CN204832919U - Bao xin is towards bus multiaxis servo control system - Google Patents
Bao xin is towards bus multiaxis servo control system Download PDFInfo
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- CN204832919U CN204832919U CN201520654403.8U CN201520654403U CN204832919U CN 204832919 U CN204832919 U CN 204832919U CN 201520654403 U CN201520654403 U CN 201520654403U CN 204832919 U CN204832919 U CN 204832919U
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Abstract
The utility model provides a bao xin is towards bus multiaxis servo control system, include: PLC controller, motion control ware and two at least punch presses, for part position of keeping in between two adjacent punch presses, every punch press corresponds two servo motor, a servo motor robot arm lateral shifting, a servo motor robot arm longitudinal movement, servo motion command control manipulator initialization to the horizontal operating point that the motion control ware sent according to the PLC controller, send the feedback signal that all manipulator initialization were accomplished to the PLC controller, receive control of manipulator that the PLC controller sent and transport part to the instruction of slide, carry out work through controlling servo driver robot arm, manipulator completion part sends and accomplishes the instruction for the PLC controller after transporting skew slide, PLC controller control punch press pushes down and carries out the punching press to the part, the manipulator only all around removes on the punch press, and the change suitability that does not rely on the mould is wider.
Description
Technical field
The utility model relates to technical field of industrial control, and particularly a kind of cored rushes bus multiple-axis servo control system.
Background technology
Many employing rod-pulling type punch press lines in prior art, adopt on a cross bar and 18 suckers are installed, pulled by a servomotor, move up and down with Serve Motor Control lifting table more simultaneously, realize sucker crawl part and move to temporary station from a puncher position.Part is moved to next punch press station from temporary station by another sucker.
Specifically can see 1, this figure is punch press platform schematic diagram of the prior art.
Fig. 1 is introduced for three suckers, three punch presses.
Sucker captures part and picks up from a upper station, rises, moves to next station, put down part, then reset to initial point.
This cored of the prior art rushes control system owing to adopting the mode moved up and down, and cannot adapt to the change of mould, when, just cannot using on new production line after tool change because of part change,
Utility model content
The technical problems to be solved in the utility model is to provide a kind of cored and rushes bus multiple-axis servo control system, and can adapt to the change of mould, applicability is wider.
The cored that the present embodiment provides rushes bus multiple-axis servo control system, comprising: PLC, motion controller and at least two punch presses;
Each described punch press carries a mechanical arm, and each mechanical arm comprises two part pawls, and described mechanical arm is horizontal and vertical movement on described punch press; Be that position kept in by a part between two adjacent punch presses;
Corresponding two servomotors of each punch press, a servomotor is for driving described mechanical arm transverse shifting, and another servomotor vertically moves for driving described mechanical arm; Each servomotor carrys out driving device hand by the order of servo-driver reception motion controller and moves;
Described motion controller, for receiving the servo motion instruction that PLC sends; Control All Robots according to described servo motion instruction and be initialised to horizontal working point; To the feedback signal that the initialization of described PLC transmission All Robots completes; The control mechanical arm receiving the transmission of described PLC transports the instruction of part to slideway, and carries out work by controlling mechanical arm described in servo driver drives; When described mechanical arm complete part transport depart from slideway after, be sent completely instruction give described PLC;
Described PLC, carries out punching press for controlling punching machine presses to described part; So far complete the motion of one-period, circulate with this.
Preferably, described motion controller comprises: the first control module, the second control module and the 3rd control module;
Described first control module, laterally resets to horizontal mechanical origin for controlling mechanical arm described in each successively;
Described second control module, for controlling, All Robots is simultaneously longitudinally unified resets to longitudinal mechanical origin;
Described 3rd control module, for controlling, All Robots is simultaneously laterally unified moves to horizontal working point.
Preferably, described motion controller comprises: the 4th control module;
Described 4th control module, control mechanical arm described in described servo driver drives for adopting interpolation instruction first to move longitudinally longitudinal working point, All Robots synchronously enters mould and blocks part, adopt interpolation instruction to control the laterally synchronous translational part on slideway of mechanical arm described in described servo driver drives immediately, after described part translation puts in place, All Robots synchronously exits mould.
Preferably, also comprise and be arranged on the proximity switch that position kept in by part position and part;
Whether described proximity switch is used for detecting has part close, if detected that part is close, then sends part close to information to described PLC;
Described PLC, for when receiving described part close to information, determines that described part is kept on position and part position and had part to exist, then sends punching machine presses safety command to described punch press.
Preferably, also comprise: Manual pulse generator and touch-screen;
The corresponding Manual pulse generator of each described servomotor; Described Manual pulse generator connects described motion controller;
Described touch-screen connects described PLC;
Described motion controller, for receiving first conditioning signal of described Manual pulse generator to servomotor, carries out coarse adjustment by controlling servo-driver to servomotor by described first conditioning signal; Receive the second conditioning signal to described servomotor that described touch-screen is transmitted by described PLC; By controlling servo-driver, accurate adjustment being carried out to servomotor by described second conditioning signal, arriving assigned address to make driven by servomotor mechanical arm; Described second conditioning signal is the digital signal inputted by touch-screen.
Compared with prior art, the utility model has the following advantages:
Motion controller receives the servo operation instruction that PLC sends, and starts to control robot work, first controls mechanical arm and is initialised to horizontal working point; Then control robot movement and capture part to longitudinal working point, the instruction of mechanical arm transverse movement is sent immediately after sending mechanical arm lengthwise movement to the instruction of longitudinal working point, namely send the instruction controlling mechanical arm lengthwise movement and the instruction controlling mechanical arm transverse movement successively, mechanical arm moving movement can not be waited to longitudinal working point later to send the instruction of transverse movement again.Mechanical arm to capture after part transverse shifting part on slideway immediately.Can reduce the time interval like this, when the number of units of punch press increases, the whole servocontrol time can not increase too much, thus improves servo-controlled efficiency.Further, this mechanical arm only all around moves on punch press, can not move up and down, and do not rely on the change of mould, applicability is wider.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is punch press platform schematic diagram of the prior art;
Fig. 2 is that the cored that the utility model provides rushes multiple-axis servo control method embodiment one process flow diagram;
Fig. 3 is the vertical view of the punch press platform that the utility model provides;
Fig. 4 is that the cored that the utility model provides rushes multiple-axis servo control method embodiment two process flow diagram;
Fig. 5 is the schematic diagram of the proximity switch detection part that the utility model provides;
Fig. 6 is the punch press platform vertical view with proximity switch that the utility model provides;
Fig. 7 is that the cored that the utility model provides rushes multiple-axis servo control system embodiment one schematic diagram;
Fig. 8 is that the cored that the utility model provides rushes multiple-axis servo control system embodiment two schematic diagram;
Fig. 9 is the motion controller cut-away view that the utility model provides.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
For enabling above-mentioned purpose of the present utility model, feature and advantage become apparent more, are described in detail embodiment of the present utility model below in conjunction with accompanying drawing.
Embodiment of the method one:
See Fig. 2, this figure is that the cored that the utility model provides rushes multiple-axis servo control method embodiment one process flow diagram.
The cored that the present embodiment provides rushes multiple-axis servo control method, is applied to punch press platform, and each punch press carries a mechanical arm, and each mechanical arm comprises two part pawls, and described mechanical arm is horizontal and vertical movement on described punch press; Be that position kept in by a part between two adjacent punch presses; Comprise the following steps:
S201: receive the servo motion instruction that PLC sends;
It should be noted that, PLC controller as a whole in the utility model, and corresponding two servomotors of each punch press, horizontal driving is responsible for by a motor, and zigzag tread patterns is responsible for by a motor.The corresponding motion controller of each punch press.Motion controller is for controlling servo-driver.Servo-driver is for driving servomotor.Servomotor is used for driving mechanical hand transverse shifting or vertically moves.
S202: control All Robots according to described servo motion instruction and be initialised to horizontal working point;
S203: the feedback signal completed to the initialization of described PLC transmission All Robots;
It should be noted that, before carrying out work, need All Robots to be initialised to horizontal working point.After All Robots completes initialization, send and feed back signal to PLC, inform that PLC can carry out control operation.
S204: the control mechanical arm receiving the transmission of described PLC transports the instruction of part to slideway, and carry out work by mechanical arm described in interpolation instruction control servo driver drives;
It should be noted that, mechanical arm transports part needs two steps to slideway, and first step first moves longitudinally to longitudinal working point crawl part, then on slideway transverse shifting part to next station.Namely mechanical arm first moves longitudinally to station, transverse shifting part of then pulling up a horse.After mechanical arm vertically moves and puts in place not free pause just transverse shifting part to next station.
S205: when described mechanical arm complete part transport depart from slideway after, be sent completely instruction give described PLC; Described PLC controls punching machine presses and carries out punching press to described part; So far complete the motion of one-period, circulate with this.
It should be noted that, mechanical arm is arranged on punch press, mechanical arm can move on punch press, and namely motion track carries out reciprocation cycle motion at following four points, that is: longitudinal mechanical origin-horizontal mechanical origin-horizontal working point-longitudinal working point-horizontal mechanical origin.
The method understood the utility model better to make those skilled in the art and provide, introduces punch press platform corresponding to the utility model below in conjunction with Fig. 3.See Fig. 3, this figure is the vertical view of the punch press platform that the utility model provides.
Be introduced for two punch presses in Fig. 3.It should be noted that, can be 9 punch presses in practical application.Be not specifically limited in concrete number the utility model of punch press, can select according to actual needs.
Fig. 3 is the vertical view of punch press platform.Punch press is positioned at the top of slideway 306, and punch press is provided with mechanical arm 307 relative to the side of slideway 306, and mechanical arm 307 can move left and right after punch press is gone forward, and it should be noted that, a mechanical arm 307 can capture two parts simultaneously.
The distinctive points of the punch press platform that the utility model uses and punch press platform of the prior art is: mechanical arm, in punch press, punch press does not have sucker.
When mechanical arm 307 moves on punch press, there are four points, horizontal working point A as shown in Figure 3, longitudinal working point B, horizontal mechanical origin C and longitudinal mechanical origin D.
It should be noted that, A, B, C and D are the position at mechanical arm place, and are mechanical arm with two claws, and namely A refers to the position that mechanical arm is positioned at horizontal working point.
Position residing after Robot Initialize completes is horizontal working point A.After starting working, mechanical arm captures part from horizontal working point A moves to longitudinal working point B, and the process namely moving to B from A belongs to and vertically moves, and namely Y-axis moves, and after mechanical arm captures part, along slideway transverse shifting to the right, namely X-axis moves.
As shown in Figure 3, when the mechanical arm 307 on the first punch press 300a arrives longitudinal working point, capture two parts, to move right part along slideway 306, move to the position of the first part position 301 by the part on the first temporary position 303, the part on the first part position 301 is moved on the second temporary position 304.Mechanical arm on second punch press 300b works simultaneously, working method is identical with the robot work mode on the first punch press 300a, part on second temporary position 304 is moved to the position of the second part position 302 by the mechanical arm namely on the second punch press 300b, part on second part position 302 is moved on the 3rd temporary position 305, by that analogy, once, all parts move to right a station robot work successively.
An often mobile station, punching machine presses once.Namely part moves after a station by mechanical arm on slideway, and mechanical arm moves on punch press, drifts out slideway, and as shown in Figure 3, robot movement is to the position of horizontal mechanical origin C, and punch press starts to press down.
The control method that the present embodiment provides, motion controller receives the servo operation instruction that PLC sends, and starts to control robot work, first controls mechanical arm and is initialised to horizontal working point; Then control robot movement and capture part to longitudinal working point, the instruction of mechanical arm transverse movement is sent immediately after sending mechanical arm lengthwise movement to the instruction of longitudinal working point, namely send the instruction controlling mechanical arm lengthwise movement and the instruction controlling mechanical arm transverse movement successively, mechanical arm moving movement can not be waited to longitudinal working point later to send the instruction of transverse movement again.Mechanical arm to capture after part transverse shifting part on slideway immediately.Can reduce the time interval like this, when the number of units of punch press increases, the whole servocontrol time can not increase too much, thus improves servo-controlled efficiency.Further, this mechanical arm only all around moves on punch press, can not move up and down, and do not rely on the change of mould, applicability is wider.
Embodiment of the method two:
See Fig. 4, this figure is that the cored that the utility model provides rushes multiple-axis servo control method embodiment two process flow diagram.
S401 and S201 is identical, does not repeat them here.
S402: control mechanical arm described in each successively and laterally reset to horizontal mechanical origin;
S403: control All Robots longitudinal unification simultaneously and reset to longitudinal mechanical origin;
S404: control All Robots horizontal unification simultaneously and move to horizontal working point.
S405 and S203 is identical, does not repeat them here.
S406: the instruction receiving control mechanical arm moving parts on slideway that described PLC sends.
S407: adopt interpolation instruction to control mechanical arm described in described servo driver drives and first to move longitudinally longitudinal working point, All Robots synchronously enters mould and blocks part, adopt interpolation instruction to control the laterally synchronous translational part on slideway of mechanical arm described in described servo driver drives immediately, after described part translation puts in place, All Robots synchronously exits mould.
It should be noted that, the motion controller in the utility model adopts interpolation instruction to control robot work.Interpolation instruction can accomplish do not have interval dwell between mechanical arm longitudinal shift and transverse shift, shortens the servocontrol time, and the working time of mechanical arm in one-period is shortened.
S408: the proximity switch of keeping in position by being arranged on each described part judges whether part is bonded on mould, if judge that described part is kept on position and had part to exist, then sends punching machine presses safety command to described PLC.
In prior art, whether installing probe detects and has part to be pasted onto on mould on a robotic arm, and does not arrive temporary position, but this mode, owing to popping one's head in installing on a robotic arm, when mechanical arm is failure to actuate, just cannot detect.
Therefore, in order to solve the problems of the prior art in the present embodiment, installing proximity switch, this proximity switch is not install on a robotic arm, but is installed on slideway, keeps on position all arrange proximity switch in part position and part.
The schematic diagram of proximity switch and part as shown in Figure 5.
Each part utilizes two proximity switches to detect, and introduces for the first part 303, and corresponding two proximity switches of the first part 303 are the first proximity switch a and the second proximity switch b respectively.
Material due to part is thick is 1.6mm, for avoiding the interference of track to produce erroneous judgement, time simultaneously in order to prevent part from sliding on slideway, because the gap of part and slideway, part produces beat and clashes into proximity switch, adopts detecting distance to be the inductance approach switch of 4mm.
For accurately putting in place of part in guarantee mould, by test, allow the length of part just greater than the center distance 2mm of two proximity switches.Ensure that the part precision put in place of sliding is 0.2mm.
Press down to prevent mould and after returning, part is bonded on mould, again press down after occurring carrying out part more next time, cause the situation of burn failure, position kept in by part between punch press and punch press increases by one group of proximity switch, by judging whether part arrives part and keep in position, has determined whether that part has been bonded on mould.
Be understandable that, under normal circumstances, proximity switch can have part close, when proximity switch detect do not have part close to time, can occur breaking off relations by mechanical arm, or part is pasted onto on mould, when there is above two kinds of situations, alarm failure, punch press can not press down.After pending fault is removed, then control punching machine presses.
S409: described PLC controls punching machine presses and carries out punching press to described part; So far complete the motion of one-period, circulate with this.
The position of proximity switch is described below in conjunction with accompanying drawing, and as shown in Figure 6, two proximity switches that position 303 correspondence kept in by the first part are respectively 303a and 303b.Two proximity switches of the first part position 301 correspondence are respectively 301a and 301b.Two proximity switches that position 304 correspondence kept in by second part are 304a and 304b respectively, and two proximity switches of the second part position 302 correspondence are respectively 302a and 302b, and two proximity switches that position 305 correspondence kept in by the 3rd part are respectively 305a and 305b.
The method that the present embodiment provides, interpolation instruction can be adopted to control the work of mechanical arm, and a steering order can perform next steering order after having run.And mechanical arm performs next instruction again after need not be waited to stop.During practical application, can see mechanical arm longitudinally just (Y-axis) move into place, namely start transversely (X-axis) mobile.Like this, adopting the time by reducing mechanical arm intermediate conversion, increasing work efficiency.
In addition, the control method that the present embodiment provides, also comprises:
Receiving Manual pulse generator to the first conditioning signal of servomotor, by controlling servo-driver, coarse adjustment being carried out to servomotor by described first conditioning signal;
Receive the second conditioning signal to described servomotor that touch-screen is transmitted by described PLC; By controlling servo-driver, accurate adjustment being carried out to servomotor by described second conditioning signal, arriving assigned address to make driven by servomotor mechanical arm; Described second conditioning signal is the digital signal inputted by touch-screen.
Touch-screen is connected with PLC, passes to motion controller by PLC.
The position numerical value that touch-screen is arranged inputs to PLC, passes to motion controller by PLC by devicenet bus, controls driven by servomotor mechanical arm move to the position of specifying by motion controller.It should be noted that, above Jun Zhi absolute position, position.Because the setting of position is touch-screen pass to motion controller by PLC, what PLC sent motion controller to is digital signal.
The pulse signal that Manual pulse generator sends directly is received by motion controller.After PLC sends hand pulse command to motion controller, motion controller drives corresponding servomotor to move according to the umber of pulse that Manual pulse generator sends.
Be understandable that, use Manual pulse generator to carry out coarse adjustment to motor, and show the current position of motor on the touchscreen.Input the second conditioning signal by touch-screen and carry out accurate adjustment, because touch-screen is connected with PLC, PLC sends the second conditioning signal that touch-screen inputs to motion controller, controls motor arrive assigned address by motion controller.
A kind of cored provided based on above embodiment rushes bus multiple-axis servo control method, and the utility model additionally provides a kind of cored and rushes bus multiple-axis servo control system, is described in detail below in conjunction with accompanying drawing.
System embodiment one:
See Fig. 7, this figure is that the cored that the utility model provides rushes bus multiple-axis servo control system embodiment one schematic diagram.
The cored that the present embodiment provides rushes bus multiple-axis servo control system, comprising: PLC 701, motion controller 702 and at least two punch presses 300;
Each described punch press 300 carries a mechanical arm 308, and each mechanical arm 308 comprises two part pawls, the horizontal and vertical movement on described punch press of described mechanical arm 308; Be that position kept in by a part between two adjacent punch presses;
Corresponding two servomotors of each punch press 300 309, servomotor 309 is for driving described mechanical arm transverse shifting, and another servomotor 309 vertically moves for driving described mechanical arm; Each servomotor 309 carrys out driving device hand 308 by the order that servo-driver 310 receives motion controller 702 and moves;
For servomotor hereinafter referred to as motor.
It should be noted that, PLC controller as a whole in the utility model, and corresponding two servomotors of each punch press, horizontal driving is responsible for by a motor, and zigzag tread patterns is responsible for by a motor.The corresponding motion controller of each punch press.Motion controller is for controlling servo-driver.Servo-driver is for driving servomotor.Servomotor is used for driving mechanical hand transverse shifting or vertically moves.
It should be noted that, before carrying out work, need All Robots to be initialised to horizontal working point.After All Robots completes initialization, send and feed back signal to PLC, inform that PLC can carry out control operation.
Described motion controller 702, for receiving the servo motion instruction that PLC 701 sends; Control All Robots 308 according to described servo motion instruction and be initialised to horizontal working point; The feedback signal that All Robots 308 initialization completes is sent to described PLC 701; The control mechanical arm 308 receiving the transmission of described PLC 701 transports the instruction of part to slideway 306, and drives described mechanical arm to carry out work by controlling servo-driver 310; When described mechanical arm 308 complete part transport depart from slideway 306 after, be sent completely instruction give described PLC 701;
Described PLC 701, carries out punching press for controlling punching machine presses to described part; So far complete the motion of one-period, circulate with this.
It should be noted that, mechanical arm transports part needs two steps to slideway, and first step first moves longitudinally to longitudinal working point crawl part, then on slideway transverse shifting part to next station.Namely mechanical arm first moves longitudinally to station, transverse shifting part of then pulling up a horse.After mechanical arm vertically moves and puts in place not free pause just transverse shifting part to next station.
It should be noted that, mechanical arm is arranged on punch press, mechanical arm can move on punch press, and namely motion track carries out reciprocation cycle motion at following four points, that is: longitudinal mechanical origin-horizontal mechanical origin-horizontal working point-longitudinal working point-horizontal mechanical origin.
The vertical view of punch press platform specifically can be shown in Figure 3.
The control system that the present embodiment provides, motion controller receives the servo operation instruction that PLC sends, and starts to control robot work, first controls mechanical arm and is initialised to horizontal working point; Then control robot movement and capture part to longitudinal working point, the instruction of mechanical arm transverse movement is sent immediately after sending mechanical arm lengthwise movement to the instruction of longitudinal working point, namely send the instruction controlling mechanical arm lengthwise movement and the instruction controlling mechanical arm transverse movement successively, mechanical arm moving movement can not be waited to longitudinal working point later to send the instruction of transverse movement again.Mechanical arm to capture after part transverse shifting part on slideway immediately.Can reduce the time interval like this, when the number of units of punch press increases, the whole servocontrol time can not increase too much, thus improves servo-controlled efficiency.Further, this mechanical arm only all around moves on punch press, can not move up and down, and do not rely on the change of mould, applicability is wider.
System embodiment two:
See Fig. 8, this figure is that the cored that the utility model provides rushes bus multiple-axis servo control system embodiment two schematic diagram.
The control system that the present embodiment provides, described motion controller comprises: the first control module 702a, the second control module 702b and the 3rd control module 702c;
Described first control module 702a, laterally resets to horizontal mechanical origin for controlling mechanical arm described in each successively;
Described second control module 702b, for controlling, All Robots is simultaneously longitudinally unified resets to longitudinal mechanical origin;
Described 3rd control module 702c, for controlling, All Robots is simultaneously laterally unified moves to horizontal working point.
Described motion controller comprises: the 4th control module 702d;
The inner structure of motion controller as shown in Figure 9.
Described 4th control module 702d, control mechanical arm described in described servo driver drives for adopting interpolation instruction first to move longitudinally longitudinal working point, All Robots synchronously enters mould and blocks part, adopt interpolation instruction to control the laterally synchronous translational part on slideway of mechanical arm described in described servo driver drives immediately, after described part translation puts in place, All Robots synchronously exits mould.
Also comprise and be arranged on the proximity switch 803 that position kept in by part position and part;
Whether described proximity switch 803 has part close for detecting, if detected that part is close, then sends part close to information to described PLC 701;
Described PLC 701, for when receiving described part close to information, determines that described part is kept on position and part position and had part to exist, then sends punching machine presses safety command to described punch press 300.
The control system that the present embodiment provides also comprises: Manual pulse generator 802 and touch-screen 801;
The corresponding Manual pulse generator 802 of each described servomotor; Described Manual pulse generator 802 connects described motion controller 702;
Described touch-screen 801 connects described PLC 701;
Described motion controller 702, for receiving the first conditioning signal of described Manual pulse generator 802 pairs of servomotors 309, carries out coarse adjustment by described first conditioning signal by controlling servo-driver 310 pairs of servomotors 309; Receive the second conditioning signal to described servomotor 309 that described touch-screen 801 is transmitted by described PLC 701; Carrying out accurate adjustment by described second conditioning signal by controlling servo-driver 310 pairs of servomotors 309, arriving assigned address to make servomotor 309 driving device hand; Described second conditioning signal is the digital signal inputted by touch-screen 801.
It should be noted that, the motion controller in the utility model adopts interpolation instruction to control robot work.Interpolation instruction can accomplish do not have interval dwell between mechanical arm longitudinal shift and transverse shift, shortens the servocontrol time, and the working time of mechanical arm in one-period is shortened.
In prior art, whether installing probe detects and has part to be pasted onto on mould on a robotic arm, and does not arrive temporary position, but this mode, owing to popping one's head in installing on a robotic arm, when mechanical arm is failure to actuate, just cannot detect.
Therefore, in order to solve the problems of the prior art in the present embodiment, installing proximity switch, this proximity switch is not install on a robotic arm, but is installed on slideway, keeps on position all arrange proximity switch in part position and part.
The schematic diagram of proximity switch and part as shown in Figure 5.
The system that the present embodiment provides, interpolation instruction can be adopted to control the work of mechanical arm, and a steering order can perform next steering order after having run.And mechanical arm performs next instruction again after need not be waited to stop.During practical application, can see mechanical arm longitudinally just (Y-axis) move into place, namely start transversely (X-axis) mobile.Like this, adopting the time by reducing mechanical arm intermediate conversion, increasing work efficiency.
Be understandable that, use Manual pulse generator to carry out coarse adjustment to motor, and show the current position of motor on the touchscreen.Input the second conditioning signal by touch-screen and carry out accurate adjustment, because touch-screen is connected with PLC, PLC sends the second conditioning signal that touch-screen inputs to motion controller, controls motor arrive assigned address by motion controller.
The above is only preferred embodiment of the present utility model, not does any pro forma restriction to the utility model.Although the utility model discloses as above with preferred embodiment, but and be not used to limit the utility model.Any those of ordinary skill in the art, do not departing under technical solutions of the utility model ambit, the Method and Technology content of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solutions of the utility model, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solutions of the utility model, according to technical spirit of the present utility model to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solutions of the utility model protection.
Claims (5)
1. cored rushes a bus multiple-axis servo control system, it is characterized in that, comprising: PLC, motion controller and at least two punch presses;
Each described punch press carries a mechanical arm, and each mechanical arm comprises two part pawls, and described mechanical arm is horizontal and vertical movement on described punch press; Be that position kept in by a part between two adjacent punch presses;
Corresponding two servomotors of each punch press, a servomotor is for driving described mechanical arm transverse shifting, and another servomotor vertically moves for driving described mechanical arm; Each servomotor carrys out driving device hand by the order of servo-driver reception motion controller and moves;
Described motion controller, for receiving the servo motion instruction that PLC sends; Control All Robots according to described servo motion instruction and be initialised to horizontal working point; To the feedback signal that the initialization of described PLC transmission All Robots completes; The control mechanical arm receiving the transmission of described PLC transports the instruction of part to slideway, and carries out work by controlling mechanical arm described in servo driver drives; When described mechanical arm complete part transport depart from slideway after, be sent completely instruction give described PLC;
Described PLC, carries out punching press for controlling punching machine presses to described part; So far complete the motion of one-period, circulate with this.
2. cored according to claim 1 rushes bus multiple-axis servo control system, it is characterized in that, described motion controller comprises: the first control module, the second control module and the 3rd control module;
Described first control module, laterally resets to horizontal mechanical origin for controlling mechanical arm described in each successively;
Described second control module, for controlling, All Robots is simultaneously longitudinally unified resets to longitudinal mechanical origin;
Described 3rd control module, for controlling, All Robots is simultaneously laterally unified moves to horizontal working point.
3. cored according to claim 1 rushes bus multiple-axis servo control system, it is characterized in that, described motion controller comprises: the 4th control module;
Described 4th control module, control mechanical arm described in described servo driver drives for adopting interpolation instruction first to move longitudinally longitudinal working point, All Robots synchronously enters mould and blocks part, adopt interpolation instruction to control the laterally synchronous translational part on slideway of mechanical arm described in described servo driver drives immediately, after described part translation puts in place, All Robots synchronously exits mould.
4. cored according to claim 1 rushes bus multiple-axis servo control system, it is characterized in that, also comprises and is arranged on the proximity switch that position kept in by part position and part;
Whether described proximity switch is used for detecting has part close, if detected that part is close, then sends part close to information to described PLC;
Described PLC, for when receiving described part close to information, determines that described part is kept on position and part position and had part to exist, then sends punching machine presses safety command to described punch press.
5. the cored according to any one of claim 1-4 rushes bus multiple-axis servo control system, it is characterized in that, also comprises: Manual pulse generator and touch-screen;
The corresponding Manual pulse generator of each described servomotor; Described Manual pulse generator connects described motion controller;
Described touch-screen connects described PLC;
Described motion controller, for receiving first conditioning signal of described Manual pulse generator to servomotor, carries out coarse adjustment by controlling servo-driver to servomotor by described first conditioning signal; Receive the second conditioning signal to described servomotor that described touch-screen is transmitted by described PLC; By controlling servo-driver, accurate adjustment being carried out to servomotor by described second conditioning signal, arriving assigned address to make driven by servomotor mechanical arm; Described second conditioning signal is the digital signal inputted by touch-screen.
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| CN201520654403.8U CN204832919U (en) | 2015-08-27 | 2015-08-27 | Bao xin is towards bus multiaxis servo control system |
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| CN201520654403.8U Expired - Fee Related CN204832919U (en) | 2015-08-27 | 2015-08-27 | Bao xin is towards bus multiaxis servo control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105137915A (en) * | 2015-08-27 | 2015-12-09 | 湖北中航精机科技有限公司 | Cored punch bus multi-axis servo control method and system |
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2015
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105137915A (en) * | 2015-08-27 | 2015-12-09 | 湖北中航精机科技有限公司 | Cored punch bus multi-axis servo control method and system |
| CN105137915B (en) * | 2015-08-27 | 2018-11-02 | 湖北中航精机科技有限公司 | A kind of cored rushes bus multiple-axis servo control method and system |
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