CN101639685B - Assembly control method, assembly control system and assembly control equipment - Google Patents
Assembly control method, assembly control system and assembly control equipment Download PDFInfo
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- CN101639685B CN101639685B CN2008101299763A CN200810129976A CN101639685B CN 101639685 B CN101639685 B CN 101639685B CN 2008101299763 A CN2008101299763 A CN 2008101299763A CN 200810129976 A CN200810129976 A CN 200810129976A CN 101639685 B CN101639685 B CN 101639685B
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Abstract
The invention relates to the field of product assembly, and provides an assembly control method, an assembly control system and assembly control equipment. The assembly control system is used for controlling the action of each station mechanism; each station mechanism comprises a cam intermittent splitter, a servo motor and a solenoid valve; and the assembly control system is characterized by comprising a master controller and a signal detecting unit, a mechanical arm controller, a mechanical arm, a cam positioning unit, a servo execution unit, a solenoid valve control unit, a feeding unit, an energy supplying unit and a user interface unit which are connected with the master controller respectively. The master controller starts or stops each station mechanism according to a status signal of each station mechanism, and sends a control signal to control the action of each station mechanism so as to realize fully-automatic multi-station parallel operation; therefore, the assembly efficiency is improved.
Description
Technical field
The present invention relates to the Product Assembly field, more particularly, relate to a kind of assembling control method, system and equipment.
Background technology
The assembling of product component is a more traditional accessory mounting process, and since coming out from traditional electronic product, earth-shaking variation is also occuring the accessory field engineering.Be installed to simple equipment from traditional craft and install, arrive again pinpoint new science and technology and install, indicating the development of technological revolution.And at present in the automatic assembling process of mobile communication equipment (for example mobile phone) accessory, often need various utility appliance to be used could to realize the smooth installation of accessory, simultaneously installation accuracy, mounting torque there are certain requirement.Present automatic assembly equipment can only be installed a kind of or a small amount of accessory is installed simultaneously, if polygamy spare need be installed more and finish the more complicated work such as hot melt, then needs the multiple devices co-ordination.
In the prior art, provide a kind of rotary working bench multi-station assembling all-in-one, by controlling the action of (comprising cam indexing separator, servomotor, solenoid valve etc.) of each station mechanism, thus the assembling process of control product component.But there is following defective in the prior art: its rotary table adopts two stations, and putting with extracting position is same position, need to carry out manual operations, causes production efficiency to reduce; In addition, each station is equipped with an assembly machine, is not easy to safeguard, if all devices that goes wrong then all need be shut down, this has in fact also caused the reduction of efficiency of assembling.
Therefore need a kind of new assembling control method, can improve efficiency of assembling.
Summary of the invention
One of purpose of the present invention is to provide a kind of assembling control method, system and equipment, is intended to solve the problem of prior art inefficiency in the Product Assembly process.
In order to realize goal of the invention, described assembly control system is used for the action of each station mechanism of control, and described each station mechanism comprises cam indexing separator, servomotor, solenoid valve, and described system comprises:
Detecting signal unit detects the status signal of each station mechanism;
Master controller links to each other with detecting signal unit and to carry out data mutual, according to the status signal of described each station mechanism each station mechanism is started or stoped, and the action of each station mechanism of control that transmits control signal;
Manipulator Controller links to each other with master controller and to carry out data mutual, according to the instruction of described control signal sending action, adjusts the action of at least one mechanical arm that links to each other with Manipulator Controller;
At least one mechanical arm links to each other with Manipulator Controller and to carry out data mutual, receives the action command that Manipulator Controller sends, and batching is grasped;
The cam orientation unit links to each other with master controller and to carry out data mutual, according to described control signal the cam indexing separator is rotated in place;
Servo performance element links to each other with master controller and to carry out data mutual, starts the running of servomotor according to described control signal;
Control unit of electromagnetic valve links to each other with master controller and to carry out data mutual, drives the solenoid valve action according to described control signal;
Feeding unit links to each other with master controller and to carry out data mutual, and the location of preparing burden according to described control signal sends;
The energy supply unit links to each other with master controller, is used to master controller that the energy is provided;
User interface section, link to each other with master controller and to carry out data mutual, be used for carrying out man-machine interaction, the parameter of described Manipulator Controller, mechanical arm, cam orientation unit, servo performance element, control unit of electromagnetic valve or feeding unit is shown or arranges.
Preferably, described master controller comprises:
Communication unit is used for carrying out information interaction with described detecting signal unit, Manipulator Controller, cam orientation unit, servo performance element, control unit of electromagnetic valve, feeding unit and user interface section, and sends the control signal that master controller generates;
Data processing unit, link to each other with communication unit and to carry out data mutual, generate the control signal corresponding with described detecting signal unit, Manipulator Controller, cam orientation unit, servo performance element, control unit of electromagnetic valve, feeding unit and user interface section.
Preferably, described cam indexing separator is divided into the N equal portions with station, and wherein N is not less than 1 integer.
In order to realize better goal of the invention, described assembling opertaing device is used for the action of each station mechanism of control, and described each station mechanism comprises cam indexing separator, servomotor, solenoid valve, and described assembling opertaing device comprises:
Detecting signal unit detects the status signal of each station mechanism;
Master controller links to each other with detecting signal unit and to carry out data mutual, according to the status signal of described each station mechanism each station mechanism is started or stoped, and the action of each station mechanism of control that transmits control signal;
Manipulator Controller links to each other with master controller and to carry out data mutual, according to the instruction of described control signal sending action, adjusts the action of at least one mechanical arm that links to each other with Manipulator Controller;
At least one mechanical arm links to each other with Manipulator Controller and to carry out data mutual, receives the action command that Manipulator Controller sends, and batching is grasped;
The cam orientation unit links to each other with master controller and to carry out data mutual, according to described control signal the cam indexing separator is rotated in place;
Servo performance element links to each other with master controller and to carry out data mutual, starts the running of servomotor according to described control signal;
Control unit of electromagnetic valve links to each other with master controller and to carry out data mutual, drives the solenoid valve action according to described control signal;
Feeding unit links to each other with master controller and to carry out data mutual, and the location of preparing burden according to described control signal sends.
Preferably, also comprise:
The energy supply unit links to each other with master controller, is used to master controller that the energy is provided.
Preferably, also comprise:
User interface section, link to each other with master controller and to carry out data mutual, be used for carrying out man-machine interaction, the parameter of described Manipulator Controller, mechanical arm, cam orientation unit, servo performance element, control unit of electromagnetic valve or feeding unit is shown or arranges.
In order to realize better goal of the invention, described assembling control method is used for the action of each station mechanism of control, and described each station mechanism comprises cam indexing separator, servomotor, solenoid valve, said method comprising the steps of:
A. master controller starts each station mechanism according to the status signal of each station mechanism, and the cam indexing separator is rotated in place;
B. master controller transmits control signal, driving device hand and servomotor running, and drive the solenoid valve action;
C. master controller detects manipulator behavior and finishes, and sends to drive signal to feeding unit and carry out the feeding action, for the mechanical arm crawl.
Preferably, described steps A comprises:
A1. master controller receives the status signal of each station mechanism that detects;
A2. master controller judges according to described status signal whether each station all satisfies entry condition: if then execution in step A3, if not then end;
A3. master controller sends a control signal to the cam orientation unit, and the cam indexing separator is rotated in place.
Preferably, described step B comprises:
B1. whether the current state of master controller detection Manipulator Controller and servo performance element satisfies entry condition: if then execution in step B2, if not then end;
B2. master controller sends a control signal to Manipulator Controller and servo performance element, driving device hand and servomotor running;
B3. control unit of electromagnetic valve detects himself current state and whether satisfies entry condition: if execution in step B4 then then finishes if not;
B4. master controller sends a control signal to control unit of electromagnetic valve, drives the solenoid valve action.
Preferably, described entry condition refers to: be positioned at and wait for the working point and produce without situation.
As from the foregoing, the present invention is in the process that product component is assembled, and difference with the prior art is by communicating by letter between master controller and each performance element each station mechanism to be controlled, and has realized full automatic working, has avoided manual operations; In addition, cam orientation finite element rotation location can divide a plurality of stations to operate simultaneously.Therefore the present invention has improved the efficiency of assembling of product component.
Description of drawings
Fig. 1 is the structural drawing of assembly control system among one of them embodiment of the present invention;
Fig. 2 is the structural drawing of assembly control system among one of them embodiment of the present invention;
Fig. 3 is the structural drawing of master controller among one of them embodiment of the present invention;
Fig. 4 is the principle schematic of Manipulator Controller among one of them embodiment of the present invention;
Fig. 5 communicates the synoptic diagram that is connected between master controller and the mechanical arm among one of them embodiment of the present invention;
Fig. 6 is the principle schematic of one of them embodiment cam indexing separator of the present invention;
Fig. 7 is the principle schematic of servo performance element among one of them embodiment of the present invention;
Fig. 8 is the control principle synoptic diagram of feeding unit among one of them embodiment of the present invention;
Fig. 9 is the circuit theory synoptic diagram of energy supply unit among one of them embodiment of the present invention;
Figure 10 is the schematic flow sheet of assembling control method among one of them embodiment of the present invention;
Figure 11 is the process flow diagram of assembling control method among one of them embodiment of the present invention;
Figure 12 is the process flow diagram of assembling control method among one of them embodiment of the present invention.
Embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, is not intended to limit the present invention.
In assembly control system of the present invention, comprise master controller, reach and its detecting signal unit that links to each other respectively, Manipulator Controller, mechanical arm, cam orientation unit, servo performance element, control unit of electromagnetic valve, feeding unit, energy supply unit and user interface section.By communicating by letter between master controller and each performance element each station mechanism is controlled, realized full automatic multistation parallel work-flow, therefore improved efficiency of assembling.
Fig. 1 shows the structure of assembly control system among one of them embodiment of the present invention, this system comprises master controller 2, reaches and its detecting signal unit that links to each other respectively 1, Manipulator Controller 3, mechanical arm 4, cam orientation unit 5, servo performance element 6, control unit of electromagnetic valve 7, feeding unit 8, energy supply unit 9 and user interface section 10.This system is used for the action of each station mechanism of control, and the alleged station mechanism of the present invention comprises cam indexing separator, servomotor, solenoid valve (not shown) etc.Should be noted that the annexation between each equipment is the needs of explaining its information interaction and control procedure for clear in all diagrams of the present invention, therefore should be considered as annexation in logic, and should not only limit to physical connection.Need to prove that in addition the communication mode between each functional module can be taked multiple, protection scope of the present invention should not be defined as the communication mode of certain particular type.Wherein:
(1) detecting signal unit 1, the status signal of each station mechanism detected, and send it to master controller 2.
(2) master controller 2, link to each other with detecting signal unit 1 and to carry out data mutual, according to the status signal of each station mechanism each station mechanism is started or stoped, and the action of each station mechanism of control that transmits control signal.
(3) Manipulator Controller 3, link to each other with master controller 2 and to carry out data mutual, transmit control signal according to this control signal, adjust the action of at least one mechanical arm 4 that links to each other with Manipulator Controller 3.About concrete structure and the control principle of this Manipulator Controller 3, will in aftermentioned Fig. 4, elaborate.
(4) mechanical arm 4 has one at least, links to each other with Manipulator Controller 3 respectively and to carry out data mutual, receives the action command that Manipulator Controller 3 sends, and batching is grasped.Because Manipulator Controller 3 is controlled by the signaling of master controller 2, thus mechanical arm 4 actual be to communicate with master controller 2 to be connected, and be subjected to master controller 2 controls.Communicate the particular content that is connected about between master controller 2 and the mechanical arm 4, will in aftermentioned Fig. 5, elaborate.
(5) the cam orientation unit 5, link to each other with master controller 2 and to carry out data mutual, and the control signal that sends according to master controller 2 is rotated in place the cam indexing separator.About concrete structure and the control principle of this cam indexing separator, will in aftermentioned Fig. 6, elaborate.
(6) servo performance element 6 links to each other with master controller 2 and to carry out data mutual, and the control signal that sends according to master controller 2 starts the running of servomotor.About concrete structure and the control principle of this servo performance element 6, will in aftermentioned Fig. 7, elaborate.
(7) control unit of electromagnetic valve 7, link to each other with master controller 2 and to carry out data mutual, and the control signal that sends according to master controller 2 drives the solenoid valve action.
(8) feeding unit 8, link to each other with master controller 2 and to carry out data mutual, and the location that the control signal that sends according to master controller 2 is prepared burden sends.About concrete structure and the control principle of this feeding unit 8, will in aftermentioned Fig. 8, elaborate.
(9) the energy supply unit 9, link to each other with master controller 2, are used to master controller 2 that the energy is provided.About circuit and the control principle of this energy supply unit 9, will in aftermentioned Fig. 9, elaborate.
(10) user interface section 10, link to each other with master controller 2 and to carry out data mutual, be used for carrying out man-machine interaction, the parameter of Manipulator Controller 3, mechanical arm 4, cam orientation unit 5, servo performance element 6, control unit of electromagnetic valve 7 or feeding unit 8 is shown or arranges.In one embodiment, this user interface section 10 is realized man-machine interaction by monitoring window, alarm window etc.
Fig. 2 shows the structure of assembly control system among one of them embodiment of the present invention.In this system, comprise that is independently assembled an opertaing device 11.
In one embodiment, this assembling opertaing device 11 links to each other with user interface section 10 with the energy supply unit 9 of outside.These assembling opertaing device 11 inside then comprise master controller 2, reach and its detecting signal unit that links to each other respectively 1, Manipulator Controller 3, mechanical arm 4, cam orientation unit 5, servo performance element 6, control unit of electromagnetic valve 7 and feeding unit 8.
Should be noted that energy supply unit 9 and user interface section 10 both can realize by peripherals, for example by card format, also can be built in this assembling opertaing device 11.
Fig. 3 shows the structure of master controller 2 among one of them embodiment of the present invention, comprises communication unit 21 and data processing unit 22.Wherein:
(1) communication unit 21, be used for carrying out information interaction with detecting signal unit 1, Manipulator Controller 3, cam orientation unit 5, servo performance element 6, control unit of electromagnetic valve 7, feeding unit 8 and user interface section 10, and the control signal that sends master controller 2 generations is moved thereby control each station mechanism in above-mentioned these performance elements.
(2) data processing unit 22, link to each other with communication unit 21 and to carry out data mutual, generate with aforementioned detecting signal unit 1, Manipulator Controller 3, cam orientation unit 5, servo performance element 6, control unit of electromagnetic valve 7, feeding unit 8 and user interface section 10 and distinguish corresponding control signal.
In a concrete application scenarios, master controller 2 has a plurality of output ports, comprises Y0, Y2, Y3 etc., by the reasonable disposition to these ports, can control flexibly servomotor.Concrete control procedure will elaborate in aftermentioned Fig. 7.
Fig. 4 shows the control principle of Manipulator Controller 3 among one of them embodiment of the present invention.
In this embodiment, MOTOR (engine) interface connects Manipulator Controller 3, and the 220V power supply is from energy supply unit 9, and the 24V DC control supply is taken from Switching Power Supply.The I/O mouth is used for Manipulator Controller 3 and carries out signal exchange with master controller 2, and master controller 2 output signals are carried out the interactive communication of signal by I/O mouth input and output point commonly used.
After mechanical arm 4 action is finished, feed back signal to master controller 2 by Manipulator Controller 3, master controller 2 is processed after receiving the feedback signal of Manipulator Controller 3, proceeds next step action.
Its middle port SD/COM is used for finishing the communication function of master controller 2 and Manipulator Controller 3.Master controller 2 inside programming communications protocol transmit control signal to Manipulator Controller 3 by the SD/COM port, and Manipulator Controller 3 moves after receiving the control signal of autonomous controller 2 accordingly.
Fig. 5 communicates the synoptic diagram that is connected between master controller 2 and the mechanical arm 4 among one of them embodiment of the present invention.
In this embodiment, master controller 2 links to each other with communication expansion module FX2N-232IF, and 3 expansion module FX2N-232IF are cascaded, and its middle distance master controller 2 nearest being defined as No. 1 are followed successively by No. 2 stations and No. 3 stations in the station.The equal separate connection Manipulator Controller 3 of each expansion module 232IF, the mechanical arm 4 of Manipulator Controller 3 controls one cover diaxon is finished the assembly work of required different accessories.
In the present embodiment, assembly control system adopts a master controller 2 to link to each other with three communication expansion module FX2N-232IF, realizes the control program of 2 pairs three covers of master controller mechanical arm 4, thus assembling when can finish three kinds of different accessories.Certainly, assembly system of the present invention has good extendability, and this master controller 2 can link to each other with any a plurality of communication expansion modules in theory, thus assembling when realizing any multiple different accessories.
Fig. 6 is the principle schematic of one of them embodiment cam indexing separator of the present invention.In the present invention, the cam indexing separator is subject to the control of cam orientation unit 5, and it can be divided into station the N equal portions, and wherein N is not less than 1 integer.In an exemplary embodiments, the cam indexing separator is divided into 8 equal portions with station, and such 8 stations can assemble product component simultaneously, have compared with prior art greatly improved efficiency of assembling.
This figure has provided the motion control circuit of cam indexing separator, and details are as follows:
Brake clutch C1, C2 port are the clutch for clutch control end, and B1, B2 are the brake control end.
The auxiliary reclay original state is that C1, C2 hold disconnection, B1, B2 close and, auxiliary reclay connects Switching Power Supply direct current 24V power supply, this moment the cam indexing separator be defaulted as can not running status.
When master controller 2 provides run signal when the brake clutch, B1, B2 disconnect, simultaneously C1, C2 end close and, but this moment, the cam indexing separator was in running status, cam motor rotates.
When detecting cam motor, detecting signal unit 1 is rotated in place, then send and put signal in place to master controller 2, the control that master controller 2 discharges middle relay, so that brake clutch B1, B2 the end close and, C1, C2 hold disconnection simultaneously, cam motor is out of service, finishes the position rotating of a station this moment.
Fig. 7 shows the control principle of servo performance element 6 among one of them embodiment of the present invention.
Power input mouth L and the N of servo performance element 6 receive energy supply unit 9.When energy supply unit 9 when electric, master controller 2 electric, the driver of servo performance element 6 gets electric simultaneously.
When master controller 2 powered on and is in running status, it sent servo enable signal to servo performance element 6 by data processing unit 22.This moment, servomotor was in enabled state, wait for that the received pulse amount positions, the speed of servomotor and acceleration all can be by the output port Y0 controls of master controller 2, the frequency of Y0 port output pulse has determined the actual motion speed of servomotor, and the output pulsed quantity has determined the position equivalent of servomotor actual location.The output port Y2 of master controller 2 has determined the actual motion direction of servomotor, forward and reverse location of control servomotor.Master controller 2 is by the reasonable disposition to three ports, and to the actual motion speed of servomotor, acceleration, position and moment of torsion etc. carry out parameter adjustment, thereby have realized the flexible control to servomotor.
Fig. 8 shows the control principle of feeding unit 8 among one of them embodiment of the present invention.Feeding unit 8 is used for a plurality of conveyers are controlled.
In the present embodiment, the instantaneous variation signal of the pulse negative edge that feeding unit 8 reception master controllers 2 send when high level converts low level to, typical, its high level is DC24V, low level is DC0V.Feeding unit 8 whenever receives the instantaneous variation signal of a pulse negative edge, just drives a corresponding conveyer and carries out the feeding action.
During feeding unit 8 normal operation, the output of master controller 2 control auxiliary reclay (not shown) provides high level to feeding unit 8.When the needs feeding, master controller 2 discharges auxiliary reclay, makes feeding unit 8 obtain the instantaneous variation signal of a pulse negative edge, and 8 of feeding units drive a conveyer feeding to mechanical arm 4.
Fig. 9 is the circuit theory synoptic diagram of energy supply unit 9 among one of them embodiment of the present invention.
In the present embodiment, the internal circuit of energy supply unit 9 mainly comprises: the compositions such as residual current circuit breaker 94, power initiation button 91, power supply stop button 92, power light 93,24V Switching Power Supply 95, A.C. contactor 90.
Alternating current 220V power supply (drawing from L, N terminal) is through after the residual current circuit breaker 94, then by fuse 24V Switching Power Supply 95 is powered, Switching Power Supply 95 input service voltage range of adjustment are wide, can bear the erratic fluctuations of line voltage, reduce owing to the impact of voltage ripple of power network on operation circuit.
When power initiation button 91 adopts the self-replaced type button, the normally opened contact of A.C. contactor 90 in parallel, when 91 work of power initiation button, A.C. contactor 90 normally opened contacts action locking power supply is supplied with, reduce large electric current to the impact of button, prolong button serviceable life.When power supply was supplied with, power light 93 was lighted.
Figure 10 is the schematic flow sheet of assembling control method among one of them embodiment of the present invention.
In this embodiment, wait for that at first each station is in running status.Then detect whether material is arranged, the driving cam indexing separator rotates if any having then, as there not being then blowing.Then the current location different according to the cam indexing separator controlled each station mechanism respectively, comprises servomotor and each mechanical arm 4 etc.In one embodiment, if mechanical arm 4 has three, i.e. a mechanical arm, No. two mechanical arms, No. three mechanical arms, then this flow process comprises:
Judge whether the cam indexing separator is in rigging position: if not, then get back to initial waiting status; If judge further then whether a mechanical arm assembles to finish.Do not wait for if finish then, if finished assembling, then finish.
Judge that the cam indexing separator is whether at initial point: if not, then get back to initial waiting status; If judge further then whether servomotor finishes hot melt.Do not wait for if finish then, if finished hot melt, then finish.
Judge whether the cam indexing separator is in rigging position: if not, then get back to initial waiting status; If judge further then whether No. two mechanical arms assemble to finish.Do not wait for if finish then, if finished assembling, then finish.
Judge whether the cam indexing separator is in rigging position: if not, then get back to initial waiting status; If judge further then whether No. three mechanical arms assemble to finish.Do not wait for if finish then, if finished assembling, then finish.
Judge whether the cam indexing separator is in home: if not, then get back to initial waiting status; If judge further then whether part is finished under the cylinder.Do not wait for if finish then, finish if finished then.
Figure 11 is the process flow diagram of assembling control method among one of them embodiment of the present invention.May further comprise the steps:
In step S1101, master controller 2 starts each station mechanism according to the status signal of each station mechanism, and the cam indexing separator is rotated in place.
In step S1102, master controller 2 transmits control signal, driving device hand 4 and servomotor running, and drive the solenoid valve action.
In step S1103, master controller 2 detects mechanical arm 4 actions and finishes, and sends to drive signal to feeding unit 8 execution feeding actions, for mechanical arm 4 crawls.
Figure 12 is the process flow diagram of assembling control method among one of them embodiment of the present invention.
In step S1201, detecting signal unit detects the status signal of each station mechanism, and status signal is sent to master controller 2.
In step S1202, master controller 2 judges that each station all satisfies entry condition: if, execution in step S1203 then; If not, then finish.
Alleged entry condition in the present embodiment refers to that certain station mechanism is positioned at wait for the working point and produce without situation.Alleged situation refers to receive an action command and is in the state of carrying out this action command.Corresponding therewith, refer to not receive action command and be in waiting status without situation.
In step S1203, master controller 2 sends a control signal to cam orientation unit 5, and the cam indexing separator is rotated in place, and receives the signal that puts in place.In the present invention, the cam indexing separator is subject to the control of cam orientation unit 5, and it can be divided into station the N equal portions, and wherein N is not less than 1 integer.In an exemplary embodiments, the cam indexing separator is divided into 8 equal portions with station, and such 8 stations can assemble product component simultaneously, have compared with prior art greatly improved efficiency of assembling.
In step S1204, Manipulator Controller 3 and servo performance element 6 satisfy entry condition: if, execution in step S1205 then; If not, then finish.
In step S1205, master controller 2 transmits control signal, driving device hand 4 and servomotor running.
In step S1206, control unit of electromagnetic valve 7 detects current states and whether satisfies entry condition: if, execution in step S1207 then; If not, then finish.
In step S1207, master controller 2 transmits control signal, and drives the solenoid valve action.
In step S1208, master controller 2 receives the action complement mark that Manipulator Controller 3 sends, and sends and drives signal to feeding unit 8.
In step S1209, feeding unit 8 is carried out the feeding action according to driving signal, assembles for mechanical arm 4 crawls.
The above only is preferred embodiment of the present invention, not in order to limiting the present invention, all any modifications of doing within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. an assembly control system is used for the action of each station mechanism of control, and described each station mechanism comprises cam indexing separator, servomotor, solenoid valve, it is characterized in that, comprising:
Detecting signal unit detects the status signal of each station mechanism;
Master controller links to each other with detecting signal unit and to carry out data mutual, according to the status signal of described each station mechanism each station mechanism is started or stoped, and the action of each station mechanism of control that transmits control signal;
Manipulator Controller links to each other with master controller and to carry out data mutual, according to the instruction of described control signal sending action, adjusts the action of at least one mechanical arm that links to each other with Manipulator Controller;
At least one mechanical arm links to each other with Manipulator Controller and to carry out data mutual, receives the action command that Manipulator Controller sends, and batching is grasped;
The cam orientation unit links to each other with master controller and to carry out data mutual, according to described control signal the cam indexing separator is rotated in place;
Servo performance element links to each other with master controller and to carry out data mutual, starts the running of servomotor according to described control signal;
Control unit of electromagnetic valve links to each other with master controller and to carry out data mutual, drives the solenoid valve action according to described control signal;
Feeding unit links to each other with master controller and to carry out data mutual, and the location of preparing burden according to described control signal sends;
The energy supply unit links to each other with master controller, is used to master controller that the energy is provided;
User interface section, link to each other with master controller and to carry out data mutual, be used for carrying out man-machine interaction, the parameter of described Manipulator Controller, mechanical arm, cam orientation unit, servo performance element, control unit of electromagnetic valve or feeding unit is shown or arranges.
2. assembly control system according to claim 1 is characterized in that, described master controller comprises:
Communication unit is used for carrying out information interaction with described detecting signal unit, Manipulator Controller, cam orientation unit, servo performance element, control unit of electromagnetic valve, feeding unit and user interface section, and sends the control signal that master controller generates;
Data processing unit, link to each other with communication unit and to carry out data mutual, generate with described detecting signal unit, Manipulator Controller, cam orientation unit, servo performance element, control unit of electromagnetic valve, feeding unit and user interface section and distinguish corresponding control signal.
3. assembly control system according to claim 1 is characterized in that, described cam indexing separator is divided into the N equal portions with station, and wherein N is not less than 1 integer.
4. an assembling opertaing device is used for the action of each station mechanism of control, and described each station mechanism comprises cam indexing separator, servomotor, solenoid valve, it is characterized in that, comprising:
Detecting signal unit detects the status signal of each station mechanism;
Master controller links to each other with detecting signal unit and to carry out data mutual, according to the status signal of described each station mechanism each station mechanism is started or stoped, and the action of each station mechanism of control that transmits control signal;
Manipulator Controller links to each other with master controller and to carry out data mutual, according to the instruction of described control signal sending action, adjusts the action of at least one mechanical arm that links to each other with Manipulator Controller;
At least one mechanical arm links to each other with Manipulator Controller and to carry out data mutual, receives the action command that Manipulator Controller sends, and batching is grasped;
The cam orientation unit links to each other with master controller and to carry out data mutual, according to described control signal the cam indexing separator is rotated in place;
Servo performance element links to each other with master controller and to carry out data mutual, starts the running of servomotor according to described control signal;
Control unit of electromagnetic valve links to each other with master controller and to carry out data mutual, drives the solenoid valve action according to described control signal;
Feeding unit links to each other with master controller and to carry out data mutual, and the location of preparing burden according to described control signal sends.
5. assembling opertaing device according to claim 4 is characterized in that, also comprises:
The energy supply unit links to each other with master controller, is used to master controller that the energy is provided.
6. assembling opertaing device according to claim 4 is characterized in that, also comprises:
User interface section, link to each other with master controller and to carry out data mutual, be used for carrying out man-machine interaction, the parameter of described Manipulator Controller, mechanical arm, cam orientation unit, servo performance element, control unit of electromagnetic valve or feeding unit is shown or arranges.
7. an assembling control method is used for the action of each station mechanism of control, and described each station mechanism comprises cam indexing separator, servomotor, solenoid valve, it is characterized in that, said method comprising the steps of:
A. master controller starts each station mechanism according to the status signal of each station mechanism, and the cam indexing separator is rotated in place;
B. master controller transmits control signal, driving device hand and servomotor running, and drive the solenoid valve action;
C. master controller detects manipulator behavior and finishes, and sends to drive signal to feeding unit and carry out the feeding action, for the mechanical arm crawl;
Described steps A comprises:
A1. master controller receives the status signal of each station mechanism that detects;
A2. master controller judges according to described status signal whether each station all satisfies entry condition: if then execution in step A3, if not then end;
A3. master controller sends a control signal to the cam orientation unit, and the cam indexing separator is rotated in place;
Described step B comprises:
B1. whether the current state of master controller detection Manipulator Controller and servo performance element satisfies entry condition: if then execution in step B2, if not then end;
B2. master controller sends a control signal to Manipulator Controller and servo performance element, driving device hand and servomotor running;
B3. control unit of electromagnetic valve detects himself current state and whether satisfies entry condition: if execution in step B4 then then finishes if not;
B4. master controller sends a control signal to control unit of electromagnetic valve, drives the solenoid valve action.
8. assembling control method according to claim 7 is characterized in that, described entry condition refers to: be positioned at and wait for the working point and produce without situation.
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| CN102540910B (en) * | 2010-12-16 | 2013-12-11 | 北京北方微电子基地设备工艺研究中心有限责任公司 | Control method, control device and control system for automated machine |
| CN103199792B (en) * | 2012-01-05 | 2015-04-22 | 沈阳新松机器人自动化股份有限公司 | Mechanical arm braking system |
| US10520931B2 (en) | 2012-01-17 | 2019-12-31 | DISH Technologies L.L.C. | Systems and methods for enabling and disabling operation of manufacturing machines |
| CN103111908A (en) * | 2013-01-22 | 2013-05-22 | 苏州市欧博锐自动化科技有限公司 | Free control cam divider |
| CN105527922A (en) * | 2016-01-29 | 2016-04-27 | 深圳市华成工业控制有限公司 | Punch manipulator control method and system thereof |
| CN107720160A (en) * | 2017-10-16 | 2018-02-23 | 江苏唯侓机器人科技有限公司 | A kind of mobile phone processing automation feed system |
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| CN1632703A (en) * | 2004-12-09 | 2005-06-29 | 上海交通大学 | Bolt assemble sequence control equipment |
| CN2904061Y (en) * | 2006-05-30 | 2007-05-23 | 西安工程大学 | Central controller for register unit of cylinder printing machine |
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| CN1632703A (en) * | 2004-12-09 | 2005-06-29 | 上海交通大学 | Bolt assemble sequence control equipment |
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