CN213659729U - Multifunctional servo drive training platform - Google Patents

Abstract

The utility model belongs to real device field of instructing, concretely relates to real platform of instructing of multi-functional servo drive, its characterized in that includes the switch board unit, is equipped with triaxial mobile unit on the switch board unit, triaxial mobile unit is the frame shape, installs in switch board unit top through the second support is unsettled, and cell, step-by-step rotary unit, orbit unit, work piece memory cell, air supply control unit, laser pen place the unit, the wiring unit is installed on the switch board unit of triaxial mobile unit below. The utility model relates to a rationally, instruct effectual, efficient advantage in fact.

Description

Multifunctional servo drive training platform

Technical Field

The utility model belongs to real device field of instructing, concretely relates to real platform of instructing of multi-functional servo drive.

Background

Along with the continuous improvement of the industrial level and the industrial automation level in China, the gap of the mechanical-electrical integration and automation control skills talents is larger and larger, the requirements of various industries and enterprises on the talents are urgent, the traditional mechanical-electrical integration and automation control skill talent training has the defects of heavy theory and light practical operation, particularly servo driving equipment widely applied to the current industry, and a student can not timely perform practical industrial application training after learning theoretical knowledge during training, so that the teaching effect is poor; although the trainees can get some opportunities for practical training sometimes, the practical training at present is the application of electromechanical integration and automation control devices and servo control used by direct operation factories, and a crude indicator lamp simulation system is mostly used, so that the teaching effect is very limited, and the defects of long training time and poor training effect of the electromechanical integration and automation control skilled talents at present are caused.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve prior art and do not have real device of instructing such as professional mechatronics, automated control, servo and step-by-step application, cause mechatronics technical talent to have the defect that training time is long, the effect is poor, provide a real platform of instructing of multi-functional servo drive, it chooses for use actual industrial control component as the carrier, replaces original pilot lamp analog system, more is close the application in the actual production, improves real efficiency of instructing and effect.

The utility model discloses a realize through following technical scheme:

the multifunctional servo drive practical training platform is characterized by comprising a control cabinet unit, wherein a three-axis moving unit is arranged on the control cabinet unit, the three-axis moving unit is in a frame shape and is mounted above the control cabinet unit in a suspension mode through a second support, and a hand-changing unit, a stepping rotating unit, a track unit, a workpiece storage unit, an air source control unit, a laser pen placing unit and a wiring unit are mounted on the control cabinet unit below the three-axis moving unit.

The utility model discloses an air supply control unit is the air-vent valve, and it is connected with outside air supply, does behind the pressure regulating the utility model discloses a pneumatic element provides power.

The connection unit of the present invention is a connection terminal module, which preferably but not exclusively employs Widesmiller (WEIDMULLER) connection terminal ZDU 2.5.

Further, the utility model discloses a switch board unit includes the cabinet body, and the up end of the cabinet body is equipped with the section bar bottom plate, and the both sides of the cabinet body are equipped with single axis control panel and coordinated control panel respectively, and the bottom of the cabinet body is equipped with the gyro wheel.

The utility model discloses a section bar bottom plate is European standard industry aluminum profile frame mosaic structure, makes things convenient for the installation and the adjustment of the optional position of various components and parts.

The utility model discloses a cabinet body inside sets up the PLC module, and the model is siemens 1500(PLC _1512C _1 PN), has high-level system performance and quick signal processing ability, and response time is short and superstrong control ability; the buttons of the single-axis control panel and the linkage control panel comprise a start button, a stop button and an automatic operation start and stop button of each unit, and an emergency stop button which is directly connected with the PLC module; the touch screen is made of Siemens brand, model KTP700, a display system picture can be set on a panel of the touch screen, the display system picture can be set on the panel of the touch screen, and the touch screen can control the action and operation of each station and the whole machine.

Further, the utility model discloses a triaxial mobile unit includes the horizontal electric jar of X axle, the horizontal electric jar of Y axle, the vertical electric jar of Z axle and second hand-changing fixture, the horizontal electric jar of X axle is equipped with two, install respectively on the slider of two horizontal electric jars of X axle at the both ends of the horizontal electric jar of Y axle, the vertical electric jar of Z axle is installed on the slider of the horizontal electric jar of Y axle, install second hand-changing fixture on the slider of the vertical electric jar of Z axle, the horizontal electric jar of Y axle, the vertical electric jar of Z axle is connected with the servo motor who takes the speed reducer respectively, the input of two horizontal electric jars of X axle is connected with a servo motor who takes the speed reducer through a transmission shaft.

The utility model discloses an electric jar of triaxial mobile unit is FESTO electric jar, and the horizontal electric jar of X axle preferably adopts the toothed belt electric jar, and the model is: EGC-50-600-TB-KF-0H-GK; the horizontal electric jar of Y axle preferably adopts the toothed belt electric jar, and the model is: EGC-50-650-TB-KF-0H-GK-KL; the vertical electric jar of Z axle preferably adopts lead screw formula electric jar, and the model is: EPCC-BS-45-300-10P-A; all from taking magnetism proximity sensor on the above-mentioned electric jar, magnetism proximity sensor adopts the FESTO sensor, and the model is: SME-8M-DS-24V-K-2.5-OE.

The utility model discloses a three-axis mobile unit's servo motor is siemens motor, and the model is respectively: the X axis and the Y axis are 1FL6024-2AF21-1MG1 (without brake), and the Z axis is 1FL6024-2AF21-1MH1 (brake); the types of the speed reducers matched with the servo motors are respectively as follows: the X axis and the Y axis are PW065L1-5-P2-S2-OP1, and the Z axis is EMGA-40-P-G5-EAS-40;

further, the utility model discloses a unit of changing hands is equipped with the open anchor clamps draw-in groove of a plurality of one ends including installing the third support on the section bar bottom plate on the third support, and the manipulator of a plurality of differences hangs on the third support through the anchor clamps draw-in groove is vertical respectively, and every manipulator is from the top down third anchor clamps of changing hands, the parallel gas claw of third and clamping jaw in proper order, be equipped with magnetism proximity sensor on the parallel gas claw of third unit of every manipulator.

The utility model discloses a third trade hand fixture of hand-changing unit matches with the second trade hand fixture of triaxial mobile unit. The hand-changing clamp is preferably but not limited to a japanese eiss star tower quick-change clamp, model number: OX-03A and OX-03A1

The parallel air claw adopts FESTO brand DHPS-20-A, and the magnetic proximity sensor adopts FESTO brand SIES-8M-PO-24V-K-7, 5-OE.

Further, the utility model discloses a step-by-step rotary unit is equipped with the rotary disk including installing the fourth support on the section bar bottom plate above the fourth support, is equipped with the work piece hole of partition circumference on the rotary disk, and the rotary disk below is equipped with fourth speed reducer, fourth step motor, is equipped with the fourth sensor on the fourth support, and when the work piece hole on the rotary disk rotated the fourth sensor, the fourth sensor was located the center pin in work piece hole.

The utility model discloses a fourth sensor is used for the work piece location, makes things convenient for the manipulator to snatch, adopts west gram inductive proximity sensor IME08-04NPSZW 2S.

The utility model discloses a fourth step motor is preferred to adopt thunder stopper step motor, and the model is: 42CM04, the fourth reducer is preferably a planetary reducer.

Further, the utility model discloses a track unit is equipped with the orbit platform including installing the fifth support on the section bar bottom plate on the fifth support.

For making things convenient for the student to program and instruct in fact the orbit of triaxial walking, the utility model discloses paste on the orbit platform of orbit unit and put different orbit simulation diagrams, the student carries out PLC according to the orbit simulation diagram and programs, and triaxial mobile unit can be under servo motor's drive, according to the procedure that PLC set for, realizes around, controlling of X axle, Y axle, Z axle, reciprocates, realizes that the light spot that the laser pen sent traces according to the orbit simulation diagram and walks.

Further, the utility model discloses a work piece memory cell is equipped with the work piece platform of placing the work piece including installing the sixth support on the section bar bottom plate on the sixth support.

The workpiece is made of round aluminum.

Further, the utility model discloses a unit is placed to laser pen is including installing the eighth support on the section bar bottom plate, and vertical laser pen and the switch touching stick of installing on the eighth support.

The laser pen adopts cylinder type laser pen, and its switch setting is at the afterbody, and triaxial mobile unit removes the manipulator, uses the clamping jaw can snatch the switch touching stick, moves to the laser pen top, and the lower line touches laser pen afterbody switch, opens the back clamping jaw with the laser pen and resets and put back the switch touching stick.

The utility model discloses a support of each unit all adopts european standard industry aluminum profile section frame structure, adopts die-casting angle aluminium and high strength bolted connection, and firm in connection is reliable.

The utility model discloses a work piece is placed on the platform of work piece memory cell or on the platform of step rotary unit, and the second hand-changing anchor clamps are installed to the Z axle end of triaxial mobile unit, and X axle and Y axle can drive the Z axle and move around under servo motor's drive, and the Z axle reciprocates under servo motor's drive, and the Z axle can move to hand-changing unit department and change the manipulator, can move to work piece memory cell or step rotary unit department and snatch the work piece, realize the aversion or the pile up neatly of work piece; the stepping rotating unit can be driven by the stepping motor to rotate for a set angle each time, so that the Z-axis manipulator can grab a workpiece at the same position of the stepping rotating unit; a track drawing planned in advance can be pasted on a platform of the track unit, and the Z-axis manipulator can grab the laser pen of the laser pen placing unit to realize track simulation planning movement. The pressure regulating valve of the air source control unit can regulate air pressure of an air source and provide air sources for pneumatic elements such as clamping jaws of the manipulator, and the wiring module of the wiring unit can be connected with each module and is connected with control devices such as a PLC.

The utility model discloses an every axle of triaxial mobile unit can carry out single-axis control through single-axis control panel, in real standard, can carry out single-axis control study and real standard earlier, and the rethread coordinated control panel carries out multiunit coordinated control study and training to better improvement is to servo equipment's real application effect of instructing.

The utility model relates to a rationally, instruct effectual, efficient advantage in fact. The utility model discloses an industrial application electricity jar and servo, step-by-step, manipulator snatch corollary equipment, with triaxial mobile unit, hand-changing unit, step-by-step rotary unit, orbit unit, work piece memory cell, air supply control unit, laser pen place unit, wiring unit, switch board unit complete integration in an organic whole, can satisfy programmable control system's operation, real standard and study. The related technical content comprises: the programmable controller technology, the field bus technology, the pneumatic practical training technology, the sensor technology, the electric operation technology, the servo driving technology, the stepping driving technology and the electric cylinder application technology combine theory and practice to achieve the effect of learning and using.

The utility model is suitable for a standard operation of study of electromechanical integration and the automation specialty of ordinary colleges and universities of higher vocational school, colleges of higher vocational school and middle vocational school.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic diagram of the structure of the control cabinet unit of the present invention;

fig. 3 is a schematic structural diagram of a three-axis mobile unit according to the present invention;

fig. 4 is a schematic structural diagram of the hand-changing unit of the present invention;

fig. 5 is a schematic structural view of the step-by-step rotating unit of the present invention;

fig. 6 is a schematic diagram of the track unit structure of the present invention;

FIG. 7 is a schematic structural view of a workpiece storage unit according to the present invention;

fig. 8 is a schematic structural view of the air source control unit of the present invention;

fig. 9 is a schematic structural view of the laser pen placing unit of the present invention.

As shown in the figure: 1. a control cabinet unit; 1-1, a single-axis control panel; 1-2. a section bar bottom plate; 1-3. a cabinet body; 1-4, linkage control panel; 2. a three-axis mobile unit; 2-1. an X-axis servo motor; 2-2. an X-axis reducer; 2-3, coupling; 2-4. a transmission shaft; 2-5. an X-axis horizontal electric cylinder; 2-6. a Z-axis reducer; 2-7. a Y-axis horizontal electric cylinder; 2-8. a Z-axis vertical electric cylinder; 2-9. a second handoff clamp; 2-10. an X-axis drag chain; 2-11. a Y-axis drag chain; 2-12.Z axis drag chain, 2-13. magnetic proximity sensor; 2-14. Y-axis servo motor; 2-15. a Z-axis servo motor; 2-16. a second support; 3. a hand-changing unit; 3-1. a third bracket; 3-2, a third hand-changing clamp; 3-3, a third parallel gas claw; 3-4. clamping jaw; 3-5. a magnetic proximity sensor; 4. a step rotation unit; 4-1. a fourth bracket; 4-2. rotating the disc; 4-3, a fourth speed reducer; 4-4. a fourth stepper motor; 4-5. a fourth sensor; 5. a trajectory unit; 5-1, a track platform, 5-2, a fifth support; 6. a workpiece storage unit; 6-1, a workpiece platform; 6-2. a workpiece; 6-3, a sixth bracket; 7. an air source control unit; 7-1. a seventh support; 7-2, pressure regulating valve; 8. a laser pen placing unit; 8-1, laser pen, 8-2, switch touch stick; 8-3, an eighth bracket; 9. a wiring unit.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby. It is to be noted that unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the present invention belongs.

As shown in fig. 1 and 2: a PLC module is arranged in a cabinet body 1-3 of a control cabinet unit 1, a section bar bottom plate 1-2 is arranged on the upper end face of the PLC module, a single-axis control panel 1-1 and a linkage control panel 1-4 are respectively arranged on the front side face and the rear side face of the cabinet body 1-3, a horse wheel 1-5 is arranged at the bottom of the cabinet body 1-3, a three-axis moving unit 2 is mounted above the section bar bottom plate 1-2 in a hanging mode through a second support 2-14, and a hand changing unit 3, a stepping rotating unit 4, a track unit 5, a workpiece storage unit 6, an air source control unit 7, a laser pen placing unit 8 and a wiring unit 9 are further arranged on the section bar bottom plate 1-.

The single-axis control panel 1-1 of the control cabinet unit 1 realizes the independent control movement of the X, Y, Z axis, the linkage control panel 1-4 can realize the linkage control of the whole equipment, and the Fuma wheels 1-5 can make the whole equipment conveniently move.

The utility model discloses a unit 8 is placed to hand-changing unit 3, step-by-step rotary unit 4, orbit unit 5, work piece memory cell 6, laser pen all within the Z axle home range of triaxial mobile unit 2.

As shown in fig. 3: two X-axis horizontal electric cylinders 2-5 of a three-axis moving unit 2 are fixed on two sides of the upper end of a second support 2-14, two ends of the Y-axis horizontal electric cylinder are installed on sliders of the two X-axis horizontal electric cylinders 2-5, a Z-axis vertical electric cylinder 2-8 is vertically installed on a slider of the Y-axis horizontal electric cylinder, a second hand-changing clamp 2-9 is installed on a slider of the Z-axis vertical electric cylinder 2-8, input ends of the two X-axis horizontal electric cylinders 2-5 are respectively connected with two output ends of an X-axis speed reducer 2-2 through transmission shafts 2-4, an X-axis servo motor 2-1 is connected with an input end of the X-axis speed reducer 2-2, an input end of the Y-axis horizontal electric cylinder is provided with a Y-axis speed reducer and a Y-axis servo motor 2-14, an input end of the Z-axis vertical electric cylinder 2-8 is provided with a Z-axis speed reducer 2-, x, Y, Z-axis electric steel sliding blocks are respectively connected with an X-axis drag chain 2-10, a Y-axis drag chain 2-11 and a Z-axis drag chain 2-12, and magnetic proximity sensors 2-13 are respectively arranged on all electric cylinders.

An X-axis servo motor 2-1 of the unit drives an X-axis speed reducer 2-2 to drive sliding blocks of two X-axis horizontal electric cylinders 2-5 to move synchronously through a transmission shaft 2-4, so that a Y-axis horizontal electric cylinder 2-7 and a Z-axis vertical electric cylinder 2-8 are driven to move in an X axis mode, the sliding block of the Y-axis horizontal electric cylinder 2-7 drives a Z-axis vertical electric cylinder 2-8 to move in a Y axis mode under the driving of the Y-axis servo motor 2-14 and the Y-axis speed reducer, the sliding block of the Z-axis vertical electric cylinder drives a second hand-changing clamp 2-9 to move in a Z axis mode under the driving of a Z-axis servo motor 2-15 and the Z-axis speed reducer 2-6, and the second hand-changing clamp 2-9 moves in an X, Y, Z axis under the combined action of the 3 axes. The magnetic proximity sensors 2-13 are used to control X, Y, Z the extreme positions of the electric cylinders of the axes, and the second hand-changing clamps 2-9 cooperate with the hand-changing unit 3 to change the hand-changing arm.

As shown in fig. 3: the third support 3-1 of the hand changing unit 3 is provided with two clamp clamping grooves with open front ends, two different mechanical arms are vertically hung on the third support 3-1 through the clamp clamping grooves respectively, each mechanical arm is sequentially provided with a third hand changing clamp 3-2, a third horizontal air claw 3-3 and a clamping jaw 3-4 from top to bottom, and a magnetic proximity sensor 3-5 is arranged on the third unit parallel air claw 3-3 of each mechanical arm.

The third hand-changing clamp 3-2 of the unit is matched with the second hand-changing clamp 2-9 of the three-axis moving unit 2, and the parallel gas claw 3-3 realizes the opening and closing of the clamping jaw 3-4 to clamp the workpiece 6-2 or the laser pen 8-1.

As shown in fig. 4: the fourth support 4-1 of the stepping rotating unit 4 is connected with a rotating disk 4-2, a fourth speed reducer 4-3 and a fourth stepping motor 4-4 in a supporting mode, a workpiece hole is formed in the rotating disk 4-2, a workpiece 6-2 is placed in the workpiece hole, the fourth stepping motor 4-4 drives the fourth speed reducer 4-3 to drive the rotating disk 4-2 to rotate at a low speed, and the rotating disk 4-2 is positioned and stopped through a fourth sensor 4-5.

As shown in fig. 5, a track platform 5-1 is arranged on the fifth support 5-2 of the track unit 5; various tracks can be attached to the track platform 5-1, and the three-axis moving unit 2 can realize the simulation planning walking according to the tracks.

As shown in fig. 6: the sixth support 6-3 of the workpiece storage unit 6 is provided with a workpiece platform 6-1, a workpiece 6-2 is placed on the workpiece platform 6-1, and the three-axis moving unit 2 controls the manipulator to a certain degree, so that the workpiece can be grabbed and shifted or stacked on the platform.

As shown in fig. 7: and a pressure regulating valve 7-2 of the air source control unit 7 is arranged on the profile bottom plate 1-2 through a seventh bracket 7-1, and the pressure regulating valve 7-2 regulates the air source pressure and supplies air to each pneumatic element.

As shown in fig. 8, a laser pen 8-1 and a switch touch bar 8-2 are vertically placed on an eighth support 8-3 of a laser pen placing unit 8, the manipulator grabbing switch touch bar 8-2 is controlled by a three-axis moving unit 2 to touch a tail switch of the laser pen 8-1, so that the laser pen 8-1 is switched on and off, the manipulator grabbing laser pen 8-1 is controlled by a three-axis moving unit 2, and a trajectory simulation planning movement can be performed on a trajectory unit 5.

The utility model discloses during the equipment, on the wiring terminal of wiring unit is integrated in the communication between each unit, connect the module, the terminal connects communication equipment such as module connecting cable, serial ports communication cable, switch through the terminal interface, connect and connect the module, be connected with PLC and servo equipment, realize signal transmission and exchange to control whole equipment and move according to the PLC program of settlement.

When the utility model is used, a workpiece 6-1 is placed on a workpiece platform 6-1 of a workpiece storage unit 6 or a rotating disk 4-2 of a stepping rotating unit 4, a second hand-changing clamp 2-9 of a three-axis moving unit 2 is driven by a servo motor to move to a hand-changing unit 3 to change a manipulator, the three-axis moving unit drives the manipulator to move to the workpiece storage unit 6 or the stepping rotating unit 4 to grab the workpiece 6-2, and the displacement or stacking of the workpiece 6-2 is realized; the rotating disc 4-2 of the stepping rotating unit 4 drives the workpiece 6-2 to rotate 90 degrees at each time under the driving of the fourth stepping motor 4-4, so that the manipulator can grab the workpiece 6-2 at the same position of the stepping rotating unit 4; a track drawing planned in advance can be pasted on the track platform 5-1 of the track unit 5, and the manipulator can grab the laser pen 8-1 of the laser pen placing unit 8 to realize track simulation planning movement. The pressure regulating valve 7-2 of the air source control unit 7 can regulate air pressure of an air source and provide air sources for pneumatic elements such as clamping jaws 3-4 of the manipulator, and the wiring module of the wiring unit can be connected with each module and is connected with control devices such as a PLC module.

The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the scope of the embodiments of the present invention, and are intended to be covered by the claims and the specification.

Claims (8)

1. The utility model provides a real platform of instructing of multi-functional servo drive, its characterized in that includes the switch board unit, is equipped with triaxial mobile unit on the switch board unit, triaxial mobile unit is the frame shape, installs in switch board unit top through the second support is unsettled, and hand-changing unit, step-by-step rotary unit, orbit unit, work piece memory cell, air supply control unit, laser pen place the unit, wiring unit install on the switch board unit of triaxial mobile unit below.

2. The practical training platform of multifunctional servo drive as claimed in claim 1, wherein the control cabinet unit comprises a cabinet body, a section bottom plate is arranged on the upper end face of the cabinet body, a control panel and a linkage control panel are respectively arranged on two sides of the cabinet body, and rollers are arranged at the bottom of the cabinet body.

3. The multifunctional servo driving practical training platform according to claim 1, wherein the three-axis moving unit comprises two X-axis horizontal electric cylinders, two Y-axis horizontal electric cylinders, two Z-axis vertical electric cylinders and a second hand-changing clamp, the two X-axis horizontal electric cylinders are respectively mounted on sliders of the two X-axis horizontal electric cylinders, the two Z-axis vertical electric cylinders are mounted on sliders of the Y-axis horizontal electric cylinders, the second hand-changing clamp is mounted on sliders of the Z-axis vertical electric cylinders, the Y-axis horizontal electric cylinders and the Z-axis vertical electric cylinders are respectively connected with a servo motor with a speed reducer, and input ends of the two X-axis horizontal electric cylinders are connected with the servo motor with the speed reducer through a transmission shaft.

4. The practical training platform of multifunctional servo drive according to claim 1, wherein the hand changing unit comprises a third support installed on the bottom plate of the profile, a plurality of clamp clamping grooves with one open end are formed in the third support, a plurality of different manipulators are vertically hung on the third support through the clamp clamping grooves respectively, each manipulator is sequentially provided with a third hand changing clamp, a third parallel gas claw and a third clamping jaw from top to bottom, and a magnetic switch is arranged on the third unit parallel gas claw of each manipulator.

5. The practical training platform of multifunctional servo drive as claimed in claim 1, wherein the step rotation unit comprises a fourth bracket mounted on the bottom plate of the profile, a rotation disc is arranged above the fourth bracket, a workpiece hole equally dividing the circumference is arranged on the rotation disc, a fourth speed reducer and a fourth step motor are arranged below the rotation disc, a fourth sensor is arranged on the fourth bracket, and when the workpiece hole on the rotation disc rotates to the fourth sensor, the fourth sensor is located on the central axis of the workpiece hole.

6. The practical training platform of multifunctional servo drive according to claim 1, wherein the track unit comprises a fifth bracket mounted on the bottom plate of the profile, and the track platform is arranged on the fifth bracket.

7. The practical training platform of multifunctional servo drive as claimed in claim 1, wherein the workpiece storage unit comprises a sixth support installed on the bottom plate of the profile, and a sixth platform for placing the workpiece is arranged on the sixth support.

8. The practical training platform of multifunctional servo drive according to claim 1, wherein the laser pointer placing unit comprises an eighth support installed on the bottom plate of the profile, and the laser pointer and the switch touch rod are vertically installed on the eighth support.

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