CN104635523A - Non-contact power supply type feeding and discharging system - Google Patents
Non-contact power supply type feeding and discharging system Download PDFInfo
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- CN104635523A CN104635523A CN201310576736.9A CN201310576736A CN104635523A CN 104635523 A CN104635523 A CN 104635523A CN 201310576736 A CN201310576736 A CN 201310576736A CN 104635523 A CN104635523 A CN 104635523A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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Abstract
The invention provides a non-contact power supply type feeding and discharging system. The non-contact power supply type feeding and discharging system is characterized in that a non-contact power supply method is used to provide direct-current power and direct-current control power, and an IRC main control panel, a pulse board, a system IO board, a user IO board and the like form a whole control system; the system IO board, the user IO board, the pulse board and the IRC main control panel are connected through a CAN bus; an embedded Linux operating system operates on the IRC main control panel; control software suitable for the feeding and discharging system is developed under an embedded Linux environment; the system IO board, the user IO board and the pulse board are connected to the bus interfaces of the IRC main control panel; the system IO board, the user IO board and the pulse board are in bridge connection with the bus of an RC main controller to form the complete control system, and the system is allowed to have functions of 3-axis position control, digital quantity input detection and digital quantity output control of sensors and executive devices, serial communication and Ethernet communication between the main controller and modules and peripherals, and the like.
Description
Technical field
The invention belongs to industrial manufacturing automation control technology field, particularly relate to a kind of non-contact power supply type loading and unloading system.
Background technology
Existing loading and unloading system mostly main with Programmable Logic Controller (PLC) as kernel control chip, its shortcoming is: volume is large, weight is large, various types of communication protocol extension is inconvenient, cannot do advanced algorithm computing.The control system of loading and unloading system requires that real-time is good, and programmability is strong, and fast response time, so usually select medium-sized Programmable Logic Controller (PLC) as control system.Medium-sized Programmable Logic Controller (PLC) is made up of power module, CPU module, digital quantity input module, quantity output module, position control module, communication module, Analog input mModule, analog output module.Need to carry out array by Programmable Logic Controller (PLC) special backboard between each module to install.Usual all modules size of adding up is generally bigger than normal, takes up space very much.The programming language that medium-sized Programmable Logic Controller (PLC) is supported usually is ladder diagram, structured text, statement list, process flow diagram, FBD (function block diagram) etc.With regard to flexible in programming, structured text and standard C language more close, and dirigibility is the highest, realizes basic logic control and simple method comparison is easy, but just more difficult if will realize complicated algorithm, and the complexity of coding is also very high.Medium-sized Programmable Logic Controller (PLC) needs to carry out communication module expansion when communicating with other system, and such as Ethernet, serial ports all need to increase in addition the support that corresponding communication module realizes corresponding communication protocol.This has greatly increased again on volume He on cost; In addition, existing loading and unloading system all adopts the form of drag chain in X-axis (transverse axis) movement, and its shortcoming is: because the cable in drag chain is a lot, the stroke of X-axis is restricted, stroke too conference cause drag chain seriously collapse waist distortion, reduce the life-span of cable and drag chain.
Summary of the invention
For the defect that prior art exists, the invention provides a kind of non-contact power supply type loading and unloading system.
A kind of non-contact power supply type loading and unloading system, comprising:
System IO plate, is electrically connected at loading and unloading hand base side, for carry out IO mutual with the signal section of loading and unloading hand base side;
User IO plate, is electrically connected at and other external unit except loading and unloading hand body, for carry out IO mutual with other external unit except loading and unloading hand body;
Pulse plate, is electrically connected at driver, for gathering described drive data and reading the incremental portion of described driver code-disc and send out pulse signal to described driver;
IRC master control board, is connected to described system IO plate, described user IO plate and described pulse plate by CAN, for controlling described system IO plate, described user IO plate and described pulse plate; And
Power module, be electrically connected at described system IO plate, described user IO plate, described pulse plate, described IRC master control board and described driver, for providing DC current to described system IO plate, described user IO plate, described pulse plate, described IRC master control board and described driver.
Preferably, described signal section comprises protective unit, proximity transducer, tower lamp, solenoid valve, cylinder location sensor, and described protective unit, described proximity transducer, described tower lamp, described solenoid valve and described cylinder location sensor carry out IO respectively with described system IO plate mutual.
Preferably, described protective unit comprises limit switch and anticollision switch.
Preferably, described user IO plate can expand to 2 blocks of user's I/O interface plates, and described in every block, user's I/O interface plate can realize input and the output on 16 tunnels.
Preferably, described external unit comprises lathe, feeding platform and localization machine.
Preferably, described driver comprises X-axis driver, T axle driver and Z axis driver, and described X-axis driver, described T axle driver and described Z axis driver are for driving described servomotor and described absolute encoder.
Preferably, described IRC master control board runs under a linux operating system.
Preferably, described power module is described system IO plate, described user IO plate, described pulse plate and described IRC master control board provide 24V DC current, and described power module provides 288V DC current for described X-axis driver, T axle driver and Z axis driver.
Preferably, described power module also comprises rectification unit, and the current commutates exported by described power module by described rectification unit is DC current.
Preferably, also comprise teach box, be electrically connected at described IRC master control board, carry out manual operation programming for the function that will realize described loading and unloading system.
The above embodiment of the present invention provides a kind of non-contact power supply type loading and unloading system, uses IRC-I plate, pulse plate, IO plate and I/O interface plate thereof to be combined into a whole set of control system.Relative to medium-sized Programmable Logic Controller (PLC), such design reduces the volume of whole control system greatly.Various types of communication function and interface are incorporated in IRC master control board, mechanical arm can be solved in the problem run and in scheduling, various types of communication agreement is more, and do not need to carry out expanding communication as medium-sized Programmable Logic Controller (PLC) by increasing communication module, both provide cost savings and turn reduced volume.The position control module of medium-sized Programmable Logic Controller (PLC) is replaced by 3 axle pulse plates, volume is also reduced while guaranteed performance, the same with PLC on scalability, in addition, compared with the medium-sized Programmable Logic Controller of employing (PLC), RC controller is owing to adopting standard C language, therefore comparatively simple in programming, and portable strong, also more simple possible in the realization of difficult algorithm, substantially increases the real-time of whole control system, Stability and veracity.
In addition, the present invention owing to have employed the mode of non-contact power, therefore achieve by the switch board of system and ontology Integration integral, so not only save the floor area of switch board, solve the problems such as on-site cable is many, random; And owing to eliminating X-axis drag chain, the restricted problem of such loading and unloading hand stroke is resolved.
Accompanying drawing explanation
Fig. 1 is the structural representation of non-contact power supply type loading and unloading system provided by the invention.
Embodiment
In order to make object of the present invention, technical scheme and advantage more clear, 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, be not intended to limit the present invention.
Non-contact power supply type loading and unloading system 100 provided by the invention, comprising: system IO plate 110, user IO plate 120, pulse plate 130, IRC master control board 140 and power module 150.
System IO plate 110 is electrically connected at loading and unloading hand base side, for carry out IO mutual with the signal section of loading and unloading hand base side.
Wherein, signal section comprises protective unit 111, proximity transducer 112, tower lamp 113, solenoid valve 114, cylinder location sensor 115.Protective unit 111, proximity transducer 112, tower lamp 113, solenoid valve 114 and cylinder location sensor 115 carry out IO respectively with system IO plate 110 mutual.Protective unit 111 comprises limit switch 1111 and anticollision switch 1112.
User IO plate 120 is electrically connected at and other external unit 121 except loading and unloading hand body, for carry out IO mutual with other external unit except loading and unloading hand body.
Wherein, user IO plate 120 can expand to 2 blocks of user's I/O interface plates, and every block user I/O interface plate can realize input and the output on 16 tunnels, and namely 32 to enter the 32 multichannel I/O signal gone out mutual altogether.External unit comprises lathe, feeding platform and localization machine.
Pulse plate 130 is electrically connected at driver, for gathering drive data and reading the incremental portion of driver code-disc and send out pulse signal to driver.
Wherein, driver comprises X-axis driver 131, T axle driver 132 and Z axis driver 133, and X-axis driver 131, T axle driver 132 and Z axis driver 133 are for driving servomotor 134 and absolute encoder 135.
Be appreciated that the Main Function of pulse plate 130 is: to collection and the warning of above-mentioned each drive data.Read the incremental portion of above-mentioned each driver code-disc; Pulse signal is sent out to above-mentioned driver; By 485 serial communication functions, when system is put, read the absolute position of each code-disc.
IRC master control board 140 is connected to system IO plate 110, user IO plate 120 and pulse plate 130 by CAN, for controlling system IO plate 110, user IO plate 120 and pulse plate 130.
Be appreciated that, in above-mentioned loading and unloading control system 100, the method that have employed non-contact power supply for whole system provide DC dynamo electricity and DC control electric, make use of a whole set of control system of composition such as IRC master control board 140, pulse plate 130, system IO plate 110 and user IO plate 120.By CAN, system IO plate 110, user IO plate 120, pulse plate 130 and IRC master control board 140 are coupled together.IRC master control board 140 runs built-in Linux operating system.Under built-in Linux environment, exploitation is applicable to the control software design of loading and unloading system.In IRC master control board 140, the effect of bus interface is connected system IO plate 110, user IO plate 120, pulse plate 130.System IO plate 110, user IO plate 120, pulse plate 130 are carried out bridge joint with the bus of RC master controller 140, thus make it form the control system of complete set, the digital quantity input making this system have 3 axis Position Control, sensor and performer detects, digital output controls, and master controller and carry out the function such as serial communication, ethernet communication between each module and peripheral hardware.
Power module 150 is electrically connected at system IO plate 110, user IO plate 120, pulse plate 130, IRC master control board 140 and driver, for providing DC current to system IO plate 110, user IO plate 120, pulse plate 130, IRC master control board 140 and driver.
Particularly, power module 150 is system IO plate 110, user IO plate 120, pulse plate 130, IRC master control board 140 provide 24V DC current, and power module 150 is X-axis driver 131, T axle driver 132 and Z axis driver 133 provide 288V DC current.
Preferably, power module 150 also comprises rectification unit 151, and the current commutates exported by power module 150 by rectification unit 151 is DC current.Preferably, DC current is 288V direct current and 24V direct current.
Above-mentioned non-contact power supply type loading and unloading system 100 also comprises teach box 160, and teach box 160 is electrically connected at IRC master control board 140, carries out manual operation programming for the function that will realize loading and unloading system 100.
Above-mentioned non-contact power supply type loading and unloading system 100 can be operated in teaching and automatic two kinds of patterns:
Teaching pattern: before each technological process of execution, operating personnel need, by teach box, mechanical arm is switched to teaching pattern, and teach programming is carried out to whole flow process, when teach mode, operating personnel by the movable button on teach box 160 by instruction issuing to IRC controller 140, after 1RC controller 140 receives instruction, the train of impulses of corresponding frequencies is sent to driver by CAN gating pulse plate 130, control motor to rotate with certain speed, and then mechanical arm is moved, often moving to any needs by this point of teach box 160 programmed recording, this operation of multiple exercise so make mechanical arm move to close to parts of bearings place position, system sends the action of I/O signal Controlling solenoid valve by system IO plate 110 afterwards, mechanical arm is opened, and whether opened by cylinder sensor inspecting manipuator, after detecting that mechanical arm opens, mobile manipulator is to bearing clip position again, afterwards by system IO plate 110 Controlling solenoid valve action again, mechanical arm closed clamp mandrel holds, afterwards by after teach box 160 mobile manipulator to destination, by teach box 160 control system IO plate, mechanical arm is opened, complete the placement of bearing.
Automatic mode: after whole flow process is by the programming of teaching Pattern completion, whole program can be saved in IRC controller 140 internal memory, operating personnel are by this program of teach box 160 Selection and call, and operator scheme is switched to automatic mode from teaching, start afterwards and automatically run, mechanical arm just can be got bearing by the execution repeatedly of the flow process of teaching before and put the action of bearing.
The above embodiment of the present invention provides a kind of non-contact power supply type loading and unloading system, uses IRC-I plate, pulse plate, IO plate and I/O interface plate thereof to be combined into a whole set of control system.Relative to medium-sized Programmable Logic Controller (PLC), such design reduces the volume of whole control system greatly.Various types of communication function and interface are incorporated in IRC master control board, mechanical arm can be solved in the problem run and in scheduling, various types of communication agreement is more, and do not need to carry out expanding communication as medium-sized Programmable Logic Controller (PLC) by increasing communication module, both provide cost savings and turn reduced volume.The position control module of medium-sized Programmable Logic Controller (PLC) is replaced by 3 axle pulse plates, volume is also reduced while guaranteed performance, the same with PLC on scalability, in addition, compared with the medium-sized Programmable Logic Controller of employing (PLC), RC controller is owing to adopting standard C language, therefore comparatively simple in programming, and portable strong, also more simple possible in the realization of difficult algorithm, substantially increases the real-time of whole control system, Stability and veracity.
In addition, the present invention owing to have employed the mode of non-contact power, therefore achieve by the switch board of system and ontology Integration integral, so not only save the floor area of switch board, solve the problems such as on-site cable is many, random; And owing to eliminating X-axis drag chain, the restricted problem of such loading and unloading hand stroke is resolved.
Be understandable that, for the person of ordinary skill of the art, other various corresponding change and distortion can be made by technical conceive according to the present invention, and all these change the protection domain that all should belong to the claims in the present invention with distortion.
Claims (10)
1. a non-contact power supply type loading and unloading system, comprising:
System IO plate, is electrically connected at loading and unloading hand base side, for carry out IO mutual with the signal section of loading and unloading hand base side;
User IO plate, is electrically connected at and other external unit except loading and unloading hand body, for carry out IO mutual with other external unit except loading and unloading hand body;
Pulse plate, is electrically connected at driver, for gathering described drive data and reading the incremental portion of described driver code-disc and send out pulse signal to described driver;
IRC master control board, is connected to described system IO plate, described user IO plate and described pulse plate by CAN, for controlling described system IO plate, described user IO plate and described pulse plate; And
Power module, be electrically connected at described system IO plate, described user IO plate, described pulse plate, described IRC master control board and described driver, for providing DC current to described system IO plate, described user IO plate, described pulse plate, described IRC master control board and described driver.
2. non-contact power supply type loading and unloading system according to claim 1, it is characterized in that, described signal section comprises protective unit, proximity transducer, tower lamp, solenoid valve, cylinder location sensor, and described protective unit, described proximity transducer, described tower lamp, described solenoid valve and described cylinder location sensor carry out IO respectively with described system IO plate mutual.
3. non-contact power supply type loading and unloading system according to claim 1, is characterized in that, described protective unit comprises limit switch and anticollision switch.
4. non-contact power supply type loading and unloading system according to claim 1, is characterized in that, described user IO plate can expand to 2 blocks of user's I/O interface plates, and described in every block, user's I/O interface plate can realize input and the output on 16 tunnels.
5. non-contact power supply type loading and unloading system according to claim 1, is characterized in that, described external unit comprises lathe, feeding platform and localization machine.
6. non-contact power supply type loading and unloading system according to claim 1, it is characterized in that, described driver comprises X-axis driver, T axle driver and Z axis driver, and described X-axis driver, described T axle driver and described Z axis driver are for driving described servomotor and described absolute encoder.
7. non-contact power supply type loading and unloading system according to claim 1, is characterized in that, described IRC master control board runs under a linux operating system.
8. the non-contact power supply type loading and unloading system according to claim 1 or 6, it is characterized in that, described power module is described system IO plate, described user IO plate, described pulse plate and described IRC master control board provide 24V DC current, and described power module provides 288V DC current for described X-axis driver, T axle driver and Z axis driver.
9. non-contact power supply type loading and unloading system according to claim 1, is characterized in that, described power module also comprises rectification unit, and the current commutates exported by described power module by described rectification unit is DC current.
10. non-contact power supply type loading and unloading system according to claim 1, is characterized in that, also comprise teach box, is electrically connected at described IRC master control board, carries out manual operation programming for the function that will realize described loading and unloading system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310576736.9A CN104635523A (en) | 2013-11-14 | 2013-11-14 | Non-contact power supply type feeding and discharging system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310576736.9A CN104635523A (en) | 2013-11-14 | 2013-11-14 | Non-contact power supply type feeding and discharging system |
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| CN104635523A true CN104635523A (en) | 2015-05-20 |
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| CN201310576736.9A Pending CN104635523A (en) | 2013-11-14 | 2013-11-14 | Non-contact power supply type feeding and discharging system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106610667A (en) * | 2015-10-22 | 2017-05-03 | 沈阳新松机器人自动化股份有限公司 | Corridor cleaning robot control system and method based on RC controller |
| CN108115680A (en) * | 2016-11-29 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | Robot control method, robot control system and control logic collocation method |
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Application publication date: 20150520 |