Electromechanical controller and its control method for arc cam indexing mechanism

Abstract

An electromechanical control device used in a cambered surface cam dividing mechanism includes a motor, a cambered surface dividing cam box, a coupler and a base, it also includes a non-linear perturbed compensation controller fixed on the base together with the motor and the box, the motor is connected with the box by the coupler, the non-linear perturbed compensation controller is connected with the box by a cable. This invention applies the active compensation control to the motor by perturbation observation of a sliding mode transformation structure and a non-linear uncoupling compensation control technology to reduce influence of the load variance to the operation performance of the motor.

Description

(1) Technical field [0001] The invention relates to an electromechanical control device and a control method thereof, in particular to an electromechanical control device and a control method for an arc cam indexing mechanism. (2) Background technology [0002] At present, there are two main types of technologies for indexing control: digital control and mechanical methods; digital control uses servo controllers to control servo motors to drive actuators to achieve indexing transmission. It has high positioning accuracy and indexing methods. Controllable and other advantages, but the production cost is high and the transmission power is low. It is mainly used in the occasions of light load and high-precision positioning such as the tool change mechanism of the machining center; the arc cam indexing mechanism is the most commonly used mechanical fixed-ratio indexing mechanism. Mechanism, which is generally directly driven by a three-phase AC motor, has the advantages of simpl...

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Problems solved by technology

[0002] At present, there are two main types of technologies for indexing control: digital control and mechanical methods; digital control uses servo controllers to control servo motors to drive actuators to achieve indexing transmission. It has high positioning accuracy and indexing methods. Controllable and other advantages, but the production cost is high and the transmission power is low. It is mainly used in the occasions of light load and high-precision positioning such as the tool change mechanism of the machining center; the arc cam indexing mechanism is the most commonly used mechanical fixed-ratio indexing mechanism. Mechanism, which is generally directly driven by a three-phase AC motor, has the advantages of simple structure, low production cost, and large transmission power. It is mainly used for intermittent transmission and is widely used in various automated machinery; however, due to its acceleration and deceleration motion Due to factors such as regularity, manufacturing and assembly errors, and motor mechanical characteristics, there are dynamic load disturbances with large periodic changes, resulting in severe shocks and vibrations, which greatly affect the indexing and positioning accuracy of the actuator, especially when running at high speeds.

How to improve the transmission accuracy of the whole mechanism has become the research focus and difficulty in the research field of the arc cam indexing mechanism. At present, the research on the arc cam indexing mechanism mainly focuses on changing the profile curve and roller shape of the arc indexing cam. And the mechanical transmission part of the cam mechanism to achieve the purpose of optimizing the transmission accuracy, but the effect is not ideal

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