Detailed introduction of mechatronics

Electromechanical integration technology Electromechanical integration technology is the combination of applied mechanical technology and electronic technology. With the rapid development and wide application of computer technology, mechatronics technology has achieved unprecedented development, becoming the synthesis of computer and information technology, automatic control technology, sensing detection technology, servo transmission technology and mechanical technology. & gt specifically includes the following contents:

Mechanical technology, computer and information technology system technology, automatic control technology, sensing detection technology, servo drive technology.

Mechatronics is a wide-caliber specialty with a wide range of applications. During school, students should not only learn various theoretical knowledge such as machinery, electrical and electronic, computer technology, control technology, detection and sensing, but also participate in various skills training and national vocational qualification certificate examination, which fully embodies the characteristics of attaching importance to skills training. After graduation, students mainly face enterprises and companies in the Pearl River Delta, engaged in processing and manufacturing, household appliances production and after-sales service, the use and maintenance of CNC machining machines and equipment, the design, production, transformation and technical support of property automation management systems and electromechanical products, as well as the installation, debugging, maintenance, sales and management of electromechanical equipment.

Directory 1 mechatronics of this book 2 Content introduction 3 Author introduction 4 Directory 5 Development direction of mechatronics of this book Author: (Japan) Ms. Wu Teng Translator: Teng Shenbo

Press: Science Press

Page number: 258 pages

Publication date: 2007

ISBN:9787030 1938 10

Binding: paperback

Format: 16

Market price: ￥35.00 This book is an introduction to practical technology of mechatronics, focusing on six necessary technologies of mechatronics, namely computer technology, sensor technology, transmission technology, interface technology, software technology and network technology. Finally, the typical applications of mechatronics & robot technology and numerical control technology are explained in detail. This book is easy to understand, concise and illustrated.

This book can be used as a reference for on-site engineers and technicians engaged in mechatronics, as well as a teaching reference book for undergraduates of electrical, electronic and mechanical departments in colleges and universities, and a self-study textbook for college or higher vocational students to learn mechatronics. Editor's brief introduction to the author of this paragraph: Mrs. Wu Teng, 1955 was born in Fukushima Prefecture. 1980 graduated from the vocational training university managed by the Ministry of Labor, majoring in mechanical engineering. 1982 graduated from the graduate school of engineering, Yamanashi University, majoring in precision engineering. 1993 Ph.D., Graduate School of Engineering, Tokyo A&M University, currently working in the Department of Precision Mechanical Systems Engineering, Vocational Ability Development University, and concurrently serving as a professor in the Department of Welfare Engineering, and a technical consultant in Iwate Prefecture, Tochigi Prefecture, Fukushima Prefecture and Ibaraki Prefecture. Member of the Special Investigation Committee of the Central Vocational Ability Development Review Committee of the Ministry of Health, Labor and Welfare, member of the Special Committee of the FA Open Promotion Agreement Open Controller of the Ministry of Economy, Trade and Industry, member of the XML Demonstration Committee of the FA Open Promotion Agreement of the Ministry of Economy, Trade and Industry, chairman of the Manufacturing Department Committee of the Automobile Technology Association, and member of the Processing Data File Planning Committee of the Machinery Revitalization Association. Edit this part of the catalog Chapter 1 Overview of mechatronics

1. 1 mechatronics and its basic elements

1.2 basic technology and development history of mechatronics

1.3 sensor

1.3. 1 What is a sensor?

1.3.2 sensor type

1.3.3 analog and digital signals

1.3.4 sensor signal

1.3.5 sensor selection method

1.4 interface circuit (electronic circuit and signal processing system)

1.5 controller

1.5. 1 What is a controller?

1.5.2 relay control

1.5.3 semiconductor relay (contactless) control

1.5.4 sequence controller

1.5.5 controller signal

1.5.6 Convert analog signals into digital signals in the controller.

1.5.7 controller signal level (TTL level)

1.6 transmission device

1.6. 1 What is a transmission?

1.6.2 motor

1.6.3 electromagnetic drive mechanism

1.6.4 pneumatic drive device

1.7 software

1.8 network

1.8. 1 What is a network?

1.8.2 network application example based on PLC

1.8.3 network and 3D CAD/CAE/CAM/CAT/ network system

1.8.4 network and electromechanical integration

Chapter II Microcomputer is the foundation of mechatronics.

2. 1 What is a microcomputer?

2.2 Hardware of Microcomputer

2.2. 1 8-bit and 16-bit microcomputers in 1970s

32-bit microcomputer in 1980s

2.2.3 Microcomputer in the 1990s

2.2.4 265438+ Microcomputer in the Early 20th Century

2.3 Types of microcomputers

2.2.3 Single board computer

single chip microcomputer

personal computer

2.4 Composition of Microcomputer System

2.4. 1 CPU

2.4.2 internal structure of CPU

2. 4. 3 CPU internal information processing sequence and machine cycle.

2.4.4 Memory and its functions

2.5 Microcomputer software

2.6 Microcomputer Interface Circuit

2.6. 1 Internal data signal reception of microcomputer interface circuit

2.6.2 I/O interface circuit and its communication

2.6.3 Parallel-serial mode and serial-parallel conversion

Chapter III Hardware Technology of Mechatronics

3. 1 Basic knowledge of mechanical parts

3. 1. 1 mechanical movement

3. 1.2 mechanism

3. 1.3 mechanical parts

3.2 Basic knowledge of electronic components

3.2. 1 capacitor

resistor

diode; the one who lacks dialectical thinking

photodiode

Triode

relay

solid-state relay

integrated circuit

operational amplifier

3.2. 10 digital integrated circuit

Chapter IV Electromechanical Integration Interface Technology

4. 1 Basic knowledge of interface circuit

4. 1. 1 Overview of interface circuit

4. 1.2 Reverse current and source current

4. 1.3 logic "1" and logic "0"

4. 1.4 pull-up resistor and pull-down resistor

4.2 Interface technology

4.2. 1 Convert digital signals into digital signals.

4.2.2 Convert digital signals into analog signals.

4.2.3 Convert analog signals into digital signals.

4.2.4 Convert analog signals into analog signals.

4.3 Reading and use of practical digital integrated circuits

4.3. 1 logic check

4.3.2 Pulse oscillation circuit

4.3.3 Pulse delay circuit

4.3.4 bistable flip-flop circuit

4.3.5 Counter circuit using 74LS393

Anti-vibration circuit

4.3.7 Differential and Integral Circuits

4.4 Interface circuit between microcomputer and sensor

Sensor amplifier circuit

4.4.2 Amplification circuit of vibration sensor

4.4.3 Optical sensor (phototransistor) amplifier circuit

4.5 Interface circuit between microcomputer and transmission device

4.5. 1 drive circuit

Darlington connection

4.5.3 Use photoelectric coupler to drive transmission device.

Chapter V Software Technology of Mechatronics

5. 1 Software Overview

5.2 machine language

5.2. 1 What is machine language?

5.2.2 bit

5.2.3 Machine language is the signal of microcomputer.

5.2.4 Preparation for mastering machine language and assembly language.

assembler language

program flow chart

5.3 C language, C++ and Java

5.4 XML language

5.5 UML language

Chapter VI Robots and Numerical Control Technology

6. 1 What is a robot?

6. 1. 1 definition of robot

6. 1.2 robot structure

6. 1.3 robot development history

6. 1.4 robot type

6.2 Robotics

6.2. 1 robot control technology

The use of robots

6.3 CNC machine tools

6.3. 1 What is numerical control?

6.3.2 CNC machine tools and their components

6.3.3 Path control mode of CNC machine tools

6.3.4 Servo Mechanism Structure

6.3.5 Brief History of CNC Machine Tools

6.3.6 Characteristics and types of CNC machine tools

6.3.7 Efficacy of CNC machine tools

6.3.8 Programming of CNC machine tools

refer to

Analysis and countermeasures of abnormal phenomena in installation and debugging of mechanical and electrical equipment After the installation and construction of mechanical and electrical equipment is completed, it is usually necessary to start and debug the motor and its machinery separately. The commissioning and operation equipment is operated by the personnel of the construction unit, in accordance with the conditions and requirements of formal production or use, and compared with the requirements of project design for a long time. The purpose is to check the quality of equipment design, manufacture, installation and debugging, verify the reliability of continuous operation of equipment, test the performance of equipment, and compare the test data with the data recorded by the equipment manufacturer, so as to evaluate the quality of equipment engineering. In practical work, the equipment trial operation will encounter unexpected abnormal conditions, which will cause the motor to fail to start and trip, and the motor with larger capacity will have more opportunities. In order to facilitate the analysis afterwards, before starting the motor, it is necessary to make preparations in advance (especially for large motors) and analyze the inspection results.

1. Inspection and debugging inspection before starting the motor.

1 Pre-startup inspection

(1) For the motor that has been installed or stopped for more than three months, measure the insulation resistance between the windings of the motor and between the windings and the ground (shell) with a megger, and remove all external wiring on the motor outlet terminal before the test. Usually, 500V megohmmeter is used to measure the insulation resistance of motors below 500V, and 1000V megohmmeter is used to measure the insulation resistance of motors between 500 and 3000 V.. According to the requirements, the insulation resistance should not be lower than 1 megger, the voltage should be lower than 1kV, and the capacity should be 100. If the insulation resistance is low, dry the motor first, and then measure the insulation resistance. Power on only after passing the test.

(2) Check whether the secondary circuit wiring is correct. The wiring inspection of the secondary circuit can simulate the action once before the motor is not connected to confirm whether the actions of each link are correct, including whether the signal lamp is displayed correctly. Check whether the motor leads are connected correctly, whether the phase sequence and rotation direction meet the requirements, whether the grounding or zero connection is good, and whether the cross-sectional area of the leads meets the requirements.

(3) Check whether there are sundries inside the motor, and use 200-300kPa dry and clean compressed air to purge the interior (blower or hand bellows can be used), but the winding cannot be damaged.

(4) Check whether the voltage and frequency displayed on the motor nameplate are consistent with the connected power supply voltage and frequency, whether the power supply voltage is stable (the fluctuation range of power supply voltage is usually allowed to be 5%), and whether the connection mode is the same as that displayed on the nameplate. If it is a step-down startup, check whether the wiring of the startup equipment is correct.

(5) Check whether the motor fastening bolt is loose, whether the bearing is short of oil, whether the gap between stator and rotor is reasonable, whether the gap is clean and whether there are any sundries. Check whether there are sundries around the unit that hinder the operation, and whether the foundation of motor and driven machinery is firm.

(6) Check the setting values of protective appliances (circuit breakers, fuses, AC contactors, thermal relays, etc.). ) are all suitable. Whether the static and dynamic contacts are in good contact. Check whether the capacity of the control device is appropriate, whether the melt is in good condition, whether the specification and capacity meet the requirements, and whether the assembly is firm. .

(7) Whether the brush is in good contact with the commutator or slip ring, and whether the brush pressure meets the requirements of the manufacturer.

(8) Check whether the starting equipment is in good condition, whether the wiring is correct and whether the specifications meet the requirements of the motor. Pull the rotor of the motor and the rotating shaft of the driven machine (such as water pump and fan). ) Check by hand whether the rotation is flexible, and whether there is jamming, friction and bore sweeping. Ensure good installation and clear rotation.

(9) Check whether the transmission device meets the requirements. Whether the tightness of the drive belt is moderate and the coupling connection is intact.

(10) Check whether the ventilation system, cooling system and lubrication system of the motor are normal. Observe whether there are any signs of leakage, and turn the motor shaft to see whether the rotation is flexible and whether there is any rubbing sound or other abnormal sound.

(1 1) Check whether the grounding or zero protection of the motor shell is reliable and meets the requirements.

2. Check the motor during the test run.

Check at startup

(1) When the motor is powered on for trial operation, the personnel present must be reminded that no other personnel can stand near the transmission part, nor can they stand on both sides of the motor and the dragged equipment, so as to avoid injury accidents caused by rotating objects flying tangentially.

(2) Be prepared to cut off the power supply before turning on the power supply, so as to prevent the power supply from being cut off immediately when the motor is abnormal after turning on the power supply (for example, the motor can't start, it starts slowly, and there is abnormal noise, etc.). ). Motors using direct start mode should be started with no load. Due to the large starting current, the closing action should be quick and decisive.

(3) The number of continuous starting of the motor should not exceed 3~5 times to prevent the starting equipment and motor from overheating. Especially when the motor power is high, we should always pay attention to the temperature rise of the motor.

(4) When the motor does not turn or turn abnormally or has abnormal sound after starting, it should be stopped for inspection quickly.

(5) When triangle starter and autotransformer are used, the soft starter or variable frequency starter must comply with the operation procedures.

Debugging inspection

(1) Check whether the motor rotates flexibly or noisily. Pay attention to whether the rotation direction of the motor is consistent with the required rotation direction.

(2) Check whether the power supply voltage is normal. For 380 volt asynchronous motors, the power supply voltage should not be higher than 400 volts or lower than 360 volts. ..

(3) Record the bus voltage, starting time and motor no-load current at startup. Note that the current cannot exceed the rated current.

(4) Check whether the motor-driven equipment is normal and whether the transmission between the motor and the equipment is normal.

(5) Check whether the sound when the motor is running is normal and whether there is the smell of smoke or burning.

(6) Use a test pen to check whether the motor casing is leaking and poorly grounded.

(7) Check whether the motor shell is overheated, and pay attention to whether the motor temperature rise is normal and whether the bearing temperature meets the requirements of the manufacturer (shaft voltage should also be measured for insulated bearings).

Editor's Note: The development direction of this paragraph is the integration of mechatronics to intelligence. At the end of 1990s, major developed countries began a new stage of electromechanical integration to intelligent development. On the one hand, optics and communication technologies have entered the electromechanical integration, and micro-machining technology has also appeared in the electromechanical integration, and new branches such as optical electromechanical integration and micro-electromechanical integration have appeared; On the other hand, the modeling design, analysis and integration methods of mechatronics system, the discipline system and development trend of mechatronics are deeply studied. At the same time, due to the great progress in artificial intelligence technology, neural network technology, optical fiber technology and other fields, it has opened up a broad world for the development of electromechanical integration technology and provided a solid foundation for industrial development. Pay attention to six development directions: mechatronics is the cross-integration of machinery, electronics, optics, control, computer, information and other disciplines, and its development and progress depend on and promote the development and progress of related technologies. The future development direction of mechatronics is: 1. Intelligent. Intelligentization is an important development direction of mechatronics technology in 2 1 century. Artificial intelligence has been paid more and more attention in the research of electromechanical integration builders, and the intelligence of robots and CNC machine tools is an important application. The "intelligence" mentioned here is a description of machine behavior. On the basis of control theory, it absorbs new ideas and methods such as artificial intelligence, operational research, computer science, fuzzy mathematics, psychology, physiology, chaotic dynamics, etc., and simulates human intelligence, so that it has the ability of judgment and reasoning, logical thinking and independent decision-making, thus achieving higher control goals. It is true that it is impossible and unnecessary for mechatronics products to have exactly the same intelligence as people. However, it is absolutely possible and necessary for high-performance and high-speed microprocessors to endow mechatronics products with low-level intelligence or part of human intelligence. 2. Modularization. Modularization is an important and arduous project. Due to the wide variety of mechatronics products and numerous manufacturers, it is very complicated and important to develop mechatronics product units with standard mechanical interfaces, electrical interfaces, power interfaces and environmental interfaces. For example, the development of power unit integrating deceleration, intelligent speed regulation and motor, control unit with functions of vision, image processing, recognition and ranging, and various mechanical devices capable of completing typical operations. In this way, new products can be developed quickly and the production scale can be expanded by using standard units. This requires the formulation of standards to facilitate the matching and interface of components and units. Due to conflicts of interest, it is difficult to formulate international or domestic standards in this field in the near future, but it can be gradually formed by setting up some large enterprises. Obviously, judging from the benefits of standardization and serialization of electrical products, it is certain that the scale will bring bright prospects to electromechanical integration enterprises, whether it is enterprises producing standard electromechanical integration units or enterprises producing electromechanical integration products. 3. network. In 1990s, the outstanding achievement of computer technology was network technology. The rise and rapid development of network technology has brought great changes to science and technology, industrial production, politics, military affairs, education and people's daily life. Various networks connect the global economy and production, and the competition among enterprises will also be globalized. Once a new product of mechatronics is developed, it will soon sell well all over the world as long as it has unique functions and reliable quality. Due to the popularity of the network, various remote control and monitoring technologies based on the network are in the ascendant, and the remote control terminal equipment itself is a mechatronics product. Fieldbus and LAN technology have become the general trend of home appliance networking. Using home network to connect various household appliances into a computer-centered computer integrated household appliance system (CIAS), people can share the convenience and happiness brought by various high technologies at home. Therefore, mechatronics products will undoubtedly develop in the direction of networking. 4. miniaturization. Miniaturization rose in the late 1980 s, which refers to the development trend of electromechanical integration to micro-machines and micro-fields. It is called Micro-Electro-Mechanical System (MEMS) abroad, which generally refers to mechatronics products with a geometric size of no more than 1 cubic centimeter, and it is developing to micron and nanometer levels. Micro-electromechanical integration products are small in size, low in energy consumption and flexible in movement, and have incomparable advantages in biomedical, military and information fields. The bottleneck of the development of micro-electromechanical integration lies in micro-mechanical technology, and the processing of micro-electromechanical integration products adopts fine processing technology, that is, ultra-precision technology, including lithography technology and etching technology. 5. Go green. The development of industry has brought great changes to people's lives. On the one hand, it is rich in materials and comfortable in life; On the other hand, resources are reduced and the ecological environment is seriously polluted. Therefore, people call for protecting environmental resources and returning to nature. The concept of green products came into being under this voice, and greening is the general trend. Green products meet the specific requirements of environmental protection and human health in the life process of their design, manufacture, use and destruction, with little or no harm to the ecological environment and high resource utilization rate. Designing green mechatronics products has great development prospects. The greening of mechatronics products mainly means that they do not pollute the ecological environment when used and can be recycled after being scrapped. 6. systematize. One of the characteristics of systematization is that the system architecture further adopts open and modular bus structure. The system can be flexibly configured, arbitrarily cut and combined, and at the same time seek to realize the coordinated control and integrated management of multiple subsystems. The second performance is that the communication function is greatly strengthened, especially the development of "personalization" is remarkable, that is, the future mechatronics will pay more attention to the relationship between products and people. The personification of mechatronics has two meanings. First, the end users of mechatronics products are people. How to endow mechatronics products with intelligence, emotion and humanity is becoming more and more important, especially for domestic robots, whose advanced realm is man-machine integration. Another meaning is to imitate biological mechanism and develop various electromechanical integration products.