A comprehensive comparative teaching experimental device for mechatronics technology

Abstract

The invention provides a comprehensive comparative teaching experiment device for mechatronics technology, which mainly comprises a workbench, and a PLC module, an open-loop test unit, a semi-closed-loop test unit and a full-closed-loop test unit arranged on the workbench. The open-loop test unit, the semi-closed-loop test unit and the full-closed-loop test unit all comprise a human-computer interaction module, so that three common mechatronics control systems, namely, a closed-loop system, a semi-closed-loop system and an open-loop system, are supported. Test parameters are input through the human-computer interaction module, and the open-loop test unit, the semi-closed-loop test unit and the full-closed-loop test unit are tested by the PLC module. The obtained test results are displayed through the human-computer interaction module, so that students can compare the control accuracy of the three units. The invention has a simple structure and is easy to use.

Description

[Technical field]

[0001] The invention relates to the field of teaching experimental devices, in particular to a comprehensive comparative teaching experimental device for mechatronics technology. [Background technology]

[0002] Mechatronics is a new concept formed by the gradual penetration of microelectronics technology into traditional industries. Today, mechatronics has become an important tool for exploring various new technologies and new fields. At present, the teaching experiment and training systems related to "Mechatronics System Design" in China are roughly divided into two categories: teaching experiment devices that simulate the principles of actual devices and reduced models of actual devices. However, due to their single functions and high difficulty in operation, they no longer meet the requirements of engineering education.

[0003] The existing problems of relevant teaching experiment and training systems in China are as follows: 1. The teaching experiment device that simulates the principle of the actual device has a simple structure, but a single function, and does not have functions such as field bus communication and touch screen application; 2. The reduced model of the actual device is expensive, and the number of batch purchases by schools is limited. In addition, its system design is too complicated, which is not conducive to beginners to master and has a high failure rate, which is not easy for daily training. [Summary of the invention]

[0004] The technical problem to be solved by the present invention is to provide a comprehensive comparative teaching experimental device for mechatronics technology, which has complete functions, can support three common mechatronics control systems: closed-loop system, semi-closed-loop system and open-loop system, and has a simple structure and is easy to use.

[0005] The present invention is implemented as follows: a mechatronics technology comprehensive comparative teaching experimental device, comprising:

[0006] Workbench;

[0007] A PLC module is arranged on the workbench;

[0008] An open-loop test unit is disposed on the workbench, and comprises a stepper motor driver, a stepper motor, an open-loop test sliding module, a first encoder, a first grating ruler and a first human-computer interaction module, wherein the stepper motor driver, the stepper motor, the open-loop test sliding module and the first encoder are connected in sequence, the first grating ruler is disposed on one side of the open-loop test sliding module, and the stepper motor driver, the first encoder, the first grating ruler and the first human-computer interaction module are all connected to the PLC module;

[0009] A semi-closed loop test unit is arranged on the workbench, comprising a first servo motor driver, a first servo motor, a semi-closed loop test sliding module, a second encoder, a second grating ruler and a second human-machine interaction module, wherein the first servo motor driver, the first servo motor, the semi-closed loop test sliding module and the second encoder are connected in sequence, the second grating ruler is arranged on one side of the semi-closed loop test sliding module, and the first servo motor driver, the second encoder, the second grating ruler and the second human-machine interaction module are all connected to the PLC module;

[0010] A full-closed-loop test unit is arranged on the workbench, comprising a second servo motor driver, a second servo motor, a full-closed-loop test sliding module, a third encoder, a third grating ruler and a third human-computer interaction module, wherein the second servo motor driver, the second servo motor, the full-closed-loop test sliding module and the third encoder are connected in sequence, the third grating ruler is arranged on one side of the full-closed-loop test sliding module, and the second servo motor driver, the third encoder, the third grating ruler and the third human-computer interaction module are all connected to the PLC module;

[0011] A power supply is arranged on the workbench and is used to supply power to the PLC module, the open-loop test unit, the semi-closed-loop test unit and the full-closed-loop test unit.

[0012] Furthermore, the device of the present invention also includes a programming module, and the programming module is connected to the PLC module via a bus module.

[0013] Furthermore, the programming module is a PC.

[0014] Furthermore, the device of the present invention also includes a junction box, the pin wiring of the PLC module is led to the junction box, and each incoming cable and outgoing cable in the junction box is provided with a pin mark.

[0015] Furthermore, the open-loop test sliding module includes a first ball screw, a first nut and a first slider, one end of the first ball screw is connected to the stepping motor, and the other end is connected to the first encoder, the first nut is screwed on the first ball screw, and the first slider is fixed on the first nut; the semi-closed-loop test sliding module includes a second ball screw, a second nut and a second slider, one end of the second ball screw is connected to the first servo motor, and the other end is connected to the second encoder, the second nut is screwed on the second ball screw, and the second slider is fixed on the second nut; the full-closed-loop test sliding module includes a third ball screw, a third nut and a third slider, one end of the third ball screw is connected to the second servo motor, and the other end is connected to the third encoder, the third nut is screwed on the third ball screw, and the third slider is fixed on the third nut.

[0016] Furthermore, the workbench is divided into an electrical distribution area and an experimental execution area, the electrical distribution area has a plurality of placement slots, and the periphery of each placement slot is surrounded by a wiring slot;

[0017] The PLC module, the stepper motor driver, the first servo motor driver and the second servo motor driver are all arranged in each of the placement slots in the electrical distribution area;

[0018] The stepper motor, the open-loop test sliding module, the first encoder, the first grating ruler, the first human-computer interaction module, the first servo motor, the semi-closed-loop test sliding module, the second encoder, the second grating ruler, the second human-computer interaction module, the second servo motor, the full-closed-loop test sliding module, the third encoder, the second grating ruler and the third human-computer interaction module are all arranged in the experiment execution area.

[0019] The advantages of the present invention are as follows: the comprehensive comparative teaching experiment device for mechatronics technology of the present invention arranges an open-loop test unit, a semi-closed-loop test unit and a full-closed-loop test unit on the same workbench, the three units are controlled by the same PLC module, and respectively have a human-computer interaction module, so that three common mechatronics control systems, namely, a closed-loop system, a semi-closed-loop system and an open-loop system, can be supported to work simultaneously, so that students can use the interface of the human-computer interaction module to make different settings for distances, angles and speeds under three combinations, and compare experimental results, so that students can intuitively understand the influence of the three control methods on positioning accuracy through the interface of the human-computer interaction module, and the structure is simple and easy to use.

Brief Description of the Drawings

[0020] The present invention will be further described below in conjunction with embodiments with reference to the accompanying drawings.

[0021] Figure 1 It is a schematic diagram of the overall structure of the comprehensive comparative teaching experimental device of mechatronics technology of the present invention.

[0022] Figure 2 It is a structural schematic diagram of the open-loop test unit of the present invention.

[0023] Figure 3 It is a structural schematic diagram of the semi-closed loop test unit of the present invention.

[0024] Figure 4 It is a structural schematic diagram of the full closed-loop test unit of the present invention.

[0025] Figure 5 It is a structural schematic diagram of a workbench of the present invention.

[0026] Figure 6 It is a connection diagram of the PLC module of the present invention. [Specific implementation method]

[0027] The embodiment of the present invention provides a comprehensive comparative teaching experimental device for mechatronics technology, which has complete functions, can support three common mechatronics control systems, namely, closed-loop system, semi-closed-loop system and open-loop system, and has a simple structure and is easy to use.

[0028] The technical solution in the embodiment of the present invention is to solve the above problems. The overall idea is as follows: an open-loop test unit, a semi-closed-loop test unit and a full-closed-loop test unit are arranged on the same workbench. The three units are controlled by the same PLC module and have a human-computer interaction module respectively, so that they can support three common electromechanical control systems, namely closed-loop system, semi-closed-loop system and open-loop system, to work simultaneously. Students can use the interface of the human-computer interaction module to set different distances, angles and speeds under the three combinations, and compare the experimental results, so that students can intuitively understand the influence of the three control methods on positioning accuracy through the interface of the human-computer interaction module. The structure is simple and easy to use.

[0029] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0030] See also Figures 1 to 6 As shown, the mechatronics technology comprehensive comparison teaching experimental device of the present invention comprises:

[0031] Workbench 1;

[0032] A PLC module 2 is arranged on the workbench 1;

[0033] The open-loop test unit 3 is arranged on the workbench 1, and includes a stepper motor driver 31, a stepper motor 32, an open-loop test sliding module 33, a first encoder 34, a first grating ruler 35 and a first human-computer interaction module 36. The stepper motor driver 31, the stepper motor 32, the open-loop test sliding module 33 and the first encoder 34 are connected in sequence, the first grating ruler 35 is arranged on one side of the open-loop test sliding module 33, and the stepper motor driver 31, the first encoder 34, the first grating ruler 35 and the first human-computer interaction module 36 are all connected to the PLC module 2;

[0034] A semi-closed loop test unit 4 is provided on the workbench 1, and includes a first servo motor driver 41, a first servo motor 42, a semi-closed loop test sliding module 43, a second encoder 44, a second grating ruler 45 and a second human-machine interaction module 46, wherein the first servo motor driver 41, the first servo motor 42, the semi-closed loop test sliding module 43 and the second encoder 44 are connected in sequence, the second grating ruler 45 is provided on one side of the semi-closed test sliding module 43, and the first servo motor driver 41, the second encoder 44, the second grating ruler 45 and the second human-machine interaction module 46 are all connected to the PLC module 2;

[0035] The full-closed-loop test unit 5 is arranged on the workbench 1, and includes a second servo motor driver 51, a second servo motor 52, a full-closed-loop test sliding module 53, a third encoder 54, a third grating ruler 55 and a third human-computer interaction module 56. The second servo motor driver 41, the second servo motor 52, the full-closed-loop test sliding module 53 and the third encoder 54 are connected in sequence, the third grating ruler 55 is arranged on one side of the full-closed-loop test sliding module 53, and the second servo motor driver 51, the third encoder 54, the third grating ruler 55 and the third human-computer interaction module 56 are all connected to the PLC module 2; the third encoder 54 and the third grating ruler 55 are respectively used to detect the angular displacement and linear displacement of the full-closed-loop test sliding module 53, and then feed them back to the PLC module 2, compare them with the original instruction displacement value input by the third human-computer interaction module 56, and use the compared difference to control the moving part to supplement the displacement until the difference is eliminated. Closed-loop control has a feedback link, which improves the accuracy of the system and shortens the response time through the feedback system. It is suitable for systems with high requirements on system response time and stability.

[0036] The power supply 6 is disposed on the workbench 1 and is used to supply power to the PLC module 2 , the open-loop test unit 3 , the semi-closed-loop test unit 4 and the full-closed-loop test unit 5 .

[0037] Further, as a more specific or better implementation of the present invention:

[0038] The device of the present invention further comprises a programming module 7, and the programming module 7 is connected to the PLC module via a bus module 8. The programming module is a PC.

[0039] The device of the present invention also includes a junction box 9, and the pin connections of the PLC module 2 are led to the junction box 9, and each incoming cable and outgoing cable in the junction box 9 is provided with a pin mark, so as to facilitate students' connection operation and check whether the connection is correct.

[0040] The open-loop test sliding module 33 includes a first ball screw 331, a first nut 332 and a first slider 333. One end of the first ball screw 331 is connected to the stepping motor 32, and the other end is connected to the first encoder 34. The first nut 332 is screwed on the first ball screw 331, and the first slider 333 is fixed on the first nut 332. In this way, when the stepping motor 32 drives the first ball screw 331 to rotate, the first nut 332 can drive the first slider 333 to move on the first ball screw 331. The rotation angle of the first ball screw 331 can be detected by the first encoder 34, and the moving distance of the first slider 333 is measured by the first grating ruler 35. The detection result of the first encoder 34 and the measurement result of the first grating ruler 35 are fed back to the PLC module 2 and then displayed through the first human-computer interaction module 36.

[0041] The semi-closed loop test sliding module 43 includes a second ball screw 431, a second nut 432 and a second slider 433. One end of the second ball screw 431 is connected to the first servo motor 42, and the other end is connected to the second encoder 44. The second nut 432 is screwed on the second ball screw 431, and the second slider 433 is fixed on the second nut 432. In this way, when the first servo motor 42 drives the second ball screw 431 to rotate, the second nut 432 can drive the second slider 433 to move on the second ball screw 431. The rotation angle of the second ball screw 431 can be detected by the second encoder 44, and the moving distance of the second slider 433 is measured by the second grating ruler 45. The detection result of the second encoder 44 and the measurement result of the second grating ruler 45 are fed back to the PLC module 2, and then displayed through the second human-computer interaction module 46.

[0042] The full closed-loop test sliding module 53 includes a third ball screw 531, a third nut 532 and a third slider 533. One end of the third ball screw 531 is connected to the second servo motor 52, and the other end is connected to the third encoder 54. The third nut 532 is screwed on the third ball screw 531, and the third slider 533 is fixed on the third nut 532. In this way, when the second servo motor 52 drives the third ball screw 531 to rotate, the third nut 532 can drive the third slider 533 to move on the third ball screw 531. The rotation angle of the third ball screw 531 can be detected by the third encoder 54, and the distance moved by the third slider 533 is measured by the third grating ruler 55. After the detection results of the third encoder 54 and the measurement results of the third grating ruler 55 are fed back to the PLC module 2, they are displayed through the third human-computer interaction module 456.

[0043] The workbench 1 is divided into an electrical distribution area 11 and an experimental execution area 12. The electrical distribution area 11 has a plurality of placement slots 111, and the periphery of each placement slot 111 is surrounded by a wiring slot 112;

[0044] The PLC module 2, the stepper motor driver 31, the first servo motor driver 41 and the second servo motor driver 52 are all arranged in the respective placement slots 111 in the electrical distribution area 11;

[0045] The stepper motor 32, the open-loop test sliding module 33, the first encoder 34, the first grating ruler 35, the first human-computer interaction module 36, the first servo motor 42, the semi-closed-loop test sliding module 43, the second encoder 44, the second grating ruler 45, the second human-computer interaction module 46, the second servo motor 52, the full-closed-loop test sliding module 53, the third encoder 54, the second grating ruler 55 and the third human-computer interaction module 56 are all arranged in the experimental execution area 12.

[0046] like Figure 2As shown, the present invention can realize the test of open-loop control by cooperating with the PLC module 2 and the open-loop test unit 3. Students set parameters through the first human-computer interaction module 36, including the rotation angle of the first ball screw 331 and the displacement distance of the first slider 333. The first human-computer interaction module 36 sends the parameters to the PLC module 2, and the PLC module 2 starts the stepper motor driver 31, thereby controlling the stepper motor 32 to drive the first ball screw 3431 of the open-loop test sliding module 33 to rotate, and the first nut 332 can drive the first slider 333 to move on the first ball screw 331. The rotation angle of the first ball screw 331 can be detected by the first encoder 34, and the distance moved by the first slider 333 is measured by the first grating ruler 35. After the detection results of the first encoder 34 and the measurement results of the first grating ruler 35 are fed back to the PLC module 2, they are displayed through the first human-computer interaction module 36. Since open-loop control refers to a control process in which the control device and the controlled object only work in sequence and there is no reverse connection. Its characteristics are that the output of the system will not affect the control function of the system, and there is no ability to automatically correct or compensate. Open-loop control has no feedback link, the system stability is not high, the response time is relatively long, the accuracy is not high, and it is used in simple systems that do not require high system stability and accuracy.

[0047] The present invention can realize the test of semi-closed-loop control by cooperating with the PLC module 2 and the semi-closed-loop test unit 3. Students set parameters through the second human-computer interaction module 46, including the rotation angle of the second ball screw 431 and the displacement distance of the second slider 433. The second human-computer interaction module 46 sends the parameters to the PLC module 2, and the PLC module 2 starts the first servo motor driver 41, thereby controlling the first servo motor 42 to drive the second ball screw 431 of the semi-closed-loop test sliding module 43 to rotate, and the second nut 432 can drive the second slider 433 to move on the second ball screw 431. The rotation angle of the second ball screw 431 can be detected by the second encoder 44, and the distance moved by the second slider 433 is measured by the second grating ruler 45. The detection result of the second encoder 44 and the measurement result of the second grating ruler 45 are fed back to the PLC module 2, and the data is transmitted to the second human-computer interaction module 46 after processing by the PLC module 2. The second human-computer interaction module 46 displays the real-time movement distance or real-time movement angle of the semi-closed-loop control system. In addition, the first servo motor driver 41 has an encoder for measuring the real-time rotation angle of the first servo motor driver 41, and feeds back the measurement signal to the PLC module 2. The PLC module 2 compares the measurement result of the real-time rotation angle with the parameter input by the second human-machine interaction module 46, and uses the difference after comparison to control the second ball screw 431 to supplement the displacement until the difference is eliminated. Since the semi-closed loop control feedback link is set at the motion end of the servo motor, the servo motor motion accuracy can be made more accurate and the response time can be shortened through feedback, which is suitable for systems with high requirements on the response time and stability of the system.

[0048] The present invention can realize the test of full closed-loop control by cooperating with the PLC module 2 and the full closed-loop test unit 5. The student sets the parameters through the third human-computer interaction module 56, including the rotation angle of the third ball screw 531 and the displacement distance of the third slider 533. The third human-computer interaction module 56 sends the parameters to the PLC module 2, and the PLC module 2 starts the second servo motor driver 51, thereby controlling the second servo motor 52 to drive the third ball screw 531 of the full closed-loop test sliding module 53 to rotate, and the third nut 532 can drive the third slider 533 to rotate in the third The third ball screw 531 moves, and the rotation angle of the third ball screw 531 can be detected by the third encoder 54, and the distance moved by the third slider 533 is measured by the third grating ruler 45. After the detection result of the third encoder 54 and the measurement result of the third grating ruler 55 are fed back to the PLC module 2, on the one hand, they are displayed through the third human-computer interaction module 56, and on the other hand, the PLC module 2 compares the detection result and the measurement result with the input parameters, and controls the difference after comparison to make the third ball screw 431 supplement the displacement until the difference is eliminated. Since the closed-loop control feedback link is set at the terminal of the motion control system, the feedback system improves the accuracy of the motion system and shortens the response time, which is suitable for systems with high requirements on the response time and stability of the system.

[0049] When students input the same parameters into the human-computer interaction modules of the three control systems, they can see the final test results in the three human-computer interaction modules, thereby intuitively comparing the control accuracy of the three control systems.

[0050] The advantages of the present invention are as follows: the comprehensive comparative teaching experiment device for mechatronics technology of the present invention arranges an open-loop test unit, a semi-closed-loop test unit and a full-closed-loop test unit on the same workbench, the three units are controlled by the same PLC module, and respectively have a human-computer interaction module, so that three common mechatronics control systems, namely, a closed-loop system, a semi-closed-loop system and an open-loop system, can be supported to work simultaneously, so that students can use the interface of the human-computer interaction module to make different settings for distances, angles and speeds under three combinations, and compare experimental results, so that students can intuitively understand the influence of the three control methods on positioning accuracy through the interface of the human-computer interaction module, and the structure is simple and easy to use.

[0051] Although the specific implementation modes of the present invention are described above, those skilled in the art should understand that the specific implementation modes described are only illustrative and are not intended to limit the scope of the present invention. Equivalent modifications and changes made by those skilled in the art in accordance with the spirit of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A mechatronics technology comprehensive comparative teaching experimental device, characterized by: include: Workbench; A PLC module is arranged on the workbench; An open-loop test unit is arranged on the workbench, and comprises a stepper motor driver, a stepper motor, an open-loop test sliding module, a first encoder, a first grating ruler and a first human-computer interaction module, wherein the stepper motor driver, the stepper motor, the open-loop test sliding module and the first encoder are connected in sequence, the first grating ruler is arranged on one side of the open-loop test sliding module, and the stepper motor driver, the first encoder, the first grating ruler and the first human-computer interaction module are all connected to the PLC module; the open-loop test sliding module comprises a first ball screw, a first nut and a first slider, one end of the first ball screw is connected to the stepper motor, and the other end is connected to the first encoder, the first nut is screwed to the first ball screw, and the first slider is fixed to the first nut; A semi-closed loop test unit is arranged on the workbench, comprising a first servo motor driver, a first servo motor, a semi-closed loop test sliding module, a second encoder, a second grating ruler and a second human-computer interaction module, wherein the first servo motor driver, the first servo motor, the semi-closed loop test sliding module and the second encoder are connected in sequence, the second grating ruler is arranged on one side of the semi-closed loop test sliding module, and the first servo motor driver, the second encoder, the second grating ruler and the second human-computer interaction module are all connected to the PLC module; the semi-closed loop test sliding module comprises a second ball screw, a second nut and a second slider, one end of the second ball screw is connected to the first servo motor, and the other end is connected to the second encoder, the second nut is screwed to the second ball screw, and the second slider is fixed to the second nut; A full-closed-loop test unit is arranged on the workbench, comprising a second servo motor driver, a second servo motor, a full-closed-loop test sliding module, a third encoder, a third grating ruler and a third human-computer interaction module, wherein the second servo motor driver, the second servo motor, the full-closed-loop test sliding module and the third encoder are connected in sequence, the third grating ruler is arranged on one side of the full-closed-loop test sliding module, and the second servo motor driver, the third encoder, the third grating ruler and the third human-computer interaction module are all connected to the PLC module; the full-closed-loop test sliding module comprises a third ball screw, a third nut and a third slider, one end of the third ball screw is connected to the second servo motor, and the other end is connected to the third encoder, the third nut is screwed to the third ball screw, and the third slider is fixed to the third nut; A power supply, disposed on the workbench, for supplying power to the PLC module, the open-loop test unit, the semi-closed-loop test unit, and the full-closed-loop test unit; A programming module is connected to the PLC module via a bus module.

2. A mechatronics technology comprehensive comparative teaching experimental device as claimed in claim 1, characterized in that: The programming module is a PC.

3. A mechatronics technology comprehensive comparative teaching experimental device as claimed in claim 1, characterized in that: It also includes a junction box, to which the pin connections of the PLC module are led, and each incoming cable and outgoing cable in the junction box is provided with a pin mark.

4. The mechatronics technology comprehensive comparative teaching experimental device according to claim 1, characterized in that: The workbench is divided into an electrical distribution area and an experimental execution area. The electrical distribution area has a plurality of placement slots, and the periphery of each placement slot is surrounded by a wiring slot; The PLC module, the stepper motor driver, the first servo motor driver and the second servo motor driver are all arranged in each of the placement slots in the electrical distribution area; The stepper motor, the open-loop test sliding module, the first encoder, the first grating ruler, the first human-computer interaction module, the first servo motor, the semi-closed-loop test sliding module, the second encoder, the second grating ruler, the second human-computer interaction module, the second servo motor, the full-closed-loop test sliding module, the third encoder, the second grating ruler and the third human-computer interaction module are all arranged in the experiment execution area.

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