A. Project process introduction

The driving structure of the toothbrush high speed bristling machine consists of the main driving shaft and four servo driving shaft systems. The four servo axes are horizontal X axis, vertical Y axis, moult Z axis and rotation A axis. The coordinates of XY axis determine the position of the toothbrush hole. Axis A plays the role of changing the toothbrush to the next toothbrush, and axis Z plays the role of changing the color of the toothbrush. When the spindle motor (controlled by frequency converter) runs, the four electrically controlled servo axes will run accordingly. When the spindle stops, the other four axes will follow. Spindle speed determines the speed of hair planting, four servo shaft response requirements coordinated drive, otherwise there will be hair removal or hair uneven phenomenon.

Action process: clip clips the handle of the toothbrush from the Y-axis direction → clip does a 90-degree positioning to the z-axis direction → platform drives the clip to do X, the Y-axis movement makes the bristles can be played into the pores of the toothbrush head → hair planting is completed, clip rotates 90 degrees downward → clip is loosened and a toothbrush is processed. Applying XDM series PLC and DS5 servo system of our company (xinjie) can achieve 900 times/min hair planting speed. And in the high-speed start and stop at the same time, the overall movement of smoothness and softness is more prominent. Through the application of PLC internal self-made pulse S curve can be done to jump the hole planting, and jump the hole, while ensuring the accuracy of jumping the hole, the machine is basically as stable as usual, will not appear obvious jitter.

2. Control scheme

At present, the mechanical and electrical control system structure of high speed bristling of toothbrush is mainly divided into single chip microcomputer control system or CNC CNC system. Microcontroller control system to automation system manufacturers integrated supporting services, toothbrush equipment manufacturers independent research and development as a supplement.

The main control axis pulse command signal servo drive, usually four axis control output, XDM- 60t4-e, motion control PLC. With the response speed of 0.1ms, 4-channel high speed pulse, the system of toothbrush bristling machine can realize the two-axis interpolation operation. The four sets of servo drivers are DS3 series ac servo system, power 400w-750w, the driver has a variety of function control, with strong overload capacity, strong resistance to load disturbance ability, large starting torque, high dynamic response speed, short positioning time and other characteristics. The model of spindle motor inverter is the VB5N series of sinjie, and the power of the high-speed toothbrush planting machine is 400W.

3. Debugging points

The difficulty of servo solution development is the joint debugging of electromechanical system, which is mainly the adjustment of servo gain and the coordination of PLC trigonometric function curve. Among the four servo axes, the X axis and Y axis are relatively stable due to the mechanical inertia of the screw drive structure, so it is relatively easy to debug them and modify the speed gain. However, the Z axis of the flip plate is a rotating axis. Centrifugal force exists in high-speed rotation. If the gain is simply set at a high level, the motor will vibrate when it starts and stops. Relatively molt U axis of the structure of the mechanical CAM mechanism makes debugging more difficult, plus the U axis machine rigidity is not good, when the motor running inertia ratio change is bigger, the motor output current change is bigger also, parameter tuning is not good, about motor is running, the shaft vibration or whistlers, either or unresponsive, parameter adjustment of speed loop gain, filtering time parameter and position loop gain is need to make corresponding adjustment.

What problems should be paid attention to in the process of selecting the equipment of the wool planting machine? Taifeng lai has summed up the following points with years of manufacturing experience:

1. Enterprise qualification

1.1 the qualification of the equipment supplier must be inspected, and the strength of the supplier must be understood.

1.2 understand whether the equipment supplier is a legal business entity, legal person, industrial and commercial registration, tax registration, and relevant licenses are complete.

1.3 whether it is well-known in the industry and whether it has independent intellectual property rights.

1.4 field investigation of supplier enterprise scale, actual factory location, processing equipment, management mode, etc

2. Evaluate product quality

2.1 whether the mechanical structure of matching flocking machine and drilling machine is reasonable, such as whether there is hard collision, friction, running noise, etc

2.2 what materials shall be used for the parts, such as raw steel, cylinder, guide rail, bearing, lead screw, etc.

2.3 processing technology of parts, such as surface finish, hardness, marking and accuracy

2.4 positioning accuracy of the equipment, such as the positioning accuracy of the table, whether there are gaps in the mechanical structure, the repeated accuracy from slow to fast in the process of processing, what actuators and motors are used in the control system, etc

2.5 whether the whole equipment is equipped with assembly drawing and operating instructions, it should be known that only with pictures and pictures can more effectively avoid the trouble encountered by users in the use process and reduce the maintenance rate.

3. Service level

3.1 before the purchase of equipment, whether the supplier can provide proofing services

3.2 whether the supplier can systematically provide you with technical training enterprises in the fierce market competition to remain invincible, must have excellent product quality, only good equipment to produce high-quality products

3.3 whether the supplier can solve any problems in the brush making process for you

3.3 whether the supplier can provide parts to you in time

3.4 whether the supplier can timely solve major equipment failures for you

Yangzhou engel automation equipment co., LTD. The main products are: toothbrush flocking machine, toothbrush high-speed flocking machine, automatic toothbrush bronzing machine flocking machine

Our website: www.yzsmsy.com