CN110155437A - A brick tea packaging line control system and parameterized control method - Google Patents

Abstract

The invention discloses a brick tea packaging line control system and a parameterized control method. The system includes a main control system, a slave control system, and a material feeding, transportation and packing control system, wherein the controller of the master control system is connected to the local HMI on the one hand, and is connected to the controller of the slave control system through a communication expansion module on the other hand; The feeding, transportation and packing control system is an independent subsystem. The method is as follows: the main control system performs parameter initialization program, self-testing program, mode selection program, reset program, multi-motor cooperative control program, fault diagnosis and fault handling program; controls parameters and control system debugging operation from the control system program; The material conveying and packing control system program is used to operate the feeding conveying program and packing algorithm program. The invention can pack and box brick teas of different sizes, realize different position and speed controls, and improve the adaptability and safety of the control system and the automation degree of the production line.

Description

A brick tea packaging line control system and parameterized control method

technical field

The invention relates to the field of industrial automation control, in particular to a brick tea packaging line control system and a parameterized control method.

Background technique

Brick tea, that is, to press tea leaves into the same shape as bricks; at present, the packaging technology similar to brick tea has matured, such as the packaging technology for A4 paper and small box body, but due to the different packaging technology of brick tea, these technologies cannot be directly used. Applied to the packaging of brick tea, most brick tea companies still use manual methods for packaging.

The size of brick tea is diverse, which puts forward higher requirements for the adaptability of brick tea packaging equipment. At present, there is a lack of packaging equipment and corresponding control methods that can adapt to different sizes of brick tea in the market.

Contents of the invention

The object of the present invention is to provide a brick tea packaging line control system and parameterized control method capable of packaging and boxing brick tea of different sizes, with strong adaptability, high safety and high degree of automation.

The technical solution to realize the object of the present invention is: a brick tea packaging line control system, including a power supply circuit, a master control system, a slave control system, a feed transportation and packing control system, a first sensor system, and a second sensor system;

The power supply circuit includes a control circuit, an air switch, a leakage protection device, a filter, and a switching power supply for supplying power to the entire control system;

The main control system includes a first HMI, a main PLC controller, a communication expansion module, an alarm device, a first servo driver group, a first servo motor group, a first servo electric cylinder group and a first solenoid valve;

The slave control system includes a slave PLC controller, a communication expansion module, a stepper driver group, a stepper motor group, a third servo electric cylinder, a second servo driver group and a fifth servo motor;

The feeding and packing control system includes a third PLC controller, an alarm device, a second HMI, a third servo driver group, a three-degree-of-freedom manipulator, a solenoid valve group, a frequency converter and a variable frequency motor;

The first sensor system includes a screw position sensor, a material sensor, a cylinder position sensor, a ball contact sensor and a servo electric cylinder position sensor, which are used for logic control of the master control system and the slave control system;

The second sensor system includes a screw position sensor, a material sensor and a cylinder position sensor, which are used for logic control of the feeding and packing control system;

The main control system program is provided in the main PLC controller;

The slave control system program is provided in the slave PLC controller;

The third PLC controller is provided with feeding and packing control programs.

Further, the main control system includes a first HMI, a main PLC controller, a communication expansion module, an alarm device, a first servo driver group, a first servo motor group, a first servo electric cylinder group and a first solenoid valve, specifically as follows:

The first HMI is used for setting control parameters of the master control system and the slave control system, displaying alarm information and packaging data, switching control modes, and debugging the master and slave control systems;

The main PLC controller is the control core of the main control system and the slave control system;

The communication expansion module is used to communicate with the slave controller;

The first servo driver group receives the control signal of the main PLC, realizes the control of the first servo motor group and the first servo electric cylinder group, and feeds back servo alarm information to the main PLC;

The first servo motor group includes a first servo motor, a second servo motor, a third servo motor and a fourth servo motor; the first servo motor is used to control the traversing movement of the paper fetching traversing screw assembly, The paper fetching traversing screw assembly drives the paper fetching lifting screw assembly to move laterally; the second servo motor is used to control the lifting movement of the paper fetching lifting screw assembly; the servo third motor is used to control the brick fetching traversing wire The horizontal movement of the rod assembly, the brick-taking horizontal-moving screw assembly drives the brick-taking lifting screw assembly to move laterally; the fourth servo motor is used to control the lifting movement of the brick-taking lifting screw assembly;

The first servo electric cylinder group includes a servo first electric cylinder and a servo second electric cylinder, which are used to control the left and right folding mechanisms;

The first solenoid valve adopts a three-position five-way valve, which is used to control the stroke of the first cylinder, and then control the opening of the first retrieving manipulator, so as to realize the grabbing of brick tea of different sizes.

Further, the slave control system includes a slave PLC controller, a communication expansion module, a stepper driver group, a stepper motor group, a third servo electric cylinder, a second servo driver group and a fifth servo motor, as follows:

The second servo driver group receives the control signal from the PLC, realizes the control of the fifth servo motor and the third servo electric cylinder, and feeds back the servo alarm information to the PLC;

The stepping motor group includes a stepping first motor and a stepping second motor, the stepping first motor controls the lifting of the first lifting platform, and the stepping second motor is used to control the lifting of the second lifting platform lifting;

The fifth servo motor is used to control the lifting of the dispensing screw assembly on the short side of the paper;

The third servo electric cylinder is used to push out the packaged brick tea from the packaging station.

Further, the feed conveying and packing control system includes a third PLC controller, an alarm device, a second HMI, a third servo drive group, a three-degree-of-freedom manipulator, a solenoid valve group, a frequency converter and a variable frequency motor, specifically as follows :

The third PLC controller adopts an independent controller, which has no connection with other PLC controllers in the whole control system, and is used as the control core of the feeding and packing control system;

The second HMI is used for setting control parameters of the feed conveying and packing control system, displaying alarm information and packing data, switching control modes, and debugging the feed conveying and packing control system;

The third servo driver group receives the control signal of the third PLC controller, realizes the control of the third servo motor group, and feeds back the alarm information to the third PLC;

The three-degree-of-freedom manipulator includes a third servo motor unit, an X-axis screw assembly, a Y-axis screw assembly, a Z-axis screw assembly, a second cylinder, and a second reclaiming manipulator, wherein the third servo motor unit includes a servo The sixth motor, the seventh servo motor and the eighth servo motor; the sixth servo motor is used to control the movement of the X-axis screw assembly, and then control the movement of the Y-axis screw assembly on the X axis; the servo seventh The motor is used to control the movement of the Y-axis screw assembly, and then controls the movement of the Z-axis screw assembly on the Y-axis; the eighth servo motor is used to control the movement of the Z-axis screw assembly, and then controls the second reclaiming manipulator Movement on the Z axis;

The frequency converter is used to drive the frequency conversion motor, and then control the feeding conveyor belt, and cooperate with the material sensor to realize the fixed-point control of the material;

The solenoid valve group includes a second solenoid valve and a third solenoid valve; the second solenoid valve adopts a three-position five-way valve, which is used to control the stroke of the second cylinder, and then control the opening of the second reclaiming manipulator, So as to realize the grabbing of brick tea of different sizes; the third solenoid valve adopts a two-position five-way valve, which is used to control the brick pushing action of the third cylinder, and push the brick tea at the designated position on the conveyor belt to the reclaimer of the first reclaimer manipulator. bit;

The alarm device includes a warning light and a buzzer; the warning light has three colors of red, yellow and green, and the warning lights of different colors and the buzzer are controlled to give an alarm to different degrees of faults.

Further, the system control program includes a master control system program, a slave control system program, and a feeding and packing control system program, specifically as follows:

The main control system program includes parameter initialization program, self-test program, mode selection program, reset program, multi-motor cooperative control program, fault diagnosis and fault handling program;

The parameter initialization program is used to initialize the speed and position of each servo motor, input the screw lead, the distance that the screw needs to move, the number of pulses required per revolution of the servo motor, the pulse frequency, and parameter initialization on the first HMI Program to calculate the motion pulse amount and motion speed of the servo motor;

The self-inspection program is used to automatically detect when starting up, and detects whether all control objects of each controller are at the origin. If there is a problem that the control objects are not at the origin, the reset program is automatically called to reset all control objects. If the reset program executes If there is still a control object that has not returned to the origin, it will alarm;

The reset program is used to reset all control objects of each controller in an orderly manner;

The mode selection program includes an automatic control program, a jog control program and a manual control program; when the control system is debugged, the jog control program is called first to carry out trial operation and sensor positioning for each control object, if all control objects can operate normally , then call the reset program to reset each control object to the original point; use the manual control program to check whether the automatic control program is correct, which is to decompose the automatic control program and then execute it in a single step. If the expected effect can be achieved, it means that the automatic control program is correct. After reset You can switch to the automatic program running mode;

The multi-motor coordinated control program is used for the coordinated control of multiple motors controlled by each controller;

The fault diagnosis and fault processing program is used to detect and process the faults generated by the control system. The fault processing program performs different processing according to the detected fault types, and starts the alarm device while displaying through the first HMI. Call the police;

The program architecture of the slave control system program is the same as that of the master control system program, and the control parameters required by the slave control system and the debugging of the control system are all operated through the first HMI of the master control system, and the alarm information of the slave control system display on the first HMI of the main control system;

The program of the feed conveying and packing control system is the same as the program structure of the main control system, and the program of the feeding conveying and packing control system includes a feed conveying program and a packing algorithm program;

The feeding and conveying program is used for the fixed-point conveying of brick tea, and the different speed control of the conveying belt is realized by changing the frequency of the frequency converter;

The packing algorithm program is used to plan the packing path of brick tea, input the length, width and height of brick tea and the length, width and height of the box on the second HMI, and the box packing algorithm program calculates that the current box can store brick tea The number of pieces of brick tea, the number of pieces of current brick tea, the location information to be stored, and then the calculated information is fed back to the multi-motor cooperative control program, so as to realize the fixed-point storage of brick tea.

Furthermore, the three-degree-of-freedom manipulator in the feeding conveying and packing control system adopts redundant control, and the three-degree-of-freedom manipulator can be reduced to two-degree-of-freedom or one-degree-of-freedom manipulator by changing parameters.

A parameterized control method for a brick tea packaging line control system, comprising the following steps:

Step 1, the main control system performs parameterized control;

Step 2, perform parametric control from the control system;

Step 3, parameterized control of the feed transportation and packing control system.

Further, the main control system described in step 1 performs parameterized control, specifically as follows:

Step 1.1, the entire control system is powered on, and the main controller performs parameter initialization;

Step 1.2. The controller of the main system executes the self-inspection program. If the actuator is not at the origin, it will automatically execute the reset program to reset; if the actuator is still not at the origin after reset, switch to the jog mode to return to the origin;

Step 1.3, after the reset of the main control system is completed, if there is no need to update the parameters, then directly select the control mode, and then the system waits for the signal from the sensor of the feeding material; Update, and then switch to the manual mode to debug once, if the expected result can be achieved, it means that the parameter calculation is correct, and you can switch to the automatic control mode; otherwise, recalculate the parameters until the result is correct;

Step 1.4. When the main control system is in the automatic mode and there is a signal from the feeding material sensor, the main control system will carry out the automatic packaging process, and at the same time carry out alarm detection. If an alarm occurs, the main control system will automatically stop and proceed according to the alarm type. Alarm; in automatic control mode, can reset or stop operation;

Step 1.5, repeat step 1.4 until the parameterization control ends.

Further, the parameterized control from the control system described in step 2 is as follows:

Step 2.1, the entire control system is powered on, and the parameters are initialized from the controller;

Step 2.2. The controller of the slave system executes the self-inspection program. If the actuator is not at the origin, it will automatically execute the reset program to reset; if the actuator is still not at the origin after reset, switch to the jog mode to return to the origin;

Step 2.3. After the reset of the slave control system is completed, if there is no need to update the parameters, then directly select the control mode, and then the system waits for the signal from the sensor of the feeding material; if the parameters need to be updated, then check the parameters of the slave control system from the first HMI Update, and then switch to the manual mode to debug once, if the expected result can be achieved, it means that the parameter calculation is correct, and you can switch to the automatic control mode; otherwise, recalculate the parameters until the result is correct;

Step 2.4. When the slave control system is in the automatic mode and the sensor of the feeding material has a signal, the slave control system will carry out the automatic packaging process, and at the same time carry out alarm detection. If there is an alarm, the slave control system will automatically stop, and according to the alarm type Alarm; in automatic control mode, reset or stop operation can be performed;

Step 2.5, repeat step 2.4 until the end of parameterization control.

Further, the feed transportation and packing control system described in step 3 is parametrically controlled, specifically as follows:

Step 3.1, the entire control system is powered on, and the third PLC controller performs parameter initialization;

Step 3.2, the third PLC controller, executes the self-inspection program, if there is an actuator that is not at the origin, then automatically executes the reset program to reset; if there is still an actuator that is not at the origin after reset, then switch to the jog mode to return to the origin;

Step 3.3, after the reset is completed, if there is no need to update the parameters, then directly select the control mode, and then the system waits for the signal from the sensor of the feeding material; Update the parameters, and then switch to the manual mode for single-step debugging. If the expected results can be achieved, the parameters are calculated correctly, and you can switch to the automatic control mode, otherwise recalculate the parameters until the results are correct;

Step 3.4. When the feed conveying and packing control system is in the automatic mode, the feeding material sensor has a signal, and the control system performs the automatic packing process, and at the same time performs alarm detection. If an alarm occurs, the feed conveying and packing The box control system automatically shuts down and sends an alarm according to the alarm type; in the automatic control mode, it can be reset or stopped;

Step 3.5, repeat step 3.4 until the end of parameterization control.

Compared with the existing technology, the present invention has significant advantages in that: (1) the packaging and boxing of brick teas of different sizes are realized; Adaptability improves the automation and safety of the brick tea packaging line and improves work efficiency; (3) saves manpower and reduces production costs.

Description of drawings

Fig. 1 is a structural schematic diagram of the control system of the brick tea packaging line of the present invention.

Fig. 2 is an overall program architecture diagram of the present invention.

Fig. 3 is the program control flow chart of the master and slave control systems of the control system in the parameterized control method of the brick tea packaging line control system of the present invention.

Fig. 4 is a program control flow chart of the feed transportation and packing control system in the method of the present invention.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

With reference to Fig. 1, a brick tea packaging line control system of the present invention includes a power supply circuit, a master control system, a slave control system, a feed transportation and packing control system, a first sensor system and a second sensor system;

The power supply circuit includes a control circuit, an air switch, a leakage protection device, a filter, and a switching power supply for supplying power to the entire control system.

The main control system includes a first HMI, a main PLC controller, a communication expansion module, an alarm device, a first servo driver group, a first servo motor group, a first servo electric cylinder group and a first solenoid valve:

The first HMI is used for setting control parameters of the master control system and the slave control system, displaying alarm information and packaging data, switching control modes, and debugging the master and slave control systems;

The main PLC controller is the control core of the main control system and the slave control system;

The communication expansion module is used to communicate with the slave controller;

The first servo driver group receives the control signal of the main PLC, realizes the control of the first servo motor group and the first servo electric cylinder group, and feeds back servo alarm information to the main PLC;

The first servo motor group includes a first servo motor, a second servo motor, a third servo motor and a fourth servo motor; the first servo motor is used to control the traversing movement of the paper fetching traversing screw assembly, The paper fetching traversing screw assembly drives the paper fetching lifting screw assembly to move laterally; the second servo motor is used to control the lifting movement of the paper fetching lifting screw assembly; the servo third motor is used to control the brick fetching traversing wire The horizontal movement of the rod assembly, the brick-taking horizontal-moving screw assembly drives the brick-taking lifting screw assembly to move laterally; the fourth servo motor is used to control the lifting movement of the brick-taking lifting screw assembly;

The first servo electric cylinder group includes a servo first electric cylinder and a servo second electric cylinder, which are used to control the left and right folding mechanisms;

The first solenoid valve adopts a three-position five-way valve, which is used to control the stroke of the first cylinder, and then control the opening of the first retrieving manipulator, so as to realize the grabbing of brick tea of different sizes.

The slave control system includes a slave PLC controller, a communication expansion module, a stepper driver group, a stepper motor group, a third servo electric cylinder, a second servo driver group and a fifth servo motor:

The second servo driver group receives the control signal from the PLC, realizes the control of the fifth servo motor and the third servo electric cylinder, and feeds back the servo alarm information to the PLC;

The stepping motor group includes a stepping first motor and a stepping second motor, the stepping first motor controls the lifting of the first lifting platform, and the stepping second motor is used to control the lifting of the second lifting platform lifting;

The fifth servo motor is used to control the lifting of the dispensing screw assembly on the short side of the paper;

The third servo electric cylinder is used to push out the packaged brick tea from the packaging station.

The feed conveying and packing control system includes a third PLC controller, an alarm device, a second HMI, a third servo driver group, a three-degree-of-freedom manipulator, a solenoid valve group, a frequency converter and a variable frequency motor:

The third PLC controller adopts an independent controller, which has no connection with other PLC controllers in the whole control system, and is used as the control core of the feeding and packing control system;

The second HMI is used for setting control parameters of the feed conveying and packing control system, displaying alarm information and packing data, switching control modes, and debugging the feed conveying and packing control system;

The third servo driver group receives the control signal of the third PLC controller, realizes the control of the third servo motor group, and feeds back the alarm information to the third PLC;

The three-degree-of-freedom manipulator includes a third servo motor unit, an X-axis screw assembly, a Y-axis screw assembly, a Z-axis screw assembly, a second cylinder, and a second reclaiming manipulator, wherein the third servo motor unit includes a servo The sixth motor, the seventh servo motor and the eighth servo motor; the sixth servo motor is used to control the movement of the X-axis screw assembly, and then control the movement of the Y-axis screw assembly on the X axis; the servo seventh The motor is used to control the movement of the Y-axis screw assembly, and then controls the movement of the Z-axis screw assembly on the Y-axis; the eighth servo motor is used to control the movement of the Z-axis screw assembly, and then controls the second reclaiming manipulator Movement on the Z axis;

The frequency converter is used to drive the frequency conversion motor, and then control the feeding conveyor belt, and cooperate with the material sensor to realize the fixed-point control of the material;

The solenoid valve group includes a second solenoid valve and a third solenoid valve; the second solenoid valve adopts a three-position five-way valve, which is used to control the stroke of the second cylinder, and then control the opening of the second reclaiming manipulator, So as to realize the grabbing of brick tea of different sizes; the third solenoid valve adopts a two-position five-way valve, which is used to control the brick pushing action of the third cylinder, and push the brick tea at the designated position on the conveyor belt to the reclaimer of the first reclaimer manipulator. bit;

The alarm device includes a warning light and a buzzer; the warning light has three colors of red, yellow and green, and the warning lights of different colors and the buzzer are controlled to give an alarm to different degrees of faults.

The first sensor system includes a screw position sensor, a material sensor, a cylinder position sensor, a ball contact sensor and a servo electric cylinder position sensor, and is used for logic control of the master control system and the slave control system.

The second sensor system includes a screw position sensor, a material sensor and a cylinder position sensor, which are used for logic control of the feeding and packing control system.

In conjunction with Fig. 2, the master PLC controller is provided with a master control system program, the slave PLC controller is provided with a slave control system program, and the third PLC controller is provided with a feed conveying and packing control program :

The main control system program includes parameter initialization program, self-test program, mode selection program, reset program, multi-motor cooperative control program, fault diagnosis and fault handling program;

The parameter initialization program is used to initialize the speed and position of each servo motor, input the screw lead, the distance that the screw needs to move, the number of pulses required per revolution of the servo motor, the pulse frequency, and parameter initialization on the first HMI Program to calculate the motion pulse amount and motion speed of the servo motor;

The self-inspection program is used to automatically detect when starting up, and detects whether all control objects of each controller are at the origin. If there is a problem that the control objects are not at the origin, the reset program is automatically called to reset all control objects. If the reset program executes If there is still a control object that has not returned to the origin, it will alarm;

The reset program is used to accurately and orderly reset all control objects of each controller;

The mode selection program includes an automatic control program, a jog control program and a manual control program; when the control system is debugged, the jog control program is called first to carry out trial operation and sensor positioning for each control object, if all control objects can operate normally , then call the reset program to reset each control object to the original point; use the manual control program to check whether the automatic control program is correct, which is to decompose the automatic control program and then execute it in a single step. If the expected effect can be achieved, it means that the automatic control program is correct. After reset You can switch to the automatic program running mode;

The multi-motor coordinated control program is used for the coordinated control of multiple motors controlled by each controller;

The fault diagnosis and fault processing program is used to detect and process the faults generated by the control system. The fault processing program performs different processing according to the detected fault types, and starts the alarm device while displaying through the first HMI. Call the police;

The program architecture of the slave control system program is the same as that of the master control system program, and the control parameters required by the slave control system and the debugging of the control system are all operated through the first HMI of the master control system, and the alarm information of the slave control system display on the first HMI of the main control system;

The program of the feed conveying and packing control system is the same as the program structure of the main control system, and the program of the feeding conveying and packing control system includes a feed conveying program and a packing algorithm program;

The feeding and conveying program is used for the fixed-point conveying of brick tea, and the different speed control of the conveying belt is realized by changing the frequency of the frequency converter;

The packing algorithm program is used to plan the packing path of brick tea, input the length, width and height of brick tea and the length, width and height of the box on the second HMI, and the box packing algorithm program calculates that the current box can store brick tea The number of pieces of brick tea, the number of pieces of current brick tea, the location information to be stored, and then the calculated information is fed back to the multi-motor cooperative control program, so as to realize the fixed-point storage of brick tea.

Further, the first HMI and the main PLC controller adopt RS232 communication, and the main PLC controller and the slave PLC controller are connected through a communication expansion module; the main control system and the slave control system share the internal link relay of the PLC Communicates indirectly with link data registers.

Further, the master PLC controller, the slave PLC controller and the third PLC controller all use Panasonic PLC controllers.

Further, the paper fetching traversing screw assembly, the paper lifting screw assembly, the brick fetching traversing screw assembly, the brick lifting screw assembly, the first servo electric cylinder, the second servo electric cylinder, the third servo The electric cylinders are equipped with two limit sensors and an origin sensor, and the first lifting platform and the second lifting platform are equipped with an origin sensor and an upper limit sensor; the limit sensors are used for safety protection, the origin sensor is used for logic control in automatic control mode.

Further, the descending displacement of the paper-fetching and lifting screw assembly is determined according to the data of the ball contact sensor, and the position control of other screw components and electric cylinders is determined according to parameters.

Further, the three-degree-of-freedom manipulator in the feeding, conveying and packing control system adopts redundant control, and the three-degree-of-freedom manipulator can be reduced to two-degree-of-freedom or one-degree-of-freedom manipulator by changing parameters.

Combining Figure 3 and Figure 4, a parameterized control method for the control system of brick tea packaging line, including the following steps:

Step 1. The main control system performs parameterized control:

Step 1.1, the entire control system is powered on, and the main controller performs parameter initialization;

Step 1.2. The controller of the main system executes the self-inspection program. If the actuator is not at the origin, it will automatically execute the reset program to reset; if the actuator is still not at the origin after reset, switch to the jog mode to return to the origin;

Step 1.3, after the reset of the main control system is completed, if there is no need to update the parameters, then directly select the control mode, and then the system waits for the signal from the sensor of the feeding material; Update, and then switch to the manual mode to debug once, if the expected result can be achieved, it means that the parameter calculation is correct, and you can switch to the automatic control mode; otherwise, recalculate the parameters until the result is correct;

Step 1.4. When the main control system is in the automatic mode and there is a signal from the feeding material sensor, the main control system will carry out the automatic packaging process, and at the same time carry out alarm detection. If an alarm occurs, the main control system will automatically stop and proceed according to the alarm type. Alarm; in automatic control mode, reset or stop operation can be performed;

Step 1.5, repeat step 1.4 until the parameterization control ends.

Step 2. Perform parameterized control from the control system:

Step 2.1, the entire control system is powered on, and the parameters are initialized from the controller;

Step 2.2. The controller of the slave system executes the self-inspection program. If the actuator is not at the origin, it will automatically execute the reset program to reset; if the actuator is still not at the origin after reset, switch to the jog mode to return to the origin;

Step 2.3. After the reset of the slave control system is completed, if there is no need to update the parameters, then directly select the control mode, and then the system waits for the signal from the sensor of the feeding material; if the parameters need to be updated, then check the parameters of the slave control system from the first HMI Update, and then switch to the manual mode to debug once, if the expected result can be achieved, it means that the parameter calculation is correct, and you can switch to the automatic control mode; otherwise, recalculate the parameters until the result is correct;

Step 2.4. When the slave control system is in the automatic mode and the sensor of the feeding material has a signal, the slave control system will carry out the automatic packaging process, and at the same time carry out alarm detection. If there is an alarm, the slave control system will automatically stop, and according to the alarm type Alarm; in automatic control mode, reset or stop operation can be performed;

Step 2.5, repeat step 2.4 until the end of parameterization control.

Step 3. Parametric control of the feed transportation and packing control system:

Step 3.1, the entire control system is powered on, and the third PLC controller performs parameter initialization;

Step 3.2, the third PLC controller, executes the self-inspection program, if there is an actuator that is not at the origin, then automatically executes the reset program to reset; if there is still an actuator that is not at the origin after reset, then switch to the jog mode to return to the origin;

Step 3.3, after the reset is completed, if there is no need to update the parameters, then directly select the control mode, and then the system waits for the signal from the sensor of the feeding material; Update the parameters, and then switch to the manual mode for single-step debugging. If the expected results can be achieved, the parameters are calculated correctly, and you can switch to the automatic control mode, otherwise recalculate the parameters until the results are correct;

Step 3.4. When the feed conveying and packing control system is in the automatic mode, the feeding material sensor has a signal, and the control system performs the automatic packing process, and at the same time performs alarm detection. If an alarm occurs, the feed conveying and packing The box control system automatically shuts down and sends an alarm according to the alarm type; in the automatic control mode, it can be reset or stopped;

Step 3.5, repeat step 3.4 until the end of parameterization control.

In summary, the present invention realizes the packaging and boxing of brick tea of different sizes; and the control system is easy to debug, and the parameterized control method is used to enhance the adaptability of the control system and improve the automation and safety of the brick tea packaging line , saving manpower, reducing production costs and improving work efficiency.

Claims (10)

1. A brick tea packaging line control system, characterized in that it comprises a power supply circuit, a master control system, a slave control system, a feed transportation and packing control system, a first sensor system, and a second sensor system; The power supply circuit includes a control circuit, an air switch, a leakage protection device, a filter, and a switching power supply for supplying power to the entire control system; The main control system includes a first HMI, a main PLC controller, a communication expansion module, an alarm device, a first servo driver group, a first servo motor group, a first servo electric cylinder group and a first solenoid valve; The slave control system includes a slave PLC controller, a communication expansion module, a stepper driver group, a stepper motor group, a third servo electric cylinder, a second servo driver group and a fifth servo motor; The feeding and packing control system includes a third PLC controller, an alarm device, a second HMI, a third servo driver group, a three-degree-of-freedom manipulator, a solenoid valve group, a frequency converter and a variable frequency motor; The first sensor system includes a screw position sensor, a material sensor, a cylinder position sensor, a ball contact sensor and a servo electric cylinder position sensor, which are used for logic control of the master control system and the slave control system; The second sensor system includes a screw position sensor, a material sensor and a cylinder position sensor, which are used for logic control of the feeding and packing control system; The main control system program is provided in the main PLC controller; The slave control system program is provided in the slave PLC controller; The third PLC controller is provided with feeding and packing control programs. 2. The brick tea packaging line control system according to claim 1, wherein the main control system includes a first HMI, a main PLC controller, a communication expansion module, an alarm device, a first servo drive group, a first servo The motor unit, the first servo electric cylinder group and the first solenoid valve are as follows: The first HMI is used for setting control parameters of the master control system and the slave control system, displaying alarm information and packaging data, switching control modes, and debugging the master and slave control systems; The main PLC controller is the control core of the main control system and the slave control system; The communication expansion module is used to communicate with the slave controller; The first servo driver group receives the control signal of the main PLC, realizes the control of the first servo motor group and the first servo electric cylinder group, and feeds back servo alarm information to the main PLC; The first servo motor group includes a first servo motor, a second servo motor, a third servo motor and a fourth servo motor; the first servo motor is used to control the traversing movement of the paper fetching traversing screw assembly, The paper fetching traversing screw assembly drives the paper fetching lifting screw assembly to move laterally; the second servo motor is used to control the lifting movement of the paper fetching lifting screw assembly; the servo third motor is used to control the brick fetching traversing wire The horizontal movement of the rod assembly, the brick-taking horizontal-moving screw assembly drives the brick-taking lifting screw assembly to move laterally; the fourth servo motor is used to control the lifting movement of the brick-taking lifting screw assembly; The first servo electric cylinder group includes a servo first electric cylinder and a servo second electric cylinder, which are used to control the left and right folding mechanisms; The first solenoid valve adopts a three-position five-way valve, which is used to control the stroke of the first cylinder, and then control the opening of the first retrieving manipulator, so as to realize the grabbing of brick tea of different sizes. 3. The brick tea packaging line control system according to claim 1, wherein the slave control system includes a slave PLC controller, a communication expansion module, a step driver group, a step motor group, a third servo electric cylinder, The second servo driver group and the fifth servo motor are as follows: The second servo driver group receives the control signal from the PLC, realizes the control of the fifth servo motor and the third servo electric cylinder, and feeds back the servo alarm information to the PLC; The stepping motor group includes a stepping first motor and a stepping second motor, the stepping first motor controls the lifting of the first lifting platform, and the stepping second motor is used to control the lifting of the second lifting platform lifting; The fifth servo motor is used to control the lifting of the dispensing screw assembly on the short side of the paper; The third servo electric cylinder is used to push out the packaged brick tea from the packaging station. 4. The brick tea packaging line control system according to claim 1, characterized in that, the feed conveying and packing control system comprises a third PLC controller, an alarm device, a second HMI, a third servo drive group, three Degree of freedom manipulator, solenoid valve group, frequency converter and frequency conversion motor, as follows: The third PLC controller adopts an independent controller, which has no connection with other PLC controllers in the whole control system, and is used as the control core of the feeding and packing control system; The second HMI is used for setting control parameters of the feed conveying and packing control system, displaying alarm information and packing data, switching control modes, and debugging the feed conveying and packing control system; The third servo driver group receives the control signal of the third PLC controller, realizes the control of the third servo motor group, and feeds back the alarm information to the third PLC; The three-degree-of-freedom manipulator includes a third servo motor unit, an X-axis screw assembly, a Y-axis screw assembly, a Z-axis screw assembly, a second cylinder, and a second reclaiming manipulator, wherein the third servo motor unit includes a servo The sixth motor, the seventh servo motor and the eighth servo motor; the sixth servo motor is used to control the movement of the X-axis screw assembly, and then control the movement of the Y-axis screw assembly on the X axis; the servo seventh The motor is used to control the movement of the Y-axis screw assembly, and then controls the movement of the Z-axis screw assembly on the Y-axis; the eighth servo motor is used to control the movement of the Z-axis screw assembly, and then controls the second reclaiming manipulator Movement on the Z axis; The frequency converter is used to drive the frequency conversion motor, and then control the feeding conveyor belt, and cooperate with the material sensor to realize the fixed-point control of the material; The solenoid valve group includes a second solenoid valve and a third solenoid valve; the second solenoid valve adopts a three-position five-way valve, which is used to control the stroke of the second cylinder, and then control the opening of the second reclaiming manipulator, So as to realize the grabbing of brick tea of different sizes; the third solenoid valve adopts a two-position five-way valve, which is used to control the brick pushing action of the third cylinder, and push the brick tea at the designated position on the conveyor belt to the reclaimer of the first reclaimer manipulator. bit; The alarm device includes a warning light and a buzzer; the warning light has three colors of red, yellow and green, and the warning lights of different colors and the buzzer are controlled to give an alarm to different degrees of faults. 5. The brick tea packaging line control system according to claim 1, wherein the system control program includes a master control system program, a slave control system program, and a feed conveying and packing control system program, specifically as follows: The main control system program includes parameter initialization program, self-test program, mode selection program, reset program, multi-motor cooperative control program, fault diagnosis and fault handling program; The parameter initialization program is used to initialize the speed and position of each servo motor, input the screw lead, the distance that the screw needs to move, the number of pulses required per revolution of the servo motor, the pulse frequency, and parameter initialization on the first HMI Program to calculate the motion pulse amount and motion speed of the servo motor; The self-inspection program is used to automatically detect when starting up, and detects whether all control objects of each controller are at the origin. If there is a problem that the control objects are not at the origin, the reset program is automatically called to reset all control objects. If the reset program executes Afterwards, if there is still a control object that has not returned to the origin, an alarm will be issued; The reset program is used to reset all control objects of each controller in an orderly manner; The mode selection program includes an automatic control program, a jog control program and a manual control program; when the control system is debugged, the jog control program is called first to carry out trial operation and sensor positioning for each control object, if all control objects can operate normally , then call the reset program to reset each control object to the original point; use the manual control program to check whether the automatic control program is correct, which is to decompose the automatic control program and then execute it in a single step. If the expected effect can be achieved, it means that the automatic control program is correct. After reset You can switch to the automatic program running mode; The multi-motor coordinated control program is used for the coordinated control of multiple motors controlled by each controller; The fault diagnosis and fault processing program is used to detect and process the faults generated by the control system. The fault processing program performs different processing according to the detected fault types, and starts the alarm device while displaying through the first HMI. Call the police; The program architecture of the slave control system program is the same as that of the master control system program, and the control parameters required by the slave control system and the debugging of the control system are all operated through the first HMI of the master control system, and the alarm information of the slave control system display on the first HMI of the main control system; The program of the feed conveying and packing control system is the same as the program structure of the main control system, and the program of the feeding conveying and packing control system includes a feed conveying program and a packing algorithm program; The feeding and conveying program is used for the fixed-point conveying of brick tea, and the different speed control of the conveying belt is realized by changing the frequency of the frequency converter; The packing algorithm program is used to plan the packing path of brick tea, input the length, width and height of brick tea and the length, width and height of the box on the second HMI, and the box packing algorithm program calculates that the current box can store brick tea The number of pieces of brick tea, the number of pieces of current brick tea, the location information to be stored, and then the calculated information is fed back to the multi-motor cooperative control program, so as to realize the fixed-point storage of brick tea. 6. The brick tea packaging line control system according to claim 1, characterized in that the three-degree-of-freedom manipulator in the feed conveying and boxing control system adopts redundant control, and the three-degree-of-freedom manipulator can be reduced to two by changing parameters. degrees of freedom or one-degree-of-freedom manipulators are used. 7. A parameterized control method for a brick tea packaging line control system, characterized in that it comprises the following steps: Step 1, the main control system performs parameterized control; Step 2, perform parametric control from the control system; Step 3, parameterized control of the feed transportation and packing control system. 8. The parameterized control method of the brick tea packaging line control system according to claim 7, characterized in that, the main control system described in step 1 performs parameterized control, specifically as follows: Step 1.1, the entire control system is powered on, and the main controller performs parameter initialization; Step 1.2. The controller of the main system executes the self-inspection program. If the actuator is not at the origin, it will automatically execute the reset program to reset; if the actuator is still not at the origin after reset, switch to the jog mode to return to the origin; Step 1.3, after the reset of the main control system is completed, if there is no need to update the parameters, then directly select the control mode, and then the system waits for the signal from the sensor of the feeding material; Update, and then switch to the manual mode to debug once, if the expected result can be achieved, it means that the parameter calculation is correct, and you can switch to the automatic control mode; otherwise, recalculate the parameters until the result is correct; Step 1.4. When the main control system is in the automatic mode and there is a signal from the feeding material sensor, the main control system will carry out the automatic packaging process, and at the same time carry out alarm detection. If an alarm occurs, the main control system will automatically stop and proceed according to the alarm type. Alarm; in automatic control mode, can reset or stop operation; Step 1.5, repeat step 1.4 until the parameterization control ends. 9. The parameterized control method of the brick tea packaging line control system according to claim 7, characterized in that, the parameterized control from the control system described in step 2 is specifically as follows: Step 2.1, the entire control system is powered on, and the parameters are initialized from the controller; Step 2.2. The controller of the slave system executes the self-inspection program. If the actuator is not at the origin, it will automatically execute the reset program to reset; if the actuator is still not at the origin after reset, switch to the jog mode to return to the origin; Step 2.3. After the reset of the slave control system is completed, if there is no need to update the parameters, then directly select the control mode, and then the system waits for the signal from the sensor of the feeding material; if the parameters need to be updated, then check the parameters of the slave control system from the first HMI Update, and then switch to the manual mode to debug once, if the expected result can be achieved, it means that the parameter calculation is correct, and you can switch to the automatic control mode; otherwise, recalculate the parameters until the result is correct; Step 2.4. When the slave control system is in the automatic mode and the sensor of the feeding material has a signal, the slave control system will carry out the automatic packaging process, and at the same time carry out alarm detection. If there is an alarm, the slave control system will automatically stop, and according to the alarm type Alarm; in automatic control mode, reset or stop operation can be performed; Step 2.5, repeat step 2.4 until the end of parameterization control. 10. The parameterized control method of the brick tea packaging line control system according to claim 7, characterized in that, the parameterized control of the feed transportation and packing control system described in step 3 is as follows: Step 3.1, the entire control system is powered on, and the third PLC controller performs parameter initialization; Step 3.2, the third PLC controller, executes the self-inspection program, if there is an actuator that is not at the origin, then automatically executes the reset program to reset; if there is still an actuator that is not at the origin after reset, then switch to the jog mode to return to the origin; Step 3.3, after the reset is completed, if there is no need to update the parameters, then directly select the control mode, and then the system waits for the signal from the sensor of the feeding material; Update the parameters, and then switch to the manual mode for single-step debugging. If the expected results can be achieved, the parameters are calculated correctly, and you can switch to the automatic control mode, otherwise recalculate the parameters until the results are correct; Step 3.4. When the feed conveying and packing control system is in the automatic mode, the feeding material sensor has a signal, and the control system performs the automatic packing process, and at the same time performs alarm detection. If an alarm occurs, the feed conveying and packing The box control system automatically shuts down and sends an alarm according to the alarm type; in the automatic control mode, it can be reset or stopped; Step 3.5, repeat step 3.4 until the end of parameterization control.