CN103105823A - System and method for information wireless transmission of feeding and blanking robots and numerically-controlled machine tool groups - Google Patents
System and method for information wireless transmission of feeding and blanking robots and numerically-controlled machine tool groups Download PDFInfo
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- CN103105823A CN103105823A CN2012105724829A CN201210572482A CN103105823A CN 103105823 A CN103105823 A CN 103105823A CN 2012105724829 A CN2012105724829 A CN 2012105724829A CN 201210572482 A CN201210572482 A CN 201210572482A CN 103105823 A CN103105823 A CN 103105823A
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Abstract
The invention discloses a system and a method for information wireless transmission of feeding and blanking robots and numerically-controlled machine tool groups. The system systematically is composed of four modules, wherein the four modules are respectively a Hoare speed sensor measuring module, a numerically-controlled machine tool end ZigBee module, a feeding and blanking robot end ZigBee module and a feeding and blanking information serial port sending module. Feeding and blanking information is collected by using a Hoare spindle measuring speed sensor. ZigBee is served as a communication protocol. A star network of the feeding and blanking wireless transmission carried out by the numerically-controlled machine tool groups and the feeding and blanking robots is put up. A communication center (CC) 2530 chip produced by the Texas Instruments (TI) is selected and used as a control and communication chip on the hardware. A Z-Stack protocol stack of the TI is selected and used as an operating system on the software. The system has the advantages that wireless transmission is used for replacing the feeding and blanking information transmission between the numerically-controlled machine tool groups and the feeding and blanking robots achieved by an existing wired manner, and fussy wirings of production departments are avoided.
Description
Technical field
The present invention relates to the problem of loading and unloading machine people and CNC Machine Tool Group information wireless transmission, specifically set up the Star Network that loading and unloading machine people and CNC Machine Tool Group based on ZigBee technology carry out radio communication, terminal is numerically-controlled machine in this Star Network, telegon is loading and unloading machine people, and the information of transmission is the loading and unloading information of numerically-controlled machine.Obtaining by the mode of Hall element in conjunction with the pulse detection algorithm of loading and unloading information.Numerically-controlled machine end ZigBee module is obtained loading and unloading information and information is sent by Hall element, after loading and unloading machine people holds the ZigBee module to receive the loading and unloading information of lathe end, this information of analyzing and processing, and information and lathe numbering are reached loading and unloading machine people control system by the RS232 serial ports again.
Background technology
Along with the raising of factory automation level, the loading and unloading machine people who serves numerically-controlled machine uses more and more extensive.Existing numerically-controlled machine and loading and unloading machine people's information transmission mode is mainly point-to-point wired mode, and industrial robot long data line in tow is often very inconvenient and affect the attractive in appearance of robot integral body.The present invention adopts with the wired mode of wireless replacement and carries out the communication of multiple spot to any between loading and unloading machine people and CNC Machine Tool Group, avoids loaded down with trivial details wiring, is conducive to intellectuality and the remote monitoring of robot.
Summary of the invention
The present invention proposes a kind of loading and unloading machine people and CNC Machine Tool Group of solving and carry out multiple spot to the method and system of some information wireless transmission, be used for replacing the wired mode of present industrial blanking robot and the point-to-point communication of numerically-controlled machine.Of the present invention for loading and unloading machine people and CNC Machine Tool Group information radio transmission system, hold ZigBee module and loading and unloading information serial ports sending module to form by Hall survey speed probe module, numerically-controlled machine end ZigBee module, loading and unloading machine people; Hall is surveyed the speed probe module, comprises a plurality of Halls survey speed probes, is used for measuring the rotating speed of each main shaft of numerical control machine tool, and rotating speed is changed into the numerically-controlled machine end ZigBee module that pulse signal sends correspondence to; Numerically-controlled machine end ZigBee module, comprise a plurality of numerically-controlled machine end ZigBee modules corresponding with Hall survey speed probe, for the pulse signal that receives corresponding Hall revolution speed transducer output, be converted into loading and unloading information after pulse detection algorithm analyzing and processing, and loading and unloading information is sent to loading and unloading machine people holds the ZigBee module; Loading and unloading machine people holds the ZigBee module, is the loading and unloading information that sends for receiving numerically-controlled machine end ZigBee module; Information is stored according to the lathe numbering according to the principle of first in first out; Module is sent in the oral instructions of loading and unloading bit string, and employing is the RS232 interface, is for loading and unloading information and corresponding lathe numbering are reached loading and unloading machine people control system in the serial communication mode.
What wherein sensor assembly adopted is that Hall-type is surveyed speed of mainshaft sensor, and this sensor can change into pulse signal with rotating speed.Sensor is divided into hall probe and magnet steel two parts (as shown in Figure 2), and magnet steel is arranged on the main shaft of numerical control machine tool surface and rotates together with main shaft, so that the magnetic field environment that produces Hall effect to be provided.Hall probe is connected with numerically-controlled machine end ZigBee module by the level conversion circuit, and when main shaft often rotates a circle, magnet steel is by from hall probe nearest place once, and Hall element is exported the pulsatile once signal to numerically-controlled machine end ZigBee module.
Numerically-controlled machine end ZigBee module with the CC2530 chip of Texas Instruments (TI) as controlling and communication chip, and with the Z-stack protocol stack of Texas Instruments (TI) as operating system.The function of numerically-controlled machine end ZigBee module is the pulse signal that receives Hall element output, is converted into loading and unloading information after pulse detection algorithm analyzing and processing, and loading and unloading information can be sent to loading and unloading machine people and hold the ZigBee module.The core of pulse detection algorithm is the pulse signal of time two seconds cycle detection input ends uniformly-spaced.If all pulse-free signal inputs in two second time, think that main shaft of numerical control machine tool stops at the interval, send the loading and unloading information of numerically-controlled machine this moment.
Loading and unloading machine people holds the ZigBee module also to adopt CC2530 as controlling and communication chip, and the Z-stack protocol stack is as operating system.Loading and unloading machine people holds ZigBee module and a plurality of numerically-controlled machine end ZigBee module jointly to consist of the ZigBee Star Network.In network, loading and unloading machine people holds the ZigBee module to be responsible for foundation and maintaining network and to receive loading and unloading information as telegon, and numerically-controlled machine end ZigBee module is responsible for adding as terminal device the concurrent blanking information of serving of Star Network of being set up by telegon.
Loading and unloading information serial ports sending module adopts the RS232 serial ports as communications protocol.RS232 is common serial communication interface, on CC2530 chip and loading and unloading machine people control system, this interface is arranged.The loading and unloading information that loading and unloading machine people can be held the ZigBee module to receive by this interface reaches loading and unloading machine people control system in the serial communication mode, to complete whole loading and unloading communication task.
Description of drawings
Fig. 1 is the wireless-transmission network frame diagram.
Fig. 2 is the Hall element scheme of installation.
Fig. 3 is the pulse detection algorithm flow chart.
Fig. 4 is loading and unloading information storage means figure.
Embodiment
Further illustrate below in conjunction with the embodiment of accompanying drawing to this programme.
As shown in Fig. 1 wireless-transmission network block diagram, this method mainly is comprised of four modules, is respectively that Hall element is surveyed rotating speed module, numerically-controlled machine end ZigBee module, loading and unloading machine people and held ZigBee module and loading and unloading information serial ports sending module to form.This method comprises many number of units controlled machine and a loading and unloading machine people, the corresponding Hall element of every number of units controlled machine and a numerically-controlled machine end ZigBee; This loading and unloading machine people's task is exactly the information that receives from the loading and unloading of each numerically-controlled machine, and after information is processed through control system, corresponding numerically-controlled machine is completed material loading and blanking action.Loading and unloading information for convenient and reliable transmission numerically-controlled machine, this programme has been given up the point-to-point wire transmission mode of information in the past, has built the Star Network of information multiple spot to some wireless transmission by means of ZigBee wireless communication protocol and Hall survey speed probe.
The core of scheme and difficult point are that Hall element will accurately gather the loading and unloading information of numerically-controlled machine and avoid a plurality of numerically-controlled machines competition and the conflict when upwards the blanking robot sends information simultaneously.Adopted pulse detection algorithm (as shown in Figure 3) in scheme, this algorithm interval circulation detected the pulse signal of input end in two seconds for this reason, can obtain exactly the loading and unloading information of numerically-controlled machine.Simultaneously, scheme is selected first in first out (as shown in Figure 4) on the storage mode of loading and unloading information, and reach time of loading and unloading machine people control system by the duty selection information that detects loading and unloading machine people, so just can avoid competition and conflict when a plurality of numerically-controlled machines need to carry out the loading and unloading operation simultaneously, accomplish first to send the first loading and unloading of numerically-controlled machine of information, thereby guarantee the normal productive temp of factory.
Claims (6)
1. a system that is used for loading and unloading machine people and the transmission of CNC Machine Tool Group information wireless, is characterized in that, surveyed by Hall
Speed probe module, numerically-controlled machine end ZigBee module, loading and unloading machine people hold ZigBee module and loading and unloading information serial ports sending module to form; Hall is surveyed the speed probe module, comprises a plurality of Halls survey speed probes, is used for measuring the rotating speed of each main shaft of numerical control machine tool, and rotating speed is changed into the numerically-controlled machine end ZigBee module that pulse signal sends to correspondence; Numerically-controlled machine end ZigBee module, comprise a plurality of numerically-controlled machine end ZigBee modules corresponding with Hall survey speed probe, be used for receiving the pulse signal of corresponding Hall revolution speed transducer output, be converted into loading and unloading information after pulse detection algorithm analyzing and processing, and loading and unloading information is sent to loading and unloading machine people holds the ZigBee module; Loading and unloading machine people holds the ZigBee module, is the loading and unloading information that sends for receiving numerically-controlled machine end ZigBee module; Information is stored according to the lathe numbering according to the principle of first in first out; Module is sent in the oral instructions of loading and unloading bit string, and employing is the RS232 interface, is for loading and unloading information and corresponding lathe numbering are reached loading and unloading machine people control system in the serial communication mode.
2. system according to claim 1, it is characterized in that, described Hall is surveyed the speed probe module, it is a kind of hall sensor of measuring the speed of mainshaft, this sensor is comprised of magnet steel and probe two parts, magnet steel is arranged on machine tool chief axis, and probe is connected with numerically-controlled machine end ZigBee module by the level conversion circuit; When the every rotation of machine tool chief axis once, sensor namely sends the pulsatile once signal to numerically-controlled machine end ZigBee module.
3. system according to claim 1, it is characterized in that, described pulse detection algorithm is the pulse signal of time two seconds cycle detection input ends uniformly-spaced, when all can't detect the pulse signal input within two second time, think that main shaft of numerical control machine tool stops, just sending the loading and unloading information of numerically-controlled machine this moment.
4. system according to claim 1, it is characterized in that, described loading and unloading machine people holds the ZigBee module to obtain the loading and unloading information that many number of units controlled machine sends, and information is stored according to the numbering of lathe, if detecting loading and unloading machine people, program is in idle condition, just loading and unloading information is issued loading and unloading machine people's control system by the principle of first in first out; Loading and unloading machine people also can receive the lathe numbering that this information comprises when receiving information; Loading and unloading machine people according to the numbering of lathe, finds corresponding numerically-controlled machine to carry out material loading and blanking action by the content of resolving information.
5. system according to claim 1, it is characterized in that, module is sent in the oral instructions of described loading and unloading bit string, is used for the loading and unloading information exchange is crossed coding, according to the Data Transport Protocol that meets the RS232 serial ports, with the control system of loading and unloading communication to loading and unloading machine people.
6. a method that is used for loading and unloading machine people and the transmission of CNC Machine Tool Group information wireless, is characterized in that, comprises the steps:
(1) Hall is surveyed the rotating speed that speed probe is measured main shaft of numerical control machine tool, and rotating speed is changed into the numerically-controlled machine end ZigBee module that pulse signal sends correspondence to;
(2) each numerically-controlled machine end ZigBee module receives the pulse signal of corresponding Hall revolution speed transducer output, is converted into loading and unloading information after pulse detection algorithm analyzing and processing, and loading and unloading information is sent to loading and unloading machine people holds the ZigBee module;
(3) loading and unloading machine people holds the ZigBee module to receive the loading and unloading information that transmits, and information is stored according to the lathe numbering according to the principle of first in first out;
(4) loading and unloading information serial ports sending module reaches loading and unloading machine people control system with loading and unloading information and the corresponding lathe numbering of numerically-controlled machine in the serial communication mode, completes whole loading and unloading communication task.
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| CN2012105724829A CN103105823A (en) | 2012-12-26 | 2012-12-26 | System and method for information wireless transmission of feeding and blanking robots and numerically-controlled machine tool groups |
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| CN2012105724829A CN103105823A (en) | 2012-12-26 | 2012-12-26 | System and method for information wireless transmission of feeding and blanking robots and numerically-controlled machine tool groups |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104635523A (en) * | 2013-11-14 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Non-contact power supply type feeding and discharging system |
| CN111496571A (en) * | 2020-05-29 | 2020-08-07 | 成都卡诺普自动化控制技术有限公司 | Feeding and discharging control method for machine tool |
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| CN1851413A (en) * | 2006-05-17 | 2006-10-25 | 江苏技术师范学院 | Signal generating method for rotating angle measurment and its operating method |
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| CN102073303A (en) * | 2010-12-24 | 2011-05-25 | 江苏大学 | Method for controlling feeding and discharging of mobile robot serving two numerically controlled machines |
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| CN1851413A (en) * | 2006-05-17 | 2006-10-25 | 江苏技术师范学院 | Signal generating method for rotating angle measurment and its operating method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104635523A (en) * | 2013-11-14 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Non-contact power supply type feeding and discharging system |
| CN111496571A (en) * | 2020-05-29 | 2020-08-07 | 成都卡诺普自动化控制技术有限公司 | Feeding and discharging control method for machine tool |
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Application publication date: 20130515 |