CN106873514B - A kind of control method of flexibility punching press on line control system - Google Patents

A kind of control method of flexibility punching press on line control system Download PDF

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Publication number
CN106873514B
CN106873514B CN201710132468.XA CN201710132468A CN106873514B CN 106873514 B CN106873514 B CN 106873514B CN 201710132468 A CN201710132468 A CN 201710132468A CN 106873514 B CN106873514 B CN 106873514B
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China
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robot
punching machine
plc processor
information
controller
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CN106873514A (en
Inventor
陈劲扬
袁祥宗
杨林
王群
杨海滨
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Foshan Intelligent Equipment Technology Research Institute
Foshan Huashu Robot Co Ltd
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Foshan Intelligent Equipment Technology Research Institute
Foshan Huashu Robot Co Ltd
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • G05B19/054Input/output
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/10Plc systems
    • G05B2219/11Plc I-O input output
    • G05B2219/1103Special, intelligent I-O processor, also plc can only access via processor

Abstract

The invention discloses a kind of flexible punching press on line control systems, including PLC processor, human-computer interaction interface, execution unit, storage card for the power module of PLC processor power supply and for storing product information and product processing program, the execution unit is configured with multiple, the execution unit includes punching machine and robot, the PLC processor is communicated to connect by Ethernet and human-computer interaction interface, the punching machine, robot, power module and storage card are communicated to connect with PLC processor respectively, the punching machine and machine include controller per capita, motor, detection sensor, encoder and control motor for detecting motor action execution form power circuit relay, the relay, encoder and detection sensor are connected with controller respectively, the controller and PLC processor communicate to connect.This system realizes the remote operation control of producing line control system, the real-time visual of punching machine and robot monitoring in solid line producing line.

Description

A kind of control method of flexibility punching press on line control system
Technical field
The present invention relates to a kind of intelligence control systems applied to field of industrial manufacturing, and the more specifically present invention is a kind of Flexible punching press on line control system and control method.
Background technique
With the development of science and technology the automation of product is not only being pursued by modern enterprise, while also striding forward intelligence The manufacturings such as the level of production, especially television set, automobile, intelligent producing line are being gradually improved.
But existing production line, there are a drawback, general production line is set according to single fixed product It counts, each equipment on production line is all to be set to the operation that can only be fixed according to a fixed sequencing, lead Cause production line that can only produce a product, it means that if fruit product is changed, corresponding production line must also put into certain Resource is transformed, and increases enterprise's initial stage input cost;In addition, a kind of product can only be carried out in the existing production line same time Production, the production work of two kinds of products can not be carried out simultaneously, influence enterprises production efficiency.
Summary of the invention
To solve the above problems, the present invention provides a kind of flexible punching press on line control system and its control method.
The solution that the present invention solves its technical problem is:
A kind of flexibility punching press on line control system, including PLC processor, human-computer interaction interface, execution unit, at PLC Manage the power module of device power supply and the storage card for storing product information and product processing program, the execution unit configuration Have multiple, the execution unit includes punching machine and robot, and the PLC processor is communicated by Ethernet with human-computer interaction interface Connection, the punching machine, robot, power module and storage card are communicated to connect with PLC processor respectively, the punching machine and robot It include that controller, motor, detection sensor, the encoder for detecting motor action execution and control motor are formed and be powered Circuit relay, the relay, encoder and detection sensor are connected with controller respectively, at the controller and PLC Manage device communication connection.
As a further improvement of the above technical scheme, the encoder is incremental encoder, and the encoder includes Coding disk, the coding disk are mounted at the rotary shaft of motor.
It as a further improvement of the above technical scheme, further include safe grating and safety relay, the safety relay Device is mounted on system mains electricity input end, and the safe grating is connected with safety relay, the safety relay and PLC processor It is connected.
The beneficial effects of the present invention are: this system realizes the remote operation control of producing line control system, rushed in solid line producing line The real-time visual of bed and robot monitors.
A kind of control method of flexibility punching press on line control system, comprising the following steps:
Step A: setting PLC processor and human-computer interaction interface network address, establish Ethernet connection PLC processor and Human-computer interaction interface;
Step B: setting system operational parameters, including setting production mode, the production model include single line production The number information of punching machine and robot is arranged in mode and two-wire production model, and each producing line under corresponding production model is arranged and participates in life The punching machine and robot number of production, input product information are simultaneously loaded into product processing program, edit each execution unit punching machine and machine People's executes movement, and the number information and execution movement correspond;
Step C:PLC processor sends number information to each execution unit and executes action signal;
Step D: controller executes signal according to movement and executes operation, generation feedback signal and by number information and feedback letter Number it is transferred to PLC processor;
Step E:PLC processor exports punching machine to human-computer interaction interface and robot executes the result of the action.
Further, include: after the step B
Step F: system operation conditions self-test, if System self-test is qualified, system starting operation executes step C, if system Self-test is unqualified, and PLC processor exports fault alarm information to human-computer interaction interface, re-executes after the completion of alarm information processing Step F.
Further, after the step C further include:
The starting timing of step G:PLC processor continues to execute step D if timing is not over, if timing terminates, at PLC Reason device is not received by the feedback signal of punching machine or robot, executes step H, and the step H includes PLC processor to man-machine friendship The fault alarm information of mutual interface output punching machine or robot, shields and removes the punching machine of failure or holding where robot Row unit is automatically added to execution unit in producing line end, and the number that execution unit is added is consistent with the shielding number of execution unit, PLC processor presses producing line tandem automatically, and the number information of punching machine and robot and execution movement again matching is corresponding, then Return step F.
Further, the step D includes the following steps
Step D1: controller judges whether the number information whether received number information is stored with itself is consistent, if Inconsistent, controller is without any operation, return step G, if unanimously, controller executes operation according to action signal is executed.
Step D2: encoder detection motor executes operation, if not detecting, controller returns to step without any movement Rapid G, if detecting, controller generates feedback signal and by itself number information and feedback signal transmission to PLC processor.
The beneficial effects of the present invention are: this control method can to participated in producing line production punching machine and robot number and its Execution movement carries out free setting, can be produced at the same time two kinds or more products, and the execution additionally, due to punching machine and robot is dynamic Work can freely be set, therefore can be compatible with the production of multiple product.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment Attached drawing is briefly described.Obviously, described attached drawing is a part of the embodiments of the present invention, rather than is all implemented Example, those skilled in the art without creative efforts, can also be obtained according to these attached drawings other designs Scheme and attached drawing.
Fig. 1 is the circuit diagram of control system of the present invention;
Fig. 2 is punching machine and robot and circuit diagram of the present invention;
Fig. 3 is the flow chart of control method embodiment of the present invention;
Fig. 4 is that the punching machine of step H execution front and back and robot number information and execution act in control method of the present invention The comparison diagram of pairing.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to design of the invention, specific structure and generation clear Chu, complete description, to be completely understood by the purpose of the present invention, feature and effect.Obviously, described embodiment is this hair Bright a part of the embodiment, rather than whole embodiments, based on the embodiment of the present invention, those skilled in the art are not being paid Other embodiments obtained, belong to the scope of protection of the invention under the premise of creative work.It is each in the invention A technical characteristic, can be with combination of interactions under the premise of not conflicting conflict.
Referring to Figures 1 and 2, a kind of flexible punching press on line control system, the control system includes PLC processor, man-machine Interactive interface, execution unit, for PLC processor power supply power module and for storing product information and product processing program Storage card, for the execution unit configured with enough, the execution unit includes punching machine and robot, the PLC processor It is communicated to connect by Ethernet and human-computer interaction interface, user can be realized using human-computer interaction interface to production line by Ethernet The remote operation of upper each equipment, the punching machine, robot, power module and storage card are communicated to connect with PLC processor respectively, institute State punching machine and machine include per capita controller, motor, detection sensor, for detect the encoder of motor action executive condition with And control motor forms power circuit relay, the detection sensor is used to acquire the status information of punching machine and robot, example Such as detect punching machine top dead-centre, whether robot is in work origin etc., and the detection sensor can be pressure sensor, infrared Sensor etc., the relay, encoder and detection sensor are connected with controller respectively, and the controller and PLC are handled Device communication connection.
The present invention plans as a whole the work of each execution unit punching machine and robot using PLC processor, realizes intelligent control, will PLC processor is connected with human-computer interaction interface by Ethernet, and user can realize remote real-time monitoring to control system, is in addition existed By detection sensor and encoder carrying out the operating status progress to equipment in terms of punching machine and robot, effectively information is adopted Collection, and be transferred to corresponding controller progress intelligence and set processing, strong real-time, accuracy in detection height.
Specifically, in the present embodiment, the PLC processor, storage card, human-computer interaction interface and power module are used The product of Siemens Company, the PLC processor model CPU315-2PNDP, the storage card are mmc card, and memory space is 512KB, model 6ES7-953-8LJ20-0AA0, the human-computer interaction interface are touch screen, model KTP 1000PN, institute Stating power module and 220V is exchanged input electrotransformation is 24V direct current electricity output, and output electric current is configured as 10A or 5A, model For 6ES7-307-1EA01-0AA0, in addition this system is also configured with digital quantity input/output module, and PLC processor passes through described Digital quantity input/output module is connected with punching machine and robot, and the digital quantity input module model has 6ES7-321-1BP00- 0AA0 and 6ES7-360-3AA01-0AA0, the digital output module model have 6ES7-322-1BL00-0AA0 and 6ES7-360-3CA01-0AA0.Certainly the above module is not limited solely to the present embodiment, any module that can complete similar functions Device belongs to the protection scope of the invention.
It is further used as preferred embodiment, the encoder is a kind of incremental encoder, and the encoder includes Coding disk, the coding disk are mounted at the rotary shaft of motor.Specifically, when motor operates, encoder converts angular displacement At periodic electrical signal, then counting pulse is converted the electrical signal to, be transferred to controller processing, the encoder is mainly used for examining It surveys punching machine and robot motion executive condition, is not contacted between encoder and motor when detection, any friction or mill will not be generated Damage, and the response time is fast, strong real-time.
It is further used as preferred embodiment, more preferably to protect worker safety on the scene, this system further includes safety Grating and safety relay, the safety relay are mounted on system mains electricity input end, the safe grating and safety relay It is connected, the safety relay is connected with PLC processor.Specifically the safe grating includes infrared transmitter and infrared receiver Device, safe grating may be mounted near electric component, such as power input, or be directly installed on producing line periphery, prevent Someone enters producing line operating area.The safe grating includes infrared transmitter and infrared remote receiver, infrared to connect when normal work Receiving device one can directly receive infrared ray, when someone close to when can block infrared ray, infrared remote receiver can not once receive infrared Line will quick response to safety relay transmit signal, cut off the power by safety relay, prevent accident Fang Sheng.
Referring to Fig. 3, a kind of above-mentioned control method of flexible punching press on line control system, comprising the following steps:
Step A: setting PLC processor and human-computer interaction interface network address, establish Ethernet connection PLC processor and Human-computer interaction interface;
Step B: setting system operational parameters, including setting production mode, the production model include single line production The number information of punching machine and robot is arranged in mode and two-wire production model, and each producing line under corresponding production model is arranged and participates in life The punching machine and robot number of production, input product information are simultaneously loaded into product processing program, edit each execution unit punching machine and machine People's executes movement, and the number information and execution movement correspond;
Step C:PLC processor sends number information to each execution unit and executes action signal;
Step D: controller executes signal according to movement and executes operation, generation feedback signal and by number information and feedback letter Number it is transferred to PLC processor;
Step E:PLC processor exports punching machine to human-computer interaction interface and robot executes the result of the action.
Specifically, this control method initially sets up Ethernet and the network of PLC processor and human-computer interaction interface is arranged The real-time and telecommunication of PLC processor and human-computer interaction interface, the Siemens of the model CPU315-2PNDP are realized in location PLC processor supports PROFINET industrial ethernet protocol, and networking is convenient and simple.
After networking is completed, it is necessary to which system operational parameters are set, and the parameter of required setting is the invention difference In the key of the prior art, including setting production mode, production model described in the present embodiment include single line production model and Two-wire production model can only produce a product when being set as single line production model in whole production line, when being set as two-wire When production model, whole production line is split into two, and two kinds of products can be produced under this production model.Certain production model Type be not limited solely to the present embodiment, as long as the punching machine and robot foot of production line are more than enough, may be arranged as multi-thread production mould Formula.
The number information of punching machine and robot is set, punching machine and machine that each producing line under corresponding production model participates in production are set Device number mesh, the punching machine and robot number information of production line head end are 1, and next number information is 2, is so analogized, and are arranged Punching machine and robot number information purpose are as follows: by the number information of punching machine and robot, distinguishing different punching machine and machine People facilitates setting punching machine and robot to execute movement, and PLC processor can be according to number information realization and punching machine when in addition running Perhaps single line production model is freely arranged according to actual production requirement in the accurate communication user in the machine human world or two-wire produces Under mode, each producing line participates in the punching machine and robot quantity of work, optimizes resources of production, improves production efficiency, concrete operations It is as follows, user after human-computer interaction interface is provided with production model, can show under the production model each production line head end and Each producing line under the production model can be completed after the corresponding input of user in the punching machine of end and the input frame of robot number information Participate in the punching machine of work and the setting of robot quantity.
End user needs input product information and is loaded into product processing program, edits each execution unit punching machine and robot Execute movement, the number information and execution movement correspond.Specifically, when system designs, user can matched Product information and corresponding product processing program are stored in the storage card set, user needs to be arranged under each production line in the present embodiment The product information for needing to produce, the product information are the customized product numbers of user, and PLC processor can be according to being inputted Product information loads corresponding product processing program automatically, and the product processing program is by the punching machine of each number and robot Setting completed for execution movement, without resetting before system operation, saves the time;In addition, when the information of produced product and right The execution movement answered does not pre-deposit execution movement corresponding to storage card or original deposit product processing program can not When meeting production requirement, the execution movement that user can store in each punching machine and robot original on the basis of, modify or again Setting realizes that production line is compatible and produces different products by the setting of this parameter, compared with traditional line production system, this Innovation and creation can greatly save user's input cost.
It is further used as preferred embodiment, further includes step F after step B described in this control method: system operation Condition self-test, if System self-test is qualified, system starting operation, execute step C, if System self-test is unqualified, PLC processor to Human-computer interaction interface exports fault alarm information, and F is re-execute the steps after the completion of alarm information processing.The specifically step F Service condition detected includes that whether setting completed for parameter mentioned in step B, punching machine whether top dead-centre, whether robot In origin position, production line a certain range whether someone etc., the detection punching machine whether top dead-centre, whether robot be in Detection sensor that the operations such as origin position are configured is completed, and safe grating be responsible for detecting in producing line prescribed limit whether Someone enters, after all conditions above is all qualified, system starting operation, if above-mentioned condition has unqualified, a PLC processing Device will export fault alarm information to human-computer interaction interface, after the completion of fault alarm information processing, then return to step F re-starts service condition detection, until all service conditions are qualified.Certain service condition is not limited solely to this reality The above-mentioned testing conditions of example are applied, user can freely set addition according to demand.
It is further used as preferred embodiment, further includes step G:PLC processor after step C described in this control method Starting timing continues to execute step D if timing is not over, if timing terminates, PLC processor is not received by punching machine or machine The feedback signal of device people executes step H, and the step H, which includes PLC processor, exports punching machine or robot to human-computer interaction interface Fault alarm information, shield and the punching machine for removing failure or the execution unit where robot, it is automatic in producing line end Execution unit is added, the number needs that execution unit is added are consistent with the shielding number of execution unit, and PLC processor presses production automatically Line tandem is corresponding with execution movement again matching by the number information of punching machine and robot, returns again to step F.
Specifically, the step G belongs to a kind of failure monitoring mechanism of this system.When PLC processor is not received by punching When the feedback signal of bed or robot, PLC processor can export fault alarm information to human-computer interaction interface, later at PLC The punching machine or the execution unit where robot that reason device can voluntarily shield failure, and execution is added automatically in producing line end Unit, the quantity of added execution unit is consistent with the execution unit quantity shielded, and it is suitable that PLC processor presses producing line front and back again Sequence is corresponding with execution movement again matching by the number information of punching machine and robot, referring to Fig. 4, before the left side one is classified as failure The punching machine and robot of original number execute the corresponding relationship of movement with it, and the right one is different after being classified as failure and being disposed Punching machine and robot and its of number execute the corresponding relationship of movement, it is assumed that when punching machine 3 and punching machine 7 break down, PLC processing Device shields the execution unit where punching machine 3 and punching machine 7, then adds two execution units in producing line end, finally according still further to producing line Tandem is corresponding with execution movement again matching by the number information of punching machine and robot, and thus event can will occur for user The punching machine or robot of barrier fill shielding in producing line and remove without long-time termination producing line operation, improve the effect of system operation Rate and reliability.Certainly when it is implemented, punching machine and robot all in producing line can be mounted on guide rail by user, it is in this way System can be removed and be added to execution unit automatically, without human intervention, realize full-automatic operation.
Be further used as preferred embodiment, the step D the following steps are included:
Step D1: controller judges whether the number information whether received number information is stored with itself is consistent, if Inconsistent, controller is without any operation, return step G, if unanimously, controller executes operation according to action signal is executed.
Step D2: whether encoder detects that motor executes operation, if not detecting, controller need not any movement, Return step G, if detecting, controller generates feedback signal and handles itself number information and feedback signal transmission to PLC Device.
Specifically, the step D is the execution motion mechanism of punching machine and robot, and controller first determines whether the volume received Whether code information is consistent with the encoded information that itself is deposited, if inconsistent, return step G, if unanimously, controller is dynamic according to executing Make signal and execute operation, in addition controller executes operation and only exports an electricity to the relay that control motor forms power circuit Ordinary mail number, therefore whether the motor that not can guarantee punching machine or robot generates run action, it is therefore desirable to it is detected using encoder Whether motor runs generation relevant operation, if encoder detects that motor performs operation really, to controller output signal, control Device processed produces feedback signal and by itself deposited address information and feedback signal transmission to PLC processor, if encoder is not examined It measures motor and executes relevant operation, controller can not generate feedback signal, return step G.
Further, in the step E, PLC is provided according to the address information and corresponding feedback signal, identification that receive Which punching machine body is or robot completes execution action signal, and implementing result is output to human-computer interaction interface and is rushed accordingly Perhaps the supervisory control of robot page punching machine monitoring page or the supervisory control of robot page can show all numbers to the bed monitoring page The current execution movement content and its practice condition of punching machine and robot, user can be by human-computer interaction interface to entire system System carries out real-time visual monitoring.
Referring to Fig. 3, the specific embodiment of the invention control method, specific control flow is as follows:
Step S01: the network address of setting PLC processor and human-computer interaction interface;
Step S02: establishing Ethernet, connects PLC processor and human-computer interaction interface;
Step S03: setting system production mode;
Step S04: the number information of each punching machine and robot is set;
Step S05: punching machine and robot quantity that each producing line participates in production are set;
Step S06: input product information is loaded into production program;
Step S07: that edits each punching machine and robot executes movement;
Step S08: system carries out service condition self-test;If service condition is qualified, system starting operation, if service condition Unqualified, PLC processor exports fault alarm information to human-computer interaction interface, after fault alarm information is disposed, holds again Row step S08;
Step S09:PLC processor issues number information and corresponding execution action signal, and starts timing;
Step S10: judging whether timing terminates, if timing is not over, executes step S11, if timing terminates, at PLC Reason device is not received by feedback signal, and PLC processor exports failure alarm signal to human-computer interaction interface, shields failure Execution unit where punching machine and robot adds execution unit in producing line end, and PLC processor presses producing line tandem automatically The number information of punching machine and robot is corresponding with execution movement again matching, return again to step S08;
Step S11: whether the number information that controller judgement receives is consistent with the encoded information that itself is deposited, if one It causes, controller executes signal according to movement and executes operation, if inconsistent, controller is not necessarily to any operation, return step S10;
Step S12: whether encoder detects that motor executes operation, if detecting, encoder output to controller, Controller generates feedback signal and by itself deposited encoded information and feedback signal transmission to PLC processor, if not detecting, Controller is without carrying out any operation, return step S10;
Step S13:PLC processor exports the execution running-active status of punching machine or robot to human-computer interaction interface.
Better embodiment of the invention is illustrated above, but the invention is not limited to the implementation Example, those skilled in the art can also make various equivalent modifications on the premise of without prejudice to spirit of the invention or replace It changes, these equivalent variation or replacement are all included in the scope defined by the claims of the present application.

Claims (2)

1. a kind of control method of flexibility punching press on line control system, the flexibility punching press on line control system include PLC processing Device, human-computer interaction interface, execution unit, for PLC processor power supply power module and for storing product information and product The storage card of processing program, for the execution unit configured with multiple, the execution unit includes punching machine and robot, the PLC Processor is communicated to connect by Ethernet and human-computer interaction interface, the punching machine, robot, power module and storage card respectively with PLC processor communication connection, the punching machine and machine include per capita controller, motor, detection sensor, for detecting motor Make the encoder executed and control motor forms the relay of power circuit, the relay, encoder and detection sensing Device is connected with controller respectively, and the controller and PLC processor communicate to connect;It is characterized in that control method includes following step It is rapid:
Step A: the network address of setting PLC processor and human-computer interaction interface establishes Ethernet connection PLC processor and man-machine Interactive interface;
Step B: setting system operational parameters, including setting production mode, the production model includes single line production model With two-wire production model, the number information of punching machine and robot is set, each producing line under corresponding production model is set and participates in production Punching machine and robot number, input product information are simultaneously loaded into product processing program, edit each execution unit punching machine and robot Movement is executed, the number information and execution movement correspond;
Step C:PLC processor sends number information to each execution unit and executes action signal;
Step D: controller executes operation according to action signal is executed, and generates feedback signal and passes number information and feedback signal It is defeated to arrive PLC processor;
Step E:PLC processor exports punching machine to human-computer interaction interface and robot executes the result of the action;
Include: after the step B
Step F: system operation conditions self-test, if System self-test is qualified, system starting operation executes step C, if System self-test Unqualified, PLC processor exports fault alarm information to human-computer interaction interface, re-execute the steps after the completion of alarm information processing F;
After the step C further include:
The starting timing of step G:PLC processor continues to execute step D if timing is not over, if timing terminates, PLC processor It is not received by the feedback signal of punching machine or robot, executes step H, the step H includes PLC processor to human-computer interaction circle Face exports the fault alarm information of punching machine or robot, shields and remove the punching machine of failure or the execution list where robot Member is automatically added to execution unit in producing line end, and the number that execution unit is added is consistent with the shielding number of execution unit, PLC Processor presses producing line tandem automatically, and the number information of punching machine and robot and execution movement again matching is corresponding, returns again to Step F.
2. the control method of flexible punching press on line control system according to claim 1, it is characterised in that the step D includes Following steps:
Step D1: controller judges whether received number information is consistent with the number information that itself is stored, if inconsistent, control Device processed is without any operation, return step G, if unanimously, controller executes operation according to action signal is executed;
Step D2: encoder detection motor executes operation, if not detecting, controller is without any movement, return step G, If detecting, controller generates feedback signal and by itself number information and feedback signal transmission to PLC processor.
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