CN106607920A

CN106607920A - Control device for integrated molding machine and mechanical arm

Info

Publication number: CN106607920A
Application number: CN201510691614.3A
Authority: CN
Inventors: 赵士野
Original assignee: Individual
Current assignee: Individual
Priority date: 2015-10-23
Filing date: 2015-10-23
Publication date: 2017-05-03

Abstract

The invention relates to a control device for an integrated molding machine and mechanical arm. The control device comprises a machining unit, a mechanical arm and a control unit; the control unit receives an instruction edited by an operator and transmits the instruction to a machining unit control module and a mechanical arm control module by means of a control program of a processing module; and then the machining unit and the mechanical arm feedback signals to a control program of the control unit to be integrated, and a driving signal is transmitted to the machining unit and the mechanical arm. In this way, the machining unit and the mechanical arm share one control unit, so that a function of obviously reducing cost can be achieved; use of the operator can be convenient due to a human-machine interface of one control unit, and therefore the machining efficiency can be substantially improved; and because control units of the machining unit and the mechanical arm are integrated, the system error possibility can be reduced, and the reliability degree of the overall machining process is improved.

Description

Integrate the control device of forming machine and mechanical arm

Technical field

The present invention relates to a kind of control technology field for integrating forming machine and mechanical arm, refers specifically to a kind of integration process machinery and the control platform of mechanical arm, to improve whole working (machining) efficiency, and the cost of integral device can be reduced.

Background technology

A kind of processing equipment, the such as ejaculator of molding function, die casting machine, hydro-forming machine, extruder, extruder, hollow forming machine.And or the such as CNC of cutting function, integrating center cutter.The manufacture processes such as molding, cutting, assembling, detection that it can be respectively completed work piece；And when traditionally work piece is inserted in processing equipment, directly gripped, overturn, being entered the actions such as the material returned in machine internal with handss by operator, because aforementioned processing equipment is present just like actions such as matched moulds, heating, rotations and with components such as cutter, spare parts, not only the speed of operation is slow, inefficient, and the reliability of operation it is low, while being susceptible to contingency；

There is the mechanical arm for coordinating processing equipment for this industry exploitation, to replace manual action, improve reliability and reduce dangerous.Two separate hardwares are adhered to separately as the control unit of existing processing equipment and the control unit of mechanical arm, equipment cost will be so caused to improve, and need to be operated by wired or wireless transmission means between two control units, if run into environmental disturbances signal, whole system reliability can be caused to decline, and two the parameter that can link up of control unit it is limited, degree of integration and decreasing efficiency will be made.

In other words, because the control unit of existing processing equipment and mechanical arm is respectively independent shape, not only its degree of integration is not good, and causes the problem of poor efficiency and high cost, it is impossible to meets actually used demand, and has necessity of further improvement.

Then, designer of the present invention is the control problem further investigated for aforementioned processing equipment with mechanical arm, and using the experience of related industry for many years, actively seek solution, the research that Jing is continually striving to study, finally the control platform of a kind of integration process machinery and mechanical arm is successfully developed, to overcome those existing derivative inconvenience and puzzlement because control unit cannot be effectively integrated.

The content of the invention

The purpose of the present invention is the control platform for providing a kind of integration process machinery and mechanical arm, so that processing equipment and mechanical arm can be made to there is sufficient parameter to be available for linking up and integrate, system fault probability is reduced, and overall reliability can be increased, while improving its working performance.

It is mechanical with more than one mechanical arm with integration process so as to the purpose of multiplexing to be reached, so as to reduce the cost of process equipment it is an object of the invention to provide the control platform of a kind of integration process machinery and mechanical arm.

Another object of the present invention is to provide the control platform of a kind of integration process machinery and mechanical arm, allow user that the parameter of all processing equipments and mechanical arm can be completed by single setting, increase the convenience of user operation.

May achieve above-mentioned purpose, the present invention provides a kind of control device for integrating forming machine and mechanical arm, includes a control unit, a processing equipment and at least one mechanical arm；Described control unit at least has processing module, a processing equipment control module and one or more mechanical arm control modules, wherein the processing equipment control module is connected respectively the processing module with the mechanical arm control module, the processing module includes man machine interface, control main frame, driver, a control formula is had in the processing module, the control unit produces operational capability and multistep treatment function using the control formula；

The processing equipment is connected with the processing equipment control module, for receiving the drive signal of the control unit and providing feedback action signal to the control unit；

Mechanical arm mechanical arm control module connection corresponding with this, for receiving the drive signal of the control unit and providing the feedback signal of machinery state to the control unit, and the mechanical arm is to receive the multi-functional of the control unit control to pick and place machinery.

During enforcement, described processing module is connected with a memory module, the memory module is all accessed for record processing equipment control module and the common parameter of mechanical arm control module, and processing equipment control module and mechanical arm control module to the parameter of the memory module, obtains all parameters of other side.

During enforcement, described mechanical arm picks and places machinery selected from can carry out the multi-functional of work piece gripping, upset, charging, the material returned or processing.

Thus, by implementing for aforementioned techniques means of the present invention, allow the processing equipment of the present invention and mechanical arm that there is single control unit, make operator the instruction after editor can be sent to into each processing equipment control module and mechanical arm control module via the control formula of the processing module of control unit, and drive signal is reached into processing equipment and mechanical arm, again by the control formula of processing equipment and mechanical arm feedback signal to control unit as integration, make it can effective integrated operation parameter, in addition to the convenience that can promote operation by the man machine interface of same control unit, the efficiency of processing and the reliability of system can more be greatly improved, to reduce system fault probability, and its surcharge can be significantly increased, and can be substantially improved its economic benefit.

Description of the drawings

Fig. 1 is the schematic perspective view that the present invention integrates forming machine and the control device of mechanical arm；

Fig. 2 is the brief configuration diagram that the present invention integrates forming machine and the control device of mechanical arm；

Fig. 3 is the described control flow schematic diagram for integrating forming machine and the control device of mechanical arm.

In figure：1st, control unit；11st, processing module；12nd, processing equipment control module；13rd, mechanical arm control module；14th, formula is controlled；15th, memory module；16th, man machine interface；2nd, processing equipment；3rd, mechanical arm；4th, work piece.

Specific embodiment

As schemed shown in l and Fig. 2, a kind of control device for integrating forming machine and mechanical arm provided by the present invention, include control unit l, a mechanical arm 3 of processing equipment 2 and at least one, wherein processing equipment 2 and described mechanical arm 3 are each independent mechanism, and the present invention is with single mechanical arm 3 as main embodiment；

When operator's processing equipment 2 to be operated carries out the fabrication schedule of work piece 4 or mechanical arm 3, and or operation machinery arm 3 carries out respectively or synchronously the gripping of work piece 4, upset, charging, during the actions such as the material returned, the control formula 14 of the processing module 11 that can pass through control unit l is moved, driving parameter is sent to processing equipment 2 or mechanical arm 3 via processing equipment control module 12 or mechanical arm control module 13, and relevant parameter more can be fed back to processing module 11 by processing equipment 2 after action with mechanical arm 3 with the processed machine control modules 12 of feedback signal and mechanical arm control module 13, control unit l is set to can reach the purpose of Multistage Control, processing equipment 2 and mechanical arm 3 can be operated in same control unit l；

A kind of control device for integrating forming machine and mechanical arm provided by the present invention, when being compared to each other with aforementioned citation invention and other located by prior art, with more following advantage：

By aforesaid design, allow the control platform of the present invention that processing equipment 2 can be made to have sufficient parameter to be available for linking up and integrate with mechanical arm 3, reduce system fault probability, and can increase overall reliability, improve its working performance simultaneously, simultaneously can be with integration process machinery 2 and more than one mechanical arm 3, reach the purpose of multiplexing, so as to reduce the cost of process equipment, can further allow user that the parameter of all processing equipments 2 and mechanical arm 3 can be completed by the setting of single control unit l, increase the convenience of user operation, decapacitation is promoted outside the convenience of operation, the efficiency of processing and the reliability of system can more be greatly improved.

A kind of arithmetic core and chipset circuit diagram for integrating forming machine and the control device of mechanical arm of the present invention, described micro treatment module (UIA and U88B) is responsible for related operation and data is processed, it is substantially carried out extracting, decode, perform and writing back function, and by periphery function give chipset (U87B and U89C) go perform, such as figure shows, audio effect processing, the running at various interfaces（Such as USB, PS2, SATA.）, the connection of the two modules, by SA (address BUS), SD (data BUS), control bus, the internal specific addressing mode of cooperation reaches optimal operational effectiveness.

A kind of chipset and memory bank circuit diagram for integrating forming machine and the control device of mechanical arm of the present invention, described chipset (U3D) provides memory bank read-write interface, to control DDR2 series storage modules (DDR2A), through SA (address BUS), SD (data BUS), control bus, there is provided the hardware resource needed for rapid computations.

The present invention is a kind of to integrate arranged side by side drive signal control of the forming machine with the control device of mechanical arm and receiving circuit, described ASIC IC (U47) interface provides control ports of multiple l to 1 rear module, instruction Jing micro treatment module SA (address BUS), after SD (data BUS) write ASIC, again by ASIC internal circuits according to setting form output, Jing differential waves TC (U64) and joint (AXIS6) are sent to controlled module, the signal of another controlled module institute feedback, Jing joints (AXIS6) and optical coupling element (U39) are back to ASIC, meet the demand of isolation and high speed.

A kind of tandem drive signal control and receiving circuit of the integration forming machine of the present invention with the control device of mechanical arm, the two-way tandem control signal hardware circuit that can control multiple controlled modules is provided, Jing differential waves TC are connected with rear end controlled module, send control command；Through optical coupling element, the signal that controlled module is returned is received, information, through buses such as SA, SD, control PIN, is passed back to micro treatment module by signal of the order with passback.

Claims

1. a kind of control device for integrating forming machine and mechanical arm, it is characterised in that：Include a control unit, a processing equipment and at least one mechanical arm；The control unit at least has processing module, a processing equipment control module and one or more mechanical arm control modules, wherein the processing equipment control module is connected respectively the processing module with the mechanical arm control module, and the processing module includes man machine interface, control main frame, driver；The processing equipment is connected with the processing equipment control module, for receiving the drive signal of the control unit and providing feedback action signal to the control unit；Mechanical arm mechanical arm control module connection corresponding with this, for receiving the drive signal of the control unit and providing the feedback signal of machinery state to the control unit, the mechanical arm is to receive the multi-functional of the control unit control to pick and place machinery.

2. integration forming machine according to claim l and the control device of mechanical arm, it is characterised in that：Described processing module is connected with a memory module, the memory module is for record processing equipment control module and the common parameter of mechanical arm control module, and processing equipment control module and mechanical arm control module are all accessed to the parameter of the memory module, all parameters of other side are obtained.

3. integration forming machine according to claim l and the control device of mechanical arm, it is characterised in that：Described processing equipment is former or cutting apparatus.

4. integration forming machine according to claim l and the control device of mechanical arm, it is characterised in that：Described mechanical arm is to carry out the multi-functional of work piece gripping, upset, charging, the material returned or processing to pick and place machinery.