CN102658504B - Servo motor system and thickness measurement method based on same - Google Patents
Servo motor system and thickness measurement method based on same Download PDFInfo
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- CN102658504B CN102658504B CN201210104857.9A CN201210104857A CN102658504B CN 102658504 B CN102658504 B CN 102658504B CN 201210104857 A CN201210104857 A CN 201210104857A CN 102658504 B CN102658504 B CN 102658504B
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Abstract
The invention discloses a servo motor system and a thickness measurement method based on the servo motor system. The system comprises a servo unit, a motion controller, a photoelectric sensor, a thickness measurement sensing rod, and a sliding cylinder. The servo unit includes an encoder, a servo motor and a servo driver connected with the servo motor to drive the servo motor to rotate. The motion controller is connected with the servo driver, the photoelectric sensor, the thickness measurement sensing rod and the sliding cylinder, the photoelectric sensor and the thickness measurement sensing rod are arranged on the sliding cylinder, the servo unit transmits the output encoder signal via an encoder signal channel to the motion controller, and the motion controller calculates the rotation number of the servo motor according to pulse data acquired by the encoder. The invention has the advantages of high measurement speed, high precision and stability and low cost.
Description
Technical field
The present invention relates to the servo field of lathe, relate in particular to a kind of servo electrical machinery system and the method for measuring thickness based on this servo electrical machinery system.
Background technology
Along with the continuous rise of mechanical processing industry, under many circumstances, need to workpiece to be processed then read accurately measure, at present, conventionally adopt special thickness measuring grating scale or digital dial gauge to measure, although these two kinds of measuring instrument certainties of measurement are high, but its cost is quite expensive, and because it belongs to precision instrument, so stability is general, and maintenance is complicated.
Summary of the invention
The technical problem to be solved in the present invention is, high for prior art cost, stability is not high and maintain complicated defect, a kind of servo electrical machinery system and the method for measuring thickness based on this servo electrical machinery system are provided, and this technical scheme measuring speed is fast, precision is high, stability is high and cost is low.
The technical solution adopted for the present invention to solve the technical problems is: construct a kind of servo electrical machinery system, it comprises servo unit, motion controller, photoelectric sensor, thickness measuring inductive rod and sliding cylinder, described servo unit comprises encoder, servomotor and described servomotor are connected with the servo-driver that drives its rotation, described motion controller by cable respectively with described servo-driver, described photoelectric sensor, described thickness measuring inductive rod and described sliding cylinder connect, described photoelectric sensor and described thickness measuring inductive rod are placed in respectively on described sliding cylinder, described servo unit passes through code device signal channel transfer to described motion controller by exported code device signal, the pulse data that described motion controller gathers according to described encoder calculates the number of turns of described servomotor rotation, described code device signal comprises serial data, initial delta pulse and origin pulse, the air line distance that the corresponding workpiece for measurement of the described number of turns moves, wherein:
Described photoelectric sensor, in order to move to when bottom output photoelectric induced signal in described thickness measuring inductive rod;
Described sliding cylinder, in order to drive described thickness measuring inductive rod vertically to move;
Described encoder, in order to the current location of described servomotor is fed back to described servo-driver, so that described motion controller reads described current location.
In servo electrical machinery system of the present invention, described servo electrical machinery system also comprises the inductive rod securing member and the linear bearing that are installed on described sliding cylinder, and described thickness measuring inductive rod is fixedly connected with described linear bearing by described inductive rod securing member.
In servo electrical machinery system of the present invention, described servo electrical machinery system is also included in described photoelectric sensor below inductor protective plate is installed.
In servo electrical machinery system of the present invention, described photoelectric sensor, described inductor baffle, described inductive rod securing member, described linear bearing and described thickness measuring inductive rod are installed on respectively on thickness measuring installing plate.
In servo electrical machinery system of the present invention, described thickness measuring installing plate is installed on sliding cylinder.
In servo electrical machinery system of the present invention, the moving up and down by solenoid control of described sliding cylinder.
In servo electrical machinery system of the present invention, below described thickness measuring inductive rod, place workpiece for measurement.
The present invention also constructs a kind of method for measuring thickness based on servo electrical machinery system, and described servo electrical machinery system is above-mentioned servo electrical machinery system, said method comprising the steps of:
S100. based on servo electrical machinery system, the current location of servomotor is carried out to clear operation;
S200. measure the thickness of workpiece for measurement based on servo electrical machinery system.
In the method for measuring thickness based on servo electrical machinery system of the present invention, described step S100 specifically comprises the following steps:
S101. receive user carries out zero clearing order to the current location of servomotor;
S102. motion controller rotates by cable control servo driver drives servomotor, thereby makes sliding cylinder drive thickness measuring inductive rod vertically to move;
S103. photoelectric sensor output photoelectric induced signal in the time that thickness measuring inductive rod moves to bottom;
S104. the first current location of servomotor is fed back to servo-driver by encoder, and motion controller reads described the first current location according to described optoelectronic induction signal by servo-driver, and this first current location is made as to zero point.
In the method for measuring thickness based on servo electrical machinery system of the present invention, described step S200 specifically comprises the following steps:
S201. receive the order that user measures the thickness of workpiece for measurement;
S202. motion controller rotates by cable control servo driver drives servomotor, thereby makes sliding cylinder drive thickness measuring inductive rod vertically to move;
S203. photoelectric sensor output photoelectric induced signal in the time that thickness measuring inductive rod moves to bottom;
S204. the second current location of servomotor is fed back to servo-driver by encoder, and motion controller reads described the second current location according to described optoelectronic induction signal by servo-driver;
S205. motion controller subtracts each other this second current location and this first current location, to calculate the thickness of this workpiece for measurement.
Implement technical scheme of the present invention, there is following beneficial effect: described servo unit is by exported code device signal by extremely described motion controller of code device signal channel transfer, and the pulse data that described motion controller gathers according to described encoder calculates the number of turns of described servomotor rotation.This technical scheme measuring speed is fast, precision is high, stability is high and cost is low.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the structural representation of servo electrical machinery system embodiment mono-of the present invention;
Fig. 2 is the structural representation of servo electrical machinery system embodiment bis-of the present invention;
Fig. 3 is the flow chart that the present invention is based on the method for measuring thickness of servo electrical machinery system;
Fig. 4 is the flow chart that the present invention is based on step S100 in the method for measuring thickness of servo electrical machinery system;
Fig. 5 is the flow chart that the present invention is based on step S200 in the method for measuring thickness of servo electrical machinery system.
The specific embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
Refer to Fig. 1 and Fig. 2, wherein, Fig. 1 is the structural representation of servo electrical machinery system embodiment mono-of the present invention, Fig. 1 is the structural representation of servo electrical machinery system embodiment bis-of the present invention, as depicted in figs. 1 and 2, this system comprises servo unit (not shown), line slideway 2, Z axis kinematic axis 3, sliding cylinder 4, thickness measuring installing plate 5, photoelectric sensor 6, inductor baffle 7, inductive rod securing member 8, linear bearing 9, thickness measuring inductive rod 10, motion controller 12 and cable 13, this servo unit comprises encoder (not shown), servomotor 1 and servo-driver 11.Wherein, described servo unit passes through code device signal channel transfer to described motion controller 12 by exported code device signal, the pulse data that described motion controller 12 gathers according to described encoder calculates the number of turns that described servomotor 1 rotates, described code device signal comprises serial data, initial delta pulse and origin pulse, should be noted that, this serial data represents that servomotor 1 starts to have rotated the position how many circles from reference position, this initial delta pulse represents that the origin position of servomotor 1 axle starts, to the current location of servomotor 1 axle running, while rotation with pre-set velocity, export pulse.This code device signal passage, for receiving described code device signal, the air line distance that the corresponding workpiece for measurement of the described number of turns moves.
It should be noted that, photoelectric sensor 6, inductor baffle 7, inductive rod securing member 8, linear bearing 9 and thickness measuring inductive rod 10 are installed on respectively on thickness measuring installing plate 5, have guaranteed the stability of this servo-drive system; Thickness measuring installing plate 5 is installed on sliding cylinder 4; Servomotor 1, line slideway 2 and sliding cylinder 4 are installed on Z axis kinematic axis 3; Servomotor is connected with servo-driver 11; Servo-driver 11 and photoelectric sensor 6 are connected to motion controller 12 by cable 13; Thickness measuring inductive rod 10 is fixedly connected with linear bearing 9 by inductive rod securing member 8, prevents that thickness measuring inductive rod 10 from coming off from linear bearing 9; Inductor baffle 7 is installed below photoelectric sensor 6; Below thickness measuring inductive rod 10, place workpiece for measurement (not shown).
The effect of brief description major part:
Described servo-driver 11, in order to drive described servomotor 1 to rotate.
Described photoelectric sensor 6, in order to move to when bottom output photoelectric induced signal in described thickness measuring inductive rod 10, in the present embodiment, specifically, photoelectric sensor 6 is connected to the IO port of motion controller 12.
Described sliding cylinder 4, in order to drive described thickness measuring inductive rod 10 vertically to move; It should be noted that this vertical direction is Z axis kinematic axis 3 related in the present embodiment, those skilled in the art should understand, and repeats no more here.In addition, it is worth mentioning that the moving up and down by the control of magnetic valve (not shown) of described sliding cylinder 4.
Described encoder (not shown), in order to the current location of described servomotor 1 is fed back to described servo-driver 11, so that described motion controller 12 reads described current location.The encoder adopting in the present embodiment has guaranteed precision and the speed measured.In the present embodiment, described encoder is built in the end of described servomotor 1, and those skilled in the art can arrange encoder in different positions according to the architectural feature of described servomotor 1, does not repeat them here.Should be noted that, in conjunction with the operation principle of servomotor 1, this encoder is by the phase signal of the servo unit (not shown) output in servomotor 1, and for example A phase, B phase and C phase etc. are connected directly to the encoder passage of motion controller, if when servomotor 1 forward, B compares mutually leading with C 90 ° of A phase, if when servomotor 1 reverses, A compares mutually leading with C 90 ° of B phase, those skilled in the art should understand, and repeats no more here.
Refer to Fig. 3, Fig. 3 is the flow chart that the present invention is based on the method for measuring thickness of servo electrical machinery system, as shown in Figure 3, said method comprising the steps of:
In step S100, based on servo electrical machinery system, the current location of servomotor is carried out to clear operation;
In step S200, measure the thickness of workpiece for measurement based on servo electrical machinery system.
Refer to Fig. 4, Fig. 4 is the flow chart that the present invention is based on step S100 in the method for measuring thickness of servo electrical machinery system, and as shown in Figure 4, described step S100 specifically comprises the following steps:
In step S101, reception user carries out the order of zero clearing to the current location of servomotor;
In step S102, motion controller rotates by cable control servo driver drives servomotor, thereby makes sliding cylinder drive thickness measuring inductive rod vertically to move;
In step S103, in the time that thickness measuring inductive rod moves to bottom, photoelectric sensor output photoelectric induced signal, it should be noted that in the present embodiment, and in the time that thickness measuring inductive rod moves to bottom, photoelectric sensor is blocked;
In step S104, the first current location of servomotor is fed back to servo-driver by encoder, motion controller reads described the first current location according to described optoelectronic induction signal by servo-driver, and this first current location is made as to zero point, that is to say, this optoelectronic induction signal triggers motion controller and reads this first current location.
It is worth mentioning that, after step S104, Z axis kinematic axis moves to specified location in user, waits the order of the thickness of workpiece for measurement to be measured.
Refer to Fig. 5, Fig. 5 is the flow chart that the present invention is based on step S200 in the method for measuring thickness of servo electrical machinery system, and as shown in Figure 5, described step S200 specifically comprises the following steps:
In step S201, receive the order that user measures the thickness of workpiece for measurement;
In step S202, motion controller rotates by cable control servo driver drives servomotor, thereby makes sliding cylinder drive thickness measuring inductive rod vertically to move;
In step S203, in the time that thickness measuring inductive rod moves to bottom, photoelectric sensor output photoelectric induced signal, it should be noted that in the present embodiment, and in the time that thickness measuring inductive rod moves to bottom, photoelectric sensor is blocked;
In step S204, the second current location of servomotor is fed back to servo-driver by encoder, motion controller reads described the second current location according to described optoelectronic induction signal by servo-driver, that is to say, this optoelectronic induction signal triggers motion controller and reads this second current location;
In step S205, motion controller subtracts each other this second current location and this first current location, to calculate the thickness of this workpiece for measurement.
It should be noted that, after step S205, Z axis kinematic axis moves to specified location in user, wait for the order of the thickness of next time measuring workpiece for measurement, the thickness of measuring next workpiece for measurement only needs circulation step S201 to step S205, does not repeat them here.
Compared to prior art, described servo unit is by exported code device signal by extremely described motion controller of code device signal channel transfer, and the pulse data that described motion controller gathers according to described encoder calculates the number of turns of described servomotor rotation.This technical scheme measuring speed is fast, precision is high, stability is high and cost is low.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in claim scope of the present invention.
Claims (8)
1. a servo electrical machinery system, it is characterized in that, it comprises servo unit, motion controller, photoelectric sensor, thickness measuring inductive rod and sliding cylinder, described servo unit comprises encoder, servomotor and described servomotor are connected with the servo-driver that drives its rotation, described motion controller by cable respectively with described servo-driver, described photoelectric sensor, described thickness measuring inductive rod and described sliding cylinder connect, described photoelectric sensor and described thickness measuring inductive rod are placed in respectively on described sliding cylinder, described servo unit passes through code device signal channel transfer to described motion controller by exported code device signal, the pulse data that described motion controller gathers according to described encoder calculates the number of turns of described servomotor rotation, described code device signal comprises serial data, initial delta pulse and origin pulse, the air line distance that the corresponding thickness measuring inductive rod of the described number of turns moves, wherein:
Described photoelectric sensor, in order to move to when bottom output photoelectric induced signal in described thickness measuring inductive rod;
Described sliding cylinder, in order to drive described thickness measuring inductive rod vertically to move;
Described encoder, in order to the current location of described servomotor is fed back to described servo-driver, so that described motion controller reads described current location.
2. servo electrical machinery system according to claim 1, it is characterized in that, described servo electrical machinery system also comprises the inductive rod securing member and the linear bearing that are installed on described sliding cylinder, and described thickness measuring inductive rod is fixedly connected with described linear bearing by described inductive rod securing member.
3. servo electrical machinery system according to claim 2, is characterized in that, described servo electrical machinery system is also included in described photoelectric sensor below inductor baffle is installed.
4. servo electrical machinery system according to claim 3, is characterized in that, described photoelectric sensor, described inductor baffle, described inductive rod securing member, described linear bearing and described thickness measuring inductive rod are installed on respectively on thickness measuring installing plate.
5. servo electrical machinery system according to claim 4, is characterized in that, described thickness measuring installing plate is installed on sliding cylinder.
6. servo electrical machinery system according to claim 5, is characterized in that, the moving up and down by solenoid control of described sliding cylinder.
7. servo electrical machinery system according to claim 5, is characterized in that, below described thickness measuring inductive rod, places workpiece for measurement.
8. the method for measuring thickness based on servo electrical machinery system, is characterized in that, described servo electrical machinery system is the servo electrical machinery system described in above-mentioned 1 to 7 any one, said method comprising the steps of:
S100. based on servo electrical machinery system, the current location of servomotor is carried out to clear operation, comprising:
S101. receive user carries out zero clearing order to the current location of servomotor;
S102. motion controller rotates by cable control servo driver drives servomotor, thereby makes sliding cylinder drive thickness measuring inductive rod vertically to move;
S103. photoelectric sensor output photoelectric induced signal in the time that thickness measuring inductive rod moves to bottom;
S104. the first current location of servomotor is fed back to servo-driver by encoder, and motion controller reads described the first current location according to described optoelectronic induction signal by servo-driver, and described the first current location is made as to zero point;
S200. the thickness of measuring workpiece for measurement based on servo electrical machinery system, comprising:
S201. receive the order that user measures the thickness of workpiece for measurement;
S202. motion controller rotates by cable control servo driver drives servomotor, thereby makes sliding cylinder drive thickness measuring inductive rod vertically to move;
S203. photoelectric sensor output photoelectric induced signal in the time that thickness measuring inductive rod moves to bottom;
S204. the second current location of servomotor is fed back to servo-driver by encoder, and motion controller reads described the second current location according to described optoelectronic induction signal by servo-driver;
S205. motion controller subtracts each other described the second current location and described the first current location, to calculate the thickness of described workpiece for measurement.
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| CN106541409A (en) * | 2016-10-31 | 2017-03-29 | 河池学院 | A kind of robot played music |
| CN106474740A (en) * | 2016-10-31 | 2017-03-08 | 河池学院 | A kind of chargeable robot of playing music |
| JP6761011B2 (en) * | 2018-09-25 | 2020-09-23 | ファナック株式会社 | Encoder and control system |
| CN112146608A (en) * | 2020-11-03 | 2020-12-29 | 安曼德智能科技(江苏)有限公司 | Online height measurement system of product |
| CN113418485B (en) * | 2021-06-08 | 2023-10-13 | 深圳市大族数控科技股份有限公司 | Thickness measuring device and thickness measuring method |
| CN114102594B (en) * | 2021-11-25 | 2023-11-14 | 深圳市越疆科技股份有限公司 | Mechanical arm joint and initial position determining method, device, equipment and storage medium |
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| CN101433929A (en) * | 2008-12-24 | 2009-05-20 | 哈尔滨工业大学 | Controllable accurate minitype stamping machines based on servo motor |
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| CN201889674U (en) * | 2010-12-03 | 2011-07-06 | 天水锻压机床有限公司 | Steel plate thickness on-line real-time automatic detection device |
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| JPH05131341A (en) * | 1991-11-12 | 1993-05-28 | Murata Mach Ltd | Work holder |
| JPH0752037A (en) * | 1993-08-17 | 1995-02-28 | San Biruto:Kk | Automatic thickness controlling stone polishing device |
| JP5170665B2 (en) * | 2008-05-22 | 2013-03-27 | スターテクノ株式会社 | Reference data correction method for forming airbag tear line |
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|---|---|---|---|---|
| CN101433929A (en) * | 2008-12-24 | 2009-05-20 | 哈尔滨工业大学 | Controllable accurate minitype stamping machines based on servo motor |
| CN201684954U (en) * | 2010-04-13 | 2010-12-29 | 侯秀峰 | Thickness automatic detecting device |
| CN201889674U (en) * | 2010-12-03 | 2011-07-06 | 天水锻压机床有限公司 | Steel plate thickness on-line real-time automatic detection device |
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Address after: 518000 5 / F, 1 / 2 / F, 14 / F, 17 / F, No.3 Factory building, antuoshan hi tech Industrial Park, Xinsha Road, Shajing street, Bao'an District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Han's CNC Technology Co.,Ltd. Address before: 518000 5 / F, 1 / 2 / F, 14 / F, 17 / F, No.3 Factory building, antuoshan hi tech Industrial Park, Xinsha Road, Shajing street, Bao'an District, Shenzhen City, Guangdong Province Patentee before: HAN'S CNC SCIENCE AND TECHNOLOGY Co.,Ltd. |