CN109051634B - Conveying belt coding control system - Google Patents
Conveying belt coding control system Download PDFInfo
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- CN109051634B CN109051634B CN201811192365.3A CN201811192365A CN109051634B CN 109051634 B CN109051634 B CN 109051634B CN 201811192365 A CN201811192365 A CN 201811192365A CN 109051634 B CN109051634 B CN 109051634B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
Abstract
The invention relates to the technical field of injection molding piece conveying, in particular to a conveying belt coding control system; the conveying belt coding control system comprises an encoder, a PLC (programmable logic controller), manipulators, a touch screen and a conveying belt, wherein the encoder is installed on a main shaft of a driving motor of the conveying belt, the moving distance of the conveying belt is monitored in real time, the PLC sets the initial position of each manipulator, the PLC calculates the real-time position of a plastic piece through real-time data of the encoder after the plastic piece is put in by the manipulators, the PLC is connected with the touch screen, the PLC displays the real-time position information of the plastic piece through the touch screen, and judges whether the plastic piece is in the putting position corresponding to the manipulator at the moment according to calculation, if yes, the PLC waits, if no, the PLC puts in the; the grating ruler is abandoned, the mechanical arm is allowed to place the plastic parts side by side, the plastic parts are positioned in real time in the transportation process, the throwing capacity of the conveying belt is greatly improved, and the cost is lower.
Description
Technical Field
The invention relates to the technical field of injection molding piece conveying, in particular to a conveying belt coding control system.
Background
In an injection molding workshop, a plurality of injection molding devices simultaneously inject plastic parts, and then the plastic parts are clamped by a manipulator and are placed on a conveying belt. The plastic part is thrown into the position of the conveying belt where the plastic part is thrown in advance by the rear manipulator, so that the plastic part is collided.
In order to solve the problem, a grating ruler detection system is adopted in part of enterprises at present. The working principle is that a grating ruler is arranged at the throwing position of each manipulator, and when the grating ruler detects that plastic pieces exist on the conveyor belt of the section, the manipulator is not allowed to continue throwing.
Although the problem that the plastic parts collide with each other is solved by the technical scheme, due to the existence of the grating ruler, only one plastic part can exist in each conveying belt section, for example, the plastic part is thrown in the left side of the conveying belt surface, and then the plastic part cannot be thrown in the right side, so that the conveying capacity is greatly reduced, and the production requirement cannot be met.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a conveyor belt control system which can prevent plastic parts from colliding and does not reduce the conveying efficiency of a conveyor belt.
The technical scheme of the invention is as follows:
the conveyer belt coding control system comprises an encoder, a PLC (programmable logic controller), a manipulator, a touch screen and a conveyer belt, wherein the encoder is installed on a main shaft of a driving motor of the conveyer belt, the moving distance of the conveyer belt is monitored in real time, and the monitoring method comprises the following steps: moving distance is the number of encoder pulses per pulse distance; the encoder passes through the data input end of data line connection PLC controller, the control signal output part of PLC controller passes through the data line and connects the manipulator, sets for the initial position of each manipulator at the PLC controller, and the PLC controller calculates the real-time position of working of plastics through the real-time data of encoder after the working of plastics was put in to the manipulator, and real-time position calculation method is: the real-time position of working of plastics is initial position + migration distance, the PLC controller is connected with the touch-sensitive screen, and the PLC controller passes through the touch-sensitive screen with the real-time position information of working of plastics and shows, and the PLC controller judges whether there is the working of plastics on the input position that the manipulator corresponds this moment according to calculating, and the judgement method is: the real-time position and the length and the width of the plastic part are known, a rectangular frame occupied by the plastic part on the conveyor belt can be determined, the rectangular frame is overlapped with the manipulator throwing frame, the plastic part is placed at the throwing position, and if the rectangular frame is not overlapped with the manipulator throwing frame, the plastic part is not placed, and if the rectangular frame is not overlapped with the manipulator throwing frame, the plastic part is waited for, and.
The control method of the conveying belt coding control system comprises the following steps:
s 1: setting parameters through a touch screen and transmitting the set information to a PLC (programmable logic controller), wherein the parameters comprise a manipulator throwing starting position, a plastic piece size and a single pulse distance; meanwhile, the conveyer belt motor is started to drive the conveyer belt and the encoder, and the encoder sends out a pulse signal and transmits the pulse signal to the PLC;
s 2: the PLC updates the real-time position information of each plastic piece recorded in the memory, and simultaneously transmits the updated information to the touch screen for real-time display;
s 3: the manipulator takes the plastic part from the injection molding machine;
s 4: the manipulator finishes picking and transmitting signals to the PLC;
s 5: the PLC reads the pick-up information of each manipulator;
s 6: the PLC judges whether the plastic piece exists at the current position of the manipulator according to the position and size information of the plastic piece in the memory;
s 7: when the PLC judges that a plastic part exists at the current position of a certain manipulator, the workpiece is forbidden to be placed, and if the plastic part does not exist, the workpiece is placed;
s 8: the PLC controller feeds back the judgment result of s7 to the manipulator;
s 9: and the manipulator puts the piece and transmits information of the piece putting completion to the PLC, and meanwhile, the PLC adds a record in a memory to store the position and the size of the currently put plastic piece.
In one embodiment, the encoder is a spiral encoder, for example, a rotary encoder is used, and the moving distance of the conveying belt is monitored in real time by a single pulse distance, which is the circumference of a driving motor spindle of the conveying belt/the number of pulses of a single circle of the encoder.
The invention has the beneficial effects that: the grating ruler is abandoned, the mechanical arm is allowed to place the plastic parts side by side, the plastic parts are positioned in real time in the transportation process, the throwing capacity of the conveying belt is greatly improved, and the cost is lower.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a control schematic diagram of the present invention.
In the figure, 1, a conveyor belt; 2. an encoder; 3. a PLC controller; 4. a manipulator; 5. a touch screen.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings:
example 1
As shown in fig. 1, the conveyor belt coding control system comprises an encoder 2, a PLC controller 3, a manipulator 4, a touch screen 5 and a conveyor belt 1, wherein the encoder 2 is installed on a main shaft of a driving motor of the conveyor belt 1, the moving distance of the conveyor belt is monitored in real time, and the monitoring method comprises the following steps: moving distance is the number of encoder pulses per pulse distance; encoder 2 passes through data input end of data line connection PLC controller 3, PLC controller 3's control signal output end passes through data line connection manipulator 4, sets for the home position of each manipulator 4 at PLC controller 3, and PLC controller 3 calculates the real-time position of working of plastics through encoder 2's real-time data after the working of plastics is put in to manipulator 4, and real-time position calculation method is: working of plastics real-time position is initial position + migration distance, PLC controller 3 is connected with touch-sensitive screen 5, and PLC controller 3 passes through touch-sensitive screen 5 with the real-time positional information of working of plastics and shows, and PLC controller 3 judges whether there is the working of plastics on the throwing in position that manipulator 4 corresponds this moment according to calculating, and the judgement method is: the real-time position and the length and the width of the plastic part are known, a rectangular frame occupied by the plastic part on the conveyor belt can be determined, the rectangular frame is overlapped with the manipulator throwing frame, the plastic part is placed at the throwing position, and if the rectangular frame is not overlapped with the manipulator throwing frame, the plastic part is not placed, and if the rectangular frame is not overlapped with the manipulator throwing frame, the plastic part is waited for, and.
The control method of the conveying belt coding control system comprises the following steps:
s 1: setting parameters through a touch screen and transmitting the set information to a PLC (programmable logic controller), wherein the parameters comprise a manipulator throwing starting position, a plastic piece size and a single pulse distance; meanwhile, the conveyer belt motor is started to drive the conveyer belt and the encoder, and the encoder sends out a pulse signal and transmits the pulse signal to the PLC;
s 2: the PLC updates the real-time position information of each plastic piece recorded in the memory, and simultaneously transmits the updated information to the touch screen for real-time display;
s 3: the manipulator takes the plastic part from the injection molding machine;
s 4: the manipulator finishes picking and transmitting signals to the PLC;
s 5: the PLC reads the pick-up information of each manipulator;
s 6: the PLC judges whether the plastic piece exists at the current position of the manipulator according to the position and size information of the plastic piece in the memory;
s 7: when the PLC judges that a plastic part exists at the current position of a certain manipulator, the workpiece is forbidden to be placed, and if the plastic part does not exist, the workpiece is placed;
s 8: the PLC controller feeds back the judgment result of s7 to the manipulator;
s 9: and the manipulator puts the piece and transmits information of the piece putting completion to the PLC, and meanwhile, the PLC adds a record in a memory to store the position and the size of the currently put plastic piece.
In the conveying of a certain plastic piece, 3 plastic pieces are conveyed in total, namely a piece, b piece and c piece, wherein the length and the width of the a piece and the c piece are both one length unit, and the length and the width of the b piece are both twice of those of the a piece. The width of the conveyer belt is two length units, the distance between the dropping points of the manipulator a and the manipulator b is 3 length units, the dropping points of the manipulator a and the manipulator c are positioned on two sides of the same position on the conveyer belt, and the running speed of the conveyer belt is one length unit per second.
In the present embodiment, the technical solution will be described in detail only by 3 robots (a robot, b robot, and c robot, respectively), but it does not mean that the present invention can perform work only by 3 robots.
The conveying process comprises the following steps:
and the three manipulators throw the materials simultaneously, the pieces a and c thrown by the manipulators a and c reach the throwing point of the manipulator b after three seconds, and the manipulator b stops throwing the materials under the signal of the PLC until no other plastic pieces appear at the throwing point.
And c, simultaneously feeding by the manipulator c and the manipulator b, enabling c pieces fed by the manipulator c to reach the opposite side of the feeding point of the manipulator b after three seconds, and continuing to feed by the manipulator b without interference.
Therefore, the width of the conveying belt can be fully utilized, and the left side and the right side of the conveying belt can be independently used as throwing points without mutual interference.
Example 2
Conveyer belt coding control system, it includes encoder 2, PLC controller 3, manipulator 4, touch-sensitive screen 5 and conveyer belt 1, encoder 2 is helical encoder, installs encoder 2 on the driving motor main shaft of conveyer belt 1, and real-time supervision conveyer belt displacement, the monitoring method is: the single pulse distance is equal to the circumference of the transmission shaft of the conveyor belt/the number of pulses of a single ring of the encoder; encoder 2 passes through data input end of data line connection PLC controller 3, PLC controller 3's control signal output end passes through data line connection manipulator 4, sets for the home position of each manipulator 4 at PLC controller 3, and PLC controller 3 calculates the real-time position of working of plastics through encoder 2's real-time data after the working of plastics is put in to manipulator 4, and real-time position calculation method is: working of plastics real-time position is initial position + migration distance, PLC controller 3 is connected with touch-sensitive screen 5, and PLC controller 3 passes through touch-sensitive screen 5 with the real-time positional information of working of plastics and shows, and PLC controller 3 judges whether there is the working of plastics on the throwing in position that manipulator 4 corresponds this moment according to calculating, and the judgement method is: the real-time position and the length and the width of the plastic part are known, a rectangular frame occupied by the plastic part on the conveyor belt can be determined, the rectangular frame is overlapped with the manipulator throwing frame, the plastic part is placed at the throwing position, and if the rectangular frame is not overlapped with the manipulator throwing frame, the plastic part is not placed, and if the rectangular frame is not overlapped with the manipulator throwing frame, the plastic part is waited for, and.
The control method of the conveying belt coding control system comprises the following steps:
s 1: setting parameters through a touch screen and transmitting the set information to a PLC (programmable logic controller), wherein the parameters comprise a manipulator throwing starting position, a plastic piece size and a single pulse distance; meanwhile, the conveyer belt motor is started to drive the conveyer belt and the encoder, and the encoder sends out a pulse signal and transmits the pulse signal to the PLC;
s 2: the PLC updates the real-time position information of each plastic piece recorded in the memory, and simultaneously transmits the updated information to the touch screen for real-time display;
s 3: the manipulator takes the plastic part from the injection molding machine;
s 4: the manipulator finishes picking and transmitting signals to the PLC;
s 5: the PLC reads the pick-up information of each manipulator;
s 6: the PLC judges whether the plastic piece exists at the current position of the manipulator according to the position and size information of the plastic piece in the memory;
s 7: when the PLC judges that a plastic part exists at the current position of a certain manipulator, the workpiece is forbidden to be placed, and if the plastic part does not exist, the workpiece is placed;
s 8: the PLC controller feeds back the judgment result of s7 to the manipulator;
s 9: and the manipulator puts the piece and transmits information of the piece putting completion to the PLC, and meanwhile, the PLC adds a record in a memory to store the position and the size of the currently put plastic piece.
The foregoing embodiments and description have been presented only to illustrate the principles and preferred embodiments of the invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention as hereinafter claimed.
Claims (3)
1. Conveyer belt code control system, its characterized in that: the monitoring system comprises an encoder, a PLC (programmable logic controller), a manipulator, a touch screen and a conveyer belt, wherein the encoder is installed on a main shaft of a driving motor of the conveyer belt, the moving distance of the conveyer belt is monitored in real time, and the monitoring method comprises the following steps: moving distance is the number of encoder pulses per pulse distance; the encoder passes through the data input end of data line connection PLC controller, the control signal output part of PLC controller passes through the data line and connects the manipulator, sets for the initial position of each manipulator at the PLC controller, and the PLC controller calculates the real-time position of working of plastics through the real-time data of encoder after the working of plastics was put in to the manipulator, and real-time position calculation method is: the real-time position of working of plastics is initial position + migration distance, the PLC controller is connected with the touch-sensitive screen, and the PLC controller passes through the touch-sensitive screen with the real-time position information of working of plastics and shows, and the PLC controller judges whether there is the working of plastics on the input position that the manipulator corresponds this moment according to calculating, and the judgement method is: the real-time position and the length and the width of the plastic part are known, a rectangular frame occupied by the plastic part on the conveyor belt can be determined, the rectangular frame is overlapped with the manipulator throwing frame, the plastic part is placed at the throwing position, and if the rectangular frame is not overlapped with the manipulator throwing frame, the plastic part is not placed, and if the rectangular frame is not overlapped with the manipulator throwing frame, the plastic part is waited for, and.
2. The conveyor belt coding control system of claim 1, wherein: the control method of the conveying belt coding control system comprises the following steps:
s 1: setting parameters through a touch screen and transmitting the set information to a PLC (programmable logic controller), wherein the parameters comprise a manipulator throwing starting position, a plastic piece size and a single pulse distance; meanwhile, the conveyer belt motor is started to drive the conveyer belt and the encoder, and the encoder sends out a pulse signal and transmits the pulse signal to the PLC;
s 2: the PLC updates the real-time position information of each plastic piece recorded in the memory, and simultaneously transmits the updated information to the touch screen for real-time display;
s 3: the manipulator takes the plastic part from the injection molding machine;
s 4: the manipulator finishes picking and transmitting signals to the PLC;
s 5: the PLC reads the pick-up information of each manipulator;
s 6: the PLC judges whether the plastic piece exists at the current position of the manipulator according to the position and size information of the plastic piece in the memory;
s 7: when the PLC judges that a plastic part exists at the current position of a certain manipulator, the workpiece is forbidden to be placed, and if the plastic part does not exist, the workpiece is placed;
s 8: the PLC controller feeds back the judgment result of s7 to the manipulator;
s 9: and the manipulator puts the piece and transmits information of the piece putting completion to the PLC, and meanwhile, the PLC adds a record in a memory to store the position and the size of the currently put plastic piece.
3. The conveyor belt coding control system of claim 2, wherein: the encoder is a spiral encoder, the moving distance of the conveying belt is monitored in real time, and the monitoring method is that the single pulse distance is equal to the circumference of a driving motor spindle of the conveying belt/the number of pulses of a single circle of the encoder.
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| CN110844459B (en) * | 2019-10-09 | 2021-03-12 | 江苏东大集成电路系统工程技术有限公司 | Cross-conveyor-belt parcel tracking method |
| CN111762532B (en) * | 2020-06-08 | 2022-01-28 | 珠海格力智能装备有限公司 | Workpiece conveying method, device, storage medium and processor |
| CN111874561B (en) * | 2020-07-27 | 2022-02-18 | 广州智能装备研究院有限公司 | Conveying belt interval positioning method and device |
| CN114697538B (en) * | 2020-12-31 | 2023-09-12 | 武汉联影生命科学仪器有限公司 | Animal imaging equipment, focusing method of monitoring camera of animal imaging equipment and video monitoring method of animal imaging equipment |
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| JP3002097B2 (en) * | 1994-08-25 | 2000-01-24 | ファナック株式会社 | Visual tracking method |
| CN101852588B (en) * | 2009-04-01 | 2012-06-27 | 上海北玻玻璃技术工业有限公司 | Position measurement method for multiple products on transmission belt |
| DE102013020135B4 (en) * | 2013-12-06 | 2022-12-01 | Mercedes-Benz Group AG | Process for operating a production plant |
| CN104108579B (en) * | 2014-07-15 | 2019-05-21 | 上海发那科机器人有限公司 | A kind of device and method that workpiece on linear transmission band is positioned using vision system |
| CN205132394U (en) * | 2015-11-11 | 2016-04-06 | Tcl王牌电器(惠州)有限公司 | Material monitoring device and transfer chain of transfer chain |
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