Gluing control device and gluing equipment
Through the plug-and-unplug connection between the conversion module and the industrial computer and the EtherCAT bus protocol, the high integration and low cost of the gluing control device are achieved, solving the problems of low integration and high cost of existing gluing control devices.
Patent Information
- Application Number
- CN202422788823.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-15
- Publication Date
- 2025-10-21
- Estimated Expiration
- 2034-11-15
AI Technical Summary
Existing glue coating control devices have low integration and high cost, complex control systems, and difficult wiring, requiring a high-performance central controller.
The conversion module is connected to the industrial computer through plug-in connection. The motor control signal of the industrial computer is converted into EtherCAT bus protocol information through the EtherCAT bus protocol and transmitted to the motor driver. The encoder collects the position and speed information of the servo motor and feeds it back to the industrial computer, realizing highly integrated and low-cost control.
It reduces the wiring difficulty of the control system, improves the integration, reduces the dependence on high-performance central controller, and reduces production costs.
Smart Images
Figure CN223454528U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model belongs to the technical field of gluing, specifically relates to a gluing control device and gluing equipment. BACKGROUND
[0002] Gluing is a process in the manufacturing field, and its purpose is to apply, fill, and drip electronic glue, oil, or other liquids onto products to achieve sticking, filling, insulation, and fixing. In automobile and parts manufacturing enterprises, gluing equipment is usually used to process products.
[0003] Currently, common gluing equipment includes an industrial computer arranged in a control cabinet, a central controller arranged at a gluing site, a servo motor driver, and a servo motor. The industrial computer controls the entire gluing equipment, such as controlling feeding and receiving sensor information, and sends instructions to the central controller according to the received information, so that the central controller sends control information to the driver of the servo motor to drive the motor to rotate, thereby driving the movement of the gluing head and the outflow of the liquid.
[0004] However, the control system composed of the central controller and the driver of the servo motor is relatively complex. In addition to the central controller and the motor driver, an IO module and a communication protocol interface matching the central controller are also needed, which increases the integration difficulty of the control system and the complexity of the field wiring work. At the same time, in order to ensure the control accuracy of gluing, a high-performance central controller needs to be used, and the price of the high-performance central controller is relatively high, which increases the cost of the gluing equipment. Therefore, it is necessary to develop a gluing control device with high integration and low cost. SUMMARY
[0005] Therefore, the utility model provides a gluing control device and gluing equipment, and mainly aims to solve the problems of low integration and high cost of the existing gluing control device.
[0006] To solve the above problems, the application provides a gluing control device, which comprises an industrial computer, a conversion module, a plurality of motor drivers, and a plurality of encoders, wherein
[0007] The first data end of the conversion module is electrically connected to the first data end of the industrial computer in a plug-in manner, the bus data end of the conversion module is electrically connected to the bus data end of each motor driver in an EtherCAT bus protocol manner, the output end of each motor driver is electrically connected to a servo motor, and the input end of each motor driver is electrically connected to an encoder, and the encoder is arranged on the servo motor.
[0008] The conversion module is used for converting the motor control signal output by the industrial personal computer into a motor control signal in the EtherCAT bus protocol mode and transmitting to the motor driver, so that the motor driver drives the servo motor to move to a specified position.
[0009] In an embodiment of the utility model, optionally, the conversion module is equipped with a golden finger plug-in, and the industrial personal computer is equipped with a slot matched with the golden finger plug-in.
[0010] In an embodiment of the utility model, optionally, the conversion module is equipped with a bus connection port, and each motor driver is also equipped with a bus connection port, and the bus connection port of the conversion module is electrically connected with the bus connection port of each motor driver through an EtherCAT bus.
[0011] In an embodiment of the utility model, optionally, the conversion module is a motion control card.
[0012] In an embodiment of the utility model, optionally, the plurality of servo motors are arranged on a gantry four-axis mechanism, the gantry four-axis mechanism comprises an X-axis, a Y-axis, a Z-axis and an R-axis, each axis is electrically connected with the output end of a servo motor, the Z-axis is provided with a glue applying assembly, and the R-axis is arranged in a needle cylinder of the glue applying assembly.
[0013] In an embodiment of the utility model, optionally, the glue applying control device further comprises an R-axis first limit switch, an R-axis second limit switch, a first relay and a second relay, wherein,
[0014] The positive and negative electrode input ends of the R-axis first limit switch are electrically connected with the positive and negative electrodes of a power supply, the output end of the R-axis first limit switch is electrically connected with the first end of the coil of the first relay, the second end of the coil of the first relay is electrically connected with the negative electrode of the power supply, the first end of the normally open contact of the first relay is electrically connected with the negative electrode of the power supply, and the second end of the normally open contact of the first relay is electrically connected with the second data input end of the industrial personal computer.
[0015] The positive and negative electrode input ends of the R-axis second limit switch are electrically connected with the positive and negative electrodes of the power supply, the output end of the R-axis second limit switch is electrically connected with the first end of the coil of the second relay, the second end of the coil of the second relay is electrically connected with the negative electrode of the power supply, the first end of the normally open contact of the second relay is electrically connected with the negative electrode of the power supply, and the second end of the normally open contact of the second relay is electrically connected with the third data input end of the industrial computer.
[0016] In an embodiment of the utility model, optionally, the glue coating control device further includes X axis origin limit switch, Y axis origin limit switch, Z axis origin limit switch and Z axis lower limit limit switch, wherein,
[0017] The positive electrode input end of the X axis origin limit switch, the positive electrode input end of the Y axis origin limit switch, the positive electrode input end of the Z axis origin limit switch and the positive electrode input end of the Z axis lower limit limit switch are electrically connected with the positive electrode of the power supply, the negative electrode input end of the X axis origin limit switch, the negative electrode input end of the Y axis origin limit switch, the negative electrode input end of the Z axis origin limit switch and the negative electrode input end of the Z axis lower limit limit switch are electrically connected with the negative electrode of the power supply, and the output end of the X axis origin limit switch, the output end of the Y axis origin limit switch, the output end of the Z axis origin limit switch and the output end of the Z axis lower limit limit switch are respectively electrically connected with the fourth data input end of the industrial computer.
[0018] In an embodiment of the utility model, optionally, the glue coating control device further includes:
[0019] Glue coating nozzle position detection module, the data output end of the glue coating nozzle position detection module is electrically connected with the second data input end of the conversion module;
[0020] Weighing module, the data output end of the weighing module is electrically connected with the serial port data input end of the industrial computer;
[0021] Glue cup detection module, the data output end of the glue cup detection module is electrically connected with the third data input end of the conversion module;
[0022] Safety grating, the output end of the safety grating is electrically connected with the fourth data input end of the conversion module.
[0023] The application also provides a glue coating equipment, which comprises a plurality of servo motors, a gantry type four-axis mechanism and the glue coating control device.
[0024] The utility model provides a kind of gluing control device and control equipment, by the plug connection of conversion module and industrial computer, conversion module receives motor control signal of industrial computer, and motor control signal is converted into the information of EtherCAT bus protocol mode, is sent to each motor driver by EtherCAT bus, and motor driver is according to the information of EtherCAT bus transmission, control is carried out to the servo motor matched with it, so that servo motor moves to specified position, the position information and speed information transmission of each encoder acquisition servo motor are transmitted to motor driver, motor driver is transmitted to conversion module by EtherCAT bus, and conversion module then transmits the position information and speed information of motor to industrial computer, and industrial computer determines new motor control signal according to the real-time position information and speed information of motor, except motor driver, no other module in gluing field, greatly reduce the wiring difficulty of control system, by the plug connection of conversion module and industrial computer, the integration of control system is greatly improved, while using industrial computer to determine the control signal of servo motor, without using high-performance central controller, reduce the production cost of control system, realize the high integration and low production cost of gluing control device.
[0025] The above description is only a summary of the technical scheme of the utility model, in order to more clearly understand the technical means of the utility model, can be implemented according to the content of specification, and in order to let the above and other purposes, characteristics and advantages of the utility model can be more obvious and easy to understand, the following specific embodiment of the utility model is described. BRIEF DESCRIPTION OF DRAWINGS
[0026] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not meant to limit the scope of the utility model. Furthermore, the same reference numerals are intended to denote the same components throughout the accompanying drawings. In the drawings:
[0027] Fig. 1 The structural block diagram of a gluing control device for the exemplary embodiment of the utility model is shown in the figure;
[0028] Fig. 2 The partial circuit structure schematic diagram of multiple limit switches of a gluing control device for the exemplary embodiment of the utility model is shown in the figure;
[0029] Fig. 3 Another structural schematic diagram of a gluing control device for the exemplary embodiment of the utility model is shown in the figure.
[0030] Among them,
[0031] Figs. 1-3The labels are as follows: 11-industrial computer; 12-conversion module; 13-motor driver; 14-encoder; 15-glue nozzle position detection module; 16-weighing module; 17-glue cup detection module; 18-safety grating; 20-servo motor; B1-first limit switch of R axis; B2-second limit switch of R axis; B3-origin limit switch of X axis; B4-origin limit switch of Y axis; B5-origin limit switch of Z axis; B6-lower limit switch of Z axis; K1-first relay; K2-second relay. DETAILED DESCRIPTION
[0032] Hereinafter, the present application will be described in detail with reference to the accompanying drawings and embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.
[0033] In order to further illustrate the technical means and effects taken by the present application to achieve the predetermined purposes, the specific embodiments, structures, features and effects according to the present application will be described in detail below with reference to the accompanying drawings and preferred embodiments. In the following description, different "an embodiment" or "embodiments" do not necessarily refer to the same embodiment. In addition, the specific features, structures or characteristics in one or more embodiments can be combined in any suitable form.
[0034] The following will be described in conjunction with Figs. 1 to 3 A glue coating control device according to some embodiments of the present application is described.
[0035] In one embodiment, as Fig. 1 shown, a glue coating control device includes an industrial computer 11, a conversion module 12, a plurality of motor drivers 13 and a plurality of encoders 14, wherein,
[0036] The first data end of the conversion module 12 is electrically connected to the first data end of the industrial computer 11 in a plug-in manner, the bus data end of the conversion module 12 is electrically connected to the bus data end of each motor driver 13 in an EtherCAT bus protocol manner, and the output end of each motor driver 13 is electrically connected to a servo motor 20; the input end of each motor driver 13 is electrically connected to an encoder 14, and the encoder 14 is arranged on the servo motor 20;
[0037] The conversion module 12 is used for converting the motor control signal output by the industrial computer 11 into a motor control signal in the EtherCAT bus protocol mode and transmitting to the motor driver 13, so that the motor driver 13 drives the servo motor 20 to move to a specified position. The encoder 14 is used for acquiring position information and speed information of the servo motor, and the position information and the speed information are transmitted to the industrial computer 11 through the motor driver 13 and the conversion module 12, so that the industrial computer 11 obtains updated motor control signals according to the position information and the speed information.
[0038] Specifically, the industrial computer is an industrial computer in a control cabinet of the gluing equipment, which is a core component originally in the gluing equipment. The conversion module is connected to the slot of the industrial computer in a plug-in manner and connected with each motor driver through the EtherCAT bus. The industrial computer outputs the control signal of each servo motor to the conversion module. The conversion module converts the received motor control signal into EtherCAT bus protocol information and transmits the EtherCAT bus protocol information to the EtherCAT bus. Each motor driver receives information matching with its IP address or MAC code from the EtherCAT bus and controls the servo motor connected therewith according to the received information, so that the motor moves to a specified position. The encoder collects real-time position information and real-time speed information of the motor and sends the real-time information to the motor driver. The motor driver sends the received real-time position information and real-time speed information of the motor to the EtherCAT bus. The conversion module receives the information transmitted by the motor driver to the bus, obtains the real-time position information and the real-time speed information of the servo motor, and then sends the information to the industrial computer. The industrial computer determines new motor control signals according to the real-time position and the real-time speed of the servo motor and sends the motor control signals to the motor driver module through the conversion module.
[0039] As a preferred embodiment of the present embodiment, the conversion module is a multi-axis motion control card, for example, a four-axis motion control card. The motion control card is a hardware device specially designed for controlling motors, sensors and other actuators. Its main function is to receive instructions from a computer or other controllers and then convert these instructions into signals that motors or other actuators can understand, thereby achieving precise control of these devices.
[0040] The EtherCAT bus protocol is a fieldbus protocol for real-time Ethernet communication, which can realize high-performance real-time communication while maintaining low cost and simple network structure.
[0041] EtherCAT adopts a master-slave structure, in which a master is responsible for controlling and synchronizing the slaves in the network. The master sends control commands and data, and the slaves receive and execute these commands. The conversion module in this application is equivalent to the master, and the motor driver is equivalent to the slave. EtherCAT network can support up to 1000 slaves, each with its own network address and unique identifier. Through EtherCAT, the slave can transmit input and output signals in real time, enabling the system to achieve high distribution and flexibility to adapt to various application requirements.
[0042] It should be noted that the method of converting the information of the industrial computer into EtherCAT bus protocol information by the conversion module can be realized by an application program in the prior art, and the updated motor control signal obtained by the industrial computer according to the position information and speed information of the motor can also be realized by an application program in the prior art, which will not be described here. The technical effect realized by the present application mainly depends on the connection relationship between the modules.
[0043] Compared with the prior art, the glue coating control device of the present application is connected with the industrial computer through the conversion module. The conversion module receives the motor control signal of the industrial computer and converts it into EtherCAT bus protocol information, which is sent to each motor driver through the EtherCAT bus. The motor driver receives the information transmitted by the EtherCAT bus and controls the servo motor matched therewith to move to a specified position. Each encoder collects real-time position information and real-time speed information of the servo motor and transmits them to the motor driver, which transmits them to the conversion module through the EtherCAT bus. The conversion module then transmits the real-time position information and real-time speed information of the motor to the industrial computer, which determines a new motor control signal according to the real-time position information and real-time speed information of the motor. In the glue coating field, there is no other module except the EtherCAT bus, which greatly reduces the wiring difficulty of the control system. The conversion module is connected with the industrial computer, which greatly improves the integration of the control system. The industrial computer is used to determine the control signal of the servo motor, without the need for a high-performance central controller, which reduces the production cost of the control system and realizes high integration and low production cost of the glue coating control device.
[0044] In this embodiment, the conversion module 12 is provided with a gold finger plug, and the industrial computer 11 is provided with a slot matched with the gold finger plug.
[0045] In this embodiment, the gold finger plug on the conversion module is inserted into the slot of the industrial computer to realize data transmission between the conversion module and the industrial computer. The control signal of the motor is determined by the industrial computer and then transmitted to the motor driver through the conversion module, which improves the integration of the glue coating control system and reduces the production cost.
[0046] In this embodiment, a bus connection port is provided on the conversion module 12, and a bus connection port is provided on each motor driver 13. The bus connection port on the conversion module 12 and the bus connection port on each motor driver 13 are electrically connected via the EtherCAT bus.
[0047] Specifically, the EtherCAT bus connection port is a network port, and the EtherCAT bus is a network cable. The network cable is plugged into the bus connection port of the conversion module and the bus connection port on the motor driver to realize the EtherCAT bus protocol connection between the conversion module and the motor driver.
[0048] In one embodiment, multiple servo motors are arranged on a gantry-type four-axis mechanism, which includes an X-axis, a Y-axis, a Z-axis and an R-axis. Each axis is electrically connected to the output end of a servo motor. A gluing assembly is provided on the Z-axis, and the R-axis is provided in the syringe of the gluing assembly. The movement of the X-axis, the Y-axis and the Z-axis drives the gluing assembly to move in space, and the movement of the R-axis pushes the coating liquid in the syringe to flow out from the gluing nozzle.
[0049] Specifically, the X-axis servo motor is connected to the X-axis of the gantry-type four-axis mechanism, the Y-axis servo motor is connected to the Y-axis of the gantry-type four-axis mechanism, the Z-axis servo motor is connected to the Z-axis of the gantry-type four-axis mechanism, and the R-axis servo motor is connected to the R-axis of the gantry-type four-axis mechanism. A gluing assembly is provided on the Z-axis of the gantry-type four-axis mechanism. The gluing assembly moves in the z-direction within space through the movement of the Z-axis servo motor, in the y-direction within space through the movement of the Y-axis servo motor, and in the x-direction within space through the movement of the X-axis servo motor. The R-axis is provided in the syringe of the gluing assembly. The R-axis motor drives the movement of the R-axis, pushing the coating liquid in the syringe out of the gluing nozzle and dripping onto the product to be coated.
[0050] In one embodiment, Fig. 2 As shown, the glue coating control device further includes an R-axis first limit switch B1, an R-axis second limit switch B2, a first relay K1 and a second relay K2, wherein:
[0051] The positive and negative input terminals of the R-axis first limit switch B1 are electrically connected to the positive and negative terminals of the power supply, respectively; the output terminal of the R-axis first limit switch B1 is electrically connected to the first terminal of the coil of the first relay K1; the second terminal of the coil of the first relay K1 is electrically connected to the negative terminal of the power supply; the first terminal of the normally open contact of the first relay K1 is electrically connected to the negative terminal of the power supply; and the second terminal of the normally open contact of the first relay K1 is electrically connected to the second data input terminal of the industrial computer 11;
[0052] The positive and negative input ends of the R-axis second limit switch B2 are electrically connected with the positive and negative poles of the power supply, the output end of the R-axis second limit switch B2 is electrically connected with the first end of the coil of the second relay, the second end of the coil of the second relay K2 is electrically connected with the negative pole of the power supply, the first end of the normally open contact of the second relay K2 is electrically connected with the negative pole of the power supply, and the second end of the normally open contact of the second relay K2 is electrically connected with the third data input end of the industrial computer 11.
[0053] Specifically, the needle cylinder is provided with an R-axis first limit switch and an R-axis second limit switch, the R-axis first limit switch is an upper limit position switch, and the R-axis second limit switch is a lower limit position switch. When the R-axis moves to the R-axis first limit switch, the R-axis first limit switch is closed, the coil of the first relay is powered, the normally open contact of the first relay is closed, the first limit information is output to the industrial computer, and the industrial computer controls the new movement of the R-axis motor according to the first limit information. When the R-axis moves to the R-axis second limit switch, the R-axis second limit switch is closed, the coil of the second relay is powered, the normally open contact of the second relay is closed, the second limit information is output to the industrial computer, and the industrial computer controls the new movement of the R-axis motor according to the second limit information.
[0054] In one embodiment, as shown in Fig. 2 The glue coating control device further comprises an X-axis origin limit switch B3, a Y-axis origin limit switch B4, a Z-axis origin limit switch B5 and a Z-axis lower limit limit switch B6, wherein,
[0055] The positive input end of the X-axis origin limit switch B3, the positive input end of the Y-axis origin limit switch B4, the positive input end of the Z-axis origin limit switch B5 and the positive input end of the Z-axis lower limit limit switch B6 are electrically connected with the positive pole of the power supply, the negative input end of the X-axis origin limit switch B3, the negative input end of the Y-axis origin limit switch B4, the negative input end of the Z-axis origin limit switch B5 and the negative input end of the Z-axis lower limit limit switch B6 are electrically connected with the negative pole of the power supply, and the output end of the X-axis origin limit switch B3, the output end of the Y-axis origin limit switch B4, the output end of the Z-axis origin limit switch B5 and the output end of the Z-axis lower limit limit switch B6 are respectively electrically connected with the fourth data input end of the industrial computer.
[0056] In the embodiment, the gantry four-axis mechanism is provided with an X-axis origin limit switch, a Y-axis origin limit switch, a Z-axis origin limit switch and a Z-axis lower limit limit switch. When the X-axis moves to the X-axis origin, the X-axis origin limit switch is closed, X-axis origin limit information is output to the industrial computer, and the industrial computer controls the new movement of the X-axis motor according to the X-axis origin limit information. When the Y-axis moves to the Y-axis origin, the Y-axis origin limit switch is closed, Y-axis origin limit information is output to the industrial computer, and the industrial computer controls the new movement of the Y-axis motor according to the Y-axis origin limit information. When the Z-axis moves to the Z-axis origin, the Z-axis origin limit switch is closed, Z-axis origin limit information is output to the industrial computer, and the industrial computer controls the new movement of the Z-axis motor according to the Z-axis origin limit information. When the Z-axis moves to the Z-axis lower limit limit switch, the Z-axis lower limit limit switch is closed, Z-axis lower limit limit information is output to the industrial computer, and the industrial computer controls the new movement of the Z-axis motor according to the Z-axis lower limit limit information.
[0057] In one embodiment, as shown in Fig. 3 the glue coating control device further comprises:
[0058] a glue coating nozzle position detection module 15, a data output end of the glue coating nozzle position detection module 15 being electrically connected with a second data input end of the conversion module 12;
[0059] a weighing module 16, a data output end of the weighing module 16 being electrically connected with a serial port data input end of the industrial computer 11;
[0060] a glue cup detection module 17, a data output end of the glue cup detection module 17 being electrically connected with a third data input end of the conversion module 12;
[0061] a safety grating 18, an output end of the safety grating 18 being electrically connected with a fourth data input end of the conversion module 12.
[0062] In the embodiment, the glue coating nozzle position detection module is a laser measurement sensor, a transmitter and a receiver of the laser measurement sensor are respectively arranged on two sides of a glue coating machine, the transmitter emits laser, and the receiver determines the position information of the glue coating nozzle according to the received laser information. Every time a preset time elapses or the glue coating nozzle is replaced, the glue coating nozzle position detection module detects the actual position of the glue coating nozzle and sends the actual position of the glue coating nozzle to the industrial computer through the conversion module. The industrial computer compares the actual position of the glue coating nozzle with the preset position information and determines a new motor control signal according to the comparison result to adjust the actual position of the glue coating nozzle.
[0063] Generally, the glue output of different glue spraying nozzles is different, and the glue output of the glue spraying nozzle is also different after being used for a long time. Therefore, after the glue spraying nozzle is replaced or used for a preset time, the glue output needs to be weighed. Because the glue output of different products is different, it is necessary to avoid less or more glue. The glue cup is placed on the weighing module, the glue droplet is dropped into the glue cup by the glue spraying nozzle, the actual weight of the coating liquid in the glue cup is collected by the weighing module and sent to the industrial computer, the industrial computer calculates the volume of the outflowing coating liquid according to the movement amount of the R-axis motor, and then calculates the expected weight of the weighed coating liquid according to the volume and density of the coating liquid. According to the error between the actual weight and the expected weight, the movement of the R-axis motor is adjusted.
[0064] The glue cup sensor is a laser measurement sensor, which is arranged at a preset position outside the glue cup sensor, detects whether the glue cup exists on the weighing module, and whether the coating liquid in the glue cup is full, and sends the detection information to the conversion module and the industrial computer through the conversion module, so that the industrial computer can be controlled correspondingly.
[0065] The safety grating is arranged outside the glue spraying machine, and when the safety grating detects that an object enters the glue spraying machine, a detection signal is sent to the conversion module and the industrial computer through the conversion module, so that the industrial computer can be controlled correspondingly.
[0066] The application also provides a glue spraying equipment, which comprises a plurality of servo motors, a gantry four-axis mechanism and the glue spraying control device.
[0067] Compared with the prior art, the glue spraying equipment provided by the application is connected with the industrial computer through plug-in connection, the conversion module receives the servo motor control signal of the industrial computer and converts the motor control signal into information of the EtherCAT bus protocol, and then transmits the information to each motor driver through the EtherCAT bus. The motor driver receives the information transmitted by the EtherCAT bus, controls the servo motor matched therewith, and makes the servo motor move to a specified position. Each encoder collects the position information and speed information of the servo motor and transmits them to the motor driver. The motor driver transmits the position information and speed information of the motor to the conversion module through the EtherCAT bus. The conversion module transmits the position information and speed information of the motor to the industrial computer. The industrial computer determines a new motor control signal according to the real-time position information and speed information of the motor. In the glue spraying field, there is no other module except the EtherCAT bus, which greatly reduces the wiring difficulty of the control system. Through the plug-in connection between the conversion module and the industrial computer, the integration of the control system is greatly improved. At the same time, the industrial computer is used to determine the running information of the servo motor, without using a high-performance central controller, which reduces the production cost of the control system and realizes high integration and low production cost of the glue spraying equipment.
[0068] It is to be understood that various modifications can be made to the embodiments described herein. Thus, the description is not to be considered as limiting, but merely as a description of exemplary embodiments. Other modifications, which will become apparent to those skilled in the art, will no doubt be contemplated as falling within the scope and spirit of the application.
[0069] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and, together with the general description of the application given above, and the detailed description of the embodiments given below, serve to explain the principles of the present application.
[0070] These and other characteristics of the present application will become apparent from the following description and the associated drawings, wherein:
[0071] It should also be understood that, although the present application has been described above with reference to particular embodiments, many alternatives, modifications, and equivalents will be apparent to those of ordinary skill in the art.
[0072] The above and other aspects, features, and advantages of the present application will become more apparent from the following detailed description, taken in conjunction with the accompanying drawings, when properly considered together.
[0073] Particular embodiments of the present application are described hereinafter, with reference to the accompanying drawings; however, it will be understood that the application is not limited to the particular embodiments described, but rather the application includes all alternatives, modifications and equivalents falling within the spirit and scope of the present application. With reference to the accompanying drawings, in which:
[0074] The specification can use phrases such as "in one embodiment", "in another embodiment", "in yet another embodiment", or "in other embodiments", which can refer to one or more embodiments of the same or different embodiments of the application.
[0075] The above embodiments are only exemplary embodiments of the present application, and are not intended to limit the present application, and the scope of protection of the present application is defined by the claims. Those skilled in the art can make various modifications or equivalent replacements to the present application within the spirit and protection scope of the present application, and such modifications or equivalent replacements should also be considered to fall within the protection scope of the present application.
Claims
1. A gluing control device, characterized by, The application relates to a motion control device, which comprises an industrial computer, a conversion module, a plurality of motor drivers and a plurality of encoders, wherein, a first data end of the conversion module is in plug-in electrical connection with a first data end of the industrial computer, bus data ends of the conversion module are in EtherCAT bus protocol electrical connection with bus data ends of each of the motor drivers, output ends of each of the motor drivers are in electrical connection with a servo motor, and input ends of each of the motor drivers are in electrical connection with an encoder arranged on the servo motor; the conversion module is used for converting motor control signals output by the industrial computer into motor control signals in EtherCAT bus protocol and transmitting the motor control signals to the motor drivers, so that the motor drivers drive the servo motor to move to a specified position, the encoder is used for acquiring position information and speed information of the servo motor, and the position information and the speed information are transmitted to the industrial computer through the motor drivers and the conversion module, so that the industrial computer obtains updated motor control signals according to the position information and the speed information.
2. The gluing control device according to claim 1, wherein The conversion module is provided with a golden finger plug-in, and the industrial computer is provided with a slot matched with the golden finger plug-in.
3. The gluing control device according to claim 2, wherein The conversion module is provided with a bus connection port, and each of the motor drivers is also provided with a bus connection port, the bus connection port of the conversion module is in electrical connection with the bus connection port of each of the motor drivers through an EtherCAT bus.
4. The gluing control device according to any one of claims 1 to 3, characterized in that The conversion module is a motion control card.
5. The gluing control device according to claim 1, wherein A plurality of servo motors are arranged on a gantry four-axis mechanism, the gantry four-axis mechanism comprises an X-axis, a Y-axis, a Z-axis and an R-axis, each axis is in electrical connection with an output end of a servo motor, a glue coating assembly is arranged on the Z-axis, and the R-axis is arranged in a needle cylinder of the glue coating assembly, wherein the movement of the X-axis, the Y-axis and the Z-axis drives the glue coating assembly to move in space, and the movement of the R-axis drives the glue coating liquid in the needle cylinder to flow out from a glue coating nozzle.
6. The gluing control device according to claim 5, wherein The glue coating control device further comprises an R-axis first limit switch, an R-axis second limit switch, a first relay and a second relay, wherein, positive and negative input ends of the R-axis first limit switch are in electrical connection with positive and negative poles of a power supply, an output end of the R-axis first limit switch is in electrical connection with a first end of a coil of the first relay, a second end of the coil of the first relay is in electrical connection with a negative pole of the power supply, a first end of a normally open contact of the first relay is in electrical connection with the negative pole of the power supply, and a second end of the normally open contact of the first relay is in electrical connection with a second data input end of the industrial computer; positive and negative input ends of the R-axis second limit switch are in electrical connection with positive and negative poles of the power supply, an output end of the R-axis second limit switch is in electrical connection with a first end of a coil of the second relay, a second end of the coil of the second relay is in electrical connection with the negative pole of the power supply, a first end of a normally open contact of the second relay is in electrical connection with the negative pole of the power supply, and a second end of the normally open contact of the second relay is in electrical connection with a third data input end of the industrial computer.
7. The gluing control device according to claim 5, wherein The glue coating control device further comprises an X-axis origin limit switch, a Y-axis origin limit switch, a Z-axis origin limit switch and a Z-axis lower limit limit switch, wherein, The positive input end of the X-axis origin limit switch, the positive input end of the Y-axis origin limit switch, the positive input end of the Z-axis origin limit switch and the positive input end of the Z-axis lower limit limit switch are electrically connected with the positive pole of the power supply, the negative input end of the X-axis origin limit switch, the negative input end of the Y-axis origin limit switch, the negative input end of the Z-axis origin limit switch and the negative input end of the Z-axis lower limit limit switch are electrically connected with the negative pole of the power supply, and the output end of the X-axis origin limit switch, the output end of the Y-axis origin limit switch, the output end of the Z-axis origin limit switch and the output end of the Z-axis lower limit limit switch are respectively electrically connected with the fourth data input end of the industrial computer.
8. The gluing control device according to any one of claims 1 to 3, characterized in that The glue coating control device further comprises: A glue coating nozzle position detection module, a data output end of the glue coating nozzle position detection module is electrically connected with the second data input end of the conversion module; A weighing module, a data output end of the weighing module is electrically connected with the serial port data input end of the industrial computer; A glue cup detection module, a data output end of the glue cup detection module is electrically connected with the third data input end of the conversion module; A safety light barrier, an output end of the safety light barrier is electrically connected with the fourth data input end of the conversion module.
9. A gluing apparatus characterized by, The glue coating control device comprises a plurality of servo motors, a gantry type four-axis mechanism and any one of the glue coating control devices in claims 1-8.