CN104635649A - Clean stack machine control system - Google Patents
Clean stack machine control system Download PDFInfo
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- CN104635649A CN104635649A CN201310564392.XA CN201310564392A CN104635649A CN 104635649 A CN104635649 A CN 104635649A CN 201310564392 A CN201310564392 A CN 201310564392A CN 104635649 A CN104635649 A CN 104635649A
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- 230000008901 benefit Effects 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 17
- 238000012544 monitoring process Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
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- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
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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
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4188—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by CIM planning or realisation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Programmable Controllers (AREA)
Abstract
The invention relates to the field of stack machines, in particular to a clean stack machine control system. The clean stack machine control system comprises an embedded 104 control module, a communication conversion module, a first 2-axis analog quantity control bit control module, a second 2-axis analog quantity control bit control module and an IO module which are sequentially connected, wherein the first 2-axis analog quantity control bit control module or the second 2-axis analog quantity control bit control module is connected to a servo drive module, and the embedded 104 control module is loaded with an embedded Linux operating system. The clean stack machine control system has the advantages that positioning precision is increased while size is reduced, the expansion performance of the system is identical with that of a PLC, and expansion can be performed according to axis number increasing.
Description
Technical field
The present invention relates to stack machine control field, particularly relate to a kind of clean stack machine control system.
Background technology
Existing clean stack machine control system is mainly programmable logic controller (PLC) (PLC), and its shortcoming is: volume is large, weight is large, various types of communication protocol extension inconvenient, cannot do advanced algorithm computing.Clean stack machine control system requires that real-time is good, and programmability is strong, so usually select medium-sized programmable logic controller (PLC) (PLC) as control system.Medium-sized programmable logic controller (PLC) (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 add up size, and can to reach 360 × 100 × 150(long × wide × high) millimeter, take up space very much.The programming language that medium-sized programmable logic controller (PLC) (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, dirigibility is the highest, realizes basic logic control and simple method comparison 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) (PLC) needs to carry out communication module expansion, such as Ethernet, serial ports and all needs to increase in addition the support that corresponding communication module realizes corresponding communication protocol when communicating to other system.This has greatly increased again on volume He on cost.
Summary of the invention
The object of the present invention is to provide a kind of clean stack machine control system, solve and cannot realize complex calculations as the medium-sized Programmable Logic Controller of stack machine control system at present, encoder complexity is too high, and the problem that the connection of itself and other system needs expansion module to cause volume and cost to increase.
For solving the problem, the technical solution used in the present invention is:
A kind of clean stack machine control system, comprise embedded 104 control modules, communication conversion module, the one 2 axle Analog control position control module, the 22 axle Analog control position control module and the I/O module that connect successively, described one 2 axle Analog control position control module or the 22 axle Analog control position control module are all connected to servo-driven module, described embedded 104 control modules are connected with teaching module, be connected with control display module by optical communications module, described embedded 104 control modules are loaded with built-in Linux operating system; Described communicating conversion plate be mainly used in embedded 104 control modules of bridge joint and the one 2 axle Analog control position control module, the 22 axle Analog control position control module, I/O module etc.Described one 2 axle Analog control position control module, the 22 axle Analog control position control module are mainly used in movement portion position Control & data acquisition.
The Main Function of described I/O module realizes lamp, button and sensor signal and PC104 carries out alternately.
Further technical scheme is, described I/O module is connected with sensor assembly and lamp and button module by IO line.As power on buttons, scram button, limit sensors etc., signal directly and I/O module carry out alternately, and to be connected with PC104 by CAN, finally to realize condition monitoring and display in touch display module.
Further technical scheme is, described control display module is connected to touch display module or MCS PC by Ethernet.
Further technical scheme is, described embedded 104 control modules are connected with communication conversion module by 104 buses, described communication conversion module, the one 2 axle Analog control position control module, the 22 axle Analog control position control module are be connected by CAN with I/O module, and described one 2 axle Analog control position control module or the 22 axle Analog control position control module are all connected to servo-driven module by 485 connections.
The beneficial effect adopting technique scheme to produce is:
This clean stack machine control system is owing to controlling plates and being combined into a whole set of control system in use PC104 plate, communication switching plate, IO plate, 2 axle Analog control positions, relative to medium-sized programmable logic controller (PLC) (PLC), such design reduces the volume of whole control system greatly, various types of communication function and interface are incorporated on one block of communication switching plate, the problem that in clean stack machine, various types of communication agreement is more can be solved, not needing to carry out expanding communication as medium-sized programmable logic controller (PLC) (PLC) by increasing communication module, both having provided cost savings and having turn reduced volume.The position control module of medium-sized programmable logic controller (PLC) (PLC) is replaced by 2 axle Analog control position control plates, ensure that performance, volume is also reduced while improve positioning precision, the same with PLC on scalability, can increase according to the number of axle and expand.
Accompanying drawing explanation
Fig. 1 is the connection diagram of a kind of clean stack machine control system of the present invention.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, 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.
Fig. 1 shows an embodiment of a kind of clean stack machine control system of the present invention: a kind of clean stack machine control system, comprises embedded 104 control modules, communication conversion module, the one 2 axle Analog control position control module, the 22 axle Analog control position control module and the I/O module that connect successively.Described one 2 axle Analog control position control module or the 22 axle Analog control position control module are all connected to servo-driven module, described embedded 104 control modules are connected with teaching module, be connected with control display module by optical communications module, described embedded 104 control modules are loaded with built-in Linux operating system;
Described communicating conversion plate be mainly used in embedded 104 control modules of bridge joint and the one 2 axle Analog control position control module, the 22 axle Analog control position control module, I/O module, realize system components communication by CAN communication modes.
Described one 2 axle Analog control position control module, the 22 axle Analog control position control module are mainly used in providing each shaft position command information, realize drive system position control, and Real-time Collection drive data and warning.By 485 serial communication functions, read the absolute position of each code-disc when system electrification.
The Main Function of described I/O module realizes lamp, button and sensor signal to carry out alternately, as power on buttons, scram button, limit sensors etc., signal directly and I/O module carry out alternately, and be connected with PC104 by CAN, finally realize condition monitoring and display in touch display module.
Servo-driven module is divided into walking spindle motor, lift shaft motor, pallet fork spindle motor and shaft rotating motor in FIG, and it is connected to the one 2 axle Analog control position control module and the 22 axle Analog control position control module respectively.Citing when this is outer for the storehouse carrying of electronics and microelectronics factory accurate device, also can be used for military project, the storehouse of storage and semicon industry wafer carries in control system.Different in the application of different industries, only need servo-driver corresponding in native system to select high-power or miniwatt driver accordingly according to the size of load.
Native system has the function such as position control, digital quantity input detection, digital output control, serial communication, ethernet communication.
According to a preferred embodiment of a kind of clean stack machine control system of the present invention, described I/O module is connected with sensor assembly and lamp and button module by IO line, and described sensor assembly Main Function realizes the protection of motion parts and motion to put in place detection.As limit sensors, null pick-up etc.To be lamp and this Main Function of button be realizes partially manual control and state shows, as system electrification, the switching of local Long-distance Control, alarm display lamp etc. for described lamp and button module Main Function.
According to another preferred embodiment of a kind of clean stack machine control system of the present invention, described control display module is connected to touch display module or MCS PC module by Ethernet.Program scheduler module plays program scheduler effect in systems in which.System running state sends program scheduler module by optical communication module in the mode of Ethernet, and program scheduler module, according to current stack machine running status, is dispatched other equipment of whole production line and coordinated with stack machine and produce.Touch display module is system state display and manual operation section.Operating personnel, by touch display module real time viewing system current operating conditions, also can realize the functions such as manual modification parameter, Non-follow control simultaneously.
According to another preferred embodiment of a kind of clean stack machine control system of the present invention, described embedded 104 control modules are connected with communication conversion module by 104 buses, described communication conversion module, the one 2 axle Analog control position control module, the 22 axle Analog control position control module are be connected by CAN with I/O module, and described one 2 axle Analog control position control module or the 22 axle Analog control position control module are all connected to servo-driven module by 485 connections.Above-mentioned two Analog control positions control module, by 485 connections, sends pulse to servo control module, realizes precise motion and control.
As shown in fig. 1.Overall system control forms by with lower part:
1, MCS PC: program scheduler module, program scheduler module plays program scheduler effect in systems in which.System running state sends program scheduler module by optical communication module in the mode of Ethernet, and program scheduler module, according to current stack machine running status, is dispatched other equipment of whole production line and coordinated with stack machine and produce.
2, optical communication module: optical communication module Main Function realizes data efficient, transmits reliably.Touch display module data and PC104 module data are all delivered to optical communication module by Ethernet mode, then are connected with MCS PC, realize data upload.
3, touch display module: touch display module is system state display and manual operation section.Operating personnel, by touch display module real time viewing system current operating conditions, also can realize the functions such as manual modification parameter, Non-follow control simultaneously.
4, teaching module: main realization carries out teaching operation to system motion part, and according to actual condition needs, operating personnel utilize teaching module to carry out teach programming to system.When automatically running, system is then followed teaching action and path and is completed production voluntarily.
5, PC104 and data conversion module: PC104 major function realizes system motion to control, lamp, button and sensing data process, feed back to touch display module display by ethernet communication mode by system current motion state, lamp and button and sensor states.And be passed to MCS PC by optical communication module.Data conversion module mainly realizes the conversion of PC104 bus and CAN.PC104 and data conversion module are system core parts.
6,2 axle mimotope control modules: mimotope control module Main Function provides each shaft position command information, realizes drive system position control, and Real-time Collection drive data and warning.
7, I/O module: the Main Function of I/O module realizes lamp, button and sensor signal to carry out alternately, as power on buttons, scram button, limit sensors etc., signal directly and I/O module carry out alternately, and be connected with PC104 by CAN, finally realize condition monitoring and display in touch display module.
8, button and sensor assembly: lamp and this Main Function of button realize partially manual control and state shows, as system electrification, the switching of local Long-distance Control, alarm display lamp etc.; Sensor assembly Main Function realizes the protection of motion parts and motion to put in place detection.As limit sensors, null pick-up etc.
9, walking, lifting, pallet fork axle and electric rotating machine driver module: motor drive module mainly refers to motor and driver thereof, is the execution part realizing motion control.
Total system runs workflow: MCS PC judges according to other equipment current operating situation and stack machine current state, and stack machine can carry out the operation of cargo hold blowing.Instruction is passed to PC104 by optical communication module by MCS PC, PC104 judges according to instruction the cargo hold number that material should be placed by stack machine, according to tutorial program, the motion of PC104 order walking axle, and Real-Time Monitoring walking shaft position information, after the walking of walking axle puts in place, PC104 order walking axle is out of service, move with seasonal lift shaft, when the raised position signal of PC104 monitoring is consistent with given position signal, same monitoring lift shaft positional information, judges that lifting puts in place.Pallet fork axle and the turning axle method of operation and walking axle, lift shaft are similar similar.After material is positioned over cargo hold tram, PC104 sends settling signal to MCS PC, and MCS PC assesses other equipment and stack machine running status again, and judges and send instruction to PC104, makes stack machine perform next action.
Although with reference to multiple explanatory embodiment of the present invention, invention has been described here, but, should be appreciated that, those skilled in the art can design a lot of other amendment and embodiment, these amendments and embodiment will drop within spirit disclosed in the present application and spirit.More particularly, in the scope of, accompanying drawing open in the application and claim, multiple modification and improvement can be carried out to the building block of subject combination layout and/or layout.Except the distortion carried out building block and/or layout and improving, to those skilled in the art, other purposes also will be obvious.
Claims (4)
1. a clean stack machine control system, it is characterized in that: comprise embedded 104 control modules, communication conversion module, the one 2 axle Analog control position control module, the 22 axle Analog control position control module and the I/O module that connect successively, described one 2 axle Analog control position control module or the 22 axle Analog control position control module are all connected to servo-driven module, described embedded 104 control modules are connected with teaching module, be connected with control display module by optical communications module, described embedded 104 control modules are loaded with built-in Linux operating system; Described communicating conversion plate be mainly used in embedded 104 control modules of bridge joint and the one 2 axle Analog control position control module, the 22 control of axle Analog control position module, I/O module, and realize each module data transmission by CAN communication modes; Described one 2 axle Analog control position control module, the 22 axle Analog control position control module are mainly used in position control and the data acquisition of motion parts; The Main Function of described I/O module realizes lamp, button and sensor signal and PC104 to carry out signal mutual.
2. the clean stack machine control system of one according to claim 1, is characterized in that: described I/O module is connected with sensor assembly and lamp and button module by IO line.
3. the clean stack machine control system of one according to claim 1, is characterized in that: described control display module is connected to touch display or MCS PC by Ethernet.
4. the clean stack machine control system of the one according to claim 1-3 any one, it is characterized in that: described embedded 104 control modules are connected with communication conversion module by 104 buses, described communication conversion module, the one 2 axle Analog control position control module, the 22 axle Analog control position control module are be connected by CAN with I/O module, and described one 2 axle Analog control position control module or the 22 axle Analog control position control module are all connected to servo-driven module by 485 connections.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310564392.XA CN104635649A (en) | 2013-11-12 | 2013-11-12 | Clean stack machine control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310564392.XA CN104635649A (en) | 2013-11-12 | 2013-11-12 | Clean stack machine control system |
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| CN104635649A true CN104635649A (en) | 2015-05-20 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090069939A1 (en) * | 2007-09-12 | 2009-03-12 | Fanuc Ltd | Robot programming device for palletizing operation by robot |
| CN201209103Y (en) * | 2007-09-04 | 2009-03-18 | 无锡职业技术学院 | Railless intelligent movable buck stacker |
| CN102616577A (en) * | 2011-11-18 | 2012-08-01 | 上海沃迪自动化装备股份有限公司 | Control system for robot palletizer |
| CN103203630A (en) * | 2013-04-28 | 2013-07-17 | 苏州博实机器人技术有限公司 | Modular flexible manufacturing logistics system |
-
2013
- 2013-11-12 CN CN201310564392.XA patent/CN104635649A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201209103Y (en) * | 2007-09-04 | 2009-03-18 | 无锡职业技术学院 | Railless intelligent movable buck stacker |
| US20090069939A1 (en) * | 2007-09-12 | 2009-03-12 | Fanuc Ltd | Robot programming device for palletizing operation by robot |
| CN102616577A (en) * | 2011-11-18 | 2012-08-01 | 上海沃迪自动化装备股份有限公司 | Control system for robot palletizer |
| CN103203630A (en) * | 2013-04-28 | 2013-07-17 | 苏州博实机器人技术有限公司 | Modular flexible manufacturing logistics system |
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Application publication date: 20150520 |