear rack is arranged on the first framework, the second linear gear rack is arranged on the second framework, the first framework is provided with straight guide rail, supply respectively the first BOGEY WHEEL, the second BOGEY WHEEL, the 5th BOGEY WHEEL, the traveling in the above of the 6th BOGEY WHEEL, the second framework is provided with straight guide rail, supply respectively the 3rd BOGEY WHEEL, the 4th BOGEY WHEEL, the 7th BOGEY WHEEL, the traveling in the above of the 8th BOGEY WHEEL, simultaneously, the straight guide rail on described the first framework makes the first angle sheave, the second angle sheave, the 5th angle sheave, the 6th angle sheave in its side traveling, straight guide rail on the second framework makes the 3rd angle sheave, the 4th angle sheave, the 7th angle sheave, the 8th angle sheave in its side traveling,
servo drive unit comprises the first servomotor, the second servomotor, the 3rd servomotor, the 4th servomotor, the first speed reduction unit, the second speed reduction unit, the 3rd speed reduction unit, the 4th speed reduction unit, the first driven wheel, the second driven wheel, the 3rd driven wheel, 4 wheel driven moving gear, the servo-driver unification of master controller and each motor is arranged in electrical control cubicles, is connected with motor separately by shielded cable, the first speed reduction unit is installed on the first servomotor, the output shaft of this first speed reduction unit is installed respectively the first driven wheel, this first driven wheel and the engagement of the first linear gear rack, the second speed reduction unit is installed on the second servomotor, the output shaft of this second speed reduction unit is installed the second driven wheel, this second driven wheel and the engagement of the second linear gear rack, the first speed reduction unit, the first driven wheel and the second speed reduction unit, the second driven wheel all is arranged on the first portal frame both sides, thereby consist of the drive part of the first portal frame, by first, the synchronous rotation of two servo motor shafts realizes moving horizontally of the first portal frame,
the 3rd speed reduction unit is installed on the 3rd servomotor, the output shaft of the 3rd speed reduction unit is installed the 3rd driven wheel, the 3rd driven wheel meshes with the first linear gear rack respectively, the 4th speed reduction unit is installed on the 4th servomotor, the output shaft of the 4th speed reduction unit is installed the 4 wheel driven moving gear, this 4 wheel driven moving gear and the engagement of the second linear gear rack, the 3rd speed reduction unit, the 3rd driven wheel and the 4th speed reduction unit, the 4 wheel driven moving gear all is arranged on the second portal frame both sides, thereby consist of the drive part of the second portal frame, by the 3rd, the synchronous rotation of four servo motor shafts realizes moving horizontally of the second portal frame.
The utility model compared with prior art, its remarkable advantage: (1) has abandoned traditional direct-connected connected mode, can realize conveniently that double-axle rotation is strictly synchronous, has simplified physical construction, realized bilateral motor accurately, steadily transmission.(2) operate steadily, low noise, high reliability, for the performance performance of gantry mechanical arm provides powerful guarantee.(3) simplify Design of Mechanical Structure, improved system accuracy, reduced the probability that fault occurs, reduced system cost.(4) position feedback system of motor can record each actual position information at motor place constantly, so can add soft limit function in program, has improved the security of system performance.(5) system flexibility is good, only needs update routine, can change speed, the accekeration of motor.
Below in conjunction with accompanying drawing, the utility model is described in further detail.
Description of drawings
Fig. 1 is based on the vertical view of the Biaxial synchronous control system of electronic gear.
Fig. 2 is based on the partial side view of the Biaxial synchronous control system of electronic gear.
Fig. 3 is based on the strategic process figure of the Biaxial synchronous control system of electronic gear.
Embodiment
in conjunction with Fig. 1 and Fig. 3, the utility model is based on the Biaxial synchronous control system of electronic gear, with two driving shafts that turn round in the other direction, one is set as main drive shaft, another is set as driven shaft, by a servo-driver, a servomotor, position feedback device and location of controls control module form main drive shaft servo control loop, simultaneously by another servo-driver, another servomotor, another position feedback device and location of controls control module form driven shaft servo control loop, the position control unit of master controller sends the position servo movement instruction to the servo control loop of main drive shaft and driven shaft simultaneously, the feedback signal of two position feedback devices is relatively encircled except the servo-driver of sending back to separately, a digital comparator also sending into master controller inside carries out difference relatively, this difference is sent into the input end of driven shaft servo control loop, the position servo instruction of sending with the position control unit of master controller compares, the feedback signal difference of two position feedback devices is exactly the synchronous error of main drive shaft and driven shaft, when difference is zero, the position Complete Synchronization that shows two axles.
in conjunction with Fig. 1 and Fig. 2, realize the Biaxial synchronous control system based on electronic gear of above-mentioned technology, comprise the mechanical support unit, the traveling unit, servo drive unit, controller, wherein the mechanical support unit comprises first, two, three, four framework KJ101, KJ102, KJ103, KJ104 and first, two portal frame LM01, LM02, first, three, two, four framework KJ101, KJ103, KJ102, KJ104 joins end to end and consists of the four sides framework, first, two framework KJ101, KJ102 is parallel, the 3rd, four framework KJ103, KJ104 is parallel, first, two portal frame LM01, LM02 is separately positioned on first, two framework KJ101, on KJ102,
the traveling unit comprises the first linear gear rack CT101, the second linear gear rack CT102, the first BOGEY WHEEL CZ101, the second BOGEY WHEEL CZ102, the 3rd BOGEY WHEEL CZ103, the 4th BOGEY WHEEL CZ104, the 5th BOGEY WHEEL CZ201, the 6th BOGEY WHEEL CZ202, the 7th BOGEY WHEEL CZ203, the 8th BOGEY WHEEL CZ204(BOGEY WHEEL guarantees that portal frame has load-bearing capacity preferably), the first angle sheave DX101, the second angle sheave DX102, the 3rd angle sheave DX103, the 4th angle sheave DX104, the 5th angle sheave DX201, the 6th angle sheave DX202, the 7th angle sheave DX203, the 8th angle sheave DX204(angle sheave guarantees it in the situation that Biaxial synchronous lost efficacy, can over-deflection do not cause danger) yet, the first linear gear rack CT101 is arranged on the first framework KJ101, the second linear gear rack CT102 is arranged on the second framework KJ102, the first framework KJ101 is provided with straight guide rail, supplies respectively the first BOGEY WHEEL CZ101, the second BOGEY WHEEL CZ102, the 5th BOGEY WHEEL CZ201, the 6th BOGEY WHEEL CZ202 traveling in the above, the second framework KJ102 is provided with straight guide rail, supplies respectively the 3rd BOGEY WHEEL CZ103, the 4th BOGEY WHEEL CZ104, the 7th BOGEY WHEEL CZ203, the 8th BOGEY WHEEL CZ204 traveling in the above, simultaneously, the straight guide rail on described the first framework KJ101 makes the first angle sheave DX101, the second angle sheave DX102, the 5th angle sheave DX201, the 6th angle sheave DX202 in its side traveling, straight guide rail on the second framework KJ102 makes the 3rd angle sheave DX103, the 4th angle sheave DX104, the 7th angle sheave DX203, the 8th angle sheave DX204 in its side traveling,
servo drive unit comprises the first servomotor SM101, the second servomotor SM102, the 3rd servomotor SM103, the servo-driver unification of the 4th servomotor SM104(master controller and each motor is arranged in electrical control cubicles, master controller is selected the multi-axis motion controller of Austrian KEBA industrial automation company, servo-driver is selected the servo-driver of German Lu Site company, be connected with motor separately by shielded cable), the first speed reduction unit JS101, the second speed reduction unit JS102, the 3rd speed reduction unit JS103, the 4th speed reduction unit JS104, the first driven wheel QD101, the second driven wheel QD102, the 3rd driven wheel QD201, 4 wheel driven moving gear QD202,
the first speed reduction unit JS101 is installed on the first servomotor SM101, the output shaft of this first speed reduction unit JS101 is installed respectively the first driven wheel QD101, this the first driven wheel QD101 and the first linear gear rack CT101 engagement, the second speed reduction unit JS102 is installed on the second servomotor SM102, the output shaft of this second speed reduction unit JS102 is installed the second driven wheel QD102, this the second driven wheel QD201 and the second linear gear rack CT102 engagement, the first speed reduction unit JS101, the first driven wheel QD101 and the second speed reduction unit JS102, the second driven wheel QD102 is arranged on the first portal frame LM01 both sides, thereby consist of the drive part of the first portal frame LM01, by first, two servomotor SM101, the synchronous rotation of SM102 axle realizes moving horizontally of the first portal frame LM01.
the 3rd speed reduction unit JS103 is installed on the 3rd servomotor SM103, the output shaft of the 3rd speed reduction unit JS103 is installed the 3rd driven wheel QD201, the 3rd driven wheel QD201 meshes with the first linear gear rack CT101 respectively, the 4th speed reduction unit JS104 is installed on the 4th servomotor SM104, the output shaft of the 4th speed reduction unit JS104 is installed 4 wheel driven moving gear QD202, this 4 wheel driven moving gear QD202 and the second linear gear rack CT102 engagement, the 3rd speed reduction unit JS103, the 3rd driven wheel QD201 and the 4th speed reduction unit JS104, 4 wheel driven moving gear QD202 is arranged on the second portal frame LM02 both sides, thereby consist of the drive part of the second portal frame LM02, by the 3rd, four servomotor SM103, the synchronous rotation of SM104 axle realizes moving horizontally of the second portal frame LM02.
The first portal frame LM01 is identical with the synchronous implementation procedure of the second portal frame LM02, and the below is illustrated with the implementation procedure of the first portal frame LM01.First gantry control procedure is as follows: the first servomotor SM101 and the second servomotor SM102 are installed on the first portal frame LM01, speed reduction unit JS101, JS102 are installed respectively on SM101, SM102.The first servomotor SM101 is set as main drive shaft, and the second servomotor SM102 is set as driven shaft, and the purpose of control is to make driven shaft servomotor SM102 constantly keep rotating speed identical with main drive shaft servomotor SM101.when system moves, the position control unit of master controller sends the position servo movement instruction to main drive shaft servo controller SR101 and driven shaft servo controller SR102 simultaneously, servo controller SR101 and SR102 be drive motor SM101 and SM102 running respectively, motor shaft inside is equipped with position detecting device (photoelectric encoder), the feedback signal MS101 of two position feedback devices, MS102 is except sending servo-driver SR101 separately back to, SR102 relatively encircles, a digital comparator also sending into controller inside carries out difference relatively, when difference relatively is zero, expression diaxon Complete Synchronization, relatively difference be on the occasion of the time, expression main drive shaft motor speed is very fast, during for negative value, expression driven shaft motor speed is very fast.Difference via controller relatively carries out coefficient correction, then this difference signal MS103 sends into the input end of driven shaft servo control loop, the position servo command M S001 that sends with the location of controls control module compares, instruction relatively is input in the servo-driver of driven shaft, thereby realize driven shaft input instruction is proofreaied and correct, guaranteed that also the diaxon motor speed is synchronous.Portal frame LM01 uses the two identical Biaxial synchronous control system of cover with LM02, and said process is the synchronizing process of the first portal frame LM01, and the process of the second portal frame LM02 is identical therewith.
Claims (1)
1. Biaxial synchronous control system based on electronic gear, it is characterized in that comprising the mechanical support unit, the traveling unit, servo drive unit, master controller, wherein the mechanical support unit comprises first, two, three, four framework (KJ101, KJ102, KJ103, KJ104) and the first, two portal frame (LM01, LM02), first, three, two, four framework (KJ101, KJ103, KJ102, KJ104) join end to end and consist of the four sides framework, first, two framework (KJ101, KJ102) parallel, the 3rd, four framework (KJ103, KJ104) parallel, first, two portal frame (LM01, LM02) be separately positioned on first, two framework (KJ101, KJ102) on,
the traveling unit comprises the first linear gear rack (CT101), the second linear gear rack (CT102), the first BOGEY WHEEL (CZ101), the second BOGEY WHEEL (CZ102), the 3rd BOGEY WHEEL (CZ103), the 4th BOGEY WHEEL (CZ104), the 5th BOGEY WHEEL (CZ201), the 6th BOGEY WHEEL (CZ202), the 7th BOGEY WHEEL (CZ203), the 8th BOGEY WHEEL (CZ204), the first angle sheave (DX101), the second angle sheave (DX102), the 3rd angle sheave (DX103), the 4th angle sheave (DX104), the 5th angle sheave (DX201), the 6th angle sheave (DX202), the 7th angle sheave (DX203), the 8th angle sheave (DX204), the first linear gear rack (CT101) is arranged on the first framework (on KJ101), the second linear gear rack (CT102) is arranged on the second framework (KJ102), and the first framework (KJ101) is provided with straight guide rail, supplies respectively the first BOGEY WHEEL (CZ101), the second BOGEY WHEEL (CZ102), the 5th BOGEY WHEEL (CZ201), the 6th BOGEY WHEEL (CZ202) traveling in the above, the second framework (KJ102) is provided with straight guide rail, supplies respectively the 3rd BOGEY WHEEL (CZ103), the 4th BOGEY WHEEL (CZ104), the 7th BOGEY WHEEL (CZ203), the 8th BOGEY WHEEL (CZ204) traveling in the above, simultaneously, the straight guide rail on described the first framework (KJ101) makes the first angle sheave (DX101), the second angle sheave (DX102), the 5th angle sheave (DX201), the 6th angle sheave (DX202) in its side traveling, straight guide rail on the second framework (KJ102) makes the 3rd angle sheave (DX103), the 4th angle sheave (DX104), the 7th angle sheave (DX203), the 8th angle sheave (DX204) in its side traveling,
servo drive unit comprises the first servomotor (SM101), the second servomotor (SM102), the 3rd servomotor (SM103), the 4th servomotor (SM104), the first speed reduction unit (JS101), the second speed reduction unit (JS102), the 3rd speed reduction unit (JS103), the 4th speed reduction unit (JS104), the first driven wheel (QD101), the second driven wheel (QD102), the 3rd driven wheel (QD201), 4 wheel driven moving gear (QD202), the servo-driver unification of master controller and each motor is arranged in electrical control cubicles, be connected with motor separately by shielded cable, the first speed reduction unit (JS101) is installed on the first servomotor (SM101), the output shaft of this first speed reduction unit (JS101) is installed respectively the first driven wheel (QD101), this first driven wheel (QD101) and the first linear gear rack (CT101) engagement, the second speed reduction unit (JS102) is installed on the second servomotor (SM102), the output shaft of this second speed reduction unit (JS102) is installed the second driven wheel (QD102), this second driven wheel (QD201) and the second linear gear rack (CT102) engagement, the first speed reduction unit (JS101), the first driven wheel (QD101) and the second speed reduction unit (JS102), the second driven wheel (QD102) all is arranged on the first portal frame (LM01) both sides, thereby consist of the drive part of the first portal frame (LM01), by first, two servomotor (SM101, SM102) the synchronous rotation of axle realizes moving horizontally of the first portal frame (LM01),
the 3rd speed reduction unit (JS103) is installed on the 3rd servomotor (SM103), the output shaft of the 3rd speed reduction unit (JS103) is installed the 3rd driven wheel (QD201), the 3rd driven wheel (QD201) meshes with the first linear gear rack (CT101) respectively, the 4th speed reduction unit (JS104) is installed on the 4th servomotor (SM104), the output shaft of the 4th speed reduction unit (JS104) is installed 4 wheel driven moving gear (QD202), this 4 wheel driven moving gear (QD202) and the second linear gear rack (CT102) engagement, the 3rd speed reduction unit (JS103), the 3rd driven wheel (QD201) and the 4th speed reduction unit (JS104), 4 wheel driven moving gear (QD202) all is arranged on the second portal frame (LM02) both sides, thereby consist of the drive part of the second portal frame (LM02), by the 3rd, four servomotor (SM103, SM104) the synchronous rotation of axle realizes moving horizontally of the second portal frame (LM02).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220621161 CN203025529U (en) | 2012-11-22 | 2012-11-22 | Double-axis synchronous control system based on electronic gears |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220621161 CN203025529U (en) | 2012-11-22 | 2012-11-22 | Double-axis synchronous control system based on electronic gears |
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| CN203025529U true CN203025529U (en) | 2013-06-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220621161 Withdrawn - After Issue CN203025529U (en) | 2012-11-22 | 2012-11-22 | Double-axis synchronous control system based on electronic gears |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103064345A (en) * | 2012-11-22 | 2013-04-24 | 中国船舶重工集团公司第七一六研究所 | Double-shaft synchronous control method and system based on electronic gear |
| CN109047564A (en) * | 2018-10-23 | 2018-12-21 | 江苏亚威机床股份有限公司 | A kind of Pressesservo bi-motor gantry synchronisation control means |
| CN112621198A (en) * | 2020-12-16 | 2021-04-09 | 歌尔光学科技有限公司 | Screw locking machine control method, device, equipment and storage medium |
-
2012
- 2012-11-22 CN CN 201220621161 patent/CN203025529U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103064345A (en) * | 2012-11-22 | 2013-04-24 | 中国船舶重工集团公司第七一六研究所 | Double-shaft synchronous control method and system based on electronic gear |
| CN109047564A (en) * | 2018-10-23 | 2018-12-21 | 江苏亚威机床股份有限公司 | A kind of Pressesservo bi-motor gantry synchronisation control means |
| CN112621198A (en) * | 2020-12-16 | 2021-04-09 | 歌尔光学科技有限公司 | Screw locking machine control method, device, equipment and storage medium |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130626 Effective date of abandoning: 20150225 |
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| RGAV | Abandon patent right to avoid regrant |