CN105527922A - Punch manipulator control method and system thereof - Google Patents
Punch manipulator control method and system thereof Download PDFInfo
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- CN105527922A CN105527922A CN201610067556.1A CN201610067556A CN105527922A CN 105527922 A CN105527922 A CN 105527922A CN 201610067556 A CN201610067556 A CN 201610067556A CN 105527922 A CN105527922 A CN 105527922A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
- G05B19/4065—Monitoring tool breakage, life or condition
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45103—Security, surveillance applications
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- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Safety Devices In Control Systems (AREA)
Abstract
The invention discloses a punch manipulator control method and a system thereof. The punch manipulator control method comprises steps of outputting a safety signal when the manipulator is in a preset state, if one manipulator simultaneously receives the safety signal and a safety signal outputted by the next manipulator connected to the manipulator, outputting a first signal to a controller connected to the manipulator and outputting a punching signal by the controller after receiving the first signal. Through the determination on itself by the manipulator and outputting the safety signal when the manipulator is in the safe state, the damage on the manipulator is avoided by outputting the punching signal according to the safety signal, which improves the safety. In the meantime, the damage caused by the mutual colliding between the manipulators in the operation can be avoided through determining whether the manipulator and the next manipulator connected to the manipulator are in the safe state, which further improves the safety.
Description
Technical field
The present invention relates to control technology field, particularly relate to a kind of control method and system thereof of punching machine mechanical arm.
Background technology
Current press line is main mainly with manual operation, and according to different Product Process requirements, the manpower of input is not identical yet.Raising the efficiency to save manpower, introducing intelligentized mechanical arm, replace manually carrying out the operation such as feeding and blowing.And for the punching operation of streamline, then need the method adopting punching machine mechanical arm multimachine interconnected, but during punching machine mechanical arm pipelining, if mechanical arm carries out the action conflict between action or adjacent machine hand when punch ram, then likely cause apparatus to damage.
Be in the patent publication of 201410141317.7 at application number, propose the control method of a kind of servocontrol machinery hand and vision-based detection production line, it is included in the multiple stage mechanical arm on production line conveying belt, arrange the centralized management of servocontrol and vision-based detection, scattered control system, this control system connects multiple stage mechanical arm servo-control system and vision detection system respectively by CAN control bus; But the method cannot guarantee the security of mechanical arm when production line operation.
Summary of the invention
Technical matters to be solved by this invention is: the control method and the system thereof that provide a kind of punching machine mechanical arm, improves security during punching machine mechanical arm pipelining.
In order to solve the problems of the technologies described above, the technical solution used in the present invention is: a kind of control method of punching machine mechanical arm, comprises
When mechanical arm is in preset state, output safety signal;
If a mechanical arm receives the safety signal of described safety signal and next mechanical arm connected output simultaneously, then export the first signal to connected controller;
After controller receives described first signal, export punching press signal.
The invention still further relates to a kind of control system of punching machine mechanical arm, comprise
First output module, when being in preset state for mechanical arm, output safety signal;
Second output module, if the safety signal receiving described safety signal and next mechanical arm connected output for a mechanical arm simultaneously, then exports the first signal to connected controller;
3rd output module, after receiving described first signal, exports punching press signal for controller.
Beneficial effect of the present invention is: mechanical arm by the judgement to oneself state, and at self then output safety signal in a safe condition, exports punching press signal according to safety signal, avoids punch press to cause damage to mechanical arm, improve security; Whether all in a safe condition by next mechanical arm judging self and be connected with self simultaneously, avoid the operation between mechanical arm to collide with each other and cause damage, further increase security.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the control method of a kind of punching machine mechanical arm of the present invention;
Fig. 2 is the method flow schematic diagram of the embodiment of the present invention one;
Fig. 3 is the method flow schematic diagram of the embodiment of the present invention two;
Fig. 4 is the method flow schematic diagram of the embodiment of the present invention three;
Fig. 5 is the method flow schematic diagram of the embodiment of the present invention four;
Fig. 6 is the system architecture schematic diagram of the embodiment of the present invention five;
Fig. 7 is the method flow schematic diagram of the embodiment of the present invention five;
Fig. 8 is the structural representation of the control system of a kind of punching machine mechanical arm of the present invention;
Fig. 9 is the system architecture schematic diagram of the embodiment of the present invention six;
Figure 10 is the structural representation of the 3rd output module of the embodiment of the present invention seven;
Figure 11 is the structural representation of the 3rd output module of the embodiment of the present invention eight;
Figure 12 is the structural representation of the 3rd output module of the embodiment of the present invention nine.
Label declaration:
1, the first output module; 2, the first judge module; 3, the second output module; 4, the 3rd output module;
401, the first transmitting element; 402, the first judging unit; 403, the first output unit;
411, the second transmitting element; 412, the 3rd transmitting element; 413, the second judging unit; 414, the second output unit; 415, the 3rd judging unit; 416, the 3rd output unit.
Embodiment
By describing technology contents of the present invention in detail, realized object and effect, accompanying drawing is coordinated to be explained in detail below in conjunction with embodiment.
The design of most critical of the present invention is: according to the state of mechanical arm oneself state with next mechanical arm, judges to export punching press signal, improves the security of mechanical arm when pipelining.
Refer to Fig. 1, a kind of control method of punching machine mechanical arm, comprises
When mechanical arm is in preset state, output safety signal;
If a mechanical arm receives the safety signal of described safety signal and next mechanical arm connected output simultaneously, then export the first signal to connected controller;
After controller receives described first signal, export punching press signal.
From foregoing description, whether beneficial effect of the present invention is: all in a safe condition by next mechanical arm judging self and be connected with self simultaneously, if simultaneously all in a safe condition, then export the first signal to controller, make controller export punching press signal, improve the security of mechanical arm when punching press the flow work.
Further, described " after described first signal of controller reception, exporting punching press signal " is specially:
Mechanical arm, according to current residing mode of operation, sends corresponding status signal to connected controller;
If controller receives the status signal of described first signal and the output of connected mechanical arm, and described status signal is preset state signal simultaneously, then export punching press signal.
Seen from the above description, mechanical arm is also judged by the state of controller to the mechanical arm of correspondence, improves the accuracy of judgement, further increase security while judging oneself state.
Further, described " after described first signal of controller reception, exporting punching press signal " is specially:
Mechanical arm, according to current residing mode of operation, sends corresponding status signal to connected controller;
Described status signal is sent to connected last controller by controller;
If controller receives the status signal of described first signal and next controller connected output, and described status signal is preset state signal simultaneously, then export punching press signal.
Seen from the above description, directly judged the state of next mechanical arm by controller, guarantee that next mechanical arm is in a safe condition, improve the accuracy of judgement, further increase security.
Further, described " if controller receives the status signal of described first signal and next controller connected output simultaneously, and described status signal is preset state signal, then export punching press signal " is specially:
The status signal that if controller receives described first signal simultaneously, connected mechanical arm exports and the status signal that next controller connected exports, and described status signal is preset state signal, then export punching press signal.
Seen from the above description, status signal is also sent to controller, carries out secondary judgement by the state of controller to connected mechanical arm and next mechanical arm while judging oneself state by mechanical arm, guarantee that two mechanical arms are all in a safe condition, further increase security.
Further, described " exporting punching press signal " is specially: controller exports punching press signal to the punch press corresponding with it.
Seen from the above description, when this TV station mechanical arm and next mechanical arm are all in a safe condition, punch press just carries out punching press, lowers the possibility that mechanical arm damages, has saved cost.
The invention allows for a kind of control system of punching machine mechanical arm, comprise
First output module, when being in preset state for mechanical arm, output safety signal;
Second output module, if the safety signal receiving described safety signal and next mechanical arm connected output for a mechanical arm simultaneously, then exports the first signal to connected controller;
3rd output module, after receiving described first signal, exports punching press signal for controller.
Further, described 3rd output module comprises
First transmitting element, for mechanical arm according to current residing mode of operation, sends corresponding status signal to connected controller;
First output unit, if the status signal receiving described first signal and the output of connected mechanical arm for controller simultaneously, and described status signal is preset state signal, then export punching press signal.
Further, described 3rd output module comprises
Second transmitting element, for mechanical arm according to current residing mode of operation, sends corresponding status signal to connected controller;
3rd transmitting element, sends to connected last controller for controller by described status signal;
Second output unit, if the status signal receiving described first signal and next controller connected output for controller simultaneously, and described status signal is preset state signal, then export punching press signal.
Further, the status signal that if described second output unit receives described first signal specifically for controller, connected mechanical arm exports and the status signal that next controller connected exports simultaneously, and described status signal is preset state signal, then export punching press signal.
Further, described 3rd output module exports punching press signal to the punch press corresponding with it specifically for controller.
Embodiment one
Please refer to Fig. 1-2, embodiments of the invention one are: a kind of control method of punching machine mechanical arm, can be used for ducted fluid flow waterline, guarantee mechanical arm safety operationally; Described method comprises the steps:
S1: when mechanical arm is in preset state, output safety signal; Alternatively, the state of mechanical arm comprise wait in feeding, feeding, feeding completes, wait in blowing, blowing and blowing completes, preset state comprises feeding and completes and complete with blowing, that is, when mechanical arm is in the state that feeding completes or blowing completes, then output safety signal; Alternatively, described safety signal is continuous print low level signal.
S2: judge whether a mechanical arm receives the safety signal of described safety signal and next mechanical arm connected output simultaneously, if so, then performs S3.
S3: described mechanical arm exports the first signal to connected controller; That is, when only having this TV station mechanical arm and next mechanical arm to be all in preset state, just the first signal is exported.
S4: after controller receives described first signal, exports punching press signal; Alternatively, described punching press signal directly can export to corresponding punch press, also first can output to the mechanical arm be connected with described controller, then be exported to the punch press be connected with described mechanical arm by mechanical arm.
The present embodiment by the judgement output safety signal of mechanical arm to oneself state, and time in a safe condition while of only having next mechanical arm, just export punching press signal and makes punch press start punching press, ensure that the security of ducted fluid flow waterline production and processing.
Embodiment two
Please refer to Fig. 3, embodiments of the invention two are improvement of embodiment one step S4, and something in common is not stated tired, and the S4 of the present embodiment comprises:
S41: mechanical arm, according to current residing mode of operation, sends corresponding status signal to connected controller.
S42: judge whether controller receives the status signal of described first signal and the output of connected mechanical arm simultaneously, and described status signal is preset state signal, if so, then performs S43; Alternatively, status signal comprises waits for signal and blowing settling signal in signal in feeding signal, feeding, feeding settling signal, wait blowing signal, blowing, and preset state signal comprises feeding settling signal and blowing settling signal.
S43: described controller exports punching press signal.
Alternatively, step S41 can carry out with step S1, S2 and S3 simultaneously.
In the present embodiment, status signal, except the mode of operation current to self judges, is also sent to connected controller by mechanical arm, carries out secondary judgement, further increase security by controller.
Embodiment three
Please refer to Fig. 4, embodiments of the invention three are also the improvement of embodiment one step S4, and something in common is not stated tired, and the S4 of the present embodiment comprises:
S41: mechanical arm, according to current residing mode of operation, sends corresponding status signal to connected controller.
S42: described status signal is sent to connected last controller by controller.
S43: judge whether controller receives the status signal of described first signal and next controller connected output simultaneously, and described status signal is preset state signal, if so, then performs S44.
S44: described controller exports punching press signal.
Alternatively, step S41 and S42 can carry out with step S1, S2 and S3 simultaneously.
In the present embodiment, controller carries out secondary judgement to the state of next mechanical arm, further increases security.
Embodiment four
Please refer to Fig. 5, the present embodiment is the further extension of above-described embodiment step S4, and the S4 of the present embodiment is specially:
S41: mechanical arm, according to current residing mode of operation, sends corresponding status signal to connected controller.
S42: described status signal is sent to connected last controller by controller.
S43: judge whether controller receives described first signal, the status signal of connected mechanical arm output and the status signal of next controller connected output simultaneously, and described status signal is preset state signal, if so, then performs S44.
S44: described controller exports punching press signal.
Alternatively, step S41 and S42 can carry out with step S1, S2 and S3 simultaneously.
At the present embodiment, controller, except having judged whether to receive except the first signal, also taps into the secondary judgement of row mechanical arm state simultaneously, guarantees that two mechanical arms are all in a safe condition, further increase security to this TV station mechanical arm and next manipulator direct.
Embodiment five
Please refer to Fig. 6-7, the present embodiment is a kind of control method of ducted fluid flow waterline, based on system architecture as shown in Figure 6, punch press, mechanical arm and controller can arrange multiple stage, Fig. 6 for three, wherein, a controller can be specified to be master controller, and other are from controller; Described control method comprises the steps:
S1: master controller receives enabled instruction, starts connected mechanical arm and all from controller.
S2: start from controller and be connected mechanical arm with it.
S3: after mechanical arm starts, mechanical arm performs the operation of feeding and blowing, and punch press performs the operation of punching press; Alternatively, the saltus step of the mode of operation between the mechanical arm of front and back is controlled by state machine; Alternatively, the security of mechanical arm when improving press work by the method for above-described embodiment.
Such as, when mechanical arm detects that current mode of operation is safe condition, then output safety signal X24, and output safety signal Y41 gives last mechanical arm, if that is a mechanical arm has output X24, then think that this mechanical arm is in a safe condition, if receive Y41, then think that next mechanical arm connected is in a safe condition; Only have X24 to have output, and receive Y41 simultaneously, just export punching press signal, allow punch ram.
S4: master controller receives halt instruction, stops connected mechanical arm and all from controller.
S5: stop connected mechanical arm from controller; Alternatively, mechanical arm can complete punching press and just carries out halted state after all being taken away by mechanical arm by all products on punch press.
Alternatively, before the control method performing described ducted fluid flow waterline, can perform mechanical arm and manually drag teaching.Such as, after closedown servo is enable, driving machinery hand arm that can be manual, to some positions, records the output terminal of servo-driver, the i.e. positional information of encoded servo device feedback, this position is designated as position 1, then driving machinery hand arm is to another position, the feedback position of record encoded servo device, this position is designated as position 2, the positional information of each servomotor is all preserved in position 1 and position 2, so just need not arrange separately the position of each servomotor, simplify instruction step.
Alternatively, before performing punching press stream line operation, the first clear point of mechanical arm, guarantees that mechanical arm can normally run; Mechanical arm is in halted state after having returned zero point.
Alternatively, the motion control of servomotor adopts S curve acceleration and deceleration algorithm, is controlled the rotating speed of servomotor, motor can be run stably by the speed controlling to send pulse.
Alternatively, can according to different punch press types, as impulse type, gear type and continuous type, three kinds of different punching press control modes are set.
Embodiment six
Please refer to Fig. 8-9, embodiments of the invention six are the control system of a kind of punching machine mechanical arm of the method for corresponding embodiment one, comprise
First output module 1, when being in preset state for mechanical arm, then output safety signal;
First judge module 2, for judging whether a mechanical arm receives the safety signal of described safety signal and next mechanical arm connected output, obtains the first judged result simultaneously;
Second output module 3, if be yes for described first judged result, then exports the first signal to connected controller;
3rd output module 4, after receiving described first signal, exports punching press signal for controller.
Described 3rd output module 4 exports punching press signal to the punch press corresponding with it specifically for controller.
Embodiment seven
Please refer to Figure 10, the present embodiment is the improvement of the 3rd output module 4 of embodiment six, the method for corresponding embodiment two.
Described 3rd output module 4 comprises
First transmitting element 401, for mechanical arm according to current residing mode of operation, sends corresponding status signal to connected controller;
First judging unit 402, for judging whether controller receives the status signal of described first signal and the output of connected mechanical arm simultaneously, and described status signal is preset state signal, obtains the second judged result.
First output unit 403, if be yes for described second judged result, then exports punching press signal.
Embodiment eight
Please refer to Figure 11, the present embodiment is also the method for the improvement of embodiment 6 the 3rd output module 4, corresponding embodiment three.
Described 3rd output module 4 comprises
Second transmitting element 411, for mechanical arm according to current residing mode of operation, sends corresponding status signal to connected controller;
3rd transmitting element 412, sends to connected last controller for controller by described status signal;
Second judging unit 413, for judging whether controller receives the status signal of described first signal and next controller connected output simultaneously, and described status signal is preset state signal, obtains the 3rd judged result.
Second output unit 414, if be yes for described 3rd judged result, then exports punching press signal.
Embodiment nine
Please refer to Figure 12, the present embodiment is the method for the further extension of above-described embodiment seven and embodiment eight, corresponding embodiment four.
Described 3rd output module 4 comprises
Second transmitting element 411, for mechanical arm according to current residing mode of operation, sends corresponding status signal to connected controller;
3rd transmitting element 412, sends to connected last controller for controller by described status signal;
3rd judging unit 415, for judging whether controller receives described first signal, the status signal of connected mechanical arm output and the status signal of next controller connected output simultaneously, and described status signal is preset state signal, obtain the 4th judged result.
3rd output unit 416, if be yes for described 4th judged result, then exports punching press signal.
In sum, the control method of a kind of punching machine mechanical arm provided by the invention and system thereof, mechanical arm is by the judgement to oneself state, and at self then output safety signal in a safe condition, punching press signal is exported according to safety signal, avoid punch press to cause damage to mechanical arm, improve security; Whether all in a safe condition by next mechanical arm judging self and be connected with self simultaneously, avoid the operation between mechanical arm to collide with each other and cause damage, further increase security; Mechanical arm, according to self current mode of operation, sends status signal to controller, carries out secondary judgement, reach duplicate protection, further increase security by controller to the state of mechanical arm.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every equivalents utilizing instructions of the present invention and accompanying drawing content to do, or be directly or indirectly used in relevant technical field, be all in like manner included in scope of patent protection of the present invention.
Claims (10)
1. a control method for punching machine mechanical arm, is characterized in that: comprise
When mechanical arm is in preset state, output safety signal;
If a mechanical arm receives the safety signal of described safety signal and next mechanical arm connected output simultaneously, then export the first signal to connected controller;
After controller receives described first signal, export punching press signal.
2. the control method of punching machine mechanical arm according to claim 1, is characterized in that: described " after described first signal of controller reception, exporting punching press signal " is specially:
Mechanical arm, according to current residing mode of operation, sends corresponding status signal to connected controller;
If controller receives the status signal of described first signal and the output of connected mechanical arm, and described status signal is preset state signal simultaneously, then export punching press signal.
3. the control method of punching machine mechanical arm according to claim 1, is characterized in that: described " after described first signal of controller reception, exporting punching press signal " is specially:
Mechanical arm, according to current residing mode of operation, sends corresponding status signal to connected controller;
Described status signal is sent to connected last controller by controller;
If controller receives the status signal of described first signal and next controller connected output, and described status signal is preset state signal simultaneously, then export punching press signal.
4. the control method of punching machine mechanical arm according to claim 3, it is characterized in that: described " if controller receives the status signal of described first signal and next controller connected output simultaneously; and described status signal is preset state signal, then export punching press signal " be specially:
The status signal that if controller receives described first signal simultaneously, connected mechanical arm exports and the status signal that next controller connected exports, and described status signal is preset state signal, then export punching press signal.
5. the control method of punching machine mechanical arm according to claim 1, is characterized in that: described " exporting punching press signal " is specially: controller exports punching press signal to the punch press corresponding with it.
6. a control system for punching machine mechanical arm, is characterized in that: comprise
First output module, when being in preset state for mechanical arm, output safety signal;
Second output module, if the safety signal receiving described safety signal and next mechanical arm connected output for a mechanical arm simultaneously, then exports the first signal to connected controller;
3rd output module, after receiving described first signal, exports punching press signal for controller.
7. the control system of punching machine mechanical arm according to claim 6, is characterized in that: described 3rd output module comprises
First transmitting element, for mechanical arm according to current residing mode of operation, sends corresponding status signal to connected controller;
First output unit, if the status signal receiving described first signal and the output of connected mechanical arm for controller simultaneously, and described status signal is preset state signal, then export punching press signal.
8. the control system of punching machine mechanical arm according to claim 6, is characterized in that: described 3rd output module comprises
Second transmitting element, for mechanical arm according to current residing mode of operation, sends corresponding status signal to connected controller;
3rd transmitting element, sends to connected last controller for controller by described status signal;
Second output unit, if the status signal receiving described first signal and next controller connected output for controller simultaneously, and described status signal is preset state signal, then export punching press signal.
9. the control system of punching machine mechanical arm according to claim 8, it is characterized in that: if the status signal that described second output unit receives described first signal specifically for controller, connected mechanical arm exports and the status signal that next controller connected exports simultaneously, and described status signal is preset state signal, then export punching press signal.
10. the control system of punching machine mechanical arm according to claim 6, is characterized in that: described 3rd output module exports punching press signal to the punch press corresponding with it specifically for controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610067556.1A CN105527922A (en) | 2016-01-29 | 2016-01-29 | Punch manipulator control method and system thereof |
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| CN201610067556.1A CN105527922A (en) | 2016-01-29 | 2016-01-29 | Punch manipulator control method and system thereof |
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| CN110834055A (en) * | 2019-11-12 | 2020-02-25 | 珠海格力智能装备有限公司 | Equipment safety protection method and device and punch control system |
| CN116373379A (en) * | 2022-03-16 | 2023-07-04 | 昆山豪润精密模具有限公司 | Method and system for controlling stamping risk |
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Application publication date: 20160427 |