CN106553203A - A kind of magnet ring conveying robot control system - Google Patents
A kind of magnet ring conveying robot control system Download PDFInfo
- Publication number
- CN106553203A CN106553203A CN201510615174.3A CN201510615174A CN106553203A CN 106553203 A CN106553203 A CN 106553203A CN 201510615174 A CN201510615174 A CN 201510615174A CN 106553203 A CN106553203 A CN 106553203A
- Authority
- CN
- China
- Prior art keywords
- control system
- plc
- magnet ring
- conveying robot
- pulse
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
A kind of magnet ring conveying robot control system, the control system are controlled based on PLC, realize workpiece automatic transporting, pallet automatic loading and unloading and fault alarm function；Expected purpose is reached.The system will substantially improve work situation in putting into production application, improve product quality reduces production cost, is with a wide range of applications and wide market prospects.
Description
Technical field
The present invention relates to a kind of control system, particularly a kind of magnet ring conveying robot control system.
Background technology
Magnetic Nd-Fe-B ring is referred to as " magnetic king " due to its excellent magnetic property.Neodymium iron boron has high magnetic energy product and coercivity, while the advantage of high-energy-density makes Nd-Fe-B permanent magnet material be applied widely in modern industry and electronic technology, correspondingly proposes very high request to the magnet ring quality of production and production efficiency.
The magnetic Nd-Fe-B ring belongs to powder metallurgy pressing product, with ferromagnetism.Compressing magnet ring need carrying to pile up after sintering curing, before not being sintered, fragility is big, frangible；In the crawl moving process structure kept by product is intact shown.The operation piled up is carried in actual production by being accomplished manually, low production efficiency, cost of labor are high；And manually capturing easily makes workpiece deformation even scrap, the quality of production cannot be ensured.
The content of the invention
The present invention proposes a kind of magnet ring conveying robot control system, and the control system is controlled based on PLC, realizes workpiece automatic transporting, pallet automatic loading and unloading and fault alarm function；Expected purpose is reached.The system will substantially improve work situation in putting into production application, improve product quality reduces production cost, is with a wide range of applications and wide market prospects.The technical solution adopted in the present invention is：
The conveying robot can be divided into the part such as control system, transmission system, execution system, monitoring system and constitute.Transmit process requires to be accurately positioned and steadily the steady transmission scheme for operating, combining ball-screw for this from Timing Belt is realized in operating.As magnetic Nd-Fe-B ring fragility is big, take workpiece executing agency and can not use clamping manipulator scheme, and powder metallurgy has ferromagnetism, workpiece is drawn from magnechuck.
After the conveying robot handling system starts, original operating state is turned first to --- Y-direction leading screw returns origin（Magnet ring release location）Return origin to leading screw with X（Disk position in tray）, while upper disk cylinder jack-up, unloads disk cylinder and sucker cylinder withdraws.The XY worktable coordinated movement of various economic factors completes positioning and puts work, and Y-direction leading screw positions magnet ring X to position, and X is to leading screw positioning magnet ring Y-direction position.Y-direction leading screw often occupies a row workpiece, and X leading screws move the distance of a column pitch.Crawl, put down magnet ring and complete by sucker and sucker cylinder, sucker cylinder drops in the distance of sucker and magnet ring effective action, and sucker is powered, absorption workpiece；Workpiece is then put down in sucker power-off.
Upper disk and unload disk action and can be analyzed to following process：Manually tray is placed on upper disk cylinder, after X returns origin to leading screw, upper disk cylinder falls, and tray is placed on feed screw nut objective table, X drives tray to move to specified initial putting position to leading screw and completes upper disk action.After tray dishful, X is moved quickly into leading screw and is unloaded disk position, unloads disk cylinder jack-up, completes to unload disk action.Operator before next Workpiece storage disk dishful moved and unloads the full Workpiece storage disk supported on disk cylinder, and a blank panel is put on upper disk cylinder.
PLC is the core of whole control system, mainly completes the collection and process of signal, Position servo control, pneumatic system control, system running state and the function such as indicates.Servo-driver receives the command pulse from PLC as driving equipment, and motor completes high-precision positioning, and feed back to that PLC servos are ready, servo completes the signal such as to report to the police with servo.Cylinder is main executing agency, controls solenoid directional control valve by PLC and completes the control to cylinder.PLC is moved by pulse output control servomotor, and PLC will be realized while controlling two servomotor motions, therefore PLC at least needs two pulse output end mouths.
It is PLC that the manipulator control system selects Siemens S7-1214C.Cpu motherboard possesses 4 tunnel pulse outputs（Highest frequency 100KHZ）, expansible up to 8 I/O signaling modules；Fully meet manipulator control requirement.Also possess a PROFINET interface simultaneously to communicate for programming, between HMI and PLC.
Information between the servo-driver and PLC exchange including servo it is ready, positioning complete, fault alarm；Pulse output, pulse direction, command pulse forbid input, servo enable, alarm release.PLC is exchanged with external environmental information including some workpiece and carrying disk position detection proximity switch, spacing workbench extreme position, the upper and lower stroke limit of cylinder, cylinder control magnetic valve etc..Debugging, use and accident analysis, need the input-output equipment such as some manual control buttons and status indicator lamp for convenience.
The manipulator control system belongs to non-position control system with high accuracy, and the pulse way of output serially adds pulse direction using pulse.The input of PLC is 24V, and the input port of servo-driver is to need to concatenate the divider resistance of 2K between the Transistor-Transistor Logic level of 5V, therefore PLC and the port of servo-driver.The magnetic valve of pneumatic system directly by PLC output drivings can not be needed using an auxiliary reclay（RY）Isolation control；The signal of servo-driver output is the Transistor-Transistor Logic level of 5V, and PLC can not directly use, need to use auxiliary reclay（KA）Isolation control（Auxiliary reclay needs fly-wheel diode in parallel to protect output interface）.The PLC input ports of west gate subfamily are source/drain dual-purpose types, by the M of input（1M、2M、3M）Port is input into as source type when connecing power cathode（Low level effective）, therefore the normally opened proximity switch of three-wire system of positive-negative-positive is selected.The output of PLC is that high level output is effective, and all PLC are input to the signal of driver, are connected with commoncathode.
The manipulator control system is controlled Design of System Software with reference to stepping sequence control command using structured programming.Structured programming requires programming realization X, Y-direction guide screw movement and associated cylinder action subprogram respectively, calls each subprogram by main program.Each subprogram is then designed according to the time sequencing of production technology.When the ready input port of PLC servos is connected, arm-and-hand system enters initialization subroutine, and initialization action includes Y-direction, X to leading screw Aligning control, upper disk cylinder jack-up, sucker cylinder, unloads the withdrawal of disk cylinder.After the completion of initialization action, empty pallet declines, and horizontal leading screw drives tray motion to initial lower discharge position, performs carrying action by setup program.After the completion of piling up every time, Y-direction leading screw enters Aligning control program, and origin position is located at magnet ring release location, carries every time and completes all Aligning controls, can avoid being run multiple times the accumulated error for causing.
The invention has the beneficial effects as follows：The control system is controlled based on PLC, realizes workpiece automatic transporting, pallet automatic loading and unloading and fault alarm function；Expected purpose is reached.The system will substantially improve work situation in putting into production application, improve product quality reduces production cost, is with a wide range of applications and wide market prospects.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the manipulator control system composition of the present invention.
Fig. 2 is the manipulator control program flow diagram of the present invention.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Such as Fig. 1, PLC is the core of whole control system, mainly completes the collection and process of signal, Position servo control, pneumatic system control, system running state and the function such as indicates.Servo-driver receives the command pulse from PLC as driving equipment, and motor completes high-precision positioning, and feed back to that PLC servos are ready, servo completes the signal such as to report to the police with servo.Cylinder is main executing agency, controls solenoid directional control valve by PLC and completes the control to cylinder.PLC is moved by pulse output control servomotor, and PLC will be realized while controlling two servomotor motions, therefore PLC at least needs two pulse output end mouths.
It is PLC that manipulator control system selects Siemens S7-1214C.Cpu motherboard possesses 4 tunnel pulse outputs（Highest frequency 100KHZ）, expansible up to 8 I/O signaling modules；Fully meet manipulator control requirement.Also possess a PROFINET interface simultaneously to communicate for programming, between HMI and PLC.
Information between servo-driver and PLC exchange including servo it is ready, positioning complete, fault alarm；Pulse output, pulse direction, command pulse forbid input, servo enable, alarm release.PLC is exchanged with external environmental information including some workpiece and carrying disk position detection proximity switch, spacing workbench extreme position, the upper and lower stroke limit of cylinder, cylinder control magnetic valve etc..Debugging, use and accident analysis, need the input-output equipment such as some manual control buttons and status indicator lamp for convenience.
Manipulator control system belongs to non-position control system with high accuracy, and the pulse way of output serially adds pulse direction using pulse.The input of PLC is 24V, and the input port of servo-driver is to need to concatenate the divider resistance of 2K between the Transistor-Transistor Logic level of 5V, therefore PLC and the port of servo-driver.The magnetic valve of pneumatic system directly by PLC output drivings can not be needed using an auxiliary reclay（RY）Isolation control；The signal of servo-driver output is the Transistor-Transistor Logic level of 5V, and PLC can not directly use, need to use auxiliary reclay（KA）Isolation control（Auxiliary reclay needs fly-wheel diode in parallel to protect output interface）.The PLC input ports of west gate subfamily are source/drain dual-purpose types, by the M of input（1M、2M、3M）Port is input into as source type when connecing power cathode（Low level effective）, therefore the normally opened proximity switch of three-wire system of positive-negative-positive is selected.The output of PLC is that high level output is effective, and all PLC are input to the signal of driver, are connected with commoncathode.
Such as Fig. 2, manipulator control system are controlled Design of System Software with reference to stepping sequence control command using structured programming.Structured programming requires programming realization X, Y-direction guide screw movement and associated cylinder action subprogram respectively, calls each subprogram by main program.Each subprogram is then designed according to the time sequencing of production technology.When the ready input port of PLC servos is connected, arm-and-hand system enters initialization subroutine, and initialization action includes Y-direction, X to leading screw Aligning control, upper disk cylinder jack-up, sucker cylinder, unloads the withdrawal of disk cylinder.After the completion of initialization action, empty pallet declines, and horizontal leading screw drives tray motion to initial lower discharge position, performs carrying action by setup program.After the completion of piling up every time, Y-direction leading screw enters Aligning control program, and origin position is located at magnet ring release location, carries every time and completes all Aligning controls, can avoid being run multiple times the accumulated error for causing.
Claims (6)
1. a kind of magnet ring conveying robot control system, is characterized in that：The conveying robot can be divided into the part such as control system, transmission system, execution system, monitoring system and constitute, and transmit process requires to be accurately positioned and steadily the steady transmission scheme for operating, combining ball-screw for this from Timing Belt is realized in operating.
2. a kind of magnet ring conveying robot control system according to claim 1, is characterized in that：The manipulator control system selects Siemens S7-1214C for PLC, and cpu motherboard possesses 4 tunnel pulses outputs（Highest frequency 100KHZ）, expansible up to 8 I/O signaling modules fully meet manipulator control requirement, while also possess a PROFINET interface communicating for programming, between HMI and PLC.
3. a kind of magnet ring conveying robot control system according to claim 1, is characterized in that：Information between the servo-driver and PLC exchange including servo it is ready, positioning complete, fault alarm；Pulse output, pulse direction, command pulse forbid input, servo enable, alarm release.
4. a kind of magnet ring conveying robot control system according to claim 1, is characterized in that：The manipulator control system belongs to non-position control system with high accuracy, the pulse way of output serially adds pulse direction using pulse, the input of PLC is 24V, and the input port of servo-driver is to need to concatenate the divider resistance of 2K between the Transistor-Transistor Logic level of 5V, therefore PLC and the port of servo-driver.
5. a kind of magnet ring conveying robot control system according to claim 1, is characterized in that：The manipulator control system is controlled Design of System Software with reference to stepping sequence control command using structured programming, and structured programming requires programming realization X, Y-direction guide screw movement and associated cylinder action subprogram respectively, calls each subprogram by main program.
6. a kind of magnet ring conveying robot control system according to claim 1, is characterized in that：When the ready input port of the PLC servos is connected, arm-and-hand system enters initialization subroutine, and initialization action includes Y-direction, X to leading screw Aligning control, upper disk cylinder jack-up, sucker cylinder, unloads the withdrawal of disk cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510615174.3A CN106553203A (en) | 2015-09-24 | 2015-09-24 | A kind of magnet ring conveying robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510615174.3A CN106553203A (en) | 2015-09-24 | 2015-09-24 | A kind of magnet ring conveying robot control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106553203A true CN106553203A (en) | 2017-04-05 |
Family
ID=58413800
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510615174.3A Pending CN106553203A (en) | 2015-09-24 | 2015-09-24 | A kind of magnet ring conveying robot control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106553203A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544113A (en) * | 2018-04-27 | 2018-09-18 | 钱立文 | A kind of Seal welding machine welding gun control system |
| CN110625866A (en) * | 2019-08-19 | 2019-12-31 | 广东工业大学 | Vinyl mold taking manipulator control system and control method thereof |
-
2015
- 2015-09-24 CN CN201510615174.3A patent/CN106553203A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544113A (en) * | 2018-04-27 | 2018-09-18 | 钱立文 | A kind of Seal welding machine welding gun control system |
| CN108544113B (en) * | 2018-04-27 | 2020-04-24 | 钱立文 | Seal welding machine welder control system |
| CN110625866A (en) * | 2019-08-19 | 2019-12-31 | 广东工业大学 | Vinyl mold taking manipulator control system and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103418698B (en) | Full-automation accessory assembly machine | |
| US20220274219A1 (en) | Five-axis vertical processing system for automatic loading and unloading | |
| CN106553203A (en) | A kind of magnet ring conveying robot control system | |
| CN103111832B (en) | Spring sealing assembly equipment on a kind of spring lock | |
| CN103465018B (en) | The assembly equipment of spring and envelope bullet on spring lock | |
| CN211162459U (en) | Double-exchange-workbench laser cutting machine | |
| CN104353944A (en) | Pin feeding device | |
| CN204524903U (en) | The vertical numerical control fraise jig of little interior oblique semicircle orifice | |
| CN209554298U (en) | A kind of industrial robot tail end pick-up | |
| CN111615322A (en) | Method for improving working efficiency of all-in-one machine | |
| CN104400015B (en) | A kind of NC vertical lathe automatic loading and unloading device | |
| CN202655887U (en) | Sealing part assembly line control system used in production of carrier roller | |
| CN106862603A (en) | A kind of economical planer type numerical control drilling machine control system based on PLC | |
| CN202943489U (en) | Processing equipment | |
| CN206263393U (en) | A kind of automatic loading/unloading equipment | |
| CN106542330A (en) | A kind of manipulator of magnetic ring conveying based on PLC | |
| CN208773566U (en) | A kind of flexible robot working cell | |
| CN104741680A (en) | Full-manipulator intelligent plate shearing machine | |
| CN208929802U (en) | Automatic loading and unloading device is used in a kind of processing of smart electronics accessory | |
| CN203680286U (en) | Automatic manipulator device for material feeding and conveying | |
| CN102626861A (en) | Control system of sealing assembly line in supporting roller production | |
| CN206969699U (en) | A kind of neodymium iron boron production line Intelligent logistics device | |
| CN202716332U (en) | Wood pallet turnover mechanism | |
| CN207158289U (en) | Square steel automatic feeder | |
| CN202684611U (en) | Precise numerical control machine tool capable of automatically adjusting work table height |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170405 |
|
| WD01 | Invention patent application deemed withdrawn after publication |