CN100439052C - Pneumatic/electric manipulator mixed controller - Google Patents

Pneumatic/electric manipulator mixed controller Download PDF

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Publication number
CN100439052C
CN100439052C CNB2006100527547A CN200610052754A CN100439052C CN 100439052 C CN100439052 C CN 100439052C CN B2006100527547 A CNB2006100527547 A CN B2006100527547A CN 200610052754 A CN200610052754 A CN 200610052754A CN 100439052 C CN100439052 C CN 100439052C
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CN
China
Prior art keywords
control
manipulator
processor
frequency converter
pneumatic
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Expired - Fee Related
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CNB2006100527547A
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Chinese (zh)
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CN1903524A (en
Inventor
彭勇刚
韦巍
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Zhejiang University ZJU
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Zhejiang University ZJU
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Priority to CNB2006100527547A priority Critical patent/CN100439052C/en
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Application granted granted Critical
Publication of CN100439052C publication Critical patent/CN100439052C/en
Expired - Fee Related legal-status Critical Current
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Abstract

A controller for both pneumatic and electric manipulators used for injection moulding machine is composed of a processor module with dual CPUs structure consisting of hand-held panel processor and lower-position control panel processor, digital input module and digital output module. Said hand-held panel consists of LCD, hand-held panel processor and control buttons. Said both processors are connected with each other via RS232 ports. The photoisolators are used for digital input and output.

Description

Pneumatic/electric manipulator mixed controller
Technical field
The present invention relates to a kind of manipulator controller, more specifically must say, relate to a kind of Pneumatic/electric manipulator mixed controller of injection machine special use.
Background technology
Along with the raising of injection machine industry automaticity, automatic equipments such as needs use manipulator are got the product that injection machine is produced, and are placed into preposition.Automatically control device of the process need of getting product of manipulator is controlled, and the sequence of movement that makes manipulator need according to the user obtains the product that injection machine is produced.Usually manipulator of injection machine is installed in above the injection machine machinery, in its design a manipulator or two mechanical arms is arranged usually.Manipulator have before and after, up and down with left and right sides three degrees of freedom of movement.The arm that needs a control device to control the type manipulator is determined the order of action and the execution of concrete each action of control according to the position of the product of injection machine production and the position that needs to place product.Controller needs the input and output point of some digital quantities to detect the action execution result of manipulator arm and the execution of control action, also need a display unit to show the working condition of current manipulator simultaneously, also need button in addition on the control device and control the operation of manipulator and carry out the modification setting of parameter.
Current domestic such ripe manipulator controller product that also do not have, home products all is the product of import Japan, America and Europe or Taiwan, but their common deficiency is exactly the controller complexity, processor chips adopt the chip of special customization or dsp chip, the ARM chip of high price, the cost height, exploitation is complicated, and versatility is poor.Operational design not too is fit to the common use habit in China's Mainland according to westerner's thinking.Another problem is that current both arms manipulator of injection machine has full air-driven type and a crossbeam horizontally goes into the horizontal electric mixed type that goes out electronic control, two kinds of manipulator controllers of current this are different, manipulator producer will produce the manipulator controller that these two kinds of manipulators need two kinds of correspondences, increased the difficulty of maintenance and management like this, design of the present invention is provided with two kinds of control interfaces on the controller of manipulator, carried out the operation of logical AND and logic OR on the control algolithm, the user uses this controller both can control the complete pneumatic manipulator of injection machine of both arms like this, also can control the both arms manipulator of injection machine of electric mixing.
Manipulator of injection machine has multiple job order and position when getting material, the manipulator behavior that different customer requirements is motionless, so a plurality of standard operation programs that general manipulator of injection machine controller is built-in, but this quadrat method has promptly taken a large amount of store memories, and it is convenient inadequately that the user uses again.
Summary of the invention
Main purpose of the present invention is to overcome deficiency of the prior art, and a kind of Pneumatic/electric manipulator mixed controller of injection machine special use is provided.
In order to solve the problems of the technologies described above, the present invention is achieved by the following technical solutions:
The invention provides a kind of Pneumatic/electric manipulator mixed controller, comprise processor module, digital input module, digital output module, processor module is a dual-cpu structure, comprises hand held panel processor in the hand held panel and the next control panel processor in the next control panel; Described hand held panel is connected in turn by LCD LCDs, hand held panel processor and control button, the hand held panel processor also is connected with the next control panel processor by the RS232 serial line interface, the next control panel processor links to each other with the Frequency Converter Control output interface by optical isolation, and the next control panel processor also links to each other with digital input module, digital output module by optical isolation;
Described digital input module is position of manipulator travel switch, electronic switch signal and from the digital quantity input point of the signal of injection machine;
Described Frequency Converter Control output interface comprises full Pneumatic manipulator output interface and pneumoelectric hybrid manipulator output interface; Wherein full Pneumatic manipulator output interface comprises pneumatic horizontal output control mouthful J1 of going out and the pneumatic horizontal output control mouthful J2 of going into; Pneumoelectric hybrid manipulator output interface comprises electronic horizontal go out to control frequency converter interface J3, the electronic horizontal frequency converter interface J4 that goes into to control, and horizontally goes into the horizontal speed that goes out Frequency Converter Control and selects control mouthful J5, a J6.
Compared with prior art, the invention has the beneficial effects as follows:
Pneumatic/electric manipulator mixed controller provided by the invention adopts dual-cpu structure, and CPU adopts ripe MCS51 single-chip microcomputer up and down, and cost is low, realization is convenient, and is easy to operate, and control algolithm is short and sweet, operation interface close friend, the use habit of suitable China's Mainland; Pneumatic/electric manipulator mixed controller provided by the invention has comprised two kinds of control output interfaces, can connect full Pneumatic manipulator as required or connect the pneumoelectric hybrid manipulator, and concrete control algolithm is set in processor module inside, and is easy to use.
Description of drawings
Fig. 1 is an overall structure block diagram of the present invention.
Fig. 2 is the horizontal horizontal control circuit schematic diagram first that goes out of going into of the present invention.
Fig. 3 is the horizontal horizontal control circuit schematic diagram second portion that goes out of going into of the present invention.
Fig. 4 is the horizontal horizontal control circuit schematic diagram third part that goes out of going into of the present invention.
Among the figure: hand held panel processor 1, the next control panel processor 2, LCD LCDs 3, control button 4, RS232 serial line interface 5, RS232 serial line interface 6, optical isolation 7, optical isolation 8, optical isolation 9, digital input module 10, digital output module 11, Frequency Converter Control output interface 12.
The specific embodiment
With reference to the accompanying drawings, will describe the present invention below:
A kind of Pneumatic/electric manipulator mixed controller, comprise processor module, digital input module 10, numeral output module 11, processor module is a dual-cpu structure, comprise hand held panel processor 1 in the hand held panel and the next control panel processor 2 in the next control panel, described hand held panel is by LCD LCDs 3, hand held panel processor 1 and control button 4 are connected in turn, hand held panel processor 1 also is connected with the next control panel processor 2 by the RS232 serial line interface, the next control panel processor 2 links to each other with Frequency Converter Control output interface 12 by optical isolation, and the next control panel processor 2 is also by optical isolation and digital input module 10, numeral output module 11 links to each other.
Hand held panel processor 1 and the next control panel processor 2 adopt MCS-51 series processors AT89C55, hand held panel processor 1 is connected to 128 * 64 dot matrix interfaces, 26 buttons are connected with hand held panel processor 1 by keyboard interface, and button comprises function key: manual, semi-automatic, automatic, modification, instruction, input, involution, supervision etc. and action/numerical key: rise, descend, advance, retreat, horizontally go into, horizontally go out, press from both sides, inhale, fold up, inhale and put and cursor key: the cursor upper and lower, left and right.Hand held panel processor 1 also be connected with 6 emitting led, show " die sinking is intact ", " safety door ", " can close mould ", " but thimble ", " principal arm " and " auxiliary " state.The next control panel processor 2 is isolated by photoelectricity and is linked to each other with the digital quantity input point that has 24 tunnel, and 24 tunnel digital quantity output point is also isolated with position control panel processor 2 by photoelectricity and linked to each other.The IO mouth of the next control panel processor 2 directly connects Frequency Converter Control output interface 12 by photoelectric isolated chip 521-4, also link to each other with hand held panel processor 1 in addition, accept the order of hand held panel processor transmission and the data of modification by the RS232 communication interface.
The action and the injection machine of manipulator cooperatively interact, an actuation cycle process of manipulator is: at first (signal has been produced and has been finished by this marker injection machine product " die sinking is intact " of position of readiness wait injection machine for manipulator, manipulator can begin to get product), if manipulator has been received injection machine " die sinking intact " signal then descend and get product treats that product takes out the back manipulator and just can send a signal (mould closing signal) and notify injection machine can carry out the product that mould assembling action begins to produce next mould.Robot movement puts down product to preposition then, then gets back to position of readiness and continues to wait for intact next the mould product of injection machine production.
As Fig. 2, Fig. 3, Fig. 4, the present invention has designed pneumatic control output interface J1, J2 and power type Frequency Converter Control interface J3, J4, J5, J6.The pneumatic horizontal control mouth that goes out to export of J1; J2 is the pneumatic horizontal control mouth of going into to export; J3 is the electronic horizontal frequency converter interface that goes out to control, and promptly frequency converter is just changeing the control delivery outlet; J4 is the electronic horizontal frequency converter interface of going into to control, i.e. frequency converter counter-rotating control delivery outlet; J5, J6 horizontally go into the horizontal speed that goes out Frequency Converter Control and select control mouthful.Selection according to J5, J6, can select three sections different frequency converter running speeds, when J5 be 1, when J6 also is 1, select frequency converter velocity shooting 1, when J5 is 1, selects frequency converter velocity shooting 2 when J6 is 0, when J5 be 0, when J6 is 1, select frequency converter velocity shooting 3, frequency converter drives the motor-driven injection molding machine manipulator and does horizontally to go into horizontally just to have three sections speed to select when going out to move like this, therefore, can obtain operational effect stably.Injection machine is horizontal goes into the horizontal end that goes out action and detects by horizontal end point sensor K1 of going out and the horizontal end point sensor K2 of going into, and decelerate position is by the horizontal deceleration sensor K3 of going out and horizontally go into deceleration sensor K4 and detect.
The present invention carry out horizontal go into horizontal when going out to control, no matter be full air-actuated plastic injection machine manipulator or electric mixed type manipulator of injection machine, carry out horizontally when going out to control, all export J1 and J3, J5, J6 simultaneously, after detecting the horizontal end point sensor K1 of going out signal, all close J1 and J3, J5, J6 output.Horizontal when going into to control when carrying out, all export J2 and J4, J5, J6 simultaneously, after detecting the horizontal end point sensor K2 of going into signal, all close J2 and J4, J5, J6 output.Export by two-way like this, but detecting the end stop position all is by sensor K1 and K2, no matter so be applied on the full air-actuated plastic injection machine manipulator or be applied in above the electric mixed type manipulator of injection machine, this control can be controlled manipulator and work normally.
It is the processor chips of AT89C55 that hand held panel processor and the next control panel processor all can adopt the model of atmel corp.
It is the LCD of LMC97S436A13DL that the LCD LCDs can adopt South Asia, Taiwan 128 * 64 dot matrix models.
At last, it is also to be noted that what more than enumerate only is a specific embodiment of the present invention.Obviously, the invention is not restricted to above embodiment, many distortion can also be arranged.All distortion that those of ordinary skill in the art can directly derive or associate from content disclosed by the invention all should be thought protection scope of the present invention.

Claims (1)

1, a kind of Pneumatic/electric manipulator mixed controller, comprise processor module, digital input module (10), digital output module (11), processor module is a dual-cpu structure, comprises hand held panel processor (1) in the hand held panel and the next control panel processor (2) in the next control panel; Described hand held panel is connected in turn by LCD LCDs (3), hand held panel processor (1) and control button (4), it is characterized in that, hand held panel processor (1) also is connected with the next control panel processor (2) by the RS232 serial line interface, the next control panel processor (2) links to each other with Frequency Converter Control output interface (12) by optical isolation, and the next control panel processor (2) also links to each other with digital input module (10), digital output module (11) by optical isolation;
Described digital input module (10) is position of manipulator travel switch, electronic switch signal and from the digital quantity input point of the signal of injection machine;
Described Frequency Converter Control output interface (12) comprises full Pneumatic manipulator output interface and pneumoelectric hybrid manipulator output interface; Wherein full Pneumatic manipulator output interface comprises pneumatic horizontal go out to export control mouthful (J1) and the pneumatic horizontal control mouth (J2) of going into to export; Pneumoelectric hybrid manipulator output interface comprises electronic horizontal go out to control frequency converter interface (J3), the electronic horizontal frequency converter interface (J4) of going into to control, and horizontal speed of going into Frequency Converter Control selects control mouthful (J5), the horizontal speed that goes out Frequency Converter Control to select control mouthful (J6).
CNB2006100527547A 2006-08-02 2006-08-02 Pneumatic/electric manipulator mixed controller Expired - Fee Related CN100439052C (en)

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CN100439052C true CN100439052C (en) 2008-12-03

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Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101698334B (en) * 2008-06-05 2014-05-07 上海康德莱企业发展集团股份有限公司 Variable frequency motor-based energy-saving injection molding robot with high universality and control method thereof
CN102029612A (en) * 2011-01-25 2011-04-27 南京工业大学 Manipulator controller
CN103802115A (en) * 2012-12-21 2014-05-21 常州先进制造技术研究所 Hand-held controller system of mechanical arm of injection molding machine
CN103246226A (en) * 2013-05-06 2013-08-14 西安航空学院 Hardware design of control system of economical feeding manipulator

Citations (3)

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Publication number Priority date Publication date Assignee Title
JPS625408B2 (en) * 1979-06-14 1987-02-04 Oosaka Yakuhin Kenkyusho Kk
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Patent Citations (3)

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Publication number Priority date Publication date Assignee Title
JPS625408B2 (en) * 1979-06-14 1987-02-04 Oosaka Yakuhin Kenkyusho Kk
CN1021935C (en) * 1987-10-23 1993-08-25 三菱重工业株式会社 Controlling system for industrial robot
US6311101B1 (en) * 1997-11-14 2001-10-30 Engel Maschinenbau Gesellschaft M.B.H. Method of operating an injection molding machine

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