CN108687691A - A kind of control method and system for fixture - Google Patents
A kind of control method and system for fixture Download PDFInfo
- Publication number
- CN108687691A CN108687691A CN201810273566.XA CN201810273566A CN108687691A CN 108687691 A CN108687691 A CN 108687691A CN 201810273566 A CN201810273566 A CN 201810273566A CN 108687691 A CN108687691 A CN 108687691A
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- Prior art keywords
- cylinder
- control
- sequence
- action
- action command
- Prior art date
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Links
- 238000000034 method Methods 0.000 title claims abstract description 43
- 230000009471 action Effects 0.000 claims abstract description 87
- 230000000875 corresponding effect Effects 0.000 claims abstract description 46
- 238000012546 transfer Methods 0.000 claims description 8
- 230000001276 controlling effect Effects 0.000 claims 1
- 230000008859 change Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 11
- 238000004590 computer program Methods 0.000 description 6
- 238000013507 mapping Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013506 data mapping Methods 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
Abstract
The present invention relates to apparatus control method fields, and in particular to a kind of control method and system for fixture, multiple fixtures are controlled by corresponding cylinder, and the control method includes the following steps:More set actions are set;First set action is executed, and the cylinder transferred to needs carries out control sequence and generates corresponding action command;Corresponding cylinder is transferred successively according to control sequence and action command, and completes first set action;And a set of action under executing, and the cylinder transferred again to needs carries out control sequence and generates corresponding action command;Until completing everything.By sorting to cylinder, and action command is sequentially generated, then control cylinder and execute action command, if cylinder goes wrong, problematic cylinder can be rapidly found out according to sequence and action command, to which debugging and the change work of equipment be rapidly completed.
Description
Technical field
The present invention relates to apparatus control method fields, and in particular to a kind of control method and system for fixture.
Background technology
In currently automation industry, more and more equipment have used chucking appliance system.More sets are contained in chucking appliance system
Cylinder component, the ancillary equipments such as cooperation sensor, collectively constitutes a complete chucking appliance system.For this sleeve clamp system
Control, is the key that one step of automation control.
In current common control program, using point-to-point control.As, practical to the independent assignment of each cylinder
Output point, and detect the sensor signal of each cylinder, fixture control completed with this.But said program has the following disadvantages:
1, control system can readability difference.In point-to-point control mode, for each output point, each input point carry out by
One logical description.In this way so that control system sequence is numerous and jumbled, and because control system is larger so that can readability difference.2, it controls
System processed is not easy to change.During actually debugging use, if there is logical problem or the damage of some point, need numerous and jumbled
Control system in, find failure point one by one, and changed one by one.Therefore, alterability is poor.3, control system is not
It is reusable.Because the different movement logics with other fixtures and practical point have been all made of per sleeve clamp, then completing
After one sleeve clamp, this set control system can not be copied in new fixture and directly be used.When in face of new fixture, still need
Again new fixture logic is write.
Invention content
The technical problem to be solved in the present invention is, for the drawbacks described above of the prior art, provides a kind of for fixture control
Method and system processed, solve the problems, such as control system can it is readability it is poor, be not easy to change, be not re-usable.
To solve the technical problem, the present invention provides a kind of control method for fixture, and multiple fixtures are by corresponding gas
Cylinder controls, and the control method includes the following steps:
More set actions are set;
First set action is executed, and the cylinder transferred to needs carries out control sequence and generates corresponding action command;
Corresponding cylinder is transferred successively according to control sequence and action command, and completes first set action;And under executing
A set of action, and the cylinder transferred again to needs carries out control sequence and generates corresponding action command;
Until completing everything.
Wherein, preferred version is that the control method is further comprising the steps of:
Judge to need whether the cylinder transferred executes action command, if so, the information that feedback runs succeeded;Conversely, feedback
Execute the information of failure.
Wherein, preferred version is that the control method is further comprising the steps of:
Judge that last group needs whether the cylinder transferred has executed last a set of action, if so, what feedback was finished
Information;Conversely, feedback executes unfinished information.
Wherein, preferred version is that the control method specifically includes following steps:
Obtain the input point for the cylinder for needing to transfer;
Generate the output point and cylinder movement of the cylinder for needing to transfer.
Wherein, preferred version is that the control method specifically includes following steps:
Read the output point and cylinder movement;
Control needs the cylinder transferred to be moved to output point from input point, and execution cylinder acts.
Wherein, preferred version is that the cylinder movement includes clamping device or release fixture.
Wherein, preferred version is that the control method is further comprising the steps of:
Trigger manual mode;
Cylinder is chosen, and generates action command;
The cylinder that control is chosen executes action command.
The present invention also provides a kind of control system for fixture, multiple fixtures are controlled by corresponding cylinder, the control
System includes sequence control unit and cylinder control unit, and the cylinder control unit is separately connected sequence control unit and gas
Cylinder;
Wherein, more set actions are arranged in the sequence control unit, are executing the cylinder transferred to needs when first set action
It carries out control sequence and generates corresponding action command;The cylinder control unit reads control sequence and action command, and
Corresponding cylinder is transferred successively according to control sequence and action command, and completes first set action;The sequence control unit is held
A set of action under row, the cylinder transferred again to needs carry out control sequence and generate corresponding action command, the cylinder control
Unit reading control processed is sorted and action command, and is sorted according to control under the cylinder completion transferred to needs with action command
A set of action;Until completing everything.
Wherein, preferred version is that the cylinder control unit includes the first judgment module, and first judgment module judges
Need whether the cylinder transferred executes action command, if so, the information that runs succeeded of feedback is to sequence control unit;Conversely, anti-
Feedback executes the information of failure to sequence control unit.
Wherein, preferred version is that the cylinder control unit further includes the second judgment module, and second judgment module is sentenced
Last disconnected group needs whether the cylinder transferred has executed last a set of action, if so, the information that feedback is finished is to sequentially
Control unit;Conversely, feedback executes unfinished information to sequence control unit.
The beneficial effects of the present invention are compared with prior art, the present invention is by designing a kind of control for fixture
Method and system by sorting to cylinder, and sequentially generate action command, then control cylinder and execute action command, if gas
Cylinder goes wrong, and problematic cylinder can be rapidly found out according to sequence and action command, to which the tune of equipment be rapidly completed
Examination and change work;In addition, using modularized design, the program for the cylinder for needing to execute same action instruction can be packaged into
Same program block so that user is not required to concern Lower level logical in use, and need to only be directed to actual conditions progress point and reflect
It penetrates and use can be completed;Moreover, because using same program block so that in the movement logic in face of difference cylinder, user is only
Invoking block is needed, then carries out the logic Modification of very little, you can completes writing for a set of new program, substantially increases versatility
And interactivity.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is the flow diagram of control method of the present invention;
Fig. 2 is that the present invention judges whether cylinder executes the flow diagram of action command;
Fig. 3 is that the present invention judges whether last group of cylinder executes the flow diagram of action command;
Fig. 4 is the flow diagram of generation action of the present invention;
Fig. 5 is the flow diagram of execution action of the present invention;
Fig. 6 is the flow diagram of manual mode of the present invention;
Fig. 7 is the structure diagram of control system of the present invention;
Fig. 8 is the structure diagram of the first judgment module of the invention;
Fig. 9 is the structure diagram of the second judgment module of the invention;
Figure 10 is the schematic diagram of present procedure block;
Figure 11 is the schematic diagram of man-machine interface of the present invention.
Specific implementation mode
In conjunction with attached drawing, elaborate to presently preferred embodiments of the present invention.
As shown in Fig. 1 to Fig. 6 and Figure 10, the present invention provides a kind of preferred embodiment of the control method for fixture.
Specifically, and with reference to figure 1, a kind of control method for fixture, multiple fixtures are controlled by corresponding cylinder, described
Control method includes the following steps:
Step 100, the more set actions of setting;
Step 200 executes first set action, and the cylinder transferred to needs carries out control sequence and generates corresponding action
Instruction;
Step 300 transfers corresponding cylinder according to control sequence and action command, and completes first set action successively;With
And a set of action under executing, and the cylinder transferred again to needs carries out control sequence and generates corresponding action command;
Step 400, until complete everything.
Wherein, sequence control unit is provided with the action of more sets, the cylinder that needs are transferred when executing first set action into
Row control sequence and corresponding action command, such as 1 is ordered as to the control of first group of cylinder, and generate corresponding action and refer to
It enables, and cylinder can be at least one, the cylinder that cylinder control unit control control is ordered as 1 executes corresponding action command;
After first group of cylinder execution, the cylinder control that second group of sequence control unit pair is ordered as 2, and generates corresponding dynamic
It instructs, the cylinder that cylinder control unit control control is ordered as 2 executes corresponding action command;And so on, until sequence
Control unit is that the cylinder control of last group is ordered as N, and generates corresponding action command, cylinder control unit control control
The cylinder for being ordered as N executes corresponding action command, then completes everything.
This control method is realized based on computer program, and this computer program uses modularized design thinking, will have
The algorithm packaging of identical function is at a common program block so that user no longer needs to pay close attention to Lower level logical in use
Algorithm, and only need to carry out a bit mapping for actual conditions and use can be completed;It can be changed in addition, this computer program has
Property, during actually debugging use, because present invention employs the fixture control block of complete set, therefore logic occurs
When failure or point are damaged, the algorithm logic that user is not necessarily to carry out bottom is searched, and need to only be checked in actual use,
In peripheral data mapping with data in use, the relevant issues occurred, you can complete debugging and the change work of equipment;And
And this computer program has versatility and interactivity, because using unified fixture control block so that towards not
In same fixture, different motion logical process, user is not necessarily to again writing program again, and fixture need to only be called to control program again
Block carries out the logic Modification of very little for current fixture logic, you can completes a set of new fixture and controls programming work
Make;When different engineers faces same set of program, because taking unified program block so that the interactivity of equipment is also big
It is big to improve.With this, the control method makes programming personnel preferably complete the programming of different fixtures in a short period of time
With debugging efforts, the efficiency and accuracy of work are substantially increased.
Further, and with reference to figure 2, the control method is further comprising the steps of:
Step 250 judges to need whether the cylinder transferred executes action command, if so, the information that feedback runs succeeded;Instead
It, feedback executes the information of failure.
Wherein, after each cylinder control unit reads control sequence and the corresponding action command of cylinder, cylinder control
First judgment module of unit processed can all judge whether the cylinder of corresponding control sequence executes corresponding action command, if so, the
To sequence control module, sequence control module continues to execute down a set of the information that one judgment module feedback runs succeeded according to information
Action;If it is not, the first judgment module feedback executes the information of failure to sequence control module, sequence control module is centainly being set
Alarm sound is sent out after the fixed time, and user is reminded to come to repair.
Still further, and with reference to figure 3, the control method is further comprising the steps of:
Step 350 judges that last group needs whether the cylinder transferred has executed last a set of action, if so, feedback is held
The information that row finishes;Conversely, feedback executes unfinished information.
Wherein, after cylinder control unit reads control sequence and the corresponding action command of last group of cylinder, gas
Second judgment module of cylinder control unit judges whether the cylinder of last group has executed corresponding action command, if so, second
For the information that judgment module feedback is finished to sequence control unit, sequence control unit stopping is that cylinder carries out control sequence,
And it sends out voice prompt and reminds user;If it is not, feedback executes unfinished information, sequence control unit sends out alarm sound and carries
Awake user comes to repair, alternatively, sequence control unit empty before control sequence and generate action command, redefine
The action command that the control of cylinder is sorted and regenerated, repetitive operation.
Again specifically, and with reference to figure 4, the control method specifically includes following steps:
Step 201, the input point and output point for generating the cylinder for needing to transfer;
Step 202 and, corresponding cylinder movement is obtained according to action command.
Wherein, sequence control unit generates the input point for the cylinder for needing to transfer, and the input point is that cylinder is executing
Starting point before action, sequence control unit generate output point according to starting point, and the output point is that cylinder is executing action
The point of arrival afterwards obtains corresponding cylinder movement further according to action command, and the cylinder movement includes clamping device or release
Fixture.
More specifically, and with reference to figure 5, the control method specifically includes following steps:
Step 301 reads the output point and cylinder movement;
Step 302, control need the cylinder transferred to be moved to output point from input point, and execution cylinder acts.
Wherein, cylinder control unit reads the output point and cylinder movement of the cylinder for needing to transfer, and controls corresponding
Cylinder is moved to output point from input point, and execution cylinder acts after reaching output point.
With reference to figure 10, user can be according to different fixtures, and it is FB program blocks to call same program block, described program block, quickly
Complete writing for computer program.In the periphery of this program block, user can customize the input point of fixture and the mapping of output point
Relationship, and to when the logical sequence of front jig is set and is changed;Meanwhile user can define when the cylinder for including in front jig
The parameter settings such as quantity, time of fire alarming and cylinder arrival time.
Further, and with reference to figure 6, the control method is further comprising the steps of:
Step 501, triggering manual mode;
Step 502 chooses cylinder, and generates action command;
The cylinder that step 503, control are chosen executes action command.
Wherein, user can trigger manual mode by a display unit, and choose specified cylinder, generate corresponding action
Instruction, cylinder control unit read specified cylinder and corresponding action command, and then the specified cylinder of control executes corresponding
Action command.Human-computer interaction may be implemented in the display unit, greatly increases working efficiency.
As shown in Fig. 7 to Figure 11, the present invention provides a kind of preferred embodiment of the control system for fixture.
Specifically, and with reference to figure 7, a kind of control system for fixture, the control system is based on above-mentioned control method
It realizes, multiple fixtures are controlled by corresponding cylinder 30, and the control system includes sequence control unit 10 and cylinder control unit
20, the cylinder control unit 20 is separately connected sequence control unit 10 and cylinder 30.
Wherein, more set actions are arranged in the sequence control unit 10, are executing the gas transferred to needs when first set action
Cylinder 30 carries out control sequence and generates corresponding action command;The cylinder control unit 20 reads control sequence and action refers to
It enables, and first set action is completed to the cylinder 30 that needs are transferred according to control sequence and action command;The sequence control unit
A set of action under 10 execution, the cylinder 30 transferred again to needs carries out control sequence and generates corresponding action command, described
Cylinder control unit 20 reads control sequence and action command, and the gas transferred to needs according to control sequence and action command
A set of action under cylinder 30 is completed;Until completing everything.
Further, and with reference to figure 8, the cylinder control unit 20 includes the first judgment module 21, and described first judges
Module 21 judges to need whether the cylinder 30 transferred executes action command, if so, the information that runs succeeded of feedback is to sequential control
Unit 10;Conversely, feedback executes the information of failure to sequence control unit 10.
Still further, and with reference to figure 9, the cylinder control unit 20 further includes the second judgment module 22, described second
Judgment module 22 judges that last group needs whether the cylinder 30 transferred has executed last a set of action, if so, feedback has executed
Complete information is to sequence control unit 10;Conversely, feedback executes unfinished information to sequence control unit 10.
With reference to figure 10, user can be according to different fixtures, and it is FB program blocks to call same program block, described program block, quickly
Complete writing for computer program.In the periphery of this program block, user can customize the input point of fixture and the mapping of output point
Relationship, and to when the logical sequence of front jig is set and is changed;Meanwhile user can define when the cylinder for including in front jig
The parameter settings such as 30 arrival time of 30 quantity, time of fire alarming and cylinder.
With reference to figure 11, the control system further includes a display unit, and the display unit can show current fixture
The parameters such as operating procedure, run time;In addition, user can pass through " action array " self-defined fixture in a column according to actual conditions
When about act;Also, user can trigger manual mode, and individual action control is carried out to a certain cylinder 30.Using display unit,
Human-computer interaction may be implemented, greatly increase working efficiency.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
Any modification made all within the spirits and principles of the present invention, equivalent replacement, improve etc., it should be included in the guarantor of the present invention
It protects in range.
Claims (10)
1. a kind of control method for fixture, multiple fixtures are controlled by corresponding cylinder, which is characterized in that the control method
Include the following steps:
More set actions are set;
First set action is executed, and the cylinder transferred to needs carries out control sequence and generates corresponding action command;
Corresponding cylinder is transferred successively according to control sequence and action command, and completes first set action;And it is a set of under executing
Action, and the cylinder transferred again to needs carries out control sequence and generates corresponding action command;
Until completing everything.
2. control method according to claim 1, which is characterized in that the control method is further comprising the steps of:
Judge to need whether the cylinder transferred executes action command, if so, the information that feedback runs succeeded;Conversely, feedback executes
The information of failure.
3. control method according to claim 2, which is characterized in that the control method is further comprising the steps of:
Judge that last group needs whether the cylinder transferred has executed last a set of action, if so, the information that feedback is finished;
Conversely, feedback executes unfinished information.
4. control method according to any one of claims 1 to 3, which is characterized in that the control method specifically includes following
Step:
Generate the input point and output point of the cylinder for needing to transfer;
And corresponding cylinder movement is obtained according to action command, wherein the starting point of the cylinder movement is the input
The point of arrival of point, the cylinder movement is the output point.
5. control method according to claim 4, which is characterized in that the control method specifically includes following steps:
Read the output point and cylinder movement;
Control needs the cylinder transferred to be moved to output point from input point, and execution cylinder acts.
6. control method according to claim 5, it is characterised in that:The cylinder movement includes clamping device or release
Fixture.
7. control method according to claim 1, which is characterized in that the control method is further comprising the steps of:
Trigger manual mode;
Cylinder is chosen, and generates action command;
The cylinder that control is chosen executes action command.
8. a kind of control system for fixture, multiple fixtures are controlled by corresponding cylinder, it is characterised in that:The control system
Including sequence control unit and cylinder control unit, the cylinder control unit is separately connected sequence control unit and cylinder;
Wherein, more set actions are arranged in the sequence control unit, are carried out to the cylinder that needs are transferred when executing first set action
Corresponding action command is sorted and is generated in control;The cylinder control unit, which is read, controls sequence and action command, and according to
Control sequence and action command transfer corresponding cylinder successively, and complete first set action;Under the sequence control unit executes
A set of action, the cylinder transferred again to needs carry out control sequence and generate corresponding action command, and the cylinder control is single
Member reads control sequence and action command, and a set of under sequence and action command complete the cylinder that needs are transferred according to controlling
Action;Until completing everything.
9. control system according to claim 8, it is characterised in that:The cylinder control unit judges mould including first
Block, first judgment module judge to need whether the cylinder transferred executes action command, if so, the information that feedback runs succeeded
To sequence control unit;Conversely, feedback executes the information of failure to sequence control unit.
10. control system according to claim 9, it is characterised in that:The cylinder control unit further includes the second judgement
Module, second judgment module judges that last group needs whether the cylinder transferred has executed last a set of action, if so, instead
The information that is finished is presented to sequence control unit;Conversely, feedback executes unfinished information to sequence control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810273566.XA CN108687691B (en) | 2018-03-29 | 2018-03-29 | Control method and system for clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810273566.XA CN108687691B (en) | 2018-03-29 | 2018-03-29 | Control method and system for clamp |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108687691A true CN108687691A (en) | 2018-10-23 |
| CN108687691B CN108687691B (en) | 2021-06-11 |
Family
ID=63844744
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810273566.XA Active CN108687691B (en) | 2018-03-29 | 2018-03-29 | Control method and system for clamp |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109760080A (en) * | 2018-12-27 | 2019-05-17 | 大族激光科技产业集团股份有限公司 | A kind of mechanical clamp group and correlation technique |
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| CN101872184A (en) * | 2010-06-04 | 2010-10-27 | 南大傲拓科技江苏有限公司 | Programming and control method of sequence control diagram of programmable controller |
| CN104991506A (en) * | 2015-05-27 | 2015-10-21 | 苏州神运机器人有限公司 | Production line setting system and setting method based on PLC and touch screen control |
| CN107262951A (en) * | 2017-07-28 | 2017-10-20 | 北京隆庆智能激光装备有限公司 | The visual programming method and operating system of a kind of fixture for laser welding |
| CN107703902A (en) * | 2017-11-22 | 2018-02-16 | 安图实验仪器(郑州)有限公司 | Visual Mechanical course time sequential and scheduling system |
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- 2018-03-29 CN CN201810273566.XA patent/CN108687691B/en active Active
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| CN101872184A (en) * | 2010-06-04 | 2010-10-27 | 南大傲拓科技江苏有限公司 | Programming and control method of sequence control diagram of programmable controller |
| CN104991506A (en) * | 2015-05-27 | 2015-10-21 | 苏州神运机器人有限公司 | Production line setting system and setting method based on PLC and touch screen control |
| CN107262951A (en) * | 2017-07-28 | 2017-10-20 | 北京隆庆智能激光装备有限公司 | The visual programming method and operating system of a kind of fixture for laser welding |
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| Publication number | Publication date |
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| CN108687691B (en) | 2021-06-11 |
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Effective date of registration: 20240111 Address after: 215600 Workshop 2, Changjiang Runfa Machinery Company, West Side of Taiziwei Port, Changjiang Village, Houcheng Street, Zhangjiagang City, Suzhou City, Jiangsu Province Patentee after: Han's Zhicheng Equipment Technology (Suzhou) Co.,Ltd. Address before: 518000 No. 9988 Shennan Road, Nanshan District, Shenzhen, Guangdong Patentee before: HAN'S LASER TECHNOLOGY INDUSTRY GROUP Co.,Ltd. Patentee before: HAN'S LASER SMART EQUIPMENT GROUP Co.,Ltd. |
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