阅读说明：本技术 电机控制系统及传送线 (Motor control system and conveying line ) 是由 孙洪涛 王本刚 吕建涛 王明月 刘文亮 郭洋 于 2021-08-18 设计创作，主要内容包括：本发明公开一种电机控制系统及传送线,其中,所述电机控制系统包括：主控制器；第一驱动控制器,与所述主控制器电连接；多个第一电机,所述第一驱动控制器分别与多个所述第一电机驱动连接；第二驱动控制器,与所述第一驱动控制器电连接；以及多个第二电机,所述第二驱动控制器分别与多个所述第二电机驱动连接,所述主控制器用于向所述第一驱动控制器发出控制信号,所述第一驱动控制器接收到所述控制信号时,驱动多个所述第一电机运行,并输出同步工作信号至所述第二驱动控制器,以驱动多个所述第二电机运行。本发明不需要每一电机单独设置驱动控制器,进而可以简化电机控制系统,减少布线,降低安装成本。(The invention discloses a motor control system and a conveying line, wherein the motor control system comprises: a main controller; the first driving controller is electrically connected with the main controller; the first driving controller is in driving connection with the first motors respectively; the second driving controller is electrically connected with the first driving controller; and the second driving controller is respectively in driving connection with the plurality of second motors, the main controller is used for sending a control signal to the first driving controller, and the first driving controller drives the plurality of first motors to operate when receiving the control signal and outputs a synchronous working signal to the second driving controller so as to drive the plurality of second motors to operate. The invention does not need to separately set a driving controller for each motor, thereby simplifying a motor control system, reducing wiring and reducing installation cost.)

1. A motor control system, comprising:

a main controller;

the first driving controller is electrically connected with the main controller;

the first driving controller is in driving connection with the first motors respectively;

the second driving controller is electrically connected with the first driving controller; and

the second driving controller is respectively in driving connection with the second motors, the main controller is used for sending a control signal to the first driving controller, the first driving controller receives the control signal, drives the first motors to run, and outputs a synchronous working signal to the second driving controller to drive the second motors to run.

2. The motor control system according to claim 1, wherein the first driving controller includes a first control chip and a first driving circuit electrically connected to the first control chip, the first control chip is electrically connected to the main controller, output terminals of the first driving circuit are respectively connected to a plurality of first motor drives, and the second driving controller is electrically connected to the first control chip;

the first control chip is used for generating a first pulse signal after receiving a control signal sent by the main controller, and the first driving circuit receives the first pulse signal and then drives the first motors to operate; and the second driving controller receives the first pulse signal and then drives the second motors to operate.

3. The motor control system according to claim 2, wherein the second driving controller includes a second control chip and a second driving circuit electrically connected to the second control chip, the second control chip has a second slave mode control interface, the second slave mode control interface is electrically connected to the input terminals of the first control chip and the second driving circuit, respectively, and the output terminals of the second driving circuit are connected to a plurality of second motor drives, respectively;

the second driving circuit receives the first pulse signal through the second slave mode control interface and then drives the second motors to operate.

4. The motor control system of claim 3, wherein the first drive controller further comprises a first master-slave setting circuit, the first control chip having a master-slave mode setting interface and a slave mode output interface, the first master-slave setting circuit being connected to the master-slave mode setting interface of the first control chip;

the second driving controller further comprises a second master-slave setting circuit, the second control chip further comprises a master-slave mode setting interface, and the second master-slave setting circuit is connected with the master-slave mode setting interface of the second control chip;

the slave mode output interface of the first control chip is connected with the second slave mode control interface;

the first master-slave setting circuit is used for setting the first control chip to be in a master mode, the second master-slave setting circuit is used for setting the second control chip to be in a slave mode, and the first control chip outputs a first pulse signal to a second slave mode control interface of the second driving circuit through a slave mode output interface.

5. The motor control system of claim 4, wherein said second control chip is further electrically connected to said master controller; the first control chip is also provided with a first slave mode control interface, the input end of the first driving circuit is also connected with the first slave mode control interface, the second control chip is also provided with a slave mode output interface, and the first slave mode control interface of the first control chip is connected with the slave mode output interface of the second control chip;

the second master-slave setting circuit is used for setting the second control chip to be in a master mode, the first master-slave setting circuit sets the first control chip to be in a slave mode, the master controller is also used for sending a control signal to the second control chip, the second control chip generates a second pulse signal after receiving the control signal, and the second driving circuit drives a plurality of second motors to operate after receiving the second pulse signal; the first driving circuit receives the second pulse signal through the first slave mode control interface to drive the first motors to operate.

6. The utility model provides a transmission line for carry frock, its characterized in that includes:

the guide rail assembly extends along a first direction;

the motor control system according to any one of claims 1 to 5, wherein the plurality of first motors and the plurality of second motors of the motor control system are respectively arranged in the first direction and are spaced apart in a second direction, and the second direction intersects with the first direction; and

and each first motor is in driving connection with one roller, and each second motor is in driving connection with one roller.

7. A conveyor line according to claim 6, further comprising:

the first sensor is arranged on the guide rail assembly and used for detecting a first position signal of a tool on the guide rail assembly, the first sensor is electrically connected with a main controller of the motor control system, and the main controller receives the first position signal and then sends out a control signal to control the first motor and the second motor to be adjusted to a first preset rotating speed.

8. A conveyor line according to claim 7, further comprising:

the second sensor is arranged on the guide rail assembly and is arranged at an interval with the first sensor and used for detecting a second position signal of a tool on the guide rail assembly, the second sensor is electrically connected with the main controller, the main controller receives the second position signal and then sends a control signal to control the first motor and the second motor to operate at a second preset rotating speed, and the second preset rotating speed is zero.

9. The conveyor line of claim 8, wherein said main controller controls said first motor and said second motor to operate at a second predetermined speed for a predetermined length of time and thereafter continues to control said first motor and said second motor to operate at a third predetermined speed, said third predetermined speed being greater than zero.

10. A conveyor line according to claim 8, further comprising:

the third sensor is arranged on the guide rail assembly and located between the first sensor and the second sensor and used for detecting a third position signal of a tool on the guide rail assembly, the third sensor is electrically connected with the main controller, the main controller receives a control signal sent out after the third position signal so as to control the first motor and the second motor to adjust to a fourth preset rotating speed, and the fourth preset rotating speed is less than the first preset rotating speed and is greater than the second preset rotating speed.

11. A conveyor line according to any of claims 6 to 10, wherein a plurality of said first motors and a plurality of said second motors are arranged in a one-to-one correspondence in said first direction.

12. A conveyor line according to any of claims 6 to 10, wherein said rail assembly comprises:

a first guide rail; and

the second guide rail, with first guide rail sets up relatively, and is a plurality of the gyro wheel is located respectively first guide rail with between the second guide rail, it is a plurality of first motor is located respectively first guide rail, it is a plurality of the second motor is located respectively the second guide rail.

Technical Field

The invention relates to the field of control systems, in particular to a motor control system and a conveying line.

Background

With the development of industrial automation, the requirements in the production and manufacturing processes of products are higher and higher, and the clean and high-speed clean room conveyor line type processing mode is more and more popular. At present, a production workshop of VR (Virtual Reality) products is generally a clean and high-speed clean workshop, a conveying line in the workshop generally adopts a roller type conveying mode, more stepping motors are required to be used in the conveying mode, each stepping motor is required to be equipped with a motor driver independently, the maximum speed of a line body is 800mm/s, and the system in the mode has the problems of large structure, complex line body wiring, high cost and the like.

Disclosure of Invention

The invention mainly aims to provide a motor control system and a transmission line, and aims to solve the problem that the control system in the existing multi-motor system is complex in structure.

In order to achieve the above object, the present invention provides a motor control system comprising:

a main controller;

the first driving controller is electrically connected with the main controller;

the first driving controller is in driving connection with the first motors respectively;

the second driving controller is electrically connected with the first driving controller; and

the second driving controller is respectively in driving connection with the second motors, the main controller is used for sending a control signal to the first driving controller, the first driving controller receives the control signal, drives the first motors to run, and outputs a synchronous working signal to the second driving controller to drive the second motors to run.

Optionally, the first driving controller includes a first control chip and a first driving circuit electrically connected to the first control chip, the first control chip is electrically connected to the main controller, an output end of the first driving circuit is respectively in driving connection with the plurality of first motors, and the second driving controller is electrically connected to the first control chip;

the first control chip is used for generating a first pulse signal after receiving a control signal sent by the main controller, and the first driving circuit receives the first pulse signal and then drives the first motors to operate; and the second driving controller receives the first pulse signal and then drives the second motors to operate.

Optionally, the second driving controller includes a second control chip and a second driving circuit electrically connected to the second control chip, the second control chip has a second slave mode control interface, the second slave mode control interface is electrically connected to the input ends of the first control chip and the second driving circuit, respectively, and the output end of the second driving circuit is in driving connection with the plurality of second motors, respectively;

the second driving circuit receives the first pulse signal through the second slave mode control interface and then drives the second motors to operate.

Optionally, the first drive controller further includes a first master-slave setting circuit, the first control chip has a master-slave mode setting interface and a slave mode output interface, and the first master-slave setting circuit is connected to the master-slave mode setting interface of the first control chip;

the second driving controller further comprises a second master-slave setting circuit, the second control chip further comprises a master-slave mode setting interface, and the second master-slave setting circuit is connected with the master-slave mode setting interface of the second control chip;

the slave mode output interface of the first control chip is connected with the second slave mode control interface;

the first master-slave setting circuit is used for setting the first control chip to be in a master mode, the second master-slave setting circuit is used for setting the second control chip to be in a slave mode, and the first control chip outputs a first pulse signal to a second slave mode control interface of the second driving circuit through a slave mode output interface.

Optionally, the second control chip is further electrically connected with the main controller; the first control chip is also provided with a first slave mode control interface, the input end of the first driving circuit is also connected with the first slave mode control interface, the second control chip is also provided with a slave mode output interface, and the first slave mode control interface of the first control chip is connected with the slave mode output interface of the second control chip;

the second master-slave setting circuit is used for setting the second control chip to be in a master mode, the first master-slave setting circuit sets the first control chip to be in a slave mode, the master controller is also used for sending a control signal to the second control chip, the second control chip generates a second pulse signal after receiving the control signal, and the second driving circuit drives a plurality of second motors to operate after receiving the second pulse signal; the first driving circuit receives the second pulse signal through the first slave mode control interface to drive the first motors to operate.

The invention also provides a conveying line, which is used for conveying the tool and comprises:

the guide rail assembly extends along a first direction;

the motor control system according to any one of the above claims, wherein the plurality of first motors and the plurality of second motors of the motor control system are respectively arranged along the first direction and are arranged at intervals along a second direction, and the second direction intersects with the first direction; and

and each first motor is in driving connection with one roller, and each second motor is in driving connection with one roller.

Optionally, the conveyor line further comprises:

the first sensor is arranged on the guide rail assembly and used for detecting a first position signal of a tool on the guide rail assembly, the first sensor is electrically connected with a main controller of the motor control system, and the main controller receives the first position signal and then sends out a control signal to control the first motor and the second motor to be adjusted to a first preset rotating speed.

Optionally, the conveyor line further comprises:

the second sensor is arranged on the guide rail assembly and is arranged at an interval with the first sensor and used for detecting a second position signal of a tool on the guide rail assembly, the second sensor is electrically connected with the main controller, the main controller receives the second position signal and then sends a control signal to control the first motor and the second motor to operate at a second preset rotating speed, and the second preset rotating speed is zero.

Optionally, the main controller controls the first motor and the second motor to operate at a second preset rotation speed for a preset time and then continuously controls the first motor and the second motor to act at a third preset rotation speed, wherein the third preset rotation speed is greater than zero.

Optionally, the conveyor line further comprises:

the third sensor is arranged on the guide rail assembly and located between the first sensor and the second sensor and used for detecting a third position signal of a tool on the guide rail assembly, the third sensor is electrically connected with the main controller, the main controller receives a control signal sent out after the third position signal so as to control the first motor and the second motor to adjust to a fourth preset rotating speed, and the fourth preset rotating speed is less than the first preset rotating speed and is greater than the second preset rotating speed.

Optionally, the positions of the first motors and the second motors are arranged in a one-to-one correspondence in the first direction.

Optionally, the rail assembly comprises:

a first guide rail; and

the second guide rail, with first guide rail sets up relatively, and is a plurality of the gyro wheel is located respectively first guide rail with between the second guide rail, it is a plurality of first motor is located respectively first guide rail, it is a plurality of the second motor is located respectively the second guide rail.

According to the technical scheme, the first drive controller is adopted to drive the first motors, so that the first motors can synchronously run; the second driving controller is adopted to drive the second motors, so that the second motors can run synchronously; work signals are synchronously output to the second drive controller through the first drive controller, so that the first drive controller and the second drive controller under one main controller can synchronously work, a plurality of first motors and a plurality of second motors can be driven simultaneously, the drive controllers are not required to be independently arranged on each motor, a motor control system can be simplified, wiring is reduced, and the installation cost is reduced.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a block diagram of an embodiment of a motor control system according to the present invention;

FIG. 2 is a block diagram of a first driving controller according to an embodiment of the present invention;

FIG. 3 is a block diagram of a second embodiment of a driving controller according to the present invention;

fig. 4 is a schematic structural diagram of a transmission line according to an embodiment of the invention.

The reference numbers illustrate:

the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

The invention provides a motor control system which can be used for a transmission line with multiple motors, such as a transmission line for transmitting VR equipment, a transmission line for transmitting products and the like. The motor in the motor control system can be used for driving the roller 62 and other devices to realize the directional conveying of the tool 70 or the product. For convenience of description, the following description will be made by taking a conveying line of the conveying tool 70 as an example of the motor control system. Fig. 1 to 4 are corresponding drawings of an embodiment of the present invention.

Referring to fig. 1, in an embodiment, the motor control system includes:

a main controller 10; the main Controller 10 may be a PLC (Programmable Logic Controller) configured to generate configuration data to determine operating parameters of the motor in the motor control system, such as a rotating speed of the motor.

A first drive controller 20 electrically connected to the main controller 10; the first driving controller 20 is configured to generate a pulse signal and convert the pulse signal into a specific sine wave phase current. After the main controller 10 configures the operation parameters, the first driving controller 20 receives the operation parameter data and determines whether and at what frequency the pulse signal is generated according to the operation parameter data.

A plurality of first motors 30, wherein the first drive controller 20 is respectively in drive connection with the plurality of first motors 30; the first motors 30 are respectively used for receiving phase currents of sine waves generated by the first driving controller 20, so that the first motors 30 can be operated synchronously.

A second drive controller 40 electrically connected to the first drive controller 20; the second driving controller 40 is used for driving the motor to operate. The pulse signal generated by the first driving controller 20 is transmitted to the second driving controller 40, and the second driving controller 40 converts the pulse signal into a specific sine-wave phase current to drive the corresponding motor to operate.

The second driving controller 40 is respectively in driving connection with the plurality of second motors 50, when the motor control system operates, the main controller 10 is configured to send a control signal to the first driving controller 20, and when the first driving controller 20 receives the control signal, the first driving controller 20 drives the plurality of first motors 30 to operate and outputs a synchronous working signal to the second driving controller 40 to drive the plurality of second motors 50 to operate.

The first drive controller 20 may be provided with a first IO interface 22, and the main controller 10 is electrically connected to the first drive controller 20 through the first IO interface 22. The first drive controller 20 may also be provided with a first power conversion circuit 28 for providing operating power to the first drive controller 20. The first drive controller 20 may further provide a first communication interface 26 for communicating with an upper computer, and the first communication interface 26 may adopt an RS232 interface or the like. The first drive controller 20 is configured to drive the plurality of first motors 30, the second drive controller 40 is configured to drive the plurality of second motors 50, and when the first drive controller 20 is set, the first ID setting circuit 27 may be set in the first drive controller 20 to set the ID of the first drive controller 20, and the first ID setting circuit 27 may be flexibly configured by using an existing dial switch.

In an embodiment, a plurality of sets of the first driving controller 20 and the first motor 30 are disposed on each transmission line, or a plurality of sets of the second driving controller 40 and the second motor 50 may be disposed on each transmission line, and the plurality of sets of the first motors 30 and the plurality of sets of the second motors 50 are synchronously driven by the same main controller 10.

By adopting one first driving controller 20 to drive a plurality of first motors 30, synchronous driving of the plurality of first motors 30 is realized, and a driver is not required to be arranged on each first motor 30, so that wiring complexity of a control system can be reduced, and the system volume is reduced. The plurality of first motors 30 and the corresponding first driving controllers 20 form a module, which facilitates the modular installation. When a plurality of groups of motor control systems are arranged on the transmission line, the complexity of the system can be effectively reduced, and the rapid modularized installation is realized. When the driving control is carried out, the driving control efficiency can be effectively improved, and the complexity of system control is reduced. Since the first driving controller 20 can be simultaneously used to transmit the pulse signal to the second driving controller 40 to realize the driving of the plurality of second motors 50 which are drivingly connected to the second driving controller 40, the main controller 10 is not required to transmit the control signal to the second driving controller 40, and thus the wiring cost can be simplified and the transmission line cost can be reduced.

When the motor control system is used for the same transmission line, the plurality of first motors 30 and the plurality of second motors 50 can be used for the same guide rail assembly, the plurality of first motors 30 and the plurality of second motors 50 run synchronously, and the pulse signals generated by the first drive controller 20 can be directly used for driving the plurality of second motors 50 to run, so that the synchronous running of the plurality of first motors 30 and the plurality of second motors 50 can be realized, and further the synchronous precision of bilateral drive in the transmission line can be higher.

Referring to fig. 2 and fig. 3, in an embodiment, the first driving controller 20 includes a first control chip 21 and a first driving circuit 23 electrically connected to the first control chip 21, the first control chip 21 is electrically connected to the main controller 10, output ends of the first driving circuit 23 are respectively connected to the plurality of first motors 30 in a driving manner, and the second driving controller 40 is electrically connected to the first control chip 21; the first control chip 21 is used for determining whether or not to generate or what kind of pulse signal, and the first driving circuit 23 is used for converting the pulse signal into a specific sine wave phase current.

The main controller 10 may send a control signal to generate configuration data of the first motor 30 and the second motor 50, the first control chip 21 is configured to generate a first pulse signal after receiving the control signal sent by the main controller 10, and the first driving circuit 23 receives the first pulse signal and drives the plurality of first motors 30 to operate according to the configuration data; the second driving controller 40 receives the first pulse signal and drives the plurality of second motors 50 to operate according to configuration data. The configuration data for the first motor 30 and the second motor 50 are the same. The first driving circuit 23 and the second driving circuit 43 may adopt an existing DRV8825 chip, support a plurality of gears of 0.8A, 1A, 1.3A, 1.5A, and the like, and may also select other driving circuits. The second driving controller 40 is used as a slave driving controller of the first driving controller 20, and the second driving controller 40 does not need to separately generate a pulse signal, and only after the first driving controller 20 generates the first pulse signal, the first motor 30 and the second motor 50 are driven simultaneously. By setting the master-slave control, the control difficulty can be reduced, the synchronous control of the first motor 30 and the second motor 50 can be realized, and further the synchronism of the motors can be improved, so that the motor synchronization precision in the motor control system can be improved.

When the first IO interface 22, the first communication interface 26, the first ID setting circuit 27, and the first power conversion circuit 28 are provided, the above functional modules may be electrically connected to the first control chip 21.

Referring to fig. 2 and fig. 3, further optionally, the second driving controller 40 includes a second control chip 41 and a second driving circuit 43 electrically connected to the second control chip 41, where the second control chip 41 has a second slave mode control interface 44, the second slave mode control interface 44 is electrically connected to the input terminals of the first control chip 21 and the second driving circuit 43, and the output terminal of the second driving circuit 43 is connected to the plurality of second motors 50 in a driving manner; the first control chip 21 has a slave mode output interface, and the second slave mode control interface 44 of the second control chip 41 is connected to the slave mode output interface of the first control chip 21. The first control chip 21 generates a first pulse signal, and the second driving circuit 43 receives the first pulse signal through the second slave mode control interface 44 and drives the plurality of second motors 50 to operate. The second slave mode control interface 44 receives the first pulse signal through the slave mode output interface of the first control chip 21, the second driving circuit 43 does not receive the first pulse signal through the second control chip 41, and the second driving circuit 43 converts the first pulse signal into a sine-wave phase current to drive the plurality of second motors 50 to operate.

After the master controller 10 sends a control signal to the first control chip 21, the first control chip 21 generates a first pulse signal, the second control chip 41 does not generate a pulse signal, and only receives the first pulse signal from the first control chip 21, and the second slave mode control interface 44 directly forwards the first pulse signal to the second driving circuit 43 without passing through the second control chip 41, so as to realize fast driving of the second motor 50, and enable the first motor 30 and the second motor 50 to be driven synchronously.

In an embodiment, the first driving controller 20 further includes a first master-slave setting circuit 25, the first control chip 21 has a master-slave mode setting interface, and the first master-slave setting circuit 25 is connected to the master-slave mode setting interface of the first control chip 21; the first master-slave setting circuit 25 is configured to set a master-slave mode of the first control chip 21.

The second drive controller 40 further includes a second master-slave setting circuit 45, the second control chip 41 further has a master-slave mode setting interface, and the second master-slave setting circuit 45 is connected to the master-slave mode setting interface of the second control chip 41; the second master-slave setting circuit 45 is configured to set a master-slave mode of the second control chip 41. When the first master-slave setting circuit 25 sets the first control chip 21 to the master mode, the second master-slave setting circuit sets the second control chip 41 to the slave mode. The slave mode output interface of the first control chip 21 is connected with the second slave mode control interface 44; the first master-slave setting circuit 25 is configured to set the first control chip 21 to be in a master mode, the second master-slave setting circuit 45 sets the second control chip 41 to be in a slave mode, the master controller 10 sends a control signal to the first control chip 21 to configure operation parameters of the first motor 30 and the second motor 50, and the first control chip 21 is configured to generate a first pulse signal to be used as a master driving control chip; the second control chip 41 does not generate a pulse signal, and the first control chip 21 outputs the first pulse signal to the second slave mode control interface 44 of the second control chip 41 through the slave mode output interface as a slave driving control chip. By setting the first master-slave setting circuit 25 and the second master-slave setting circuit 45, the master-slave mode of the first control chip 21 and the second control chip 41 can be set as required, when the first control chip 21 is in the master mode, the second control chip 41 is in the slave mode, and at this time, the master controller 10 only needs to send a control signal to the first control chip 21 to configure the motor operation parameters.

The master-slave mode of the first control chip 21 and the second control chip 41 is set by the first master-slave setting circuit 25 and the second master-slave setting circuit 45, and then it is determined whether to send a control signal to the first control chip 21 according to the master-slave mode of the first control chip 21 and the second control chip 41. The master controller 10 pre-stores the existing control program, and sends a control signal to the first control chip 21 when the first control chip 21 is in the master mode and the second control chip 41 is in the slave mode. When the first control chip 21 is in the slave mode and the second control chip 41 is in the master mode, no control signal is sent to the first control chip 21.

When the first master-slave setting circuit 25 sets the first control chip 21 to be in the slave mode, the second master-slave setting circuit 45 sets the second control chip 41 to be in the master mode, and at this time, the first control chip 21 does not generate the pulse signal. Further optionally, the second control chip 41 is also electrically connected to the main controller 10; the first control chip 21 further has a first slave mode control interface 24, the input terminal of the first driving circuit 23 is further connected to the first slave mode control interface 24, the second control chip 41 further has a slave mode output interface, and the first slave mode control interface 24 of the first control chip 21 is connected to the slave mode output interface of the second control chip 41; when the second control chip 41 generates the pulse signal, the pulse signal may be transmitted to the first driving circuit 23 through the first slave mode control interface 24.

The second master-slave setting circuit 45 is configured to set the second control chip 41 to be in the master mode, the first master-slave setting circuit 25 sets the first control chip 21 to be in the slave mode, and the first control chip 21 does not receive a control signal of the master controller 10 and does not generate the first pulse signal. The main controller 10 is further configured to send a control signal to the second control chip 41, the second control chip 41 generates a second pulse signal after receiving the control signal, and the second driving circuit 43 drives the plurality of second motors 50 to operate after receiving the second pulse signal; the first driving circuit 23 receives the second pulse signal through the first slave mode control interface 24 to drive the plurality of first motors 30 to operate. At this time, the first control chip 21 acts as a slave control chip, and the second pulse signal is directly transmitted to the first driving circuit 23 without passing through the first control chip 21.

By setting the first master-slave setting circuit 25 and the second master-slave setting circuit 45, the master-slave mode of the first control chip 21 and the second control chip 41 is set, so that when the first control chip 21 is used as a master chip, the second control chip 41 is used as a slave chip, at this time, the first control chip 21 receives a control signal of the master controller 10 to generate parameter configuration data of the first motor 30 and the second motor 50, the first control chip 21 generates a first pulse signal, the second control chip 41 does not generate a pulse signal, and the first driving circuit 23 and the second driving circuit 43 both convert the first pulse signal into a phase current to drive the first motor 30 and the second motor 50 to operate synchronously. When the first control chip 21 is used as a slave chip, the second control chip 41 is used as a master chip, and at this time, the second control chip 41 receives a control signal of the master controller 10 to generate parameter configuration data of the first motor 30 and the second motor 50, the second control chip 41 generates a second pulse signal, the first control chip 21 does not generate the pulse signal, and the first driving circuit 23 and the second driving circuit 43 both convert the second pulse signal into a phase current to drive the first motor 30 and the second motor 50 to operate synchronously.

The second drive controller 40 may be provided with a second IO interface 42, and the main controller 10 is electrically connected to the second drive controller 40 through the second IO interface 42. The second drive controller 40 may also be provided with a second power conversion circuit 48 for providing operating power to the second drive controller 40. The second driving controller 40 may further provide a second communication interface 46 for communicating with the upper computer, and the second communication interface 46 may adopt an RS232 interface or the like. The second driving controller 40 is configured to drive a plurality of second motors 50, and when the second driving controller 40 is configured, a second ID setting circuit 47 may be configured at the second driving controller 40 to set an ID of the second driving controller 40, and the second ID setting circuit 47 may be flexibly configured by using an existing dial switch. When the second IO interface 42, the second communication interface 46, the second ID setting circuit 47, and the second power conversion circuit 48 are provided, the above functional modules may be electrically connected to the second control chip 41.

According to the invention, the first drive controller 20 and the second drive controller 40 are arranged, and the master-slave relation of the first drive controller 20 and the second drive controller 40 is configured, so that after one main controller 10 sends a control signal, the first drive controller 20 or the second drive controller 40 generates a pulse signal to simultaneously drive a plurality of first motors 30 and a plurality of second motors 50, and drivers are not required to be arranged on each first motor 30 and each second motor 50, so that the structure of the system is simplified, the system can be designed in a modularized manner, the synchronism of the first motors 30 and the second motors 50 is effectively improved, and when the system is used for a transmission line, the operation synchronism of transmission equipment such as rollers 62 in the transmission line can be improved.

The invention also provides an embodiment of the transmission line on the basis of the motor control system. The conveyor line is used for conveying the tooling 70.

Referring to fig. 4, in an embodiment, the transmission line includes:

the guide rail assembly extends along a first direction; the first direction may be a length extending direction of the rail assembly, and the tool 70 is conveyed along the first direction. A conveying channel for conveying the tool 70 is formed on the guide rail assembly.

The motor control system according to any one of the above embodiments, wherein the plurality of first motors 30 and the plurality of second motors 50 of the motor control system are respectively arranged along the first direction and are arranged at intervals along a second direction, and the second direction intersects with the first direction; the second direction may be a width direction of the guide rail assembly, and the first motor 30 and the second motor 50 are respectively disposed at both sides of the conveying passage. As shown in fig. 4 as an example, the first direction is the a direction and the second direction is the B direction.

A plurality of rollers 62, each of the first motors 30 is drivingly connected to one of the rollers 62, and each of the second motors 50 is drivingly connected to one of the rollers 62. The rollers 62 are arranged on the guide rail assembly, the rollers 62 form a conveying channel for conveying the tool 70, when the first motor 30 and the second motor 50 operate, each of the first motor 30 and the second motor 50 can respectively drive the rollers 62 to rotate, and the tool 70 above the rollers 62 can be conveyed along the first direction under the driving of the rollers 62.

Since the first motor 30 and the second motor 50 can be driven synchronously by the main controller 10 of the motor control system, the plurality of rollers 62 can rotate synchronously. By adopting the master-slave driving manner described in the above embodiments, the first motor 30 and the second motor 50 can improve the synchronization accuracy as much as possible, and thus the rapid and stable conveyance of the tool 70 is realized. The motor control system can adopt a plurality of module designs to cover whole transmission line, realize that whole transmission line passes through unified main control unit 10 and controls. When the tool 70 is not conveyed in the conveying channel, the main controller 10 may send a control signal to configure the first motor 30 and the second motor 50 to operate at a low speed or maintain a zero-speed state.

In an embodiment, the conveying line further includes a first sensor 63, where the first sensor 63 is disposed on the guide rail assembly, and is configured to detect a first position signal of the tool 70 on the guide rail assembly, where the first position may be a position when the tool 70 enters the conveying passage, and when the first sensor 63 detects the first position signal, it indicates that the tool 70 enters the conveying passage. The first sensor 63 is electrically connected with a main controller 10 of the motor control system, and the main controller 10 sends a control signal after receiving the first position signal so as to control the first motor 30 and the second motor 50 to adjust to a first preset rotating speed. When the first position signal is detected, the main controller 10 sends a control signal, and at this time, the first motor 30 and the second motor 50 may accelerate to a maximum rotation speed state, so as to rapidly convey the tool 70 to the machining position of the conveying line.

When the master controller 10 sends the control signal, the first control chip 21 may be in a master mode, and the second control chip 41 may be in a slave mode, or vice versa.

Further optionally, the conveying line further includes a second sensor 64, the second sensor 64 is disposed on the guide rail assembly, and is spaced from the first sensor 63, and is configured to detect a second position signal of the tool 70 on the guide rail assembly, when the second sensor 64 detects the second position signal of the tool 70, it is indicated that the tool 70 will enter the machining position, the second sensor 64 is electrically connected to the main controller 10, the main controller 10 sends out a control signal after receiving the second position signal, so as to control the first motor 30 and the second motor 50 to operate at a second preset rotation speed, where the second preset rotation speed is zero rotation speed. The first motor 30 and the second motor 50 stop operating, and at this time, the tool 70 may be processed. The main controller 10 simultaneously implements the setting of the operating parameters of the first motor 30 and the second motor 50, so that the first motor 30 and the second motor 50 can be synchronized.

Optionally, after the machining is performed at the machining position, in order to convey the tool 70 to the outside of the conveyor line, the main controller 10 controls the first motor 30 and the second motor 50 to operate at a second preset rotation speed for a preset time period, and then continuously controls the first motor 30 and the second motor 50 to operate at a third preset rotation speed, where the third preset rotation speed is greater than zero. The preset time is the processing time of the tool 70 at the processing position, and the preset time can be determined according to the specific processing procedure of the tool 70. After the tool 70 stays at the machining position for a preset time, machining is finished by default, and at this time, the first motor 30 and the second motor 50 act and are adjusted to a third preset rotating speed so as to continue conveying the tool 70.

Optionally, before the first sensor 63 detects the first position signal and the second sensor 64 detects the second position signal, that is, before the tool 70 is transferred to the machining position, when the first preset rotation speed is relatively high, in order to smoothly decelerate to the second preset rotation speed at the machining station, optionally, the transmission line further includes a third sensor 65, the third sensor 65 is disposed on the guide rail assembly and located between the first sensor 63 and the second sensor 64, and is used for detecting a third position signal of the tool 70 on the guide rail assembly, when the third position signal is detected, it indicates that the current tool 70 is about to reach the machining position, it is necessary to decelerate the first motor 30 and the second motor 50, the third sensor 65 is electrically connected to the main controller 10, and the main controller 10 sends out a control signal after receiving the third position signal, the first motor 30 and the second motor 50 are controlled to be adjusted to a fourth preset rotating speed, the fourth preset rotating speed is smaller than the first preset rotating speed and larger than the second preset rotating speed, namely, the rotating speeds of the first motor 30 and the second motor 50 are reduced, so that the speed is reduced conveniently before the machining position is reached.

Through reducing the speed of the first motor 30 and the second motor 50 when detecting the third position signal, the inertia generated when the tool 70 directly reduces the speed from the first preset rotating speed to the second preset rotating speed can be reduced, and then the position of the tool 70 can be determined more conveniently, and the conveying precision of the tool 70 is improved.

When the conveying line is manufactured, a fourth sensor 66 may be disposed on the guide rail assembly, the fourth sensor 66 may be disposed at an end of the second sensor 64 far from the third sensor 65, and when the fourth sensor 66 detects the tool 70, it indicates that the tool 70 is about to be output from the conveying line.

A fifth sensor 67 and a sixth sensor 68 may be further disposed between the third sensor 65 and the first sensor 63 to detect the tool 70 during the conveying process. As shown in fig. 4, in an embodiment, three sets of first driving controllers 20 and three corresponding sets of first motors 30, three sets of second driving controllers 40 and three corresponding sets of second motors 50 are disposed on the rail assembly, and three sets of sensors are disposed in a second direction of the rail assembly, each set of sensors includes two sensor units for detecting a position of the tool 70. The tooling 70 may be transported in a forward direction or in a reverse direction.

In order to improve the stability of the tool 70, optionally, the positions of the first motors 30 and the second motors 50 are arranged in a one-to-one correspondence manner in the first direction. In the conveying process of the tool 70, two ends of the tool 70 in the second direction are respectively in contact with the roller 62, so that the stability of the tool 70 is improved.

In one embodiment, the rail assembly comprises:

a first guide rail 60; the first motors 30 are respectively arranged on the first guide rail 60, and the first guide rail 60 is provided with rollers 62 which are arranged corresponding to the first motors 30 one by one.

The second guide rail 61 is arranged opposite to the first guide rail 60, a conveying channel is formed between the first guide rail 60 and the second guide rail 61, the plurality of second motors 50 are respectively arranged on the second guide rail 61, and the second guide rail 61 is provided with rollers 62 which are arranged in one-to-one correspondence with the second motors 50. The first and second guide rails 60 and 61 may be used to support the first and second motors 30 and 50 and to facilitate installation of the rollers 62. The first guide rail 60 and/or the second guide rail 61 can be provided with a groove for limiting the edge of the tool 70, and when the tool 70 is driven by the roller 62 to be conveyed along the first direction, the edge of the tool 70 is clamped in the groove of the first guide rail 60 and/or the second guide rail 61, so that the tool 70 is prevented from falling off.