Gantry platform suitable for multiple teaching scenes and using method thereof

Abstract

The invention discloses a gantry platform suitable for multiple teaching scenes, which comprises a base and two Y-axis movement mechanisms, and is characterized in that the two Y-axis movement mechanisms are detachably mounted on the base respectively and are arranged in parallel; one end of the X-axis movement mechanism is detachably connected with one Y-axis movement mechanism, and the other end of the X-axis movement mechanism is detachably connected with the other Y-axis movement mechanism; the Z-axis movement mechanism is detachably connected with the X-axis movement mechanism; and the electric cabinet is used for controlling the movement of the Y-axis movement mechanism, the X-axis movement mechanism and the Z-axis movement mechanism. According to the gantry platform disclosed by the invention, through a modularized and detachable structure, students can manually disassemble and assemble the gantry platform so as to know the architecture of the gantry platform; and single-shaft, double-shaft and three-shaft scenes can be assembled for operation drilling, so that the control logic between the PLC and the motion mechanism can be known, and the teaching quality can be improved.

Description

Technical Field

[0001] The present invention relates to teaching equipment, and in particular to a gantry platform suitable for multiple teaching scenes and a use method thereof. Background Art

[0002] In recent years, with the rapid development of the manufacturing industry, machining centers have become an indispensable and important equipment in modern manufacturing. A machining center is a highly automated machine tool that can perform milling, drilling, boring and other processing operations at the same time. With the continuous development of the manufacturing industry, machining centers will play an increasingly important role, market demand continues to increase, and the industry development prospects are very broad.

[0003] With the development of the industry, social demands are increasing. All colleges and universities have opened CNC teaching courses. Many colleges and universities have also purchased machine tools for teaching at high prices. However, machine tools are expensive and have precise structures. Schools are reluctant to allow students to disassemble and assemble them, which leads to many students not understanding the structure of machine tools. In addition, due to the small number of machine tools, students have limited time to operate the machines, which makes practical application even more difficult. Therefore, for CNC teaching courses, there is an urgent need for teaching equipment that can be disassembled, low in cost, and easy to operate. Summary of the invention

[0004] In order to solve the problems existing in the prior art, the present invention provides a gantry platform suitable for multiple teaching scenarios and a method of using the same, which is not only low in cost and occupies little space, but also easy for students to disassemble and assemble and practice hands-on.

[0005] The technical solution adopted by the present invention to solve the technical problem is: a gantry platform suitable for multiple teaching scenarios, comprising: a base, and

[0006] Two Y-axis motion mechanisms, the two Y-axis motion mechanisms are detachably mounted on the base, and the two Y-axis motion mechanisms are arranged parallel to each other;

[0007] An X-axis motion mechanism, one end of which is detachably connected to one of the Y-axis motion mechanisms, and the other end of which is detachably connected to another of the Y-axis motion mechanisms;

[0008] A Z-axis motion mechanism, wherein the Z-axis motion mechanism is detachably connected to the X-axis motion mechanism;

[0009] An electric control box is used to control the movement of the Y-axis motion mechanism, the X-axis motion mechanism, and the Z-axis motion mechanism.

[0010] In one embodiment, the base includes: a bottom plate, four columns and four beams, the four columns are detachably connected to the four corners of the bottom plate respectively, a beam is arranged between two adjacent columns, and the beam is detachably connected to the columns.

[0011] In one embodiment, the X-axis motion mechanism is detachably connected to the Y-axis motion mechanism via a first connecting block.

[0012] In one embodiment, the Z-axis motion mechanism is detachably connected to the X-axis motion mechanism via a second connecting block.

[0013] In one embodiment, a PLC is provided in the electric control box, and the Y-axis motion mechanism, the X-axis motion mechanism, and the Z-axis motion mechanism are connected by signals via cables.

[0014] The present invention also provides a method for using the gantry platform suitable for multiple teaching scenarios, comprising:

[0015] Assemble the appropriate gantry platform according to the teaching scenario;

[0016] The programmed program is sent to the electric control box through the computer, and the electric control box controls the gantry platform to execute movement according to the programmed program;

[0017] Observe the execution effect of the gantry platform. If the execution effect is not ideal, the program needs to be modified.

[0018] In one embodiment, the teaching scenarios include: single-axis motion, double-axis motion, and three-axis motion.

[0019] In one embodiment, the three-axis motion includes point-to-point motion and circular trajectory motion.

[0020] In one embodiment, the arc trajectory action includes:

[0021] Set the center coordinates (x0, y0) and radius r; determine the interpolation angle step size to be dθ; calculate the coordinates (x, y) of each interpolation point and send them to the electronic control box, which fits the coordinates (x, y) of all interpolation points into a circle equation, and determines the execution effect of the circular arc trajectory action of the gantry platform based on the fitted circle equation.

[0022] In one embodiment, the PLC in the electric control box can be replaced with different brands to adapt to different teaching scenarios.

[0023] The beneficial effect of the present invention is that the gantry platform of the present invention, through a modular and detachable structure, can not only allow students to disassemble and assemble to understand the architecture of the gantry platform; but also can be equipped with single-axis, double-axis, and three-axis scenes for operation drills, to understand the control logic between PLC and motion mechanism, which is conducive to improving the teaching quality. It can be used for single-axis and multi-axis, and programmed in steps from easy to difficult; the electrical wiring harnesses all use quick connectors, which can be plugged in and out; the selectivity of the electronic control part can replace PLCs of different brands to adapt to teaching; the cost is low, and more quantities can be equipped for students to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0025] Figure 1 It is a structural schematic diagram of the gantry platform of the present invention.

[0026] Figure 2 It is a schematic diagram of an electric control box (with a hidden box cover) of the present invention.

[0027] Figure 3 It is a schematic diagram of the gantry platform (dual axis) of the present invention.

[0028] Figure 4 It is a schematic diagram of the gantry platform (single axis) of the present invention.

[0029] Figure 5 It is a schematic diagram of the connection between the column and the base plate of the present invention.

[0030] Figure 6 It is a structural schematic diagram of a column of the present invention.

[0031] Figure 7 It is a schematic structural diagram of the first connecting member of the present invention.

[0032] Figure 8 It is a structural schematic diagram of the crossbeam of the present invention.

[0033] Fig. 9 It is a schematic structural diagram of the second connecting member of the present invention.

[0034] In the figure: 1, base; 2, Y-axis motion mechanism; 3, X-axis motion mechanism; 4, Z-axis motion mechanism; 5, electric control box; 6, first connecting block; 7, second connecting block; 11, bottom plate; 12, column; 13, crossbeam; 14, first connecting member; 15, second connecting member; 111, mounting hole; 121, first slot; 131, second slot; 141, first transverse connecting part; 142, first longitudinal connecting part; 151, main body ; 152, second longitudinal connection part; 153, second transverse connection part; 154, third transverse connection part; 155, fourth transverse connection part; 21, Y-axis drive motor; 22, Y-axis screw module; 23, Y-axis guide rail; 31, X-axis beam; 32, X-axis drive motor; 33, X-axis screw module; 34, X-axis guide rail; 41, Z-axis beam; 42, Z-axis drive motor; 43, Z-axis screw module; 44, Z-axis guide rail. DETAILED DESCRIPTION

[0035] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0036] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] like Figures 1 to 9As shown, the gantry platform suitable for multiple teaching scenes of the present invention includes: a base 1, two Y-axis motion mechanisms 2, an X-axis motion mechanism 3, a Z-axis motion mechanism 4 and an electric control box 5, the two Y-axis motion mechanisms 2 are detachably mounted on the base 1, and the two Y-axis motion mechanisms 2 are arranged parallel to each other; one end of the X-axis motion mechanism 3 is detachably connected to one Y-axis motion mechanism 2, and the other end of the X-axis motion mechanism 3 is detachably connected to the other Y-axis motion mechanism 2; the Z-axis motion mechanism 4 is detachably connected to the X-axis motion mechanism 3; the electric control box 5 is used to control the motion of the Y-axis motion mechanism 2, the X-axis motion mechanism 3, and the Z-axis motion mechanism 4.

[0039] That is to say, the motion mechanisms of the gantry platform of the present invention and the motion mechanisms and the base 1 can be disassembled and assembled, and can be assembled into required structures according to different teaching scenarios. The entire gantry platform is not only low in cost but also small in size. The school can equip several more for teaching with funds, and 2-3 students can share one gantry platform for practical operation, which is conducive to improving teaching effect.

[0040] Specifically, the base 1 includes: a bottom plate 11, four columns 12 and four beams 13. The four columns 12 are detachably connected to the four corners of the bottom plate 11, and a beam 13 is arranged between two adjacent columns 12. The beam 13 is detachably connected to the columns 12. The bottom plate 11 is a quadrilateral, and mounting holes 111 are arranged at the four corners of the bottom plate 11. The four sides of the columns 12 are provided with first slots 121, and the four sides of the beams 13 are provided with second slots 131. The columns 12 are detachably connected to the bottom plate 11 through a first connector 14, and the columns 12 are detachably connected to the beams 13 through a second connector 15. The first connecting member 14 includes: a first transverse connecting portion 141 and a first longitudinal connecting portion 142, the first transverse connecting portion 141 and the first longitudinal connecting portion 142 are integrally formed, the first transverse connecting portion 141 is fixedly connected to the mounting hole 111 on the bottom plate 11 by screws, and the first longitudinal connecting portion 142 is inserted into the first slot 121 of the column 12. In this way, a quick connection is achieved between the column 12 and the bottom plate 11. The second connecting member 15 includes: a main body 151, a second longitudinal connecting portion 152, a second transverse connecting portion 153, a third transverse connecting portion 154 and a fourth transverse connecting portion 155, wherein the second longitudinal connecting portion 152, the second transverse connecting portion 153, the third transverse connecting portion 154 and the fourth transverse connecting portion 155 are all integrally formed with the main body 151, wherein the second longitudinal connecting portion 152 is inserted into the first clamping groove 121 of the column 12, the second transverse connecting portion 153 is inserted into the second clamping groove 131 of one crossbeam 13, and the third transverse connecting portion 154 and the fourth transverse connecting portion 155 are respectively inserted into the second clamping grooves 131 of two adjacent side surfaces of another crossbeam 13. In this way, a quick connection between the column 12 and the two crossbeams 13 can be achieved. After the four crossbeams 13 and the four columns 12 are assembled, the assembly of the base 1 is completed.

[0041] The Y-axis motion mechanism 2 includes: a Y-axis driving motor 21, a Y-axis screw module 22 and a Y-axis guide rail 23, the Y-axis driving motor 21 is connected to the Y-axis screw module 22, the Y-axis guide rail 23 is installed on the crossbeam 13, and the slider of the Y-axis guide rail 23 is connected to the moving block of the Y-axis screw module 22. The Y-axis driving motor 21 can drive the Y-axis screw module 22 to move, so that the moving block of the screw module 22 moves back and forth along the Y direction. The X-axis motion mechanism 3 is detachably connected to the Y-axis motion mechanism 2 through the first connecting block 6. The first connecting block 6 is L-shaped, and is connected to the moving block of the Y-axis screw module 22 by screws, and is connected to the X-axis motion mechanism 3 by screws. Specifically, the X-axis motion mechanism 3 includes: an X-axis crossbeam 31, an X-axis drive motor 32, an X-axis screw module 33 and an X-axis guide rail 34. The end of the X-axis crossbeam 31 is connected to the moving block of the Y-axis screw module 22 through the first connecting block 6. The X-axis guide rail 34 is installed on the X-axis crossbeam 31. The X-axis drive motor 32 is connected to the X-axis screw module 33. The moving block of the X-axis screw module 33 is connected to the slider of the X-axis guide rail 34. The X-axis drive motor 32 can drive the moving block of the X-axis screw module 33 to move along the X-axis direction. Specifically, the Z-axis motion mechanism 4 includes: a Z-direction crossbeam 41, a Z-direction drive motor 42, a Z-direction screw module 43 and a Z-direction guide rail 44. The Z-direction crossbeam 41 is connected to the moving block of the X-direction screw module 33 through the second connecting block 7. The Z-direction guide rail 44 is installed on the Z-direction crossbeam 41. The Z-direction drive motor 42 is connected to the Z-direction screw module 43. The moving block of the Z-direction screw module 43 is connected to the slider of the Z-direction guide rail 44. The Z-direction drive motor 42 can drive the moving block of the Z-direction screw module 43 to reciprocate along the Z direction.

[0042] That is to say, the whole structure of the gantry platform of the present invention can be quickly disassembled and conveniently assembled. The four sides of the column 12 and the crossbeam 13 are provided with slots. When assembling, any slot can be assembled, which is conducive to reducing the difficulty of assembly. After the students assemble the base 1, they assemble the Y-axis motion mechanism 2, the X-axis motion mechanism 3, and the Z-axis motion mechanism 4 in sequence, which is conducive to students understanding the structure of the gantry platform through disassembly and assembly. In addition, during teaching, students can assemble the Y-axis (single axis), assemble the Y-axis and the X-axis (double axis), the Y-axis, the X-axis and the Z-axis (three axes) in a variety of scenes to demonstrate, and the movement of each axis can be individually controlled and demonstrated. The size of the entire base 1 is 600mm*600mm*600mm, and the overall structure is relatively small and light, and it takes up little space, and it will not take up too much space when placed in the classroom.

[0043] For example, the base 1 is an aluminum profile, and is assembled using screws and connectors, which is convenient, fast, and not prone to errors. For example, a PLC is provided in the electric control box 5, and the Y-axis motion mechanism 2, the X-axis motion mechanism 3, and the Z-axis motion mechanism 4 are connected by cables to realize signal connection. The cables are connected using quick-connect male and female heads, and different color markings are used on the wiring harness, which has a fool-proof effect, so that students can understand the structure during the teaching process, and it is not easy to make mistakes during the assembly process, which can greatly improve the assembly efficiency and give students a more intuitive understanding of the three-axis gantry architecture. The self-prepared gantry platform of the present invention has a simple structure, a small size, and a multi-axis modular design that facilitates students' understanding of the multi-axis CNC machining center. The free configuration of the multi-axis machine tool and the debugging of the control system train students' hands-on and brain-based abilities. Therefore, the gantry platform of the present invention is very practical and cost-effective in teaching.

[0044] The special feature of the self-configured gantry platform of the present invention is that it combines the open CNC system motion control with the freely configurable modular multi-axis CNC workbench, realizes the effective use of resources, facilitates teaching, is conducive to cultivating students' hands-on and brain-based abilities, and can greatly improve teaching quality and teaching efficiency. And because of its openness, it can cope with multi-brand, multi-precision teaching purposes, and can switch between multiple brands for teaching, which can be said to kill two birds with one stone.

[0045] The present invention also provides a method for using a gantry platform suitable for multiple teaching scenarios, including: assembling an adaptive gantry platform according to the teaching scenario; sending a written program to an electric control box 5 via a computer, and the electric control box 5 controls the gantry platform to execute movement according to the written program; observing the execution effect of the gantry platform, and if the execution effect is not ideal, the program needs to be modified.

[0046] The electric control box 5 is provided with a PLC, which is connected to the Y-axis drive motor 21, the X-axis drive motor 32, and the Z-axis drive motor 42 through cables for transmitting control signals. It is also equipped with an HMI touch screen, which can manually / automatically control the axis program, can individually adjust and save various axis parameters such as axis position and speed, adopt TCP / IP communication, and display the axis position, speed and other parameters on the touch screen in real time. It can also input various axis parameters on the touch screen, which allows users to debug the specific parameters of the axis conveniently and intuitively.

[0047] For example, the teaching scenarios include: single-axis motion, dual-axis motion, and three-axis motion. Three-axis motion includes point-to-point motion and circular arc trajectory motion. Taking the circular arc trajectory motion as an example, the motion instructions for controlling the X, Y, and Z axes are calculated step by step according to the geometric equation of the circle. The basic equation of the circle is: x=r·cos(θ), y=r·sin(θ), (x, y) represents the coordinates of the interpolation point, r is the radius of the circle, and θ is the angle from 0 to 2π. The trajectory of the circle needs to be divided into multiple interpolation points, and these interpolation points are used to control the movement of the X, Y, and Z axes. The interval between the interpolation points can be determined according to the angle step dθ. When drawing a circle, the Y axis and X axis are mainly involved in the movement. Set the center coordinates (x0, y0) and radius r; determine the interpolation angle step size to be dθ; calculate the coordinates (x, y) of each interpolation point and send them to the electric control box. The electric control box 5 fits the coordinates (x, y) of all interpolation points into a circle equation, and determines the execution effect of the circular arc trajectory of the gantry platform based on the fitted circle equation. When the Z axis participates in the motion, the motion trajectory is spiral, and the Z axis can rise / fall linearly or in other regular patterns according to the angle θ, z=f(θ). For example, when the Z axis rises linearly, z=k·θ, where k represents the proportional coefficient.

[0048] The function of controlling the X, Y, and Z axes to draw a circle through PLC can not only meet the needs of complex motion control in industrial automation, but also improve production efficiency and processing accuracy. It is flexible and scalable and suitable for a wide range of industrial application scenarios. Through the realization of this function, the production process can be made more automated and intelligent, reducing costs and improving product quality. PLC can be replaced with different brands to adapt to different teaching scenarios.

[0049] The gantry platform of the present invention has the following advantages:

[0050] Precision motion control: In many automated production processes, equipment needs to move along a specific path, and drawing a circle is a common requirement. For example, CNC machine tools (CNC) need to control the tool to make circular cuts or holes on the surface of the workpiece. Robot control needs to perform precise circular motion on a specific plane, such as welding, drawing, marking, etc. By writing PLC programs to achieve precise interpolation control, the equipment can run along the ideal trajectory, thereby ensuring manufacturing accuracy and product quality.

[0051] Adapt to automation needs: Industrial automation has an increasing demand for complex trajectories. PLC, as a universal controller, combined with the control of the X, Y, and Z axes, can realize automated circular motion according to the input parameters, reducing manual operation and human errors and improving production efficiency. By controlling the X, Y, and Z axis motion through PLC, the trajectory parameters (such as the size, speed, acceleration, etc. of the circle) can be flexibly adjusted according to different application scenarios. This flexibility allows the equipment to adapt to different processing requirements. For example: without changing the hardware configuration, the size or position of the circle can be easily adjusted by changing the PLC program parameters to adapt to different tasks. It is also possible to flexibly adjust the movement of the Z axis according to product requirements to achieve complex three-dimensional motion, such as drawing spirals or other three-dimensional curves.

[0052] High device integration: In complex industrial systems, PLCs often need to be integrated with other devices. For example, PLCs may need to receive data from sensors and adjust the motion trajectory of the X, Y, and Z axes in real time. This integrated function enables the device to make adaptive adjustments based on actual environmental feedback, thereby improving the level of intelligent production.

[0053] Improve efficiency and reduce costs: The X, Y, and Z axis circle drawing functions controlled by PLC improve production efficiency through automated operation: The operation of automated equipment no longer relies on manual labor, reducing errors caused by manual intervention and reducing labor costs. Through precise trajectory control, the production process can be completed at a higher speed while ensuring quality. Through automated control, equipment failures caused by manual debugging and operation can be reduced, thereby reducing equipment downtime.

[0054] The basis for adapting to complex shape processing: Circular motion is the basis of complex trajectories. By realizing the control of circular trajectories, PLC can be further expanded to control complex trajectories such as ellipses, spirals, and wavy lines.

[0055] In summary, the gantry platform of the present invention, through a modular and detachable structure, not only allows students to disassemble and assemble to understand the architecture of the gantry platform; but also can be equipped with single-axis, double-axis, and three-axis scenes for operation drills, to understand the control logic between PLC and motion mechanism, which is conducive to improving the quality of teaching. It can be used for single-axis and multi-axis, and programmed in steps from easy to difficult; the electrical wiring harnesses all use quick connectors, which can be plugged in and out; the selectivity of the electronic control part can replace PLCs of different brands to adapt to teaching; the cost is low, and more quantities can be equipped for students to use.

[0056] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A gantry platform suitable for multiple teaching scenarios, characterized in that: include: a base (1), and Two Y-axis motion mechanisms (2), the two Y-axis motion mechanisms (2) being detachably mounted on the base (1) respectively, and the two Y-axis motion mechanisms (2) being arranged parallel to each other; An X-axis motion mechanism (3), one end of the X-axis motion mechanism (3) being detachably connected to one of the Y-axis motion mechanisms (2), and the other end of the X-axis motion mechanism (3) being detachably connected to another of the Y-axis motion mechanisms (2); A Z-axis motion mechanism (4), wherein the Z-axis motion mechanism (4) is detachably connected to the X-axis motion mechanism (3); An electric control box (5), wherein the electric control box (5) is used to control the movement of the Y-axis movement mechanism (2), the X-axis movement mechanism (3), and the Z-axis movement mechanism (4).

2. The gantry platform suitable for multiple teaching scenarios as claimed in claim 1, characterized in that: The base (1) comprises: a bottom plate (11), four columns (12) and four cross beams (13); the four columns (12) are detachably connected to four corners of the bottom plate (11), a cross beam (13) is arranged between two adjacent columns (12), and the cross beam (13) is detachably connected to the columns (12).

3. The gantry platform suitable for multiple teaching scenarios as claimed in claim 1, characterized in that: The X-axis motion mechanism (3) is detachably connected to the Y-axis motion mechanism (2) via a first connecting block (6).

4. The gantry platform suitable for multiple teaching scenarios as claimed in claim 1, characterized in that: The Z-axis motion mechanism (4) is detachably connected to the X-axis motion mechanism (3) via a second connecting block (7).

5. The gantry platform suitable for multiple teaching scenarios as claimed in claim 1, characterized in that: The electric control box (5) is provided with a PLC, and the Y-axis motion mechanism (2), the X-axis motion mechanism (3), and the Z-axis motion mechanism (4) are connected by signals via cables.

6. A method for using the gantry platform applicable to multiple teaching scenarios as claimed in any one of claims 1 to 5, characterized in that: include: Assemble the appropriate gantry platform according to the teaching scenario; The programmed program is sent to the electric control box (5) via a computer, and the electric control box (5) controls the gantry platform to execute movement according to the programmed program; Observe the execution effect of the gantry platform. If the execution effect is not ideal, the program needs to be modified.

7. The method of use according to claim 6, characterized in that: The teaching scenarios include: single-axis motion, double-axis motion, and three-axis motion.

8. The method of use according to claim 7, characterized in that: The three-axis motion includes point-to-point motion and circular trajectory motion.

9. The method of use according to claim 8, characterized in that: The arc trajectory action includes: The center coordinates (x0, y0) and the radius r are set; the interpolation angle step is determined to be dθ; the coordinates (x, y) of each interpolation point are calculated and sent to an electric control box, wherein the electric control box (5) fits the coordinates (x, y) of all interpolation points into a circle equation, and determines the execution effect of the circular arc trajectory action of the gantry platform according to the fitted circle equation.

10. The method of use according to claim 6, characterized in that: The PLC in the electric control box (5) can be replaced with different brands to adapt to different teaching scenarios.

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