CN104891339B - Self-adaptive pressure balance control system based on microcontroller - Google Patents
Self-adaptive pressure balance control system based on microcontroller Download PDFInfo
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- CN104891339B CN104891339B CN201510228365.4A CN201510228365A CN104891339B CN 104891339 B CN104891339 B CN 104891339B CN 201510228365 A CN201510228365 A CN 201510228365A CN 104891339 B CN104891339 B CN 104891339B
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- microcontroller
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- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 230000005611 electricity Effects 0.000 claims description 18
- 238000004891 communication Methods 0.000 claims description 11
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- 238000004519 manufacturing process Methods 0.000 abstract description 5
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control Of Fluid Pressure (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The present invention relates to self-adaptive pressure balance control system based on microcontroller, including air inlet, air vent, cylinder, pneumatic safe valve, Pneumatic Transmission loop and control circuit；Pneumatic Transmission loop includes pressure regulator valve, air inlet electromagnetic valve, exhaust solenoid valve and pressure transducer, air inlet electromagnetic valve one end is connected by pressure regulator valve and air inlet, the other end is connected with exhaust solenoid valve, the other end of exhaust solenoid valve is connected on air vent, and pressure transducer is connected between air inlet electromagnetic valve and exhaust solenoid valve；Described control circuit includes direction switch, microcontroller, drive circuit and relay, microcontroller input is connected with direction switch and pressure transducer, outfan is connected on drive circuit, and drive circuit is connected with air inlet electromagnetic valve and exhaust solenoid valve by relay.Its generation provides the benefit that, gas circuit is simple and reliable, and small in volume integrated level is high, and the scope of application is big, convenient and flexible operation, and load change, without adjusting, improves the production efficiency of production line.
Description
Technical field
The present invention relates to pressure adaptive balance control system, particularly relate to self-adaptive pressure based on microcontroller
Balance control system.
Background technology
Self-adaptive pressure balance system is applied widely, and in being at most used for carrying, assembling, product load is changeable
And need flexible operation, occasion accurate, efficient.The equilibrium principle of its application of force dexterously, makes workpiece exist
A kind of agravicization quick condition of aerial formation, it may be assumed that the gravity of workpiece is balanced by corresponding pulling force, makes operation
Workpiece is implemented only to need the least operating physical force during carrying operation by person.For operator, it is not necessary to skilled crawl
Key operation, free-hand push-and-pull weight, it is possible to weight is correctly put into any position in space, maximum load
Can reach 880Kg.
This self-adaptive pressure balance control system based on microcontroller is particularly suitable for application to balancing hoisting machine, controls
The motion of cylinder can form a kind of novel pneumatic balancing hoisting machine.
Electrodynamic balance crane system mainly uses motor to drive, and needs complexity, expensive control and servosystem and electricity
Machine；
Hydro-cushion crane system operates steadily, and driving force is big, but also has that structure is more complicated, price is high, maintenance is tired
Difficult, easily catch fire.
Air-balance crane system more can give full play to the effect of balance crane, and workpiece achieves determining of optional position
Position, is greatly expanded its range of application.
The parameter that traditional balance crane Pneumatic controller pneumatic element and the change according to load need to adjust is more,
System complex, the coupling of each adjustment parameter is the most difficult, and the most each parameter need to be readjusted, for making
By simplicity, being generally only used for the carrying of single selected workpiece, the workpiece changeable for load in assembling is the most difficult；
The excursion value of the adjusted value of pressure regulator valve is relatively big, and the arm of force change in four-bar mechanism motion, balance crane is in work
The poised state that middle need are constantly set up is unstable, and job stability and the precision of balance crane are poor.
Summary of the invention
It is an object of the invention to provide a kind of highly integrated self-adaptive pressure balance control based on microcontroller
System processed so that system structure is the simplest, and the job stability of balance crane, application are greatly improved flexibly
Property and precision.
For achieving the above object, based on microcontroller the highly integrated self-adaptive pressure balance of the present invention controls
System, including Pneumatic Transmission loop and control circuit；Described Pneumatic Transmission loop includes pressure regulator valve, air inlet electromagnetism
Valve, exhaust solenoid valve and pressure transducer, described air inlet electromagnetic valve one end is connected by pressure regulator valve and air inlet,
The other end is connected with exhaust solenoid valve, and the other end of exhaust solenoid valve is connected on air vent, pressure transducer
It is connected between air inlet electromagnetic valve and exhaust solenoid valve, and by pneumatic safe valve and cylinders；Described
Control circuit includes direction switch, microcontroller, drive circuit and some relays, and described microcontroller inputs
End is connected with direction switch and pressure transducer, and outfan is connected on drive circuit, and drive circuit passes through relay
Device is connected with air inlet electromagnetic valve and exhaust solenoid valve respectively.
For Guarantee control system continuous firing in the case of electromagnetic valve damages, this Pneumatic Transmission loop also includes
Standby electricity magnet valve, standby electricity magnet valve is connected between pressure regulator valve and air inlet electromagnetic valve form a standby Pneumatic Transmission
Loop.
For the electric signal isolation that microcontroller is extraneous, increasing system stability, described control circuit also includes
Two photoelectric isolating circuits, are connected to input and the outfan of microcontroller.
In order to external world's input voltage is converted to level needed for element, described circuit also includes Power convert electricity
Road, this circuit on one side is connected with power supply, and the other end is connected to each circuit and chip.
In order to balance control system data being fed back and setting, described control circuit also include pressure show with
Initialization circuit and communication interface circuit, wherein, pressure shows and the universaling I/O port of initialization circuit with microcontroller
Being connected, communication interface circuit is connected with micro-controller communications mouth.
One preferred direction switch plan of establishment is, is set to lifting key, declines key and multiple spare key.
In order to enable to be controlled the electromagnetic valve of control system, described relay is divided into air inlet relay, and aerofluxus continues
Electrical equipment, duplicate relay, connect respectively at air inlet electromagnetic valve, exhaust solenoid valve and standby electricity magnet valve.
In order to ensure the safety of system, described control circuit also includes warning circuit, warning circuit and driving electricity
Road is connected.
The intelligent pneumatic power balance crane system of the self-adaptive pressure balance control system based on this microcontroller of the present invention
It is simple and reliable that system and traditional Pneumatic balance crane ratio have gas circuit, and small in volume integrated level is high, the scope of application
Greatly, easy and simple to handle, flexible, reliable, without adjusting during load change, can be to multiple weight on a station
Accessory carry and assemble, can effectively reduce the station quantity of production line, improve the production effect of production line
Rate.
Accompanying drawing explanation
Fig. 1 is inside the control box of self-adaptive pressure balance control system of the present invention, composition structure is shown in dotted line
It is intended to.
Fig. 2 is the circuit diagram of control circuit.
In figure: 11 is pressure regulator valve, 12 is air inlet electromagnetic valve, and 13 is exhaust solenoid valve, and 14 is standby electricity magnet valve,
15 is pressure transducer, and 16 is control circuit, and 17 is port and circuit button, and 18 is pneumatic safe valve,
19 is cylinder, and 110 is air vent, and 111 is gas circuit 1 interface, and 112 is gas circuit 2 interface, and 113 is air inlet,
114 is power interface, and 21 is lifting key, and 22 is to decline key, and 23 is spare key, and 24 is input signal photoelectricity
Isolation circuit, 25 is microcontroller, and 251 is control signal input port, and 252 is control signal delivery outlet, 253
Being pressure sensor signal input port, 254 is the universaling I/O port of microcontroller, and 255 is signal of communication output
Mouthful, 26 is that pressure shows and initialization circuit, and 27 is communication interface circuit, and 28 is output signal Phototube Coupling electricity
Road, 29 is drive circuit, and 210 is air inlet relay, and 211 is aerofluxus relay, and 212 is duplicate relay,
213 is warning circuit, and 214 is pressure sensor interface.
Detailed description of the invention
Such as Fig. 1, Fig. 2, present invention self-adaptive pressure based on microcontroller balance control system, mainly apply
The motion of balancing hoisting machine cylinder, mainly by air inlet 113, air vent 110, gas control is controlled in balancing hoisting machine
Relief valve 18 and cylinder 19, Pneumatic Transmission loop and control circuit composition；Wherein Pneumatic Transmission loop includes adjusting
Pressure valve 11, air inlet electromagnetic valve 12, exhaust solenoid valve 13 and pressure transducer 15, air inlet electromagnetic valve 12 one end
Being connected by pressure regulator valve 11 and air inlet 113, the other end is connected with exhaust solenoid valve 13, exhaust solenoid valve
The other end of 13 is connected on air vent 110, and pressure transducer 15 is connected to air inlet electromagnetic valve 12 and aerofluxus
Between electromagnetic valve 13, and it is connected with cylinder 19 by pneumatic safe valve 18；Described control circuit includes
Direction switch, microcontroller 25, drive circuit 29 and some relays, microcontroller input is opened with lifting
Closing and be connected with pressure transducer 15, outfan is connected on drive circuit 29, and drive circuit 29 passes through relay
Device is connected with air inlet electromagnetic valve 12, exhaust solenoid valve 13 and standby electricity magnet valve 14 respectively.
Between pressure regulator valve 11 and air inlet electromagnetic valve 12, it is also associated with a standby electricity magnet valve 14, forms one
Standby air pressure drive circuit, is used for when major loop breaks down, it is possible to keep the properly functioning of loop.With
Time between loop and cylinder 19 connect have a pneumatic safe valve 18, when gas path pipe damage etc. causes suddenly
Compressed air in cylinder is made not exhaust through during decompression, it is ensured that cylinder hovers.
System controls whole system by control circuit and runs, and wherein pressure transducer 15 passes through pressure transducer
Interface 214 is connected with microcontroller upward pressure sensor signal input port 253, and by microcontroller 25 to liter
The input signal of fall switch and pressure transducer 15 processes, and feeds back to relay, controls whole air pressure
The operation of drive circuit.
During work, connecting the most pneumatic and electrical equipment by said process, logical compressed air and electricity, power supply leads to
Cross power-switching circuit and be converted into the level needed for a circuit and chip.
Pressing direction switch, signal is by the input signal photoelectric isolating circuit 24 for isolating the extraneous signal of telecommunication
Conversion, signal is passed to microcontroller 25, signal is processed by microcontroller 25, then by defeated
Go out flashlight electric isolating circuit 28 by signal through overdrive circuit 29 by signal of telecommunication drive amplification, and feed back to and continue
Electrical equipment, by the operation in Control Pneumatic Transmission loop, reaches to control the purpose of weight lifting.Lifting is opened
Pass is divided into lifting key 21, declines key 22 and spare key 23.Relay is divided into air inlet relay 210, aerofluxus
Relay 211 and duplicate relay 212.
In above-mentioned work process, if pressing lifting key 21, signal is passed through drive circuit 29 by microcontroller 25
Feed back to air inlet relay 210 and aerofluxus relay 211 after amplification, control air inlet electromagnetic valve 12 and obtain electric, row
Gas relay 13 dead electricity, cylinder intake, drive weight to rise.In like manner, if pressing decline key 22, microcontroller
Signal is fed back to air inlet relay 210 and aerofluxus relay 211 by drive circuit 29 amplification by device 25, control
Exhaust solenoid valve 13 processed obtains electric, air inlet relay 12 dead electricity, and cylinder exhaust drives weight to decline.
Unclamp and rise or fall key, exhaust solenoid valve 13 and air inlet relay 12 all dead electricity, cylinder interior gas quilt
Close, atmospheric pressure and weight gravity equilibrium establishment state, and by pressure transducer 15, data feedback is micro-
Controller 25, the memory of this pressure is balance reference pressure by microcontroller 25.
Now, when weight applies a small operating physical force, when the most on time, in cylinder 19 on pressure
Rising, pressure transducer 15 is by data feedback to microcontroller 25, and microcontroller 25 is by aerofluxus relay 211
Controlling exhaust solenoid valve 13 and obtain electric aerofluxus, keep base pressure force value in cylinder, weight reduces with cylinder interior gas
Decline.
In like manner, when up lifting, in cylinder 19, pressure declines, pressure transducer 15 by data feedback to microcontroller
Device 25, controller control 25 controls air inlet electromagnetic valve 12 by air inlet relay 210 and obtains electric air inlet, keeps
Base pressure force value in cylinder, weight increases with cylinder interior gas and rises.
When action stops, weight is the most static.By above operation, the fine setting of counterweight object location can be completed.
For weight end-of-job, when being put into assigned position, pressing decline key 22, weight is unloaded completely.Change weight
Thing can re-start operation.
Operationally, when weight exceedes setting load, the signal sent of microcontroller 25 is through output letter
During number photoelectric isolating circuit 28, signal is fed back to warning circuit 213 by coupled drive circuit 29,
Complete sound and light alarm.
Being additionally provided with pressure in control circuit to show and initialization circuit 26 and communication interface circuit 27, pressure shows
Show and show for LED or LCD with initialization circuit 26, and with button, be used for showing pressure set points and working as
Front force value, button completes the setting to setup pressure value and mode of operation.Communication interface circuit 27 is for soft
Part down loading updating or external connection device communication.For improving the function of this system, simplified system operates.
During in order to ensure that component breaks down, circuit is unimpeded, is also devised with spare key in control circuit
23 and duplicate relay 212, for the most standby.
Claims (8)
1. a self-adaptive pressure balance control system based on microcontroller, it is characterised in that: include air inlet (113), air vent (110), cylinder (19), pneumatic safe valve (18), Pneumatic Transmission loop and control circuit；Described Pneumatic Transmission loop includes pressure regulator valve (11), air inlet electromagnetic valve (12), exhaust solenoid valve (13) and pressure transducer (15), described air inlet electromagnetic valve (12) one end is connected by pressure regulator valve (11) and air inlet (113), the other end is connected with exhaust solenoid valve (13), the other end of exhaust solenoid valve (13) is connected on air vent (110), pressure transducer (15) is connected between air inlet electromagnetic valve (12) and exhaust solenoid valve (13), and it is connected with cylinder (19) by pneumatic safe valve (18)；Described control circuit includes direction switch, microcontroller (25), drive circuit (29) and some relays, described microcontroller (25) input is connected with direction switch and pressure transducer (15), outfan is connected on drive circuit (29), and drive circuit (29) is connected with air inlet electromagnetic valve (12), exhaust solenoid valve (13) and standby electricity magnet valve (14) respectively by relay.
Self-adaptive pressure balance control system based on microcontroller the most according to claim 1, it is characterized in that: described Pneumatic Transmission loop also includes that standby electricity magnet valve (14), standby electricity magnet valve (14) are connected between pressure regulator valve (11) and air inlet electromagnetic valve (12) form a standby air pressure drive circuit.
Self-adaptive pressure balance control system based on microcontroller the most according to claim 1, it is characterised in that: described control circuit also includes two photoelectric isolating circuits, is connected to input and the outfan of microcontroller (25).
Self-adaptive pressure balance control system based on microcontroller the most according to claim 1, it is characterised in that: described control circuit also includes power-switching circuit, and this circuit on one side is connected with power supply, and the other end is connected to each circuit and chip.
Self-adaptive pressure balance control system based on microcontroller the most according to claim 1, it is characterized in that: described control circuit also includes that pressure shows and initialization circuit (26) and communication interface circuit (27), wherein, pressure shows and is connected with the universaling I/O port (254) of microcontroller with initialization circuit (26), and communication interface circuit (27) is connected with micro-controller communications signal output (255).
Self-adaptive pressure balance control system based on microcontroller the most according to claim 1, it is characterised in that: described direction switch is arranged to lifting key (21), declines key (22) and multiple spare key (23).
Self-adaptive pressure balance control system based on microcontroller the most according to claim 1, it is characterized in that: described relay is divided into air inlet relay (210), aerofluxus relay (211), duplicate relay (212), respectively with air inlet electromagnetic valve (12), exhaust solenoid valve (13) and standby electricity magnet valve (14) connect.
Self-adaptive pressure balance control system based on microcontroller the most according to claim 1, it is characterized in that: described control circuit also includes that warning circuit (213), warning circuit (213) are connected with drive circuit (29).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510228365.4A CN104891339B (en) | 2015-05-07 | 2015-05-07 | Self-adaptive pressure balance control system based on microcontroller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510228365.4A CN104891339B (en) | 2015-05-07 | 2015-05-07 | Self-adaptive pressure balance control system based on microcontroller |
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| CN104891339A CN104891339A (en) | 2015-09-09 |
| CN104891339B true CN104891339B (en) | 2016-09-21 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106738347B (en) * | 2016-12-16 | 2020-10-02 | 三一汽车制造有限公司 | Safety protection device, aggregate intermediate bin and mixing plant |
| CN108357944A (en) * | 2018-04-14 | 2018-08-03 | 昆明小宇科技有限公司 | A kind of intelligent balance movement charging crane handling object locking device |
| CN110182707A (en) * | 2019-04-26 | 2019-08-30 | 南京航空航天大学 | A kind of Pneumatic balance crane and control method using differential pressure pickup |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| SU1109357A1 (en) * | 1982-10-18 | 1984-08-23 | Опытно-Конструкторское Бюро "Роботы" Научно-Производственного Объединения "Комплекс" | Control system for balancing air-lift |
| SU1202879A1 (en) * | 1983-12-13 | 1986-01-07 | Предприятие П/Я В-8889 | Vacuum gripping device |
| SU1627404A1 (en) * | 1988-05-27 | 1991-02-15 | Институт Проблем Механики Ан Ссср | Magneto-vacuum grip |
| US6364387B1 (en) * | 1999-11-10 | 2002-04-02 | Data I/O Corporation | Pick and place system and unit therefor |
| DE10227489A1 (en) * | 2002-06-19 | 2004-01-08 | Nkm Noell Special Cranes Gmbh & Co Kg | Control for nuclear fuel element combination grab, comprises centralizing member, fuel element grab and control element grab |
| JP4780974B2 (en) * | 2005-02-24 | 2011-09-28 | コマツＮｔｃ株式会社 | Balanced crane |
| FI118469B (en) * | 2006-03-31 | 2007-11-30 | Loglift Jonsered Oy Ab | Method and equipment for controlling the crane actuator |
| CN201511364U (en) * | 2009-09-16 | 2010-06-23 | 重庆延锋江森座椅有限公司 | Pneumatic balance assisted manipulator |
| CN201545656U (en) * | 2009-10-19 | 2010-08-11 | 哈尔滨三迪工控工程有限公司 | Pneumatic balance crane |
| CN102350701B (en) * | 2011-07-22 | 2014-12-24 | 上海永乾机电有限公司 | Balance control method and device for boosting manipulator or pneumatic balance crane |
| CN103086274A (en) * | 2011-11-01 | 2013-05-08 | 盾建重工制造有限公司 | Large-tonnage duct piece vacuum suspender pneumatic control system |
| CN203781785U (en) * | 2014-02-14 | 2014-08-20 | 上海元功机械技术有限公司 | Pneumatic control system of power-assisted manipulator |
| CN203882524U (en) * | 2014-02-22 | 2014-10-15 | 山东栋梁科技设备有限公司 | Pneumatic manipulator training device using multiple control modes of PLC, single-chip microcomputer and computer |
| CN204588512U (en) * | 2015-05-07 | 2015-08-26 | 南京工业职业技术学院 | Based on the self-adaptive pressure balance control system of microcontroller |
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Effective date of registration: 20210521 Address after: 210000 99-46 Taizhong Road, cross strait science and Technology Industrial Park, Pukou District, Nanjing, Jiangsu Province Patentee after: Nanjing dream net automation equipment Co.,Ltd. Address before: 210016 No. 1 Yangshan North Road, Xianlin University City, Nanjing, Jiangsu Province Patentee before: NANJING INSTITUTE OF INDUSTRY TECHNOLOGY |
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