CN111415794A - Permanent magnetic chuck magnetizing and demagnetizing controller for manipulator and control method thereof - Google Patents
Permanent magnetic chuck magnetizing and demagnetizing controller for manipulator and control method thereof Download PDFInfo
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Abstract
The invention relates to the field of motor control, and discloses a manipulator electric permanent magnetic chuck magnetizing and demagnetizing controller, which comprises a switching power supply module, a rectifying and filtering module, a main control module, a driving module, an IGBT module, an output loop, a protection control module, a Hall sensor and an external control module; the mechanical arm electric permanent magnetic chuck is characterized in that the rectification filtering module, the switching power supply module, the main control module, the driving module and the IGBT module are sequentially connected, the main control module is connected with the Hall sensor through the protection control module, the main control module is further connected with the external control module, and the IGBT module is connected with the mechanical arm electric permanent magnetic chuck through the output loop. According to the invention, by changing the circuit control form, the change of the output voltage or current can be monitored in real time and adjusted to achieve the change of the magnetic force of the sucker, so that the electric permanent magnetic sucker for the manipulator is controlled, the output magnetic force of the electric permanent magnetic sucker is stable and reliable, and the problem that the controller cannot monitor the change of the magnetic force of the sucker and the conversion speed in real time is solved.
Description
Technical Field
The invention relates to the field of a magnetizing and demagnetizing controller, in particular to a magnetizing and demagnetizing controller of an electric permanent magnetic chuck for a manipulator and a control method thereof.
Background
With the social development and technological progress, automatic production lines are emerging in many fields and industries, especially in the application environment where equipment runs at high speed and the speed of transferring workpieces is rapidly increased. When some industries transfer iron devices, due to the fact that the weight of the devices is large and the factory environment is complex, the requirements for a manipulator in an automatic production line are gradually increased, and at the moment, the electric permanent magnetic chuck for the manipulator is produced and is widely applied to all links of the automatic production line.
According to different requirements of the production process of the environment, the shape of the mechanical arm is different, and the requirements on electric appliances are also different, wherein the most important index is the switching speed of the magnetization and demagnetization of the electric permanent magnetic chuck for the mechanical arm. The electric permanent magnetic chuck for the manipulator is arranged at the front end of the manipulator wrist and sucks a workpiece through electromagnetic suction, and the stability of the magnetic force of the electric permanent magnetic chuck can be ensured only by maintaining certain time of magnetization and demagnetization due to the fact that the electric permanent magnetic chuck is an inductive load. The traditional magnetizing and demagnetizing controller generally adopts a silicon controlled rectifier mode, so that the output current and time are difficult to accurately control, and the magnetic force is unstable; and because the manipulator runs on a production line at high speed, the safety control of the electric permanent magnetic chuck for the manipulator is also a very much concerned and solved problem.
Disclosure of Invention
In view of the above, the present invention provides a manipulator electromagnetic chuck magnetizing and demagnetizing controller and a control method thereof, which are used to solve the problem that the traditional manipulator electromagnetic chuck magnetizing and demagnetizing controller cannot monitor the change and switching speed of the magnetic force of the chuck in real time.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
the permanent magnetic chuck magnetizing and demagnetizing controller for the manipulator comprises a switching power supply module, a rectifying and filtering module, a main control module, a driving module, an IGBT module, an output loop, a protection control module, a Hall sensor and an external control module;
the device comprises a rectification filtering module, a switching power supply module, a main control module, a driving module and an IGBT module which are sequentially connected, wherein the main control module is connected with a Hall sensor through a protection control module and is also connected with an external control module, and the IGBT module is connected with a manipulator electric permanent magnetic chuck through an output loop;
the switching power supply module is used for supplying power to the main control module;
the rectification filter module is used for converting the alternating voltage with positive and negative changes into unidirectional pulsating voltage and reducing alternating current components in the pulsating direct current voltage, so that the ripple factor of the output voltage is reduced, and the alternating current power supply is converted into the required direct current power supply;
the main control module is used for calculating and outputting PWM signals according to parameters set by the external control module and the fetching switch signals;
the driving module is used for responding to the PWM signal of the main control module and outputting the PWM signal to the IGBT module;
the IGBT module is used for controlling the direction and the magnitude of a PWM value so as to realize the change of output voltage or current and control the mechanical flashlight permanent magnetic chuck;
the protection control module is used for outputting an enable driving signal command or a disable driving signal command to protect the safe work of the controller and the load end after logic processing is carried out on the RS trigger circuit according to whether the detected current working current is abnormal or not;
the Hall sensor is used for detecting whether the working current state is normal or not and sending a detected current signal to the main control module;
and the external control module is used for sending the instruction sent by the main control module to an externally arranged execution mechanism.
Furthermore, the IGBT module is arranged by adopting an H-bridge circuit, and the H-bridge circuit consists of four groups of IGBT driving chips so as to control the direction and the magnitude of the output current of the main loop.
Furthermore, one end of the rectification filter module is connected with the high-voltage end of the H-bridge circuit, and the other end of the rectification filter module is connected with the low-voltage end of the H-bridge circuit; the rectification filtering module comprises a three-phase rectifier bridge circuit and a filtering capacitor circuit.
Furthermore, the main control module adopts an MCU chip.
Furthermore, the IGBT driving chip is connected with the MCU chip through an RS trigger circuit so as to realize low-voltage protection and current protection.
Further, the external control module comprises a position sensor, and the position sensor is connected with the mechanical hand electric permanent magnetic chuck and used for acquiring position change information of the mechanical hand electric permanent magnetic chuck and sending the position change information to the main control module.
Further, the external control module includes a P L C controller.
Further, the external control module further comprises an operation panel, and the operation panel is used for setting the output state of the parameter setting.
The invention also provides a control method of the controller for the magnetizing and demagnetizing of the electric permanent magnetic chuck for the manipulator, which is characterized in that an input power supply forms high-voltage direct current after being rectified and filtered by a rectifying and filtering module, variable PWM waves are output by an H-bridge loop in an IGBT module, and the change of output voltage or current is realized by changing the output direction of the H-bridge and the PWM value, so that the change of the magnetic force of the chuck is controlled; the main control module adopts parameter setting and the Hall sensor to collect output quantity, forms a closed loop servo system, and stably and reliably outputs current or voltage so as to realize control of the sucker and generate stable magnetic force.
Compared with the prior art, the invention has the beneficial effects that:
the controller for magnetizing and demagnetizing the electric permanent magnetic chuck for the manipulator provided by the invention can monitor the change of output voltage or current in real time and adjust the change of the magnetic force of the chuck by changing the circuit control form so as to control the electric permanent magnetic chuck for the manipulator, so that the output magnetic force of the electric permanent magnetic chuck is stable and reliable, and the danger of falling caused by insufficient magnetic force of the chuck is effectively prevented. The conversion time is reduced to the millisecond level from the original second level, the operation time is greatly shortened, the labor force is saved, the working efficiency is improved, and the requirement on high-speed conversion of the controller is met.
Meanwhile, the current detection and protection function of the sucker is achieved, effective communication with a production line is achieved, when a fault occurs on equipment, the whole equipment can be controlled to stop in time through emergency communication with the production line, accidents are avoided, and safety protection is achieved.
Drawings
FIG. 1 is a circuit block diagram of an electro-permanent magnetic chuck magnetizing and demagnetizing controller for a manipulator according to the present invention;
FIG. 2 is a functional block diagram of an electro-permanent magnetic chuck magnetization and demagnetization controller for a manipulator according to the present invention;
FIG. 3 is an overall circuit diagram of the permanent magnetic chuck magnetizing and demagnetizing controller for the manipulator according to the present invention;
FIG. 4 is a circuit diagram of an internal power supply circuit of the permanent magnetic chuck magnetization and demagnetization controller for the manipulator according to the present invention;
fig. 5 is a circuit diagram of an operation panel in the magnetization and demagnetization controller of the electro-permanent magnetic chuck for a robot according to the present invention.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The terms "first", "second" and "first" are used for descriptive purposes only and are 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 one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The invention provides a manipulator electric permanent magnetic chuck magnetizing and demagnetizing controller, which comprises a switching power supply module, a rectifying and filtering module, a main control module, a driving module, an IGBT (insulated gate bipolar transistor) module, an output loop, a protection control module, a Hall sensor and an external control module, wherein the switching power supply module, the rectifying and filtering module, the main control module, the driving module, the IGBT module, the output loop, the protection control module, the Hall sensor and the external control module are arranged in sequence; the device comprises a rectification filtering module, a switching power supply module, a main control module, a driving module and an IGBT module which are sequentially connected, wherein the main control module is connected with a Hall sensor through a protection control module and is also connected with an external control module, and the IGBT module is connected with a manipulator electric permanent magnetic chuck through an output loop; the switching power supply module is used for supplying power to the main control module; the rectification filter module is used for converting the alternating voltage with positive and negative changes into unidirectional pulsating voltage and reducing alternating current components in the pulsating direct current voltage, so that the ripple factor of the output voltage is reduced, and the alternating current power supply is converted into the required direct current power supply; the main control module is used for calculating and outputting PWM signals according to parameters set by the external control module and the fetching switch signals; the driving module is used for responding to the PWM signal of the main control module and outputting the PWM signal to the IGBT module; the IGBT module is used for controlling the direction and the magnitude of a PWM value so as to realize the change of output voltage or current and control the mechanical flashlight permanent magnetic chuck; the protection control module is used for outputting an enable driving signal command or a disable driving signal command to protect the safe work of the controller and the load end after logic processing is carried out on the RS trigger circuit according to whether the detected current working current is abnormal or not; the Hall sensor is used for detecting whether the working current state is normal or not and sending a detected current signal to the main control module; and the external control module is used for sending the instruction sent by the main control module to an externally arranged execution mechanism. The main control module is used for calculating the frequency and the duty ratio of the PWM signal according to the parameters of the mechanical arm, such as rated current, demagnetization starting current release, demagnetization delay time release, single-step demagnetization pulse number and the like, which are set by the external control module, and the switch signal taking, and outputting the PWM signal according to the output time.
The controller for magnetizing and demagnetizing the electric permanent magnetic chuck for the manipulator provided by the invention can monitor the change of output voltage or current in real time and adjust the change of the magnetic force of the chuck by changing the circuit control form so as to control the electric permanent magnetic chuck for the manipulator, so that the output magnetic force of the electric permanent magnetic chuck is stable and reliable, and the danger of falling caused by insufficient magnetic force of the chuck is effectively prevented. The conversion time is reduced to the millisecond level from the original second level, the operation time is greatly shortened, the labor force is saved, the working efficiency is improved, and the requirement on high-speed conversion of the controller is met. Meanwhile, the current detection and protection function of the sucker is achieved, effective communication with a production line is achieved, when a fault occurs on equipment, the whole equipment can be controlled to stop in time through emergency communication with the production line, accidents are avoided, and safety protection is achieved.
Preferably, the IGBT module is arranged by using an H-bridge circuit, and the H-bridge circuit is composed of four groups of IGBT driver chips to control the direction and magnitude of the output current of the main loop.
More preferably, one end of the rectifying and filtering module is connected to the high-voltage end of the H-bridge circuit, and the other end of the rectifying and filtering module is connected to the low-voltage end of the H-bridge circuit; the rectification filtering module comprises a three-phase rectifier bridge circuit and a filtering capacitor circuit. The main control module adopts an MCU chip.
As shown in fig. 3, the present invention provides a main control circuit portion of an electro-permanent magnetic chuck magnetizing and demagnetizing controller for a manipulator, wherein an input power R, S, T forms +500V high-voltage direct current after passing through a three-phase rectifier bridge D1, filter capacitors C2, C3, and voltage dividing resistors R01, R02, and is input to a +500V high-voltage end (positive electrode) and a GND low-voltage end (negative electrode) of an H bridge composed of Q1, Q2, Q3, and Q4 of 4 IGBT driving chips to control a two-phase H-bridge loop, so that a U, V end outputs a dc PWM wave with variable magnitude and direction: the H bridge is controlled by four groups of isolation IGBT driving chips U4, U5, U6 and U3, wherein the U-phase upper arm of the H bridge is controlled by the driving chip U4, the lower arm of the H bridge is controlled by U5, the V-phase upper arm of the H bridge is controlled by U6, and the lower arm of the H bridge is controlled by U3. The IGBT driving chip has the functions of low-voltage protection, high-voltage UCE protection, overcurrent protection and the like.
In the working process, the working principle of the H-bridge is as follows, referring to fig. 3, the MCU chip U1 calculates and outputs PWM1-PWM4 signals to the IGBT driver chips U4, U5, U6 and U3, and the signals are isolated at high and low voltages and then output to the IGBT Q1, Q2, Q3 and Q4 driving terminals. When magnetizing, the PWM1 inputs a high level, the PWM2 inputs a low level, the PWM3 inputs a low level, the PWM4 inputs a high level, the U end outputs a high level, and the V end outputs a low level, so that a forward voltage from U to V is formed; when demagnetization is performed, negative voltage is formed from the U end to the V end firstly (the PWM1 inputs low level, the PWM2 inputs high level, the PWM3 inputs high level, and the PWM4 inputs low level). The duty ratio of the PWM1 and the PWM4 is adjusted to adjust the output voltage, so that the purpose of controlling the output current is achieved.
In addition, as shown in fig. 3, the IGBT driver chips U4, U5, U6, U3 are electrically connected to the MCU chip U1 through an RS flip-flop U2, so as to implement low-voltage protection and current protection.
And the external control module comprises a position sensor, and the position sensor is connected with the mechanical hand electric permanent magnetic chuck and used for acquiring position change information of the mechanical hand electric permanent magnetic chuck and sending the position change information to the main control module.
It can be understood that the external control module comprises a P L C controller, the P L C controller is connected with the production line, and the fault state signals of the controller are transmitted to the production line by using relay contacts, wherein two relay switch signals are used for transmitting the success failure signals of the magnetizing and demagnetizing, and one relay switch signal is used for transmitting the fault signals inside the controller.
Referring to fig. 2, the external control module further includes an operation panel for performing output state setting of parameter setting. The operation panel adopts a key switch to complete parameter setting and adjustment, as shown in fig. 5, a U18 is a four-digit digital tube for displaying parameters and fault codes, and a U17 drives a digital tube segment code display, such as E06, to show faults in load, which may be faults of load short circuit or electric leakage. Q8-Q11 is used for dynamic bit code display; the keys K1, K2, K3 and K4 are used for passwords, function setting and parameter adjustment. In the aspect of parameters, a plurality of parameters such as magnetizing voltage, demagnetization time, an interlocking protection point and the like can be set.
The power supply part in the controller is high-voltage direct current of 500V as shown in figure 4, a main control chip of the switching power supply is U, oscillation frequency of 70K is formed through an oscillation tube Q, a flyback switching power supply is formed, a plurality of groups of voltage outputs are formed through a transformer T, voltage generated by a winding T1 is stabilized through rectifier tubes D, 1 and C to generate 12V voltage output, voltage feedback formed by optical couplers OP and U is formed to form a constant-voltage main power supply of 12V, 5V (VCC) voltage generated after U voltage stabilization is used for supplying power to an MCU chip, VO voltage is generated after voltage division through D and R and is used for sampling by the MCU chip to detect power supply voltage, the winding T1 generates +15V and-5V voltage after D rectification, C and C filtering and D voltage stabilization to provide positive and negative power supplies to an upper arm U-phase driving chip U of an H bridge, the winding T1 generates positive and negative power supplies to the upper arm driving chip U of the H bridge through +15V and-5V voltage, the winding T1 generates positive and negative power supplies to a lower arm driving chip U of the H bridge, and the external GND terminals through 12V.
Referring to fig. 3, the PWM is adjusted by AD sampling a voltage VO L and AD sampling a current Iu1 detected by a hall sensor IC3, and a closed loop control system is formed by controlling a PWM output through an internal PID algorithm, a PID control process may be divided into a voltage loop and a current loop, the voltage loop outputs the PWM according to a set output voltage value, the sampled voltage value VO L is compared with the set voltage value, and the output value of the PWM is corrected by a difference value, so that the output voltage is constant, the current loop is a hall sensor IC3, an IGBTU, a current outputted by a V phase, a detection signal Iu1 enters an MCU chip U1 for AD sampling, and is compared with a set current value according to the comparison, when the sampling value is greater than the set value, the output PWM value is decreased, the output current value is also decreased, so that the actual output value is consistent with the set value, when the sampled current value is less than the set current value, the output PWM value is increased, so that the set value and the output value are equal, so that the output is achieved, and the purpose of the current loop or the constant current loop output can be adopted according to the load characteristic in the actual.
The invention also provides a control method of the controller for the magnetizing and demagnetizing of the electric permanent magnetic chuck for the manipulator, which is characterized in that an input power supply forms high-voltage direct current after being rectified and filtered by a rectifying and filtering module, variable PWM waves are output by an H-bridge loop in an IGBT module, and the change of output voltage or current is realized by changing the output direction of the H-bridge and the PWM value, so that the change of the magnetic force of the chuck is controlled; the main control module adopts parameter setting and the Hall sensor to collect output quantity, forms a closed loop servo system, and stably and reliably outputs current or voltage so as to realize control of the sucker and generate stable magnetic force. The permanent magnetic chuck magnetizing and demagnetizing controller for the manipulator provided by the invention has a complete low-voltage protection and current protection circuit, as shown in fig. 3, when any one end of an IGBT driving chip U3, U4, U5 or U6 detects a fault signal, a F01 signal is set to be low, an RS trigger U2 is triggered to generate an SD high-level signal, a high-level SD signal is locked in U3-U6, PWM signal output is forbidden, the SD signal is simultaneously transmitted to a fault detection pin of a driving signal of an MCU chip U1, the MCU chip U1 immediately stops the output signal of the IGBT driving chip, and an alarm signal is sent out at the same time to play a role in protection.
The invention is not limited to the examples, and any equivalent changes to the technical solution of the invention by a person skilled in the art after reading the description of the invention are covered by the claims of the invention.
Claims (9)
1. The permanent magnetic chuck magnetizing and demagnetizing controller for the manipulator is characterized by comprising a switching power supply module, a rectifying and filtering module, a main control module, a driving module, an IGBT (insulated gate bipolar transistor) module, an output loop, a protection control module, a Hall sensor and an external control module;
the device comprises a rectification filtering module, a switching power supply module, a main control module, a driving module and an IGBT module which are sequentially connected, wherein the main control module is connected with a Hall sensor through a protection control module and is also connected with an external control module, and the IGBT module is connected with a manipulator electric permanent magnetic chuck through an output loop;
the switching power supply module is used for supplying power to the main control module;
the rectification filter module is used for converting the alternating voltage with positive and negative changes into unidirectional pulsating voltage and reducing alternating current components in the pulsating direct current voltage, so that the ripple factor of the output voltage is reduced, and the alternating current power supply is converted into the required direct current power supply;
the main control module is used for calculating and outputting PWM signals according to parameters set by the external control module and the fetching switch signals;
the driving module is used for responding to the PWM signal of the main control module and outputting the PWM signal to the IGBT module;
the IGBT module is used for controlling the direction and the magnitude of a PWM value so as to realize the change of output voltage or current and control the mechanical flashlight permanent magnetic chuck;
the protection control module is used for outputting an enable driving signal command or a disable driving signal command to protect the safe work of the controller and the load end after logic processing is carried out on the RS trigger circuit according to whether the detected current working current is abnormal or not;
the Hall sensor is used for detecting whether the working current state is normal or not and sending a detected current signal to the main control module;
and the external control module is used for sending the instruction sent by the main control module to an externally arranged execution mechanism.
2. The electro-permanent-magnetic chuck magnetizing and demagnetizing controller for the manipulator of claim 1, wherein the IGBT modules are arranged in an H-bridge circuit, and the H-bridge circuit is composed of four groups of IGBT driving chips to control the direction and magnitude of the output current of the main loop.
3. The manipulator electric permanent magnetic chuck magnetizing and demagnetizing controller according to claim 1 or 2, wherein one end of the rectification filter module is connected to a high-voltage end of the H-bridge circuit, and the other end of the rectification filter module is connected to a low-voltage end of the H-bridge circuit; the rectification filtering module comprises a three-phase rectifier bridge circuit and a filtering capacitor circuit.
4. The electro-permanent-magnetic chuck magnetizing and demagnetizing controller for the manipulator according to claim 3, wherein: the main control module adopts an MCU chip.
5. The electro-permanent-magnetic chuck magnetizing and demagnetizing controller for the manipulator according to claim 4, wherein: and the IGBT driving chip is connected with the MCU chip through an RS trigger circuit so as to realize low-voltage protection and current protection.
6. The electro-permanent-magnetic chuck magnetizing and demagnetizing controller for the manipulator according to claim 5, wherein: the external control module comprises a position sensor, and the position sensor is connected with the mechanical hand electric permanent magnetic chuck and used for acquiring position change information of the mechanical hand electric permanent magnetic chuck and sending the position change information to the main control module.
7. The controller for magnetizing and demagnetizing an electro-permanent magnetic chuck of a manipulator according to claim 6, wherein the external control module comprises a P L C controller.
8. The electro-permanent-magnetic chuck magnetizing and demagnetizing controller for a manipulator according to claim 7, wherein: the external control module further comprises an operation panel connected with the main control module, and the operation panel sends an operation instruction to the main control module.
9. The method for controlling the controller for magnetizing and demagnetizing an electric permanent magnetic chuck for a manipulator according to any one of claims 1 to 8, wherein an input power supply is rectified and filtered by a rectifying and filtering module to form high voltage direct current, a variable PWM wave is output by an H-bridge loop in an IGBT module, and the change of output voltage or current is realized by changing the output direction of the H-bridge and the magnitude of a PWM value, so as to control the electric permanent magnetic chuck for a manipulator to change the magnetic force of the chuck; the main control module adopts parameter setting and the Hall sensor to collect output quantity, forms a closed loop servo system, and stably and reliably outputs current or voltage so as to realize control of the sucker and generate stable magnetic force.
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| CN202010351178.6A CN111415794A (en) | 2020-04-28 | 2020-04-28 | Permanent magnetic chuck magnetizing and demagnetizing controller for manipulator and control method thereof |
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| CN114071920A (en) * | 2021-11-16 | 2022-02-18 | 南通茂业电子科技有限公司 | Electric permanent magnetic chuck controller assembly with demagnetization early warning prompt |
| CN115075195A (en) * | 2022-05-13 | 2022-09-20 | 上海理工大学 | Electric control permanent magnet mooring system for wharf |
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