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Shoe Last scanner control system development
1 Introduction
In the global footwear industry, which has been China's footwear industry is. A short period of 10 years, China has risen remarkably, to the world's largest footwear producer and exporter. The rapid development of the footwear industry was driven by the shoe last industry, more and more shoe styles, and also requires constant renovation shoe last, which led to the shoe last from durable goods become consumables. Mechanical shoe last copying machine is used for processing principle, it implements the shoe last of the production process, bringing the shoe last, the rapid development of industry. But mechanical shoe last machine also has its inevitable drawbacks: First, from the product perspective, it processed by the upper sides of the shoe last, the more obvious Weijidao longitudinal marks, shoe last very smooth, as this request increasing the shoe-making industry, it is unable to meet the requirements of Secondly, mechanical machines in the shoe last of shoe last zoom, manual adjustment of the workforce to use their experience machines, which require workers relatively high; again, and most important, the traditional processing methods unable to establish workpiece size of the document, they can not do anything to modify the shape.
2 NC-shoe last two figures of reverse engineering system
Last CNC machine can be avoided mechanical shoe last machine shortcomings. CNC machine using digital shoe last of the reverse engineering system, the digital system in the reverse engineering of the shoe last model 3D scanning, are three-dimensional model of data files, by addressing data file (such as dealing with a smooth surface, interpolation processing, etc.) Implementation of the shoe last scalable model, and change the shoe last machined surface of the helix pitch, thereby improving the quality of surface machining. At the same time, the data files can be stored in computer may need to tune out the same type of shoe last only one scan, management is very convenient. Clearly, the number of such reverse engineering system to meet modern shoe last is the development of the industry. NC-figure shoe last reverse engineering flowchart in Figure 1 below:
Zoom appearance code revision
Last Model
3D Scanning
Data Processing
Computer-assisted analysis
Construction of 3D model
Computer aided manufacturing
Rapid Tooling
Last products
Figure 1 NC shoe last for the number of reverse engineering flowchart
???? Last abroad NC machine has been very well so far, in the practical application has been greatly affirmed. Our domestic Due to various reasons, a late start, the author of the reference laboratory in foreign machinery under the premise of the practical application as the main purpose of NC Machine for shoe last for domestic enterprises in the area to provide some reference. Last of the NC machines composed of two parts, part scanner, be it by scanning the shoe last three-dimensional data, and the other part is carved Last machine, which uses a three-dimensional scan data processing by the shoe last. This paper mainly discusses the shoe last scan machine control system design, only by scanning the data files accurately, to ensure processing by the quality of the shoe last, shoe last scan machine of shoe last is the basis and premise for processing.
3 shoe last scanners scan Principle
First, a brief introduction to the shoe last scanner scanning principle, as shown in Figure 2.
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???? Figure 2 shoe last scanners scan schematic
???? As shown below, driven shoe last X-axis of rotation, Y-axis is at the center shoe last, in the Z-axis length shoe last move, that is, the direction of mobile scanning round. Last scanner using contact measurement, measurement tools used for scanning round, it installed in the Y-axis direction, scanning round rely on the shoe last, behind by the pump withstand, scanning round of the campaign with the shoes before and after moving, behind the wheel grating scanning device data acquisition shoe last.
4 shoe last scan machine control system outlined
?? Last scanner using PC as a PC, using the object-oriented language VC + + software design, development, through the Motion Control Card drive system and three-axis collection of data by scanning data files, for use in processing. PC operating as a scanner interface, complete data analysis, processing and the implementation of the control, and other tasks. Motion Control Card as a control center, sending and receiving complete pulse. Accept board sent servo motor pulse, drive shaft various campaigns At the same time, servo motor encoder feedback to the motion control. Diagram of the control system are shown in Figure 3.
No. 0-axis encoder feedback signals
Optical grating feedback system
DMC3000
No.2-axis encoder feedback signals
No. O-axis and the direction of the output pulse
Section 0.1 axis origin and spacing signal
No. 1-axis and the direction of the output pulse
Various axis limit switch
C-axis servo system
Z-axis servo system
No. 1-axis encoder feedback signals
Figure 3 diagram of the control system
???? Below are introduced Motion Control Card, servo motor and optical grating choice and control.
4.1 Motion Control Card choice and control
?? In the scanning system, the Motion Control Card is the core of the whole system, choose a suitable motion control card is very important.
?? In the scanning process, the motion control card and the need to control the X-axis Z-axis servo motors, motion control card not only to send pulses to the motor drives, servo motor at the same time accept encoder feedback pulses. Motion Control Card also accepted optical grating feedback signal. Because it is collecting shoe last three-dimensional data, the more intensive sampling and processing the products more smooth. In this system, setting shoe last lap to the needs of hundreds of point sampling, the Motion Control Card Driver output pulse requirement is relatively high, the encoder input frequency of a certain request, a few requirements triaxial control axis. A mix of different properties, as well as economic, as well as their choice of Shenzhen Company, the mine DMC3000 series Motion Control Card.
?? Motion Control of the system is based on the PCI bus card, high-performance motion control card can control up to 4-axis stepper or servo motor. This series of plug-and-play with a maximum pulse frequency of 4 MHz, the S-curve damping function, encoder feedback, and advanced features such as variable speed at any time.
?? Motion Control Card of the axis of each of the two signal outputs can be used to PUL and DIR output pulse and direction signal, which can be output from the two procedures are set to pulse-pulse + (double-pulse) + pulse mode or direction mode ( single pulse). The system uses pulse + direction form, and set the pulse for the differential output, in the differential output mode, a signal can be divided into a different bad signal. The use of differential output can be an effective way to reduce transmission interference, and improve reliability. X-axis and the Z-axis servo motor drive from the Motion Control Card to receive the signal pulse and direction.
The Motion Control Card may simultaneously control four-axis, the axis of each have three pairs of differential phase A, B and Z of the input signal, EA and EB signal used for position, the signal for the origin EZ index signal. Each axis has a switching signal origin through the mechanical origin of the signal input shaft to find the original point of origin can be set through the software switch-mode. Each axis has two locations spacing signal EL + (positive spacing) and EL-(reverse Limit), the limit set by switch-mode software. In this system, the X-axis and the Z-axis servo motor feedback encoder pulse signal have access Motion Control Card. Since the initial movement of each axis there is a start bit, it was necessary to signal to the original point, the search software to determine the origin signal the start bit. X axis rotation direction, do not limit pros and cons, using only a signal origin. Apart from the Z-axis origin signal, but also limit access plus or minus two position signals from the two limit protection. I universal digital input and output can also be used to access some of the switch signal.
The single campaign, according to campaign-distance, the motion control card, the mode of operation and continuous operation mode. According to the velocity, the trapezoidal motion control card that runs at S-curve pattern and operation mode. S-curve model used to run a shaft that runs at the S-curve designated pulse number of S-curve model can be run effectively and to improve acceleration and deceleration eliminate the vibration, so that movement is very smooth. Figure 4 shows the following:
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???? Figure 4 S-curve velocity and acceleration
?? Since S curve in a trapezoidal mode runs at the merits of this system are used in the operation mode S-curve. Before the start of the scan, in order to measure the floor straight shoe last longer need to shoe last turn certain angle, and then use fixed-length operation mode. In the scanning process, the Z-axis and the X-axis but at the same time the implementation of an independent movement, and movement is continuous. This two-axis at the same time guarantee a certain percentage of the speed sports. Actual circumstances, the Motion Control Card of the system can meet the requirements of shoe last of the three-dimensional data scanning, and thus gained three-dimensional data files shoe last.
4.2 servo motor control and choice
Since the control system for the real-time requirement is relatively high, motion control card sent to the motor drive pulses to the pulse motor immediately, not delayed, not wrong. Thus the control system could not be used stepper motor and servo motor systems must be used. At the same time servo motor control with high accuracy, strong Guozainaili, speed response performance, and reliable operation of a series of advantages. In this system, we have selected Panasonic Digital MSDA0231A1A AC servo drives, servo motor configuration for MSM022A1. Bring the drive motor rated output power of 1.5 kw, incremental rotary encoder for the P-2500 / r, 3-phase input power for 220 V, rated speed of 2000 r / m.
Request to place the system more accurate rapidly, as in the shoe last lap to (X-axis rotation lap) needs hundreds of sampling point, the response of the servo system requirements relatively high. At the same time, the servo motor parameters on the quality of scanning has a certain impact. Used in the control system mode, the servo motor will be adjusted to the parameters of a better situation, mainly the following parameters.
??1. NO.10 parameters (location of the first loop gain) definition of the position control response curve, the higher gain settings, the faster positioning time.
???2. NO.11 parameters (first speed loop gain) and the parameters NO.10 servo system with access to the total response curve. As far as possible, high-gain settings.
???3. NO.15 parameters (speed feed-forward) to set the pace in the position control of feedforward. In the constant speed motor running, if this value as a 100% position deviation almost zero. This value is set higher, so to a lesser position error was faster response, but it may lead to overshoot.
??By NO.46, NO.4B parameter settings can be very convenient with a variety of command pulse frequency matched to achieve the desired control resolution (angle / pulse). The value of the difference between the two caused the decline in control accuracy. It is recommended settings NO.46/NO.4B (ie: electronic gear ratio): 1 / 50
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