CN110155437A - A kind of brick tea packaging line control system and parametric control method - Google Patents
A kind of brick tea packaging line control system and parametric control method Download PDFInfo
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- CN110155437A CN110155437A CN201910490708.2A CN201910490708A CN110155437A CN 110155437 A CN110155437 A CN 110155437A CN 201910490708 A CN201910490708 A CN 201910490708A CN 110155437 A CN110155437 A CN 110155437A
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B25/00—Packaging other articles presenting special problems
- B65B25/02—Packaging agricultural or horticultural products
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/40—Arranging and feeding articles in groups by reciprocating or oscillatory pushers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/44—Arranging and feeding articles in groups by endless belts or chains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
- B65B57/14—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged
Abstract
The invention discloses a kind of brick tea packaging line control system and parametric control methods.The system includes master control system, from control system and charging transport and vanning control system, and wherein on the one hand the controller of master control system is connected with local HMI, is on the other hand connected by communication extension module with the controller from control system；Charging transport and vanning control system are an independent subsystem.Method are as follows: master control system carries out parameter initialization program, self-test program, model select program, reset routine, more motor Collaborative Control programs, fault diagnosis and exception handles；The debugging operations of control parameter, control system are carried out from control system program；Charging conveying carries out charging conveying program and bin packing algorithm procedure operation with vanning control system program.The present invention can be packed and be cased to various sizes of brick tea, realize different position and speed controls, improve the degree of automation of the adaptability of control system, safety and production line.
Description
Technical field
The present invention relates to field of industrial automation control, especially a kind of brick tea packaging line control system and parametric control
Method.
Background technique
Brick tea, i.e., the shape being pressed into tealeaves as brick；It is mature that it is similar to brick tea packing technique at present, it is such as right
The packaging of A4 paper and the packing technique of small-sized box body, but the difference of the technology of the package due to brick tea, can not be straight by these technologies
The packaging for brick tea is scooped out, most of brick tea enterprise still uses manual type to be packed.
The size of brick tea be it is diversified, just to the adaptability of brick tea packaging facilities, more stringent requirements are proposed for this, at present
Lack the packaging facilities for adapting to different size brick tea and corresponding control method in the market.
Summary of the invention
The purpose of the present invention is to provide one kind can various sizes of brick tea be packed and be cased, adaptable,
Highly-safe, high degree of automation brick tea packaging line control system and parametric control method.
The technical solution for realizing the aim of the invention is as follows: a kind of brick tea packaging line control system, including power circuit, master
Control system is transported and vanning control system, first sensor system, second sensor system from control system, charging；
The power circuit includes control circuit, air switch and earth leakage protective device, filter, Switching Power Supply, is used for
It is powered for entire control system；
The master control system includes the first HMI, main PLC controller, communication extension module, warning device, the first servo
Driver group, first servo motor group, the first servo electric jar group and the first solenoid valve；
It is described to include from PLC controller, communication extension module, step actuator group, stepper motor, watch from control system
Take the 5th motor of third electric cylinder, the second servo-driver group and servo；
The charging conveying and vanning control system include third PLC controller, warning device, the 2nd HMI, third servo
Driver group, three freedom degree manipulator, solenoid valve block, frequency converter and variable-frequency motor；
The first sensor system includes that screw rod position sensor, material inductor, cylinder location inductor, ball connect
Touch inductor and servo electric jar position sensor, for carrying out master control system and from the logic control of control system；
The second sensor system includes screw rod position sensor, material inductor and cylinder location inductor, is used for
Carry out the logic control of charging conveying with vanning control system；
Master control system program is equipped in the main PLC controller；
It is described to be equipped with out of PLC controller from control system program；
Charging conveying and vanning control program are equipped in the third PLC controller.
Further, the master control system include the first HMI, main PLC controller, communication extension module, warning device,
First servo-driver group, first servo motor group, the first servo electric jar group and the first solenoid valve, specific as follows:
First HMI, for master control system and the setting from control system control parameter, warning message and number of package
According to display, the switching of control model and the debugging of master and slave control system；
The main PLC controller is master control system, the control core from control system；
The communication extension module, is used for and is communicated from controller；
The first servo-driver group, receives the control signal of main PLC, and first servo motor group and first are watched in realization
Take the control of electric cylinder group, and to main PLC feedback servo warning message；
The first servo motor group, including servo first motor, the second motor of servo, servo third motor and servo
Four motors；The servo first motor takes the traversing screw component band of paper for controlling the transverse motion for taking the traversing screw component of paper
It is dynamic to take paper elevating screw component transverse shifting；Second motor of servo takes the lifting of paper elevating screw component to transport for controlling
It is dynamic；The servo third motor takes the traversing screw component drive of brick to take for controlling the transverse motion for taking the traversing screw component of brick
Brick elevating screw component transverse shifting；The 4th motor of servo is for controlling the elevating movement for taking brick elevating screw component；
The first servo electric jar group, including the second electric cylinder of the first electric cylinder of servo and servo, for controlling left and right
Paper foldling mechanism；
First solenoid valve for controlling the stroke of the first cylinder, and then controls the first feeding using three position five-way valve
The aperture of manipulator realizes the crawl to various sizes of brick tea.
Further, it is described from control system include from PLC controller, communication extension module, step actuator group, stepping
Motor group, the 5th motor of servo third electric cylinder, the second servo-driver group and servo, specific as follows:
The second servo-driver group receives the control signal from PLC, realizes to the 5th motor of servo and servo third
The control of electric cylinder, and to from PLC feedback servo warning message；
The stepper motor, including the second motor of stepping first motor and stepping, stepping first motor control the
The lifting of one lifting platform, second motor of stepping are used to control the lifting of the second lifting platform；
The 5th motor of servo, for controlling the lifting of paper short side dispensing screw component；
The servo third electric cylinder, for releasing packaged brick tea from multiple package position.
Further, the charging conveying and vanning control system include third PLC controller, warning device, second
HMI, third servo-driver group, three freedom degree manipulator, solenoid valve block, frequency converter and variable-frequency motor, specific as follows:
The third PLC controller, using between other PLC controllers in independent control, with entire control system
Control core without connection, as charging conveying and vanning control system；
2nd HMI, for feeding setting, warning message and the vanning number of conveying and vanning control system control parameter
According to display, control model switching and charging conveying with vanning control system debugging；
The third servo-driver group receives the control signal of third PLC controller, realizes to third servo motor group
Control, and to the 3rd PLC feedback alarm information；
The three freedom degree manipulator, including third servo motor group, X-axis screw component, Y-axis screw component, Z axis screw rod
Component, the second cylinder and the second reclaimer robot, wherein third servo motor group includes the 6th motor of servo, the 7th motor of servo
With the 8th motor of servo；The 6th motor of servo is used to control the movement of X-axis screw component, and then controls Y-axis screw component
Movement in X-axis；The 7th motor of servo is used to control the movement of Y-axis screw component, and then controls Z axis screw component and exist
Movement in Y-axis；The 8th motor of servo is used to control the movement of Z axis screw component, and then controls the second reclaimer robot
Movement on Z axis；
The frequency converter for driving variable-frequency motor, and then controls feed conveyor belt, and cooperates material inductor realization pair
The position control of material；
The solenoid valve block, including second solenoid valve and third solenoid valve；The second solenoid valve uses three position five-way valve,
For controlling the stroke of the second cylinder, and then the aperture of the second reclaimer robot is controlled, to realize to different size brick teas
Crawl；Third solenoid valve uses two-position five-way valve, and the brick that pushes away for controlling third cylinder acts, by designated position on conveyer belt
Brick tea is pushed to the feeding station of the first reclaimer robot；
The warning device, including warning lamp and buzzer；The warning lamp has three kinds of colors of red, yellow, and green, passes through control
The warning lamp and buzzer of different colours processed alarm to different degrees of failure.
Further, the system control program include master control system program, from control system program and charging conveying
It is specific as follows with vanning control system program:
The master control system program, including parameter initialization program, self-test program, model select program, reset journey
Sequence, more motor Collaborative Control programs, fault diagnosis and exception handles；
The parameter initialization program, for carrying out the initialization of each servo motor speed and position, on the first HMI
Umber of pulse, pulse frequency needed for inputting screw lead, the distance that screw rod needs to move, every turn of servo motor, parameter initialization journey
Sequence calculates the motion impulse amount and movement velocity of servo motor；
The self-test program, for booting up automatic detection, detect each controller all control objects whether
In origin, control object then calls reset routine to reset all control objects automatically not the origin the problem of if it exists,
It alarms if still thering is control object to be not returned to origin after reset routine execution；
The reset routine resets in an orderly manner for carrying out all control objects of each controller；
The model select program, including automatic control program, point operation control program and manual control procedures；Control system
When debugging, point operation control program is first called to carry out trial operation and sensor positioning to each control object, if all control objects
It can run well, then call reset routine that each control object is reset to origin；It is examined using manual control procedures automatic
It whether correct controls program, is to decompose automatic control program, then single step executes, and illustrates if it can achieve the desired results automatic
It is correct to control program, can switch to auto-programming operational mode after reset；
More motor Collaborative Control programs, the Collaborative Control of multiple motors for carrying out each controller control；
The fault diagnosis and exception handles, for detecting and handling failure caused by control system, at failure
It manages program and carries out different processing according to the different fault types detected, opened while being shown by the first HMI
Dynamic warning device is alarmed；
It is described identical as the program architecture of the master control system program from control system program, needed for control system
The debugging of control parameter, control system is all operated by the first HMI of master control system, and from the warning message of control system
It is shown on the first HMI of master control system；
The charging conveying and vanning control system program are identical as the program architecture of the master control system, the charging
Conveying includes charging conveying program and bin packing algorithm program with vanning control system program；
The charging conveying program, for the fixed point conveying to brick tea, the frequency by changing frequency converter, which is realized, passes haul
Send the different speed controls of band；
The bin packing algorithm program inputs the length of brick tea for planning the vanning path of brick tea on the 2nd HMI
And the length and width and height of chest, bin packing algorithm program, which calculates current chest, can store the block number of brick tea, current brick tea
Then the information being calculated is fed back to more motor Collaborative Control programs by the location information of block number, Ying Cunfang, thus realization pair
The fixed point of brick tea is stored.
Further, charging conveying uses Redundant Control with the three freedom degree manipulator in vanning control system, by changing
Variable element can drop three freedom degree manipulator to be used at two-freedom or single-degree-of-freedom manipulator.
A kind of parametric control method of brick tea packaging line control system, comprising the following steps:
Step 1, master control system carry out parametric control；
Step 2 carries out parametric control from control system；
Step 3, charging transport and vanning control system carry out parametric control.
Further, master control system described in step 1 carries out parametric control, specific as follows:
Step 1.1, entire control system power on, and master controller carries out parameter initialization；
The controller execution self-check program of step 1.2, main system processed, executing agency then holds automatically not in origin if it exists
Row reset routine is resetted；If there are still executing agencies after resetting not in origin, it is switched to Manual Mode and carries out Aligning control；
After the completion of step 1.3, master control system all reset, if being not required to undated parameter, control model is directly selected, then
The signal of system waiting feeding Material Sensor；If needing undated parameter, the parameter of master control system is carried out from the first HMI
It updates, then switches to manual mode single-step debug one time, if expected results can be reached, it is correct to illustrate that parameter calculates, can be switched
To automatic control mode；Otherwise parameter is recalculated until result is correct；
Step 1.4, when master control system is in automatic mode, feeding Material Sensor has signal, then master control system
Carry out automatic packaging process, while and carry out alarm detection, if there is alarm to generate, master control system autostop, and according to
Type of alarm is alarmed；Under automatic control mode, it is able to carry out reset or stops operation；
Step 1.5 repeats step 1.4 until parametric control terminates.
Further, slave control system described in step 2 carries out parametric control, specific as follows:
Step 2.1, entire control system power on, and carry out parameter initialization from controller；
Step 2.2 executes self-check program from the controller of system processed, and executing agency then holds automatically not in origin if it exists
Row reset routine is resetted；If there are still executing agencies after resetting not in origin, it is switched to Manual Mode and carries out Aligning control；
Step 2.3 after the completion of all resetting from control system, if being not required to undated parameter, directly selects control model, then
The signal of system waiting feeding Material Sensor；If needing undated parameter, carried out from the first HMI to from the parameter of control system
It updates, then switches to manual mode single-step debug one time, if expected results can be reached, it is correct to illustrate that parameter calculates, can be switched
To automatic control mode；Otherwise parameter is recalculated until result is correct；
Step 2.4, when being in automatic mode from control system, feeding Material Sensor has signal, then from control system
Carry out automatic packaging process, while and carry out alarm detection, if there is alarm to generate, from control system autostop, and according to
Type of alarm is alarmed；Under automatic control mode, it can be reset or stop operation；
Step 2.5 repeats step 2.4 until parametric control terminates.
Further, the transport of charging described in step 3 carries out parametric control with vanning control system, specific as follows:
Step 3.1, entire control system power on, and the 3rd PLC device carries out parameter initialization；
Step 3.2, executes self-check program at third PLC controller, and executing agency is not in origin, then automatic to execute if it exists
Reset routine is resetted；If there are still executing agencies after resetting not in origin, it is switched to Manual Mode and carries out Aligning control；
Step 3.3 after the completion of resetting, if being not required to undated parameter, directly selects control model, and then system waits feeding
The signal of Material Sensor；If needing undated parameter, charging conveying and the parameter of vanning control system are carried out from the 2nd HMI
It updates, then switches to manual mode single-step debug one time, if expected results can be reached, it is correct to illustrate that parameter calculates, can be switched
To automatic control mode, parameter is otherwise recalculated until result is correct；
Step 3.4, when charging conveying with vanning control system be in automatic mode when, feeding Material Sensor has signal,
Then control system carry out automatic boxing process, while and carry out alarm detection, if having alarm generate, feed conveying and vanning control
System autostop processed, and alarmed according to type of alarm；Under automatic control mode, it can be reset or stop operation；
Step 3.5 repeats step 3.4 until parametric control terminates.
Compared with prior art, remarkable advantage is the present invention: (1) realize to the packaging of different size brick tea with
Vanning；(2) debugging of control system is convenient, using parametric control method, enhances the adaptability of control system, improves brick
The degree of automation and safety of tea bag wiring, improve work efficiency；(3) manpower is saved, production cost is reduced.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of brick tea packaging line control system of the present invention.
Fig. 2 is global procedures architecture diagram of the invention.
Fig. 3 is the master and slave control system of control system in the parametric control method of brick tea packaging line control system of the present invention
The program control flow chart of system.
Fig. 4 is the program control flow chart of charging transport and vanning control system in the method for the present invention.
Specific embodiment
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
In conjunction with Fig. 1, a kind of brick tea of the present invention packs line control system, including power circuit, master control system, from control is
System, charging transport and vanning control system, first sensor system and second sensor system；
The power circuit includes control circuit, air switch and earth leakage protective device, filter, Switching Power Supply, is used for
It is powered for entire control system.
The master control system includes the first HMI, main PLC controller, communication extension module, warning device, the first servo
Driver group, first servo motor group, the first servo electric jar group and the first solenoid valve:
First HMI, for master control system and the setting from control system control parameter, warning message and number of package
According to display, the switching of control model and the debugging of master and slave control system；
The main PLC controller is master control system, the control core from control system；
The communication extension module, is used for and is communicated from controller；
The first servo-driver group, receives the control signal of main PLC, and first servo motor group and first are watched in realization
Take the control of electric cylinder group, and to main PLC feedback servo warning message；
The first servo motor group, including servo first motor, the second motor of servo, servo third motor and servo
Four motors；The servo first motor takes the traversing screw component band of paper for controlling the transverse motion for taking the traversing screw component of paper
It is dynamic to take paper elevating screw component transverse shifting；Second motor of servo takes the lifting of paper elevating screw component to transport for controlling
It is dynamic；The servo third motor takes the traversing screw component drive of brick to take for controlling the transverse motion for taking the traversing screw component of brick
Brick elevating screw component transverse shifting；The 4th motor of servo is for controlling the elevating movement for taking brick elevating screw component；
The first servo electric jar group, including the second electric cylinder of the first electric cylinder of servo and servo, for controlling left and right
Paper foldling mechanism；
First solenoid valve for controlling the stroke of the first cylinder, and then controls the first feeding using three position five-way valve
The aperture of manipulator realizes the crawl to various sizes of brick tea.
It is described to include from PLC controller, communication extension module, step actuator group, stepper motor, watch from control system
Take the 5th motor of third electric cylinder, the second servo-driver group and servo:
The second servo-driver group receives the control signal from PLC, realizes to the 5th motor of servo and servo third
The control of electric cylinder, and to from PLC feedback servo warning message；
The stepper motor, including the second motor of stepping first motor and stepping, stepping first motor control the
The lifting of one lifting platform, second motor of stepping are used to control the lifting of the second lifting platform；
The 5th motor of servo, for controlling the lifting of paper short side dispensing screw component；
The servo third electric cylinder, for releasing packaged brick tea from multiple package position.
The charging conveying and vanning control system include third PLC controller, warning device, the 2nd HMI, third servo
Driver group, three freedom degree manipulator, solenoid valve block, frequency converter and variable-frequency motor:
The third PLC controller, using between other PLC controllers in independent control, with entire control system
Control core without connection, as charging conveying and vanning control system；
2nd HMI, for feeding setting, warning message and the vanning number of conveying and vanning control system control parameter
According to display, control model switching and charging conveying with vanning control system debugging；
The third servo-driver group receives the control signal of third PLC controller, realizes to third servo motor group
Control, and to the 3rd PLC feedback alarm information；
The three freedom degree manipulator, including third servo motor group, X-axis screw component, Y-axis screw component, Z axis screw rod
Component, the second cylinder and the second reclaimer robot, wherein third servo motor group includes the 6th motor of servo, the 7th motor of servo
With the 8th motor of servo；The 6th motor of servo is used to control the movement of X-axis screw component, and then controls Y-axis screw component
Movement in X-axis；The 7th motor of servo is used to control the movement of Y-axis screw component, and then controls Z axis screw component and exist
Movement in Y-axis；The 8th motor of servo is used to control the movement of Z axis screw component, and then controls the second reclaimer robot
Movement on Z axis；
The frequency converter for driving variable-frequency motor, and then controls feed conveyor belt, and cooperates material inductor realization pair
The position control of material；
The solenoid valve block, including second solenoid valve and third solenoid valve；The second solenoid valve uses three position five-way valve,
For controlling the stroke of the second cylinder, and then the aperture of the second reclaimer robot is controlled, to realize to different size brick teas
Crawl；Third solenoid valve uses two-position five-way valve, and the brick that pushes away for controlling third cylinder acts, by designated position on conveyer belt
Brick tea is pushed to the feeding station of the first reclaimer robot；
The warning device, including warning lamp and buzzer；The warning lamp has three kinds of colors of red, yellow, and green, passes through control
The warning lamp and buzzer of different colours processed alarm to different degrees of failure.
The first sensor system includes that screw rod position sensor, material inductor, cylinder location inductor, ball connect
Touch inductor and servo electric jar position sensor, for carrying out master control system and from the logic control of control system.
The second sensor system includes screw rod position sensor, material inductor and cylinder location inductor, is used for
Carry out the logic control of charging conveying with vanning control system.
In conjunction with Fig. 2, master control system program is equipped in the main PLC controller, it is described to be equipped with out of PLC controller from control
System program processed, the third PLC controller is interior to be equipped with charging conveying and control program of casing:
The master control system program, including parameter initialization program, self-test program, model select program, reset journey
Sequence, more motor Collaborative Control programs, fault diagnosis and exception handles；
The parameter initialization program, for carrying out the initialization of each servo motor speed and position, on the first HMI
Umber of pulse, pulse frequency needed for inputting screw lead, the distance that screw rod needs to move, every turn of servo motor, parameter initialization journey
Sequence calculates the motion impulse amount and movement velocity of servo motor；
The self-test program, for booting up automatic detection, detect each controller all control objects whether
In origin, control object then calls reset routine to reset all control objects automatically not the origin the problem of if it exists,
It alarms if still thering is control object to be not returned to origin after reset routine execution；
The reset routine, for carrying out all control objects of each controller accurately and resetting in an orderly manner；
The model select program, including automatic control program, point operation control program and manual control procedures；Control system
When debugging, point operation control program is first called to carry out trial operation and sensor positioning to each control object, if all control objects
It can run well, then call reset routine that each control object is reset to origin；It is examined using manual control procedures automatic
It whether correct controls program, is to decompose automatic control program, then single step executes, and illustrates if it can achieve the desired results automatic
It is correct to control program, can switch to auto-programming operational mode after reset；
More motor Collaborative Control programs, the Collaborative Control of multiple motors for carrying out each controller control；
The fault diagnosis and exception handles, for detecting and handling failure caused by control system, at failure
It manages program and carries out different processing according to the different fault types detected, opened while being shown by the first HMI
Dynamic warning device is alarmed；
It is described identical as the program architecture of the master control system program from control system program, needed for control system
The debugging of control parameter, control system is all operated by the first HMI of master control system, and from the warning message of control system
It is shown on the first HMI of master control system；
The charging conveying and vanning control system program are identical as the program architecture of the master control system, the charging
Conveying includes charging conveying program and bin packing algorithm program with vanning control system program；
The charging conveying program, for the fixed point conveying to brick tea, the frequency by changing frequency converter, which is realized, passes haul
Send the different speed controls of band；
The bin packing algorithm program inputs the length of brick tea for planning the vanning path of brick tea on the 2nd HMI
And the length and width and height of chest, bin packing algorithm program, which calculates current chest, can store the block number of brick tea, current brick tea
Then the information being calculated is fed back to more motor Collaborative Control programs by the location information of block number, Ying Cunfang, thus realization pair
The fixed point of brick tea is stored.
Further, the first HMI and the main PLC controller communicates using RS232, main PLC controller and from PLC
Controller is connected by communication extension module；The master control system passes through the link relay inside shared PLC from control system
Device and link data register carry out indirect communication.
Further, the main PLC controller, from PLC control and third PLC controller, be all made of Matsushita PLC control
Device.
Further, described to take the traversing screw component of paper, take paper elevating screw component, take the traversing screw component of brick, take brick
The first electric cylinder of elevating screw component and servo, the second electric cylinder of servo, servo third electric cylinder limit sense there are two being respectively provided with
Device and an origin sensor are answered, first lifting platform and the second lifting platform are provided on an origin sensor and one
Limit inductor；The limit inductor is used for safeguard protection, and the origin sensor under automatic control mode for carrying out
Logic control.
Further, the decline displacement for taking paper elevating screw component is true according to ball contact sensor data
Fixed, the position control of other screw components and electric cylinder is determined according in parameter.
Further, the charging conveying uses Redundant Control with the three freedom degree manipulator in vanning control system, leads to
Three freedom degree manipulator can be dropped into two-freedom or the use of single-degree-of-freedom manipulator by crossing change parameter.
In conjunction with Fig. 3, Fig. 4, a kind of parametric control method of brick tea packaging line control system, comprising the following steps:
Step 1, master control system carry out parametric control:
Step 1.1, entire control system power on, and master controller carries out parameter initialization；
The controller execution self-check program of step 1.2, main system processed, executing agency then holds automatically not in origin if it exists
Row reset routine is resetted；If there are still executing agencies after resetting not in origin, it is switched to Manual Mode and carries out Aligning control；
After the completion of step 1.3, master control system all reset, if being not required to undated parameter, control model is directly selected, then
The signal of system waiting feeding Material Sensor；If needing undated parameter, the parameter of master control system is carried out from the first HMI
It updates, then switches to manual mode single-step debug one time, if expected results can be reached, it is correct to illustrate that parameter calculates, can be switched
To automatic control mode；Otherwise parameter is recalculated until result is correct；
Step 1.4, when master control system is in automatic mode, feeding Material Sensor has signal, then master control system
Carry out automatic packaging process, while and carry out alarm detection, if there is alarm to generate, master control system autostop, and according to
Type of alarm is alarmed；Under automatic control mode, it can be reset or stop operation；
Step 1.5 repeats step 1.4 until parametric control terminates.
Step 2 carries out parametric control from control system:
Step 2.1, entire control system power on, and carry out parameter initialization from controller；
Step 2.2 executes self-check program from the controller of system processed, and executing agency then holds automatically not in origin if it exists
Row reset routine is resetted；If there are still executing agencies after resetting not in origin, it is switched to Manual Mode and carries out Aligning control；
Step 2.3 after the completion of all resetting from control system, if being not required to undated parameter, directly selects control model, then
The signal of system waiting feeding Material Sensor；If needing undated parameter, carried out from the first HMI to from the parameter of control system
It updates, then switches to manual mode single-step debug one time, if expected results can be reached, it is correct to illustrate that parameter calculates, can be switched
To automatic control mode；Otherwise parameter is recalculated until result is correct；
Step 2.4, when being in automatic mode from control system, feeding Material Sensor has signal, then from control system
Carry out automatic packaging process, while and carry out alarm detection, if there is alarm to generate, from control system autostop, and according to
Type of alarm is alarmed；Under automatic control mode, it can be reset or stop operation；
Step 2.5 repeats step 2.4 until parametric control terminates.
Step 3, charging transport and vanning control system carry out parametric control:
Step 3.1, entire control system power on, and the 3rd PLC device carries out parameter initialization；
Step 3.2, executes self-check program at third PLC controller, and executing agency is not in origin, then automatic to execute if it exists
Reset routine is resetted；If there are still executing agencies after resetting not in origin, it is switched to Manual Mode and carries out Aligning control；
Step 3.3 after the completion of resetting, if being not required to undated parameter, directly selects control model, and then system waits feeding
The signal of Material Sensor；If needing undated parameter, charging conveying and the parameter of vanning control system are carried out from the 2nd HMI
It updates, then switches to manual mode single-step debug one time, if expected results can be reached, it is correct to illustrate that parameter calculates, can be switched
To automatic control mode, parameter is otherwise recalculated until result is correct；
Step 3.4, when charging conveying with vanning control system be in automatic mode when, feeding Material Sensor has signal,
Then control system carry out automatic boxing process, while and carry out alarm detection, if having alarm generate, feed conveying and vanning control
System autostop processed, and alarmed according to type of alarm；Under automatic control mode, it can be reset or stop operation；
Step 3.5 repeats step 3.4 until parametric control terminates.
In conclusion the present invention realizes the packaging and vanning to different size brick tea；And control system debugging is convenient,
Using parametric control method, the adaptability of control system is enhanced, improves the degree of automation and safety of brick tea baling line
Property, manpower is saved, production cost is reduced, is improved work efficiency.
Claims (10)
1. a kind of brick tea packs line control system, which is characterized in that including power circuit, master control system, from control system, into
Material transport and vanning control system, first sensor system, second sensor system；
The power circuit includes control circuit, air switch and earth leakage protective device, filter, Switching Power Supply, for being whole
A control system is powered；
The master control system includes the first HMI, main PLC controller, communication extension module, warning device, the first servo-drive
Device group, first servo motor group, the first servo electric jar group and the first solenoid valve；
It is described from control system include from PLC controller, communication extension module, step actuator group, stepper motor, servo
The 5th motor of three electric cylinders, the second servo-driver group and servo；
The charging conveying and vanning control system include third PLC controller, warning device, the 2nd HMI, third servo-drive
Device group, three freedom degree manipulator, solenoid valve block, frequency converter and variable-frequency motor；
The first sensor system includes screw rod position sensor, material inductor, cylinder location inductor, ball contact
Inductor and servo electric jar position sensor, for carrying out master control system and from the logic control of control system；
The second sensor system includes screw rod position sensor, material inductor and cylinder location inductor, for carrying out
The logic control of charging conveying and vanning control system；
Master control system program is equipped in the main PLC controller；
It is described to be equipped with out of PLC controller from control system program；
Charging conveying and vanning control program are equipped in the third PLC controller.
2. brick tea according to claim 1 packs line control system, which is characterized in that the master control system includes first
HMI, main PLC controller, communication extension module, warning device, the first servo-driver group, first servo motor group, first are watched
Electric cylinder group and the first solenoid valve are taken, specific as follows:
First HMI, for master control system and the setting from control system control parameter, warning message and packaged data
It has been shown that, the switching of control model and the debugging of master and slave control system；
The main PLC controller is master control system, the control core from control system；
The communication extension module, is used for and is communicated from controller；
The first servo-driver group receives the control signal of main PLC, realizes to first servo motor group and the first servo electricity
The control of dynamic cylinder group, and to main PLC feedback servo warning message；
The first servo motor group, including servo first motor, the 4th electricity of the second motor of servo, servo third motor and servo
Machine；The servo first motor takes the traversing screw component drive of paper to take for controlling the transverse motion for taking the traversing screw component of paper
Paper elevating screw component transverse shifting；Second motor of servo is for controlling the elevating movement for taking paper elevating screw component；Institute
Servo third motor is stated for controlling the transverse motion for taking the traversing screw component of brick, takes the traversing screw component drive of brick that brick is taken to go up and down
Screw component transverse shifting；The 4th motor of servo is for controlling the elevating movement for taking brick elevating screw component；
The first servo electric jar group, including the second electric cylinder of the first electric cylinder of servo and servo, for controlling left and right paper folding
Mechanism；
First solenoid valve, using three position five-way valve, for controlling the stroke of the first cylinder, and then it is mechanical to control the first feeding
The aperture of hand realizes the crawl to various sizes of brick tea.
3. brick tea according to claim 1 packs line control system, which is characterized in that it is described from control system include from
PLC controller, communication extension module, step actuator group, stepper motor, servo third electric cylinder, the second servo-driver
Group and the 5th motor of servo, specific as follows:
The second servo-driver group receives the control signal from PLC, realizes electronic to the 5th motor of servo and servo third
The control of cylinder, and to from PLC feedback servo warning message；
The stepper motor, including the second motor of stepping first motor and stepping, the stepping first motor control first liter
The lifting of platform is dropped, and second motor of stepping is used to control the lifting of the second lifting platform；
The 5th motor of servo, for controlling the lifting of paper short side dispensing screw component；
The servo third electric cylinder, for releasing packaged brick tea from multiple package position.
4. brick tea according to claim 1 packs line control system, which is characterized in that the charging conveying is controlled with vanning
System includes third PLC controller, warning device, the 2nd HMI, third servo-driver group, three freedom degree manipulator, solenoid valve
Group, frequency converter and variable-frequency motor, specific as follows:
The third PLC controller, using between other PLC controllers in independent control, with entire control system without connection
System, the control core as charging conveying and vanning control system；
2nd HMI is conveyed and the setting of vanning control system control parameter, warning message and packaging data for feeding
The debugging of display, the switching of control model and charging conveying and vanning control system；
The third servo-driver group receives the control signal of third PLC controller, realizes the control to third servo motor group
System, and to the 3rd PLC feedback alarm information；
The three freedom degree manipulator, including third servo motor group, X-axis screw component, Y-axis screw component, Z axis screw rod group
Part, the second cylinder and the second reclaimer robot, wherein third servo motor group include the 6th motor of servo, the 7th motor of servo and
The 8th motor of servo；The 6th motor of servo is used to control the movement of X-axis screw component, and then controls Y-axis screw component in X
Movement on axis；The 7th motor of servo is used to control the movement of Y-axis screw component, and then controls Z axis screw component in Y-axis
On movement；The 8th motor of servo is used to control the movement of Z axis screw component, and then controls the second reclaimer robot in Z
Movement on axis；
The frequency converter for driving variable-frequency motor, and then controls feed conveyor belt, and material inductor is cooperated to realize to material
Position control；
The solenoid valve block, including second solenoid valve and third solenoid valve；The second solenoid valve uses three position five-way valve, is used for
The stroke of the second cylinder is controlled, and then controls the aperture of the second reclaimer robot, to realize the crawl to different size brick teas；
Third solenoid valve uses two-position five-way valve, and the brick that pushes away for controlling third cylinder acts, by the brick tea of designated position on conveyer belt
It is pushed to the feeding station of the first reclaimer robot；
The warning device, including warning lamp and buzzer；The warning lamp has three kinds of colors of red, yellow, and green, by controlling not
Warning lamp and buzzer with color alarm to different degrees of failure.
5. brick tea according to claim 1 packs line control system, which is characterized in that the system control program includes master
Control system program, convey and case from control system program and charging control system program, specific as follows:
The master control system program, including it is parameter initialization program, self-test program, model select program, reset routine, more
Motor Collaborative Control program, fault diagnosis and exception handles；
The parameter initialization program inputs on the first HMI for carrying out the initialization of each servo motor speed and position
Screw lead, screw rod need the distance moved, umber of pulse, pulse frequency needed for every turn of servo motor, parameter initialization program, meter
Calculate the motion impulse amount and movement velocity of servo motor；
Whether the self-test program detects all control objects of each controller in original for booting up automatic detection
Point, control object then calls reset routine to reset all control objects automatically not the origin the problem of if it exists, if multiple
Still there is control object to be not returned to origin after the program execution of position then to alarm；
The reset routine resets in an orderly manner for carrying out all control objects of each controller；
The model select program, including automatic control program, point operation control program and manual control procedures；Control system debugging
When, first call point operation control program to carry out trial operation and sensor positioning to each control object, if all control objects can
It runs well, then calls reset routine that each control object is reset to origin；It is examined and is automatically controlled using manual control procedures
Whether program is correct, is to decompose automatic control program, and then single step executes, and illustrates to automatically control if it can achieve the desired results
Program is correct, can switch to auto-programming operational mode after reset；
More motor Collaborative Control programs, the Collaborative Control of multiple motors for carrying out each controller control；
The fault diagnosis and exception handles, for detecting and handling failure caused by control system, troubleshooting journey
Sequence carries out different processing according to the different fault types detected, starts report while being shown by the first HMI
Alarm device is alarmed；
It is described identical as the program architecture of the master control system program from control system program, from control system needed for control
The debugging of parameter, control system is all operated by the first HMI of master control system, and from the warning message of control system in master
It is shown on first HMI of control system；
The charging conveying and vanning control system program are identical as the program architecture of the master control system, the charging conveying
It include charging conveying program and bin packing algorithm program with vanning control system program；
The charging conveying program, for the fixed point conveying to brick tea, the frequency by changing frequency converter is realized to haul conveyer belt
Different speed controls；
The bin packing algorithm program, for planning the vanning path of brick tea, on the 2nd HMI input brick tea length and
The length and width and height of chest, bin packing algorithm program, which calculates current chest, can store the block of the block number of brick tea, current brick tea
The location information of number, Ying Cunfang, then feeds back to more motor Collaborative Control programs for the information being calculated, to realize to brick
The fixed point of tea is stored.
6. brick tea according to claim 1 packs line control system, which is characterized in that charging conveying and vanning control system
In three freedom degree manipulator use Redundant Control, three freedom degree manipulator can be dropped into two-freedom by changing parameter or
Single-degree-of-freedom manipulator uses.
7. a kind of parametric control method of brick tea packaging line control system, which comprises the following steps:
Step 1, master control system carry out parametric control；
Step 2 carries out parametric control from control system；
Step 3, charging transport and vanning control system carry out parametric control.
8. the parametric control method of brick tea packaging line control system according to claim 7, which is characterized in that step 1
The master control system carries out parametric control, specific as follows:
Step 1.1, entire control system power on, and master controller carries out parameter initialization；
The controller execution self-check program of step 1.2, main system processed, executing agency is not in origin, then automatic to execute again if it exists
Position program is resetted；If there are still executing agencies after resetting not in origin, it is switched to Manual Mode and carries out Aligning control；
After the completion of step 1.3, master control system all reset, if being not required to undated parameter, control model is directly selected, then system
Wait the signal of feeding Material Sensor；If needing undated parameter, the parameter of master control system is carried out more from the first HMI
Newly, it then switches to manual mode single-step debug one time, if expected results can be reached, it is correct to illustrate that parameter calculates, can switch to
Automatic control mode；Otherwise parameter is recalculated until result is correct；
Step 1.4, when master control system is in automatic mode, feeding Material Sensor has signal, then master control system carry out
Automatic packaging process, while and carry out alarm detection, if there is alarm to generate, master control system autostop, and according to alarm
Type is alarmed；Under automatic control mode, it is able to carry out reset or stops operation；
Step 1.5 repeats step 1.4 until parametric control terminates.
9. the parametric control method of brick tea packaging line control system according to claim 7, which is characterized in that step 2
The slave control system carries out parametric control, specific as follows:
Step 2.1, entire control system power on, and carry out parameter initialization from controller；
Step 2.2 executes self-check program from the controller of system processed, and executing agency is not in origin, then automatic to execute again if it exists
Position program is resetted；If there are still executing agencies after resetting not in origin, it is switched to Manual Mode and carries out Aligning control；
Step 2.3 after the completion of all resetting from control system, if being not required to undated parameter, directly selects control model, then system
Wait the signal of feeding Material Sensor；If needing undated parameter, carried out more from the first HMI to from the parameter of control system
Newly, it then switches to manual mode single-step debug one time, if expected results can be reached, it is correct to illustrate that parameter calculates, can switch to
Automatic control mode；Otherwise parameter is recalculated until result is correct；
Step 2.4, when being in automatic mode from control system, feeding Material Sensor has signal, then from control system carry out
Automatic packaging process, while and carry out alarm detection, if having alarm generate, from control system autostop, and according to alarm
Type is alarmed；Under automatic control mode, it can be reset or stop operation；
Step 2.5 repeats step 2.4 until parametric control terminates.
10. the parametric control method of brick tea packaging line control system according to claim 7, which is characterized in that step 3
The charging transport carries out parametric control with vanning control system, specific as follows:
Step 3.1, entire control system power on, and the 3rd PLC device carries out parameter initialization；
Step 3.2, executes self-check program at third PLC controller, and executing agency then executes reset not in origin automatically if it exists
Program is resetted；If there are still executing agencies after resetting not in origin, it is switched to Manual Mode and carries out Aligning control；
Step 3.3 after the completion of resetting, if being not required to undated parameter, directly selects control model, and then system waits feeding material
The signal of sensor；If needing undated parameter, charging conveying and the parameter of vanning control system are carried out more from the 2nd HMI
Newly, it then switches to manual mode single-step debug one time, if expected results can be reached, it is correct to illustrate that parameter calculates, can switch to
Otherwise automatic control mode recalculates parameter until result is correct；
Step 3.4, when charging conveying with vanning control system be in automatic mode when, feeding Material Sensor has signal, then controls
System processed carries out automatic boxing process, while and carry out alarm detection, if there is alarm to generate, feed conveying and vanning control system
System autostop, and alarmed according to type of alarm；Under automatic control mode, it can be reset or stop operation；
Step 3.5 repeats step 3.4 until parametric control terminates.
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