CN102581681A - Material receiving control method - Google Patents

Material receiving control method Download PDF

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Publication number
CN102581681A
CN102581681A CN2012100205375A CN201210020537A CN102581681A CN 102581681 A CN102581681 A CN 102581681A CN 2012100205375 A CN2012100205375 A CN 2012100205375A CN 201210020537 A CN201210020537 A CN 201210020537A CN 102581681 A CN102581681 A CN 102581681A
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CN
China
Prior art keywords
hand
connects material
driver
servo
material receiving
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CN2012100205375A
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Chinese (zh)
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CN102581681B (en
Inventor
张凌
章跃军
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Zhejiang tuoman Intelligent Technology Co.,Ltd.
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Zhejiang Toman Precision Machinery Co Ltd
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Priority to CN201210020537.5A priority Critical patent/CN102581681B/en
Publication of CN102581681A publication Critical patent/CN102581681A/en
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Abstract

The invention relates to a material receiving control method, belonging to the technical field of machine tool cutting. At present, an automatic loading and unloading device is used widely in small and medium-sized bearing machine tools, but in large-size bearing machine tools, for a product with large volume and heavy weight, if the automatic loading and unloading device is controlled by adopting the traditional air cylinder driving, the automatic loading and unloading device can not receive and take the product because of an insufficient driving force, and the air cylinder driving has the defects of low operating speed, inaccurate positioning, few controllable positions, difficult position and speed adjustment and the like. The invention aims to realize the rapid and accurate positioning control of material receiving of a material receiving manipulator, material unloading and original position returning by using a servo driver to drive a servo motor and using the servo motor to drive the material receiving manipulator.

Description

A kind of control method that connects material
Technical field
The present invention relates to the machine cut technical field.
Background technology
At present, in the middle-size and small-size bearing lathe, automatic loading and unloading device is extensive use, but medium-and-large-sized bearing with lathe in; The product bigger for volume, that body weight is heavier, automatic material connection device is if adopt the traditional air cylinder drive controlling; The power of its driving is not enough, can't realize accessing of product, and air cylinder driven exists the speed of service slow; The location is inaccurate, and controllable position is few, and position and speed are difficult for shortcomings such as adjustment.
Summary of the invention
The object of the invention is exactly through the servo driver drives servomotor, drives the hand that connects material through servomotor, accurate localization fast, and the hand of realizing connecting material connects material → loop control of three positions of blanking → reposition.
A kind of control method that connects material comprises servomotor (1), servo-driver (2); PLC (3), travel switch (4), pulley sheaves (5); The control circuit that belt wheel (6) and the hand that connects material (7) are formed, the hand that connects material need be controlled its three position locations altogether, and these three position datas are with the form writing servo driver of parameter; And deposit the internal drive register in, during actual motion, send position command to driver by two output points of PLC; Driver makes up the position of judging that the hand that connects material need be located through the different conditions of these two PLC signals, and the control servomotor turns round to the target location, the electric machine built-in high resolution encoder; Accurately feed back motor actual motion position, reach the accurate location of the hand that connects material.
Through this method control hand location that connects material, on hardware, all adopt the plug-type line, easy-to-connect disturbs for a short time, easy to maintenance, and the position all only need just can be realized through modification driver relevant parameter with the speed adjustment.
Fig. 1 is the structural representation of apparatus of the present invention.
The specific embodiment
Be described in detail below in conjunction with the accompanying drawing specific embodiments of the invention.
As shown in Figure 1, comprise servomotor (1), servo-driver (2); PLC (3), travel switch (4) pulley sheaves (5), the control circuit that belt wheel (6) and the hand that connects material (7) are formed; After the lathe energising, the hand that connects material must carry out the original point return operation earlier, and the former spot speed of returning that configures with parameter P1 is earlier moved; To running into travel switch (4), the speed of setting with parameter P2 runs slowly to stopping in the other direction, and driver sends initial point arriving signal X0 to PLC; Represent back former point operation completion,, all be set at 0 at parameter P10 and P11 place with the origin position of this position as the hand that connects material.
Motor one changes its internal encoder and sends N pulse; The hand that connects material is connected to motor side through belt wheel and pulley sheaves; Can draw motor one commentaries on classics; The pulley sheaves that drives turns over the circumference L in a week, then can calculate required rotating speed that turns over of motor and unnecessary umber of pulse according to the connect material distance of position and blanking position and origin position of the hand that connects material.As; The position and the hand origin position distance that connects material of connecting material is L1, and the hand that then connects material moves to the position that connects material from initial point, and motor need turn over L1/L to be changeed; Umber of pulse is N*L1/L; The gained revolution can be divided into gained integer circle with it and add unnecessary umber of pulse if not integer, is set in respectively among parameter P12 and the P13; The subordinate material level that connects material is put also and is set through parameter P14 and P15 in the same way.
After adjusting above-mentioned three positions, send the positioning starting order through PLC output point Y0 to servo-driver, driver makes up the hand position order that connects material of judging according to the different conditions of two output point Y1 of PLC and Y2 again; Like Y1: Y2=0: 1, then the expression hand that connects material need move to the position that connects material, and motor rotates; When the umber of pulse of sending when its encoder reaches the value that relevant parameter sets; Motor stops, and driver is accomplished signal X1 to PLC output location, thereby reaches the accurate location of the hand that connects material.
Use this method, only need can adjust the physical location of three positions of hand that connect material through changing the value of parameter P10 to P15, the locating speed of each position of hand that connects material, the acceleration and deceleration time all can be adjusted through setting relevant parameters respectively, and is simple to operation.And motor overload occurs or locatees situation such as not in place, and driver meeting display alarm plays a protective role.

Claims (1)

1. the control method that connects material comprises servomotor (1), servo-driver (2); PLC (3), travel switch (4), pulley sheaves (5); The control circuit that belt wheel (6) and the hand that connects material (7) are formed, servomotor (1) provides electrical source of power by servo-driver (2), and axle head links to each other with pulley sheaves (5); Drive the hand (7) that connects material through belt wheel (6) and move, travel switch (4) be used to realize the to connect material original point return action of hand.According to the working control needs, the hand that will connect material is divided into the hand original position that connects material, the hand that the connects material position that connects material; Subordinate material level totally three positions connect material; Convert these three position datas to servomotor operation revolution and encoder pulse number, be set in respectively in the servo-driver parameter, send positioning starting order and position command to driver through PLC; The position data of setting in the umber of pulse of being sent by the motor internal encoder and the parameter is compared; Control motor traffic direction and umber of pulse realize connect material the quick of hand, accurately location.This method hardware circuit is simple, and circuit disturbs few, and position and speed all only need to adjust through setting the servo-driver parameter, handled easily, and positioning accuracy is high.
CN201210020537.5A 2012-01-05 2012-01-05 Material receiving control method Active CN102581681B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201210020537.5A CN102581681B (en) 2012-01-05 2012-01-05 Material receiving control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201210020537.5A CN102581681B (en) 2012-01-05 2012-01-05 Material receiving control method

Publications (2)

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CN102581681A true CN102581681A (en) 2012-07-18
CN102581681B CN102581681B (en) 2014-08-20

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105551141A (en) * 2015-12-04 2016-05-04 钟高锋 Rapid positioning addressing method for access dolly of self-service intelligent access device
CN108588621A (en) * 2018-04-27 2018-09-28 钱立文 Thin film capacitor metal spraying machine longitudinal direction spray range characterization control system

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20020073477A (en) * 2000-09-27 2002-09-26 가부시키가이샤 닛폰 콘락스 Paper sheet feeder
CN2518822Y (en) * 2001-12-27 2002-10-30 佛山市石湾区伟声陶瓷机械厂 Wide-width belt conveying positioning device for ceramic wall and floor tile printing machine
CN2759736Y (en) * 2005-01-11 2006-02-22 关福荣 Feeding mechanism capable of recording stroke automatically
CN201329585Y (en) * 2008-11-21 2009-10-21 深圳市大族激光科技股份有限公司 Feeding-blanking manipulator system
CN101829737A (en) * 2010-05-20 2010-09-15 济南二机床集团有限公司 Feeding device and feeding method thereof
CN201604032U (en) * 2010-01-22 2010-10-13 江苏扬力集团有限公司 Servo-positioning feed control system of milling machine
CN201669346U (en) * 2010-05-20 2010-12-15 济南二机床集团有限公司 Material conveying device
KR20110060064A (en) * 2009-11-30 2011-06-08 이정환 Loading and unloading apparatus for machine

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20020073477A (en) * 2000-09-27 2002-09-26 가부시키가이샤 닛폰 콘락스 Paper sheet feeder
CN2518822Y (en) * 2001-12-27 2002-10-30 佛山市石湾区伟声陶瓷机械厂 Wide-width belt conveying positioning device for ceramic wall and floor tile printing machine
CN2759736Y (en) * 2005-01-11 2006-02-22 关福荣 Feeding mechanism capable of recording stroke automatically
CN201329585Y (en) * 2008-11-21 2009-10-21 深圳市大族激光科技股份有限公司 Feeding-blanking manipulator system
KR20110060064A (en) * 2009-11-30 2011-06-08 이정환 Loading and unloading apparatus for machine
CN201604032U (en) * 2010-01-22 2010-10-13 江苏扬力集团有限公司 Servo-positioning feed control system of milling machine
CN101829737A (en) * 2010-05-20 2010-09-15 济南二机床集团有限公司 Feeding device and feeding method thereof
CN201669346U (en) * 2010-05-20 2010-12-15 济南二机床集团有限公司 Material conveying device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105551141A (en) * 2015-12-04 2016-05-04 钟高锋 Rapid positioning addressing method for access dolly of self-service intelligent access device
CN108588621A (en) * 2018-04-27 2018-09-28 钱立文 Thin film capacitor metal spraying machine longitudinal direction spray range characterization control system

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