one. Project process introduction The transmission structure of the high-speed toothbrush hair planting machine consists of a main drive shaft and four servo drive shaft systems. The four servo axes are the horizontal X axis, the vertical Y axis, the molting Z axis and the rotating A axis. The XY two-axis coordinates determine the position of the toothbrush hole, the A-axis plays the role of changing to the next toothbrush, and the Z-axis plays the role of replacing the toothbrush hair color. When the spindle motor (controlled by the frequency converter) runs, the four electronically controlled servo axes run along with it, and when the spindle stops, the remaining four axes stop along with it. The rotational speed of the main shaft determines the speed of hair planting, and the four servo axes respond to the requirements of coordinated drive, otherwise hair removal or uneven hair will occur. Action process: The clamp clamps the handle of the toothbrush from the Y-axis direction → the clamp is positioned 90 degrees to the Z-axis direction → the platform drives the clamp to do the X, Y-axis movement so that the bristles can be hit into the pores of the toothbrush head → After the bristles are planted, the clamp Rotate down 90 degrees → the clip is released, and the processing of a toothbrush is completed. The application of the company's (Xinjie) XDM series plc and DS5 servo system can achieve a hair planting speed of 900 times/min. And at the same time of high-speed start and stop, the stability and softness of the overall action are more prominent. Through the application of the self-made pulse S-curve in the PLC, the jumping hole can be planted, and when the hole is jumping, the machine is basically as stable as usual while the jumping hole accuracy is guaranteed, and there will be no obvious jitter. two. Control scheme At present, the structure of hair planting electromechanical control system is mainly divided into single chip control system or CNC numerical control system. Among them, the single-chip control system is mainly based on the integrated supporting services of automation system manufacturers, supplemented by the independent research and development of toothbrush equipment manufacturers. Mainly to control the axis pulse command signal to achieve servo drive, usually four-axis control output, Xinjie XDM-60T4-E, motion control PLC. With a response speed of 0.1ms and 4 high-speed pulses, the toothbrush hair transplanter requires that the system can realize two-axis interpolation. The four sets of servo driver models are DS3 series AC servo systems, with a power of 400W-750W. The driver has a variety of functions to control, and has the characteristics of strong overload capacity, strong anti-load disturbance capacity, large starting torque, high dynamic response speed, and short positioning time. The spindle motor inverter model is Xinjie's VB5N series with a power of 400W. three. Debugging points The difficulty in developing the servo solution is the joint debugging of the electromechanical system, which is mainly the adjustment of the servo gain and the coordination of the trigonometric function curve of the plc. Among the four servo axes, the mechanical inertia of the X axis and the Y axis is relatively stable due to the screw drive structure, so debugging is relatively easy, and the speed gain can be modified. The Z axis of the flap is a rotating axis, and there is centrifugal force in high-speed rotation. If the gain is simply set to a high value, the motor will vibrate when it starts and stops. At this time, the position filter time parameter can be modified to eliminate vibration. Relatively speaking, the mechanical structure of the cam mechanism of the hair changing U-axis makes debugging more difficult. In addition, the mechanical rigidity of the U-axis is not good. When the motor is running, the inertia ratio changes greatly, the output current of the motor also changes greatly, and the parameters cannot be adjusted. Well, when the motor runs left and right, the axis either vibrates or whistles, or responds slowly. When adjusting the parameters, the speed loop gain, filter time parameter and position loop gain need to be adjusted accordingly. Four. Performance advantages 1. Using the trigonometric function pulse curve made by the PLC in the middle, cooperate with the DS3 servo system, to achieve the effect of precise positioning and improve the accuracy of flocking. According to the jump holes of different distances, the parameters of the curve are changed in real time, so that the overall machine is more stable and soft, the speed is not reduced, and the accuracy is also higher. 2. In addition to ordinary buttons, indicator lights, mode switching, and parameter settings, the touch screen also adds 100 recipes. It can store the data of 100 kinds of toothbrushes at the same time. Different toothbrushes only need to import different formulas, which is convenient and fast. The touch screen can also draw the color model of the toothbrush under the current formula on the touch screen in real time according to the formula change, and the simulation model can be dynamically drawn according to the actual working situation, so that the user can understand the current working state more conveniently and quickly. Each formula can also be exported to U disk or imported from U disk according to customer requirements. five. Summary Xinjie's complete product system almost covers the industrial control products required by the hair planting machine, and each product has its own independent advantages and a high degree of compatibility between our products. This not only saves workload and development costs, but also greatly improves the overall performance of the machine. Previous: What problems should be paid attention to in the process of purchasing a hair planting machine? Next: Processing skills of titanium alloy for high-speed hair planting machine JIANGMEN MEIXIN COMB BRUSH MAKING MACHINE FACTORY is different from other companies as we provide timely and unique services to our respected clients. JIANGMEN MEIXIN COMB BRUSH MAKING MACHINE FACTORY, to be the world leader in products, services and solutions that enable and transform the way consumers and businesses gather, manage, distribute and communicate information. BRUSH MAKING MACHINE FACTORY is sold in oversees market and has high reputation. Besides, our products are sold with reasonable prices.
