CN212161432U - Permanent magnetic chuck magnetizing and demagnetizing controller for manipulator - Google Patents
Permanent magnetic chuck magnetizing and demagnetizing controller for manipulator Download PDFInfo
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- CN212161432U CN212161432U CN202020677355.5U CN202020677355U CN212161432U CN 212161432 U CN212161432 U CN 212161432U CN 202020677355 U CN202020677355 U CN 202020677355U CN 212161432 U CN212161432 U CN 212161432U
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Abstract
The utility model relates to the field of motor control, and discloses a manipulator power consumption permanent magnet sucker 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. The utility model discloses a change circuit control form, thereby can the change of real-time supervision output voltage or electric current and adjust and control the electric permanent magnetism sucking disc for manipulator in order to reach the change of sucking disc magnetic force to make electric permanent magnetism sucking disc's output magnetic force reliable and stable, be used for the unable real-time supervision sucking disc magnetic force of solution controller to change and the problem of slew rate.
Description
Technical Field
The utility model relates to a fill demagnetization controller field, especially relate to a manipulator is with electric permanent magnetism sucking disc controller that magnetizes and demagnetizes.
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 this, the utility model aims at providing an electricity permanent magnetism sucking disc magnetization and demagnetization controller for solve the unable real-time supervision sucking disc magnetic force of traditional manipulator electricity permanent magnetism sucking disc magnetization and demagnetization controller and change over the problem of speed.
In order to achieve the above purpose, the technical scheme of the utility model is realized like this:
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 PLC 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.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model provides an electric permanent magnetism sucking disc fills demagnetization controller for manipulator through changing circuit control form, thereby can the change of real-time supervision output voltage or electric current and adjust in order to reach the change control manipulator electric permanent magnetism sucking disc of sucking disc magnetic force to make electric permanent magnetism sucking disc's output magnetic force reliable and stable, prevent effectively that sucking disc magnetic force is not enough and lead to the danger that drops. 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 the electromagnetic chuck magnetizing and demagnetizing controller for the manipulator of the present invention;
fig. 2 is a functional implementation block diagram of the electromagnetic chuck magnetizing and demagnetizing controller for the manipulator of the present invention;
fig. 3 is an overall circuit diagram of the electromagnetic chuck magnetizing and demagnetizing controller for the manipulator of the present invention;
fig. 4 is an internal power supply circuit diagram of the electromagnetic chuck magnetizing and demagnetizing controller for the manipulator of the present invention;
fig. 5 is a circuit diagram of the operation panel in the electric permanent magnetic chuck magnetizing and demagnetizing controller for the manipulator of 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 merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, 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 is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The utility model provides a manipulator is with electric permanent magnetism sucking disc magnetization and demagnetization controller, refer to fig. 1, fig. 2, manipulator is with electric permanent magnetism sucking disc magnetization and demagnetization controller, including switching power supply module, rectification filter module, main control module, drive module, IGBT module, output circuit, protection control module, hall sensor and 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. 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 utility model provides an electric permanent magnetism sucking disc fills demagnetization controller for manipulator through changing circuit control form, thereby can the change of real-time supervision output voltage or electric current and adjust in order to reach the change control manipulator electric permanent magnetism sucking disc of sucking disc magnetic force to make electric permanent magnetism sucking disc's output magnetic force reliable and stable, prevent effectively that sucking disc magnetic force is not enough and lead to the danger that drops. 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 utility model provides a manipulator is with electric permanent magnetism sucking disc magnetization and demagnetization controller's main control circuit part, input power R, S, T is through three-phase rectifier bridge D1, filter capacitance C2, C3 and divider resistance R01, form +500V high voltage direct current behind the R02, input 4 IGBT driver chip's Q1, Q2, Q3, the +500V high-voltage terminal (anodal) and the GND low-voltage terminal (negative pole) of the H bridge that Q4 constitutes, control double-phase H bridge return circuit, make U, V end output size and direction change's direct current PWM ripples: 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 is understood that the external control module comprises a PLC controller. The PLC controller is connected with the production line, fault state signals of the controller are sent to the production line by using relay contacts, two paths of relay switch signals are used for transmitting magnetization and demagnetization success and failure signals, and one path of relay switch signal is used for transmitting fault signals in 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.
As shown in fig. 4, a power supply part inside the controller is high voltage direct current of 500V, a main control chip of the switching power supply is U7, an oscillation frequency of 70K is formed through an oscillation tube Q5 to form a flyback switching power supply, and a plurality of groups of voltage outputs are formed through a transformer T1; the voltage generated by the winding T1E is stabilized by rectifier tubes D13, L1 and C61 to generate 12V voltage output, wherein the voltage feedback formed by the optocouplers OP1 and U9 forms a constant voltage main power supply 12V, and the voltage is stabilized by U8 to generate 5V (VCC) voltage to supply power to the MCU chip; after being divided by D21 and R53, R54 generates VOL voltage for sampling of MCU chip to detect power supply voltage. The winding T1C generates +15V2 and-5V 2 voltages after D17 rectification, C46 and C47 filtering and D7 voltage stabilization to provide positive and negative power supplies for an H-bridge U-phase upper arm driving chip U4; the winding T1D generates +15V3 and-5V 3 voltages to provide positive and negative power supplies for the H-bridge V-phase upper arm driving chip U6; the winding T1B generates +15V1 and-5V 1 voltages to provide positive and negative power supplies for the H-bridge lower arm driving chips U5 and U3; the winding T1F generates +12V0, GND0 to supply power to the external terminal 12V.
Referring to fig. 3, the PWM is adjusted by AD sampling the VOL voltage and AD sampling the Iu1 current detected by the hall sensor IC3, and controlling the PWM output by an internal PID algorithm, forming a closed-loop control system. The PID control process can be divided into a voltage loop and a current loop. The voltage loop outputs PWM according to the set output voltage value, the sampled voltage value VOL is compared with the set voltage value, and the difference value is used for correcting the output value of the PWM, so that the purpose of keeping the output voltage constant is achieved. The current loop is the current output by the Hall sensor IC3, IGBTU and V phases, a detection signal Iu1 enters the MCU chip U1 for AD sampling, and the comparison is carried out according to the sampling value and the set current value, when the sampling value is greater than the set value, the output PWM value is reduced, and the output current value is reduced, so that the actual output value is consistent with the set value; when the sampled current value is smaller than the set current value, the output PWM value is increased, and the output current value is increased along with the increase of the sampled current value, so that the set value is equal to the output value, and the purpose of constant current output is achieved. In a practical circuit either a current loop or a voltage loop may be used depending on the characteristics of the load.
The utility model also provides a control method of manipulator power consumption permanent magnetism sucking disc magnetization and demagnetization controller, its characterized in that, input power forms the high voltage direct current after rectifying and filtering through rectification filter module, through the changeable PWM ripples of H bridge return circuit output in the IGBT module, through the size that changes the output direction and the PWM value of H bridge, realizes the change of output voltage or electric current thereby control manipulator power consumption permanent magnetism sucking disc to reach the change of sucking disc magnetic force; 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 utility model provides an electric permanent magnetism sucking disc fills demagnetization controller for manipulator has complete low-voltage protection and current protection circuit, as shown in FIG. 3, when IGBT driver chip U3, U4, U5, F01 signal is put lowly when any one end of U6 detects fault signal, RS trigger U2 can be triggered, produce SD high level signal, high level SD signal locking U3-U6, prohibit PWM signal output, the SD signal reaches MCU chip U1 drive signal fault detection pin simultaneously, MCU chip U1 terminates IGBT driver chip output signal at once, send alarm signal simultaneously, play the guard action.
The content of the present invention is not limited to the examples, and any equivalent transformation adopted by the technical solution of the present invention is covered by the claims of the present invention by those skilled in the art through reading the present invention.
Claims (8)
1. An electric permanent magnetic chuck magnetizing and demagnetizing controller for a 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 2, wherein one end of the rectifying and filtering module is connected to a high-voltage end of the H-bridge circuit, and the other end of the rectifying and filtering 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 electro-permanent-magnetic chuck magnetizing and demagnetizing controller for the manipulator according to claim 6, wherein: the external control module comprises a PLC 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020677355.5U CN212161432U (en) | 2020-04-28 | 2020-04-28 | Permanent magnetic chuck magnetizing and demagnetizing controller for manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020677355.5U CN212161432U (en) | 2020-04-28 | 2020-04-28 | Permanent magnetic chuck magnetizing and demagnetizing controller for manipulator |
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| CN212161432U true CN212161432U (en) | 2020-12-15 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111415794A (en) * | 2020-04-28 | 2020-07-14 | 西安鸣士机电开发有限公司 | Permanent magnetic chuck magnetizing and demagnetizing controller for manipulator and control method thereof |
| 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 |
-
2020
- 2020-04-28 CN CN202020677355.5U patent/CN212161432U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111415794A (en) * | 2020-04-28 | 2020-07-14 | 西安鸣士机电开发有限公司 | Permanent magnetic chuck magnetizing and demagnetizing controller for manipulator and control method thereof |
| 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 |
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