CN108803493B - Bus type memoryless multi-axis linkage track system and its change-seeking device and change-seeking method - Google Patents
Bus type memoryless multi-axis linkage track system and its change-seeking device and change-seeking method Download PDFInfo
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- CN108803493B CN108803493B CN201810812814.3A CN201810812814A CN108803493B CN 108803493 B CN108803493 B CN 108803493B CN 201810812814 A CN201810812814 A CN 201810812814A CN 108803493 B CN108803493 B CN 108803493B
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
- G05B19/4067—Restoring data or position after power failure or other interruption
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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Abstract
本发明公开了一种应用于总线型无记忆多轴联动轨道系统的找零方法，包括：S1、获取运动设备所处区域；S2、判断所处区域是否处于安全位置，若否，控制运动设备移动至安全位置；S3、通过零位传感器的位置检测，控制运动设备的无耦合运动轴以及用以供运动设备移动的轨道轴运动至零位传感器的零位；S4、当全部模块的运动轴回零后，执行步骤S5；当全部模块的运动轴未回零时，返回步骤S1，执行下一模块找零；S5、全部运动轴所对应的伺服电气系统对编码器信号重新置零。本发明还公开了一种应用于总线型无记忆多轴联动轨道系统的找零装置和系统。上述找零方法，可以更合理地利用空间，灵活地配合应用场景，获得最优布局效果，提高经济效益。
The invention discloses a change finding method applied to a bus-type memoryless multi-axis linkage track system, comprising: S1, acquiring the area where the motion equipment is located; S2, judging whether the area is in a safe position, and if not, controlling the motion equipment Move to a safe position; S3, through the position detection of the zero position sensor, control the uncoupled motion axis of the motion equipment and the orbital axis used for the motion equipment to move to the zero position of the zero position sensor; S4, when the motion axes of all modules After returning to zero, perform step S5; when the motion axes of all modules have not returned to zero, return to step S1, and perform zero-finding for the next module; S5, the servo electrical system corresponding to all motion axes resets the encoder signal to zero. The invention also discloses a change-finding device and a system applied to a bus-type memoryless multi-axis linkage track system. The above-mentioned change method can make more rational use of space, flexibly cooperate with application scenarios, obtain the optimal layout effect, and improve economic benefits.
Description
Technical Field
The invention relates to the field of control of a bus type memoryless multi-axis linkage track system, in particular to a bus type memoryless multi-axis linkage track system and a change giving device and a change giving method thereof.
Background
Aiming at the multi-axis linkage track system in the prior art, when the system is powered on again after power failure, change is often required again, the system does not have a corresponding memory function, the position of each axis when the power failure is not known, a large amount of time is consumed in the change making process, and the economic benefit is reduced.
Description figure 1 shows the overall structure schematic diagram of a multi-axis linkage track system, wherein, track 1 is used as the motion track of 2 of the motion device for the motion device 2 to move, 2 of the motion device has a plurality of different rotation axes, and the initial position of each rotation axis needs to be zeroed. Therefore, the method has certain practical significance for researching the change-making method of the bus type memoryless multi-axis linkage track system.
Disclosure of Invention
The invention aims to provide a bus type memoryless multi-axis linkage track system, a change giving device and a change giving method thereof, which can more reasonably utilize space, flexibly match with application scenes, obtain optimal layout effect and improve economic benefit.
In order to achieve the above object, the present invention provides a method for changing a bus type memoryless multi-axis linkage track system, comprising:
s1, acquiring the area of the motion equipment after being electrified again;
s2, judging whether the area is in a safe position, if not, controlling the motion equipment to move to the safe position;
s3, controlling a non-coupling movement shaft of the movement equipment and a track shaft for the movement of the movement equipment to move to the zero position of the zero position sensor through position detection of the zero position sensor, and realizing zero return;
s4, when the motion axes of all modules return to zero, executing the step S5;
when the motion axes of all the modules are not returned to zero, returning to the step S1 to execute the next module for change;
and S5, resetting the encoder signals to zero by the servo electric systems corresponding to all the motion axes.
Compared with the background technology, the change giving method provided by the invention obtains the area of the motion equipment which is electrified again, and then judges whether the motion equipment is in a safe position; when the moving equipment is located at a safe position, controlling a non-coupling moving shaft and a track shaft of the moving equipment to return to zero through position detection of a zero position sensor; and then, performing the change-making action on all the other modules until all the motion axes of the system return to zero, and finally resetting the encoder signals by the servo electrical system corresponding to the motion axes so as to realize the change-making function. The change giving method can more reasonably utilize space, flexibly match application scenes, obtain the optimal layout effect and improve the economic benefit.
Preferably, the step S1 of acquiring the area where the sports equipment is located after being powered up again specifically includes:
s10, judging whether the area of the motion equipment which is electrified again can be detected through an area sensor;
s11, if yes, executing the step of judging whether the area is in a safe position;
s12, if not, executing the next step;
and S20, after controlling the motion equipment to move for a preset distance, executing the step S10.
Preferably, the step of controlling the motion device to move the preset distance specifically includes:
when the movement device is a translation mechanism, according to the formula
Calculating the maximum operation step length Li(ii) a Wherein the maximum operation step length LiIn units of millimeters; r is the rated rotating speed of the motor of the sports equipment, and the unit is revolution/minute; the reduction ratio of the motor is 1: K; d is the diameter of an output shaft of the motor, and the unit is millimeter; h is the data transmission frequency of a communication bus of the bus type memoryless multi-axis linkage track system, and the unit is Hz;
controlling the motion device to move the step length LiThe distance of (d);
when the motion equipment is a rotating mechanism, the motion equipment is based on a formula
Calculating the maximum operation step length Li(ii) a Wherein the maximum operation step length LiThe unit of (a) is degree; r is the rated rotating speed of the motor of the sports equipment, and the unit is revolution/minute; the reduction ratio of the motor is 1: K; h is the data transmission frequency of a communication bus of the bus type memoryless multi-axis linkage track system, and the unit is Hz;
controlling the motion device to move the step length LiThe distance of (c).
Preferably, the step of controlling the motion device to move the preset distance specifically includes:
when the motion equipment is a translation mechanism, setting a preset distance as a numerical value between the radius and the diameter of the induction range judged by the area sensor;
and controlling the motion equipment to move the preset distance.
Preferably, before the step of acquiring the area of the powered-up sports equipment, the method further includes:
a plurality of area sensors used for acquiring the area of the sports equipment are arranged at intervals in the moving direction of the sports equipment; wherein a plurality of the area sensors are distributed in a preset area.
The invention also provides a change-making device applied to the bus type memoryless multi-axis linkage track system, which is characterized by comprising the following components:
an acquisition module: the area used for obtaining the sports equipment after being powered on again is located;
a judging module: the system is used for judging whether the area is in a safe position;
a control module: the safety device is used for controlling the motion device to move to a safety position when the area is not in the safety position;
a zero returning module: the position detection through a zero position sensor is used for controlling a non-coupling motion axis of the motion equipment and a track axis for moving the motion equipment to return to zero;
a triggering module: when the motion axes of all the modules return to zero, triggering a zero setting module;
when the motion axes of all the modules are not zero, triggering the acquisition module to execute the next module to make change;
a zero setting module: for all of the axes of motion to be re-zeroed.
Preferably, the obtaining module is configured to:
s10, judging whether the area of the motion equipment which is electrified again can be detected through an area sensor;
s11, if yes, executing the step of judging whether the area is in a safe position;
s12, if not, executing the next step;
and S20, after controlling the motion equipment to move for a preset distance, executing the step S10.
Preferably, the control module comprises:
a first calculation unit for
When the movement device is a translation mechanism, according to the formula
Calculating the maximum operation step length Li(ii) a Wherein the maximum operation step length LiIn units of millimeters; r is the rated rotating speed of the motor of the sports equipment, and the unit is revolution/minute; the reduction ratio of the motor is 1: K; d is the diameter of an output shaft of the motor, and the unit is millimeter; h is the data transmission frequency of a communication bus of the bus type memoryless multi-axis linkage track system, and the unit is Hz;
a first step length control unit for controlling the motion equipment to move the step length LiThe distance of (d);
a second calculation unit for
When the motion equipment is a rotating mechanism, the motion equipment is based on a formula
Calculating the maximum operation step length Li(ii) a Wherein the maximum operation step length LiThe unit of (a) is degree; r is the rated rotating speed of the motor of the sports equipment, and the unit is revolution/minute; the reduction ratio of the motor is 1: K; h is the data transmission frequency of a communication bus of the bus type memoryless multi-axis linkage track system, and the unit is Hz;
a second step size control unit for controlling the motion device to move the step size LiThe distance of (c).
Preferably, the control module comprises:
the third calculation unit is used for setting a preset distance to be a numerical value between the radius and the diameter of the induction range judged by the area sensor when the motion equipment is a translation mechanism;
and the third step length control unit is used for controlling the movement of the movement equipment by the preset distance.
The invention further provides a bus type memoryless multi-axis linkage track system which comprises the change giving device.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is an overall structural view of a bus type memoryless multi-axis linkage track system;
FIG. 2 is a schematic view of the bus type memoryless multi-axis linkage track system of FIG. 1 in a state during the process of changing;
FIG. 3 is a schematic view of another state of the system of FIG. 1 during a change process;
FIG. 4 is a schematic view of the system of FIG. 1 in a further state during change operations;
FIG. 5 is a flowchart of a method for changing a bus-type memoryless multi-axis linkage track system according to an embodiment of the present invention;
fig. 6 is a block diagram of a change-giving device of a bus type memoryless multi-axis linkage track system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 6, fig. 1 is a general structure diagram of a bus type memoryless multi-axis linkage track system; FIG. 2 is a schematic view of the bus type memoryless multi-axis linkage track system of FIG. 1 in a state during the process of changing; FIG. 3 is a schematic view of another state of the system of FIG. 1 during a change process; FIG. 4 is a schematic view of the system of FIG. 1 in a further state during change operations; FIG. 5 is a flowchart of a method for changing a bus-type memoryless multi-axis linkage track system according to an embodiment of the present invention; fig. 6 is a block diagram of a change-giving device of a bus type memoryless multi-axis linkage track system according to an embodiment of the present invention.
The invention provides a change-making method applied to a bus type memoryless multi-axis linkage track system, as shown in the attached figure 5 of the specification, which mainly comprises the following steps:
s1, acquiring the area of the motion equipment after being electrified again;
s2, judging whether the area is in a safe position, if not, controlling the motion equipment to move to the safe position;
s3, controlling a non-coupling movement shaft of the movement equipment and a track shaft for movement of the movement equipment to move to the zero position of the zero position sensor through position detection of the zero position sensor, and realizing zero return;
s4, when the motion axes of all modules return to zero, executing the step S5;
when the motion axes of all the modules are not returned to zero, returning to the step S1 to execute the next module for change;
and S5, resetting the encoder signals to zero by the servo electric systems corresponding to all the motion axes.
Specifically, for step S1, the step of acquiring the area of the sports device powered on again specifically includes:
s10, judging whether the area of the motion equipment which is electrified again can be detected through an area sensor;
s11, if yes, executing the step of judging whether the area is in the safe position;
s12, if not, executing the next step;
and S20, after the motion equipment is controlled to move for the preset distance, executing the step S10.
That is, the area is first confirmed. Since the motion device 2 does not have the function of saving the position state data when the power is off, the specific state (including the position and the attitude) of the motion device 2 cannot be known after the power is on (after the power is on), and therefore, the area sensor is used to determine which specific area of the track the motion device 2 is located in.
And then separately processed for different areas where the moving equipment 2 is located. Due to the long travel of the track 1, it is costly if sensors are deployed in all areas, and therefore sensors are deployed only in a few critical areas. If the area is detected by the area sensor, step S2 is executed to determine whether the area is in a safe position; if in an area not detected by the area sensor, it should be moved to the sensor detectable area in a safe step less than the sensing diameter of the position sensor under the monitoring of the security guard sensor.
For step S20, the step of controlling the motion device to move the preset distance specifically includes:
when the movement device 2 is a translation mechanism, according to the formula
Calculating the maximum operation step length Li(ii) a Wherein the maximum operation step length LiIn units of millimeters; r is the rated rotating speed of a motor of the sports equipment, and the unit is revolution/minute; the reduction ratio of the motor is 1: K; d is the diameter of an output shaft of the motor, and the unit is millimeter; h is the data transmission frequency of a communication bus of the bus type memoryless multi-axis linkage track system, and the unit is Hz;
controlling a movement step length L of a motion deviceiThe distance of (d);
when the motion equipment is a rotating mechanism, the motion equipment is based on the formula
Calculating the maximum operation step length Li(ii) a Wherein the maximum operation step length LiThe unit of (a) is degree; r is the rated rotating speed of a motor of the sports equipment, and the unit is revolution/minute; the reduction ratio of the motor is 1: K; h is the data transmission frequency of a communication bus of the bus type memoryless multi-axis linkage track system, and the unit is Hz;
controlling a movement step length L of a motion deviceiThe distance of (c).
In addition, when the motion device is a translation mechanism, the preset distance may be set to a value between the radius and the diameter of the sensing range determined by the area sensor, and then the motion device is controlled to move by the preset distance.
After the orbital motion axis of the motion device 2 moves along the track 1 to the safety position, the other uncoupled motion axis of the motion device 2 performs the change making operation. Other non-coupling motion shafts carry out operation of presetting change logic, comprise various combinations of rotation, lifting and the like, and return of change is detected through a zero sensor.
Then, executing the track shaft change-making operation; when all the non-interference motion shafts of the motion equipment 2 return to zero, the track shaft also passes through preset zero-making logic and the zero-position sensor to detect the return to zero. Then, the next module is continued to make change; and finally resetting all the motion axis equipment of the system to zero. Wherein the description figures 2 to 4 show different states of the system during change.
Judging whether the motion axes of all the modules return to zero or not aiming at the step S4;
if not, returning to the step S1, and executing the next module to make change;
if yes, go to step S5;
it can be seen that when the motion axes of all the modules are zero, step S5 is executed; when the motion axes of all the modules are not zero, returning to the step S1 to execute the next module for change; step S4 is an automatic determination process, and when the motion axes of all modules are determined to be zero, step S5 is executed, that is, all motion axes are reset to zero.
In step S4, the movement axes of all modules should move to the physical zero position where the zero position sensor is located, so as to implement the return-to-zero or return-to-zero action of the movement axes; when the motion axes of all the modules move to the physical zero position of the corresponding zero position sensor, the motion axes of all the modules return to zero, and then step S5 is executed; in step S5, "moving axis resetting" means that the servo electrical system corresponding to each moving axis resets the encoder signal, that is, the servo electrical system resets the encoder signal, thereby completing the whole process of changing. The specific arrangement of the moving shaft, the null sensor, the servo electrical system, the encoder and the like can be found in the prior art, and no specific improvement is made herein.
Of course, before the above steps are performed, a plurality of area sensors for acquiring the area of the sports equipment should be arranged at intervals in the moving direction of the sports equipment; wherein, a plurality of regional sensors are distributed in the preset region.
The invention also discloses a change-making device applied to the bus type memoryless multi-axis linkage track system, as shown in the attached figure 6 of the specification, comprising:
the acquisition module 101: the area used for obtaining the sports equipment after being powered on again is located;
the judging module 102: the system is used for judging whether the area is in a safe position;
the control module 103: the safety device is used for controlling the motion device to move to the safety position when the area is not in the safety position;
the zero-returning module 104: the zero position sensor is used for detecting the position of the zero position sensor, controlling a non-coupling motion shaft of the motion equipment and a track shaft for moving the motion equipment to return to zero;
the triggering module 105: when the motion axes of all the modules are zero, the zero setting module 106 is triggered; when the motion axes of all the modules are not zero, triggering the acquisition module 101 to execute the next module to make change;
the zero setting module 106: for all axes of motion re-zeroing.
Wherein, the obtaining module 101 is configured to:
s10, judging whether the area of the motion equipment which is electrified again can be detected through an area sensor;
s11, if yes, executing the step of judging whether the area is in the safe position;
s12, if not, executing the next step;
and S20, after the motion equipment is controlled to move for the preset distance, executing the step S10.
Wherein the control module 103 comprises:
a first calculation unit for
When the motion equipment is a translation mechanism, according to the formula
Calculating the maximum operation step length Li(ii) a Wherein the maximum operation step length LiIn units of millimeters; r is the rated rotating speed of a motor of the sports equipment, and the unit is revolution/minute; the reduction ratio of the motor is 1: K; d is the diameter of an output shaft of the motor, and the unit is millimeter; h is the data transmission frequency of a communication bus of the bus type memoryless multi-axis linkage track system, and the unit is Hz;
a first step length control unit for controlling the movement step length L of the motion equipmentiThe distance of (d);
a second calculation unit for
When the motion equipment is a rotating mechanism, the motion equipment is based on the formula
Calculating the maximum operation step length Li(ii) a Wherein the maximum operation step length LiThe unit of (a) is degree; r is the rated rotating speed of a motor of the sports equipment, and the unit is revolution/minute; the reduction ratio of the motor is 1: K; h is the data transmission frequency of a communication bus of the bus type memoryless multi-axis linkage track system, and the unit is Hz;
a second step length control unit for controlling the moving step length L of the motion deviceiThe distance of (c).
Wherein the control module 103 comprises:
the third calculation unit is used for setting the preset distance to be a numerical value between the radius and the diameter of the induction range judged by the area sensor when the motion equipment is a translation mechanism;
and the third step length control unit is used for controlling the movement of the motion equipment by a preset distance.
The invention also discloses a bus type memoryless multi-axis linkage track system, which comprises the change-making device described in the specific embodiment; other parts of the bus type memoryless multi-axis linkage rail system can be referred to the prior art and are not expanded herein.
It should be noted that, in the description, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and similar parts between the embodiments may be referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant part can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention. The bus type memoryless multi-axis linkage track system, the change giving device and the change giving method thereof provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A change-making method applied to a bus type memoryless multi-axis linkage track system is characterized by comprising the following steps:
s1, acquiring the area of the motion equipment after being electrified again;
s2, judging whether the area is in a safe position, if not, controlling the motion equipment to move to the safe position;
s3, controlling a non-coupling movement shaft of the movement equipment and a track shaft for the movement of the movement equipment to move to the zero position of the zero position sensor through position detection of the zero position sensor, and realizing zero return;
s4, when the motion axes of all modules return to zero, executing the step S5;
when the motion axes of all the modules are not returned to zero, returning to the step S1 to execute the next module for change;
wherein the axes of motion of all of the modules comprise the uncoupled axes of motion and the rail axis;
and S5, resetting the encoder signals to zero by the servo electric systems corresponding to all the motion axes.
2. A change giving method according to claim 1, wherein the step S1 of acquiring the area of the powered-up moving device is specifically:
s10, judging whether the area of the motion equipment which is electrified again can be detected through an area sensor;
s11, if yes, executing the step of judging whether the area is in a safe position;
s12, if not, executing the next step;
and S20, after controlling the motion equipment to move for a preset distance, executing the step S10.
3. A change giving method as claimed in claim 2, wherein the step of controlling the movement device to move a predetermined distance is specifically:
when the movement device is a translation mechanism, according to the formula
Calculating the maximum operation step length Li(ii) a Wherein the maximum operation step length LiIn units of millimeters; r is the rated rotating speed of the motor of the sports equipment, and the unit is revolution/minute; the above-mentionedThe reduction ratio of the motor is 1: K; d is the diameter of an output shaft of the motor, and the unit is millimeter; h is the data transmission frequency of a communication bus of the bus type memoryless multi-axis linkage track system, and the unit is Hz;
controlling the motion device to move the step length LiThe distance of (d);
when the motion equipment is a rotating mechanism, the motion equipment is based on a formula
Calculating the maximum operation step length Li(ii) a Wherein the maximum operation step length LiThe unit of (a) is degree; r is the rated rotating speed of the motor of the sports equipment, and the unit is revolution/minute; the reduction ratio of the motor is 1: K; h is the data transmission frequency of a communication bus of the bus type memoryless multi-axis linkage track system, and the unit is Hz;
controlling the motion device to move the step length LiThe distance of (c).
4. A change giving method as claimed in claim 2, wherein the step of controlling the movement device to move a predetermined distance is specifically:
when the motion equipment is a translation mechanism, setting a preset distance as a numerical value between the radius and the diameter of the induction range judged by the area sensor;
and controlling the motion equipment to move the preset distance.
5. A method as claimed in any one of claims 1 to 4, wherein the step of obtaining the area of the powered-up moving apparatus is preceded by the step of:
a plurality of area sensors used for acquiring the area of the sports equipment are arranged at intervals in the moving direction of the sports equipment; wherein a plurality of the area sensors are distributed in a preset area.
6. A change giving device applied to a bus type memoryless multi-axis linkage track system is characterized by comprising:
an acquisition module: the area used for obtaining the sports equipment after being powered on again is located;
a judging module: the system is used for judging whether the area is in a safe position;
a control module: the safety device is used for controlling the motion device to move to a safety position when the area is not in the safety position;
a zero returning module: the position detection through a zero position sensor is used for controlling a non-coupling motion axis of the motion equipment and a track axis for moving the motion equipment to return to zero;
a triggering module: when the motion axes of all the modules return to zero, triggering a zero setting module;
when the motion axes of all the modules are not zero, triggering the acquisition module to execute the next module to make change; wherein the axes of motion of all of the modules comprise the uncoupled axes of motion and the rail axis;
a zero setting module: for all of the axes of motion to be re-zeroed.
7. The change giving device according to claim 6, wherein the obtaining module is configured to:
s10, judging whether the area of the motion equipment which is electrified again can be detected through an area sensor;
s11, if yes, executing the step of judging whether the area is in a safe position;
s12, if not, executing the next step;
and S20, after controlling the motion equipment to move for a preset distance, executing the step S10.
8. Changing device as claimed in claim 7, characterized in that the control module comprises:
a first calculation unit for
When the movement device is a translation mechanism, according to the formula
Calculate the bestLarge running step length Li(ii) a Wherein the maximum operation step length LiIn units of millimeters; r is the rated rotating speed of the motor of the sports equipment, and the unit is revolution/minute; the reduction ratio of the motor is 1: K; d is the diameter of an output shaft of the motor, and the unit is millimeter; h is the data transmission frequency of a communication bus of the bus type memoryless multi-axis linkage track system, and the unit is Hz;
a first step length control unit for controlling the motion equipment to move the step length LiThe distance of (d);
a second calculation unit for
When the motion equipment is a rotating mechanism, the motion equipment is based on a formula
Calculating the maximum operation step length Li(ii) a Wherein the maximum operation step length LiThe unit of (a) is degree; r is the rated rotating speed of the motor of the sports equipment, and the unit is revolution/minute; the reduction ratio of the motor is 1: K; h is the data transmission frequency of a communication bus of the bus type memoryless multi-axis linkage track system, and the unit is Hz;
a second step size control unit for controlling the motion device to move the step size LiThe distance of (c).
9. Changing device as claimed in claim 7, characterized in that the control module comprises:
the third calculation unit is used for setting a preset distance to be a numerical value between the radius and the diameter of the induction range judged by the area sensor when the motion equipment is a translation mechanism;
and the third step length control unit is used for controlling the movement of the movement equipment by the preset distance.
10. A bus type memoryless multi-axis linkage rail system comprising the change giving device as claimed in any one of claims 6 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810812814.3A CN108803493B (en) | 2018-07-23 | 2018-07-23 | Bus type memoryless multi-axis linkage track system and its change-seeking device and change-seeking method |
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| CN201810812814.3A CN108803493B (en) | 2018-07-23 | 2018-07-23 | Bus type memoryless multi-axis linkage track system and its change-seeking device and change-seeking method |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4234833A (en) * | 1978-01-19 | 1980-11-18 | A. E. Moore Company, Inc. | Door operator system using counter circuit for determining limit positions |
| CN101806580A (en) * | 2010-03-19 | 2010-08-18 | 东华大学 | Motion control system and method for high-precision image measuring apparatus |
| CN106054806A (en) * | 2016-07-13 | 2016-10-26 | 华南理工大学 | Planar parallel mechanism end tracking control system based on two-dimensional encoder and planar parallel mechanism end tracking control method thereof |
| CN106975805A (en) * | 2017-03-28 | 2017-07-25 | 无锡微研精微机械技术有限公司 | A kind of back to zero system and method for spark-erosion machine tool |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206662444U (en) * | 2017-03-28 | 2017-11-24 | 无锡微研精微机械技术有限公司 | A kind of back to zero system of spark-erosion machine tool |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4234833A (en) * | 1978-01-19 | 1980-11-18 | A. E. Moore Company, Inc. | Door operator system using counter circuit for determining limit positions |
| CN101806580A (en) * | 2010-03-19 | 2010-08-18 | 东华大学 | Motion control system and method for high-precision image measuring apparatus |
| CN106054806A (en) * | 2016-07-13 | 2016-10-26 | 华南理工大学 | Planar parallel mechanism end tracking control system based on two-dimensional encoder and planar parallel mechanism end tracking control method thereof |
| CN106975805A (en) * | 2017-03-28 | 2017-07-25 | 无锡微研精微机械技术有限公司 | A kind of back to zero system and method for spark-erosion machine tool |
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| CN108803493A (en) | 2018-11-13 |
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