纺织学报 ›› 2020, Vol. 41 ›› Issue (10): 164-169.doi: 10.13475/j.fzxb.20191104106

• 机械与器材 • 上一篇    下一篇

三维增材鞋面印花机对位平台的冗余驱动控制策略

沈瑞超, 郗欣甫, 孙以泽()   

  1. 东华大学 机械工程学院, 上海 201620
  • 收稿日期:2019-11-14 修回日期:2020-06-30 出版日期:2020-10-15 发布日期:2020-10-27
  • 通讯作者: 孙以泽
  • 作者简介:沈瑞超(1994—),男,硕士生。主要研究方向为多电动机同步控制。
  • 基金资助:
    国家重点研发计划项目(2018YFB1308800);福建省“百人计划”项目(20180409)

Redundant actuation control strategy of positioning platform for 3-D additive printing machine

SHEN Ruichao, CHI Xinfu, SUN Yize()   

  1. College of Mechanical Engineering, Donghua University, Shanghai 201620, China
  • Received:2019-11-14 Revised:2020-06-30 Online:2020-10-15 Published:2020-10-27
  • Contact: SUN Yize

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摘要：

针对自动鞋面印花机在进行对版时定位精度低,影响鞋面印刷质量的问题,提出了基于冗余驱动的印花机对位平台。在原有的三轴并联机构对位平台的基础上通过增加1个Y轴,有效地提高了对位平台Y向的刚度和承载能力,从而提高了印花机对位平台的定位精度。由于冗余驱动机构运动过程中存在机构运动耦合,利用几何法进行解耦,提出了基于电子凸轮的控制策略。同时提出了对机构换向间隙补偿的控制策略,进一步提高对位平台的定位精度,保证了鞋面的印刷质量。经过实验验证,改进后的印花机对位平台Y向定位精度提高了85.7%,Z向旋转定位精度提高了72.9%,X向和Y向换向间隙分别提高了50% 和75%,Z向旋转换向间隙提高了42.86%。

关键词: 印花机, 丝网印刷, 冗余驱动, 对位平台, 电子凸轮, 换向间隙

Abstract:

The positioning accuracy is low when aligning the screens in automatic shoe upper printing, affecting the quality of upper printing. This paper proposed a positioning platform for printing machine based on redundant actuation. By adding a Y-axis on the base of original positioning platform, the rigidity and ability to manipulate heavy loads of the Y-direction of the positioning platform was effectively improved, thereby improving the positioning accuracy of the positioning platform of the printing machine. Due to the coupling of the mechanism motion during the movement of the redundant actuation mechanism, the geometric method was used to decouple the motion and the control strategy based on the use of electronic cam was proposed. Reversing backlash compensation was adopted, which further improved the positioning accuracy of the platform hence ensured the printing quality of the shoe upper. After experimental verification, the Y-direction positioning accuracy of the printing machine platform was improved by 85.7%, and that in the Z-direction rotation 72.9%. The X-direction reversing backlash was improved by 50%, the Y-direction reversing backlash by 75%, and the Z-direction rotation reversing backlash 42.86%.

Key words: printing machine, screen printing, redundant actuation, positioning platform, electronic cam, reversing backlash

中图分类号: 

  • TP23

图1

三维增材印花机"

图2

UVW对位平台机构简图"

图3

UVW平台旋转任意角度示意图"

图4

冗余驱动对位平台绕几何中心旋转示意图"

图5

判断是否换向示意图"

表1

X向换向间隙测量"

运动
方向		 第1次 第2次 第3次 换向间
隙众数
设置值 测量值 设置值 测量值 设置值 测量值
反向 -2.500 -2.495 -2.500 -2.500 -2.500 -2.500 0.005
正向 2.500 2.495 2.500 2.500 2.500 2.505
正向 0.200 0.200 0.200 0.200 0.200 0.195 0.005
反向 -0.200 -0.195 -0.200 -0.200 -0.200 -0.195
正向 0.050 0.040 0.050 0.050 0.050 0.050 0.010
反向 -0.050 -0.040 -0.050 -0.050 -0.050 -0.050

表2

Y向换向间隙测量"

运动
方向		 第1次 第2次 第3次 换向间
隙众数
设置值 测量值 设置值 测量值 设置值 测量值
反向 -2.500 -2.500 -2.500 -2.500 -2.500 -2.500 0.010
正向 2.500 2.490 2.500 2.500 2.500 2.510
正向 0.200 0.200 0.200 0.200 0.200 0.200 0.010
反向 -0.200 -0.190 -0.200 -0.210 -0.200 -0.195
正向 0.050 0.040 0.050 0.050 0.050 0.050 0.010
反向 -0.050 -0.040 -0.050 -0.050 -0.050 -0.050

表3

改进前后定位精度对比"

测量项目改进前后 X向平移定位
精度/mm		 Y向平移定位
精度/mm		 Z向旋转定位
精度/(°)
定位误差 改进前 0.010 0.070 0.004 8
改进后 0.010 0.010 0.001 3
换向间隙 改进前 0.010 0.040 0.001 4
改进后 0.005 0.010 0.000 8

图6

试验平台"

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