CN110412943A - Coil winding machine and control method, controller - Google Patents
Coil winding machine and control method, controller Download PDFInfo
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- CN110412943A CN110412943A CN201910671821.0A CN201910671821A CN110412943A CN 110412943 A CN110412943 A CN 110412943A CN 201910671821 A CN201910671821 A CN 201910671821A CN 110412943 A CN110412943 A CN 110412943A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4147—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by using a programmable interface controller [PIC]
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34013—Servocontroller
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Abstract
A kind of coil winding machine, the master controller of the coil winding machine are used to control the coiling movement of coil winding machine, and master controller exports continuous control data bag in multiple timing, and control data bag includes at least one control instruction, which is used for the control acted to coiling.Coil winding machine further includes servo controller, and an at least servo-driver, a servo motor and an axis servomotor, master controller sends control data bag to servo controller, controlling servo motor by servo-driver by servo controller drives axis servomotor to move in winding space, assists to complete coiling movement.Coiling product outline size parameter is received, high frequency mo control instruction is exported by master controller and is given to winding mechanism, then lays out the qualified product met the requirements.The R&D cycle for greatly shortening coil winding product saves a large amount of debug times, realizes further control to cost.
Description
Technical field
The invention belongs to coil winding machine technical field, in particular to a kind of coil winding machine and control method, controller.
Background technique
In coil winding machine industry, coil winding machine needs the loop product of coiling varied, and shape is multifarious with performance.For
A variety of different loop products can be laid out, need to make many adaptive improvements in the mechanical structure of winding mechanism,
Coiling action process is also executed for winding mechanism simultaneously and designs certain specific action controls, to meet to loop product size
The control of form accuracy.Existing this design method, when facing many and diverse wire winding and control and requiring, design difficulty pole
Greatly, it needs to expend a large amount of manpower and material resources.
Summary of the invention
The embodiment of the present invention provides a kind of coil winding machine, it is therefore intended that solving existing coil winding machine cannot achieve high-precision around line traffic control
The problem of processed.
One of embodiment of the present invention, a kind of coil winding machine, the coil winding machine include master controller, and master controller is for controlling coiling
The coiling of machine acts.The master controller exports continuous control data bag in multiple timing, and the control data sectional includes
At least one control instruction, the control instruction are used for the control acted to coiling.The coil winding machine includes parameter input interface, In
Before coiling movement starts, one or more product parameters of coiling needed for being inputted by the parameter input interface, master control
Device processed receives the product parameters, calculates the control data bag needed for obtaining according to product parameters.
The embodiment of the present invention automatically generates winding mechanism and carries out Wire Winding by receiving coiling product outline size parameter
Parameter and winding mechanism motion profile, and be enough motion profiles point by the coiling action control procedure decomposition
Section exports high frequency mo control instruction by master controller and is given to winding mechanism, then lays out the qualified product met the requirements.
This will greatly shorten the R&D cycle of loop product, save a large amount of debug times, realize further control to cost.
Detailed description of the invention
The following detailed description is read with reference to the accompanying drawings, above-mentioned and other mesh of exemplary embodiment of the invention
, feature and advantage will become prone to understand.In the accompanying drawings, if showing by way of example rather than limitation of the invention
Dry embodiment, in which:
Coil winding machine theory of constitution schematic diagram in Fig. 1 embodiment of the present invention.
Coil winding machine software control system schematic diagram in Fig. 2 embodiment of the present invention.
Specific embodiment
According to one or more embodiment, principle according to figure 1, a kind of coil winding machine, the winding mechanism of coil winding machine
Including line sending unit and coiling unit.Line sending unit along line sending direction successively include tensioner, wire-sending device (such as: guide pin
Or clip), send the fixed device of initial line (can be a wire clamp).Coiling unit includes around the fixed device of initial line, the fixed device of buttock line.
It is real to control corresponding mechanical structure by axis servomotor X, Y, Z axis for line sending unit such as same flexible arm, several joints of arm
Existing corresponding movement, for example up and down, advance, retreat, move to left, moving to right.There is finger on arm, finger can be one
Clip clamps wire rod and plays line end, wire rod is sent into the initial line fixing end of winding bobbin.Initial line fixing end can be pre- above skeleton
The initial line fixed point stayed, a fixed point being also possible on coil jig.Specifically whether skeleton can be had according to coil itself
Decide whether winding fixture.No matter which kind of fixed point, be intended only to hold line end, play a fixed function, will
Line is wrapped on cylinder salient point, or is clamped etc. and can be realized with cylinder clip.Unless product itself has initial line fixed point
Technique requirement.After initial line fixes, the rotary shaft to coiling starts to act coiling unit, X, Y of supplementary feeding line sending
Or Z axis synchronizing moving, line sending angle when coiling is controlled, fits closely wire rod from each other.Meanwhile in order to overcome interference to answer
Make the line outlet of line sending guide pin as far as possible close to coiling level.When winding multilayer wire rod, often around complete one layer, line sending guide pin
Lift a certain distance should be gone up, it is best around linear distance between guide pin and wire rod to control.
In order to realize the coiling task of winding mechanism, coil winding machine includes master controller, servo controller, the drive of several servos
Dynamic device and corresponding servo motor and corresponding axis servomotor, master controller send continuous control data bag in multiple timing
To servo controller, servo motor is controlled by servo-driver by servo controller, axis servomotor is driven to move in winding space,
It assists to complete coiling movement.In Fig. 1, master controller is by 6 servo controller, servo driver drives servo motors, and every
Servo motor drives 6 axis servomotors, and each axis servomotor is respectively designated as X-axis, Y-axis, Z axis, SP0 axis, SP1 axis, A axis.
About the direction definition of X, Y, Z axis, it is usually subject to the primary operational direction of operator.I.e. operator is towards coiling
When machine machine operations, left and right directions is X-axis, and front-rear direction is Y-axis, and up and down direction is Z axis.Position of the operator towards board,
Can be decided when designing coil winding machine board, determine principle be exactly with facilitate observe coiling unit movement position be
Most preferably.Due to the difference of coil winding machine board, the placement position of coiling unit, working method are also different.The coiling of different model
The direction of machine, the XYZ axis of definition may also be different, but do not interfere with the realization of the control method of the embodiment of the present invention.
About tensioner, above the online bucket of material winds, when wire rod is pulled outward, carry out beam without any mechanism
The power of thread bucket release wire rod.When the quick coiling of winding mechanism, need quickly to be sent into wire rod.And as previously described, wire rod
It is released from line bucket, is slack and undisciplined, when the leading to quick coiling tensioning degree disunity of wire rod corresponding without power, around
Line precision not can guarantee.Therefore, it is necessary to instrument-tensioners of a back tension, to guarantee that tensioning degree is unified.Wire rod passes through
Tensioner is re-fed into thread feeding mechanism, and just there is a back tension in when such wire rod coiling.And the adjustable size of this back tension,
Different back tension is exported, the degree that the wire rod wanted when coiling is tightened is reached, it is helpful to control precision.According to two
Dynamic balance will obtain a back tension, then to execute a pulling force to wire rod.Winding mechanism winds the process of line, similar to leak informaton
Take-up is wanted in zither or fishing, and the process of take-up just has pulling force, and tensioner work executes a back tension and guarantees that this section of line is taut
Tight perfect condition.
Coil shape parameter include number of total coils, the number of plies, first floor circle number, with number heteromerisies, pitch, inlet wire angle, outlet angle,
Bending angle.When shape parameter outside input product, master controller by functional relation calculate coiling action parameter numerical value and
The motion profile of winding mechanism, and the motion profile of winding mechanism is split into enough segments, per a bit of motion profile
There is corresponding functional relation combination coiling action parameter to calculate the numerical value of control command, finally a large amount of calculated for holding
The order that coiling of the row per a bit of motion profile acts is packaged in a control data bag, with sufficiently high frequency current
The control data bag per a bit of motion profile is continuously performed in timing, is output to the action execution unit of winding mechanism, is made
Make execution unit drive winding mechanism, then by winding mechanism drive wire rod drive into be made of every a bit of motion profile entirely connect
In continuous motion profile, to lay out coil.Wherein,
Number of total coils is defined as wire rod starting point and is wound to wire rod end, coiling bone around coil rack with assigned direction
The circle number summation of frame winding.
Support construction when skeletal definition is coil winding.
The number of plies is defined as after the completion of wire rod coiling within the scope of backbone winding lineal travel two multiples of round-trip number back and forth.
First floor circle number be defined as wire rod within the scope of backbone winding lineal travel around full first layer when around circle number.
Same number heteromerism is defined as wire rod, and round trip institute pitch of the laps number is even numbers or list back and forth within the scope of backbone winding lineal travel
Number.Even numbers is then same number, it is singular then be heteromerism.Wherein, it is staggeredly that heteromerism coiling, which is the arrangement mode of upper layer line and lower layer line,.
Pitch is defined as when coiling the distance between corresponding points on two adjacent wire rod profiles, i.e., wire rod rotates a circle, line
The distance that material is boosted in skeleton axis.
Inlet wire angle is defined as after wire rod starting point is fixed on skeleton by thread feeding mechanism, before coiling, fixed wire rod
Wire rod and skeleton between starting point and thread feeding mechanism are axially formed by angle.
Outlet angle is defined as after coiling completes, before trimming, wire rod between thread feeding mechanism and coil end with
Skeleton is axially formed by angle.
Bending angle is defined as the shape distortion of coil somewhere particular/special requirement itself, is generally present in coil section start or knot
At tail, wire winding is influenced less, to be not repeated herein.
The name of coiling action parameter includes pitch move angle, coiling Acceleration and deceleration time, high speed speed, low speed speed,
The low speed number of plies, initial velocity initially enclose number, velocity rate, A axis gradual change.
Pitch move angle is defined as meeting the definition of pitch in winding process, and wire rod is often enclosed around skeleton one, line sending
Mechanism along skeleton axis horizontal direction movable joint away from distance be formed by the angle with the vertical direction where the skeleton axis center of circle
Angle.
Coiling Acceleration and deceleration time is defined as coiling movement executive component and executes in coiling action process, and threading speed is from low speed
Run to high speed and from high-speed cruising to low speed needed for time.
High speed speed is defined as the high speed of service of coiling action execution unit output setting when coiling.
Low speed speed is defined as the low speed of service of coiling action execution unit output setting when coiling.
The low speed number of plies is defined as the number of plies of coiling when coiling action execution unit executes low speed speed when coiling.
Initial velocity is defined as the speed of service that coiling action execution unit executes coiling movement initial stage output, is different from height
Speed, low speed speed.
When initial circle number is defined as coiling action execution unit with initial velocity execution coiling movement, around wound
Enclose number.
Velocity rate is defined as the ratio between the velocity amplitude of the velocity amplitude and reality output set in action parameter.Ratio
It can set.The product of setting speed and setting ratio is the velocity amplitude of reality output.
When A axis gradual change is defined as around first layer coil, by specified A axis output action, skeleton is controlled by mechanical structure
The stroke range of upper coiling becomes larger.
Functional relation is defined as when independent variable parameters one or several in coil shape or action parameter take certain value, around
Some or certain several dependent variable parameters in line movement or control command parameter also have the corresponding deterministic dependence of determining value.
Motion profile is defined as longitudinal coordinate axle as unit of by revolving speed, the lateral coordinates as unit of axis turnning circle
On the plane right-angle coordinate of axis building, the numerical value of roll revolving speed is depicted on coordinate system as unit of the circle number that axis rotates,
Connect the arc transition line that all the points are constituted.
Fractionation is defined as on the basis of motion profile transverse coordinate axis, and the unit precision of axis turnning circle is determined, independent
Out in each unit interval motion profile operation.
Frequency is defined as time of coiling action directive corresponding to every segment motion profile after execution fractionation in the period
It counts, the order Exactly-once of the movement of coiling corresponding to every segment motion profile.What coiling movement executed also referred to as in the period is every small
The number of segment of section motion profile.
According to one or more embodiment, the winding mechanism of coil winding machine includes line sending unit and coiling unit, line sending list
Member is by sending the fixed device of initial line, wire-sending device (guide pin) and tensioner to constitute, and coiling unit is by solid around the fixed device of initial line, buttock line
Determine device, skeleton fuse, the end face skeleton a and the end face skeleton b to constitute.Herein, can be according to the selection of the needs of coiled wire-wound coil
It is no to have skeleton, the end face skeleton a and the end face skeleton b or formed by skeleton itself, it can also be by the end face of axis servomotor SP0 and SP1
It is formed.
Before line sending movement starts, send the fixed device of initial line to fix wire rod and play line end waiting coiling.It, will before coiling starts
Wire rod plays the Z-direction of line end axis where perpendicular to coiling unit rotation center, is sent into around the fixed device of initial line, by wire rod initial line
End is fixed, and the fixed device of initial line then will be sent to unclamp, and wire-sending device cooperation wire rod tensioner helps stabilizer wire.Coiling
When, wire rod, to the pulling force of wire rod, is steadily sent into coiling unit using coiling unit by wire-sending device.Tensioner belongs to coil winding machine
Universal auxiliary device, working method and working principle are known technology.
Further, when coil winding machine carries out coiling, line sending unit can also be along level in coiling unit rotation center
Place axis X-direction is mobile to execute pitch move angle, meets the definition of pitch on coil shape.
When coiling does not have skeleton, then need to cooperate two end faces to simulate a bone by jig or skeleton fuse
Frame.At this point, the opening precision in order to guarantee skeleton stroke, i.e., the range opened every time all in certain margin of tolerance, this
Control the executive component Serve Motor Control that skeleton opens stroke.When first layer coiling, the wire rod and skeleton that have wound
Certain gap is not flowed out between wire rod end face, is stuck in wire rod in gap.As a result, also it can be seen that, A axis direction is namely revolved
Vertical direction where the axle center of shaft.
According to one or more embodiment, coil winding machine includes six axis servomotors driven by servo motor, is each watched
Take axis can independent control movement, can also be according to requiring synchronization action.By each axis servomotor be respectively designated as X-axis, Y-axis, Z axis,
SP0 axis, SP1 axis, A axis.Wherein, SP0 axis and SP1 axis are rotary motion, and axis servomotor passes through shaft coupling for the rotary motion of output
Being applied on the end face skeleton a, b makes both ends of the surface realize rotary motion.Remaining axis servomotor will be exported by shaft coupling and screw structure
Turnover movement be converted into the straight reciprocating motion of each actuating mechanism.
When coiling unit not coiling, it is in an open state around the fixed device of initial line, after waiting line sending unit that will play line end feeding
Line end is fixed.Skeleton fuse is installed on the rotation center of the end face skeleton a and the end face skeleton a rotates synchronously, the end face skeleton b
Corresponding hole is provided at rotation center to be inserted into for skeleton fuse.Skeleton a, b both ends of the surface are horizontally arranged mutually, the rotational circle of both ends of the surface
The heart is located at same axis with the rotation center of coiling movement, but both ends of the surface can be along each together with the rotation center of skeleton fuse
From the directionally independent rotation of rotation SP0, SP1.Horizontal distance between skeleton a, b both ends of the surface is rotated by the end face skeleton a along place
The mobile control in the horizontal direction A of circle central axis.When skeleton a, b both ends of the surface are bonded or are close enough, it is mounted on the skeleton of the end face skeleton a
Fuse is inserted into the hole of the end face skeleton b, and skeleton a, b both ends of the surface must synchronize equidirectional rotation at this time.The direction A and X-direction are same
One direction.And coil blanking for convenience, the end face skeleton b then need to be along spatially both perpendicular to A and X direction and Z axis
The third direction of direction, the direction Y ' are mobile.Direction Y ' and Z-direction may be same direction in the case of certain.As skeleton b
After end face is mobile along the direction Y ', skeleton a, b both ends of the surface are not just in unified axis.The space that skeleton b is vacateed after removing end face, can use
Blanking action is executed in cutting agency, facilitates blanking.This non-Y servo motor of direction Y ' executive component is not done only for convenience of blanking
It repeats.
According to one or more embodiment, a kind of coil winding machine, the coil winding machine includes master controller.Master controller is for controlling
The coiling of coil winding machine processed acts.Master controller exports continuous control data bag in multiple timing, and the control data bag includes
At least one control instruction, the control instruction are used for the control acted to coiling.Coil winding machine includes that a display parameters input boundary
The display in face.Before coiling movement starts, one or more of required coiling is inputted by the parameter input interface
Product parameters, master controller receive the product parameters, calculate the control data bag needed for obtaining according to product parameters.
The module that the primary control program of master controller calls, including the input of coiling parameter and corresponding Parameter Switch and Spindle Status
Read module.After the formal parameter of input is converted, while Spindle Status read module opening of reading that specified axis meets
Dynamic condition, i.e. execution axis control module.It is synchronous, by the coiling parameter after conversion, axis action parameter after conversion, and must be into
In the parameter write-in electric cam function of one step conversion.Then, coiling movement is decomposed, judges to call corresponding to specific coiling movement
Function, and by the position location calculated be written axis control module.It is controlled by axis control module fitted shaft order input module
Corresponding axis servomotor executes the every a bit of coiling movement locus split, generates a control data bag, will be connected per a bit of, just
Complete entire coiling movement locus.
In coiling parameter input module, to specified soft element by all formal parameters and partial act parameter definition
In location, man-machine dialogue is realized.The specified address in man-machine interface is changed, master controller receives corresponding address, with
Just the data in soft element can be identified.All letters when the processor of controller reads these data, in coil winding system
The item of number definition just has specific amount, can also start to be calculated.
The soft element address is defined as being used for a register of registered data inside processor, is different from external electrical
The soft element of circuit component used for software inhouse, and in order to distinguish each register used, for each deposit
Device is assigned with an address.Each soft element address can only deposit a variable data, for recording the data of unique function.
The man-machine interface, be defined as with controller have communication relations can touch-control screen, change man-machine interface on
Specified numerical value, corresponding numerical value also changes correspondingly in controller.
According to one or more embodiment, the module that the main program of master controller calls further includes that Spindle Status reads mould
Block, axis parameter writing module, shaft position writing module and axis control module.
In Spindle Status read module, the processor of master controller, can by the communication established between servo-driver
To receive the operating status for reading axis servomotor.When axis remains static, the Relocation complete signal fed back to is by Spindle Status
Read module monitors, and sends out the condition that coiling movement allows to start, and the calculating of coiling action parameter can just carry out, around
Line action execution unit can be just performed.
In axis control module, specified axis can be controlled by inputting specified axis address.Control content packet
Include: servo makes can control, servo point operation control, the control of servo adjusting microinching, manuallys locate the manual activity control of control and determines automatically
The auto-action control of position control；The setting operation of axis call parameter when servo origin is set；Axis starting, stops, pausing operation
Axis operate control；The safeguard protection setting of mechanical trip limit setting, fault code call the failure of output and failure reset
Processing control；And the monitoring control of axis current location and speed.
The foundation of axis control module, based on summarizing to axis servomotor sequence of operations.For in engineering to the behaviour of multiple axis
Make, realizes the calling of batch processing axis control data and axis miscellaneous function, visualize engineering process more, data are transmitted across
Journey is more intuitive, controls multiple axis movements for high-frequency and the transmission of high-volume axis control data bag provides stable guarantee.
In axis parameter writing module, the hardware parameter learnt in advance is written in electric cam function module by operation.
Wherein hardware parameter includes that will justify on mechanical mechanism corresponding to umber of pulse needed for one circle of axis servomotor rotation and axis servomotor
Zhou Yundong is converted into the proportional numerical value of the equal proportion movement of other forms.During mechanical structure conversion, structure driven turns
The proportionate relationship of change is stored by axis parameter writing module and uniformly sends axis execution unit to.
The foundation of axis parameter writing module is to record the pass between current coil winding machinery drive mechanism and axis servomotor
System.In the case where not changing coil winding machinery drive mechanism, the data recorded in axis parameter writing module will guarantee always not
Become.Why these constant parameters are specially put together into processing, is because these are necessary when executing coiling movement each time
Parameter can all be synchronized to call.When executing coiling movement, these parameters are uniformly recorded in axis parameter writing module, every time
It is called with then concentrating, can effectively achieve the purpose that the operation efficiency for promoting intrinsic function algorithm and shortens execution cycle.And
And mechanical transmission structure corresponding to each axis is different, the parameter called is also different.By axis parameter writing module,
When enabling specified axis, the number of input shaft is only needed, corresponding series of parameters is just called easily.
In shaft position writing module, positioning address centralized processing that high-frequency is sent and Batch sending to axis control mould
Block.Compared to traditional coil winding machine method of operation, each significantly coiling acts Exactly-once positioning instruction, in the present embodiment
Coil winding machine by each coiling movement resolve into one section of sufficiently small move distance, every section of move distance has a target
Position.After a coiling movement is split into enough, a large amount of positioning address faced are needed by batch processing and are transmitted.
At this point, shaft position writing module just plays the role of.
The calling axis number numerical value sent and final goal address are collected by shaft position writing module, and convex with electronics
Wheel interacts, and the positioning address of every segment move distance is calculated by the function algorithm in electric cam module, later by institute
Some positioning address Batch sendings return in shaft position writing module, all positioning address that shaft position writing module will receive again
It is sequentially written in axis control module, it is final to realize to the accurate control in coiling movement locus per a bit of motion profile, to reach
Absolute control to whole section of winding mechanism motion profile.
According to one or more embodiment, the master controller PLC of coil winding machine is exported and is continuously controlled number in multiple timing
According to packet, the control data bag includes at least one control instruction, which is used for the control acted to coiling, each
Control data bag is acted according to corresponding one coiling that can be controlled being decomposed of a small time slice, therefore master controller
The control of a high frequency is realized to coiling movement.The module that the main program of master controller calls, including electric cam Function Modules
Block.Electric cam function module is defined high-frequency control, defines every 0.1ms and executes 10000 coiling action commands
Frequency be very much frequency.Herein, the height of the execution frequency of coiling action directive can be according to master controller, servo control
The performance of device processed, servo-driver and servo motor is adjusted.The rotation direction of roll is demarcated and controlled；It is right
Single layer circle number, low velocity layer (LVL) speed take absolute value；Pulsed quantity required for rotary shaft rotation one when to coiling is enclosed is demarcated；It will
The acceleration time precision of setting amplifies 1000 times, obtains mentioning high control precision for the acceleration time of calculating.
In conjunction with this several Xiang Dingyi, the master controller PLC high speed speed in controller for calculating, expression formula are obtained are as follows:
PLC high speed speed=ABS (HMI high speed speed * SP axis-individual pen umber of pulse/00060) (1)
In formula (1), ABS expression takes absolute value, and HMI high speed speedometer shows the coiling movement high speed set in man-machine interface
Number of segment value, SP axis-individual pen umber of pulse indicate that required pulsed quantity is enclosed in the rotary shaft rotation one when coiling, servo motor operation
Distance is using the size of pulsed quantity as reference quantity, a pulse the smallest amount of movement when being servo motor movement.That is PLC high speed speed
It is per second for the high speed speed of setting and the product value of pulsed quantity needed for one circle of coiling rotary shaft rotation.Again by PLC high speed speed
It is multiplied with high-frequency value, when obtaining high speed speed, executes the amount of movement when segment coiling movement after splitting every time.PLC high
Degree of hastening is that the calibration name of high speed speed actual value is calculated for controller in electric cam function or even in entire control system
Claim.PLC is programmable controller.
Since in the hole on the skeleton fuse insertion end face skeleton b installed on the end face skeleton a when coiling, SP0 and SP1
Axis moves synchronously, so coiling movement does not distinguish SP0 and SP1 axis when executing, is all only denoted as SP axis.
Similarly, when definition is used for the PLC low speed speed of calculating, expression formula are as follows:
PLC low speed speed=ABS (HMI low speed speed * SP axis-individual pen umber of pulse/00060) (2)
PLC low speed speed obtained in formula (2) is multiplied with high-frequency value, when obtaining low speed speed, executes tear open every time
Amount of movement when segment coiling after point acts.
In electric cam function module, the number of total coils for being used to calculate is preset, present length is designated as, otherwise is not held
Under standby mode when row coiling acts, what it is for calculating is not then residue length around number of total coils；By be used for calculate speed into
It has gone and has preset, be designated as present speed, when standby mode is not carried out coiling movement, the speed of coiling action actuating mechanism is 0；
In electric cam function module, by ready-portioned low speed target phase, high-speed cruising section, initial velocity target phase is carried out
It calculates.After learning number of total coils, first low speed circle is figured out, expression formula are as follows:
Low speed circle number=every layer of HMI low speed number of plies * circle number * SP axis-individual pen umber of pulse (3)
The low speed number of plies of setting is multiplied with every layer of circle number in formula (3), obtained product and rotation are turned around required arteries and veins
It rushes number to be multiplied again, obtains the numerical value of low speed circle number, pulse required for coiling action section is actually executed with low speed speed
Amount.
Compared to low speed speed, there are also the numerical value conversions of special initial velocity and initial circle number.With low speed speed and low
Fast method of figuring of enclosing is identical, is not repeated herein.
Acceleration is defined in electric cam function module, expression formula are as follows:
Acceleration=(scanning of frequency displacement momentum * very much frequency+remainder very much)/acceleration time (4)
By servo motor, the required amount of movement run is multiplied with high-frequency every time in formula (4), and obtained product adds
The remainder of rate of acceleration, then divided by the acceleration time of setting, obtain the value of an acceleration.The application of acceleration is embodied in from one
A speed reaches within the scope of the limiting time of another speed, is executed with the frequency of setting increased on the basis of former velocity amplitude
Velocity amplitude.
In electric cam function module, target speed is defined.When executing per a bit of motion profile, or
When at the uniform velocity state and acceleration-deceleration state switch, due to execute and next time execute when intermediate or state switches have one it is intermittent
Process, and it is clearly influential on ride comfort when coiling to be interrupted process.In order to offset the impact effect of this interruption process,
A target velocity is defined, motor is made to accomplish a closed loop with target velocity reference quantity combination mechanical clearance and mechanism inertia
Compensation effect.Specific embodiment are as follows: four comparison conditions of setting call the speed definition when axis operation in axis control module
For present speed, compared with target velocity.
The respective action executed when the conditions are met is as follows.
Condition 1: when present speed=target speed, constant speed is executed.
Condition 2: when present speed > target speed, deceleration is executed.
Condition 3: when present speed < target speed, acceleration is executed.
Condition 4: when present speed=0, zero-speed is executed.
When executing constant speed, set a scan counter for counts execution constant speed number, constant speed of every execution,
Constant count device+1, while defining a constant speed benchmark.During coiling constant speed, since the frequency for executing constant speed movement is constant,
Number is instructed with the constant speed of execution, multiplied by the product that the speed that current motor is run obtains, that is, when executing needed for constant speed movement
Between with the product that is multiplied of speed of current motor operation, along with every time for constant speed that offset resistance keeps constant speed movement
The sum of benchmark finally obtains the present length passed by under constant speed motion state, to obtain the remaining length also needed away.It is existing
Product the time required to length is plus constant speed speed and executes constant speed movement, along with benchmark is accelerated, i.e., per a bit of operation
The address of a bit of running track under after track.
When executing acceleration, sets a scan counter and be used to count the acceleration times executed, it is every to execute primary acceleration,
Accelerate counter+1, while defining an acceleration benchmark.It is in coiling accelerator, the motor operation speed executed every time is only
It is vertical, in addition the numerical value of acceleration is the speed for being executed accelerated motion next time.It is constant due to executing the frequency accelerated,
Time used in the accelerated motion executed every time in the acceleration time is also fixed.It executes every time and accelerates the time used
Be multiplied with the accelerating velocity sum executed every time in the acceleration time, finally obtained product be accelerated motion state under
The present length passed by, to obtain the remaining length also needed away.Acceleration is added i.e. per a bit of operation rail with present speed
The address of a bit of running track under after mark.
When executing deceleration, sets a scan counter and be used to count the deceleration number executed, it is every to execute primary deceleration,
Deceleration counter+1, while defining a deceleration reference.It is in coiling moderating process, the motor operation speed executed every time is only
Vertical, the numerical value for subtracting acceleration is executed the speed of retarded motion next time.Since the frequency for executing retarded motion is constant,
Time used in the retarded motion executed every time in deceleration time is also fixed.The time used in retarded motion is executed every time
Be multiplied with the geard-down speed sum executed every time in deceleration time, finally obtained product be retarded motion state under
The present length passed by, to obtain the remaining length also needed away.Present speed subtracts acceleration i.e. per a bit of running track
The address of a bit of running track under later.
When executing zero-speed, winding mechanism is stationary state.Attonity.
In axis order writing module, when the specified axis number of input, further according to calculated axis action data, to specified axis
Execute corresponding action command.
Above-mentioned all modules can call directly in coiling main program, when executing the movement of multiple axis, it is only necessary to input
The axis number of specified axis, module is interior by calculating, and directly exports corresponding action parameter data or the corresponding axis of axis order execution is dynamic
Make, axis movement drives winding mechanism movement, coiling movement can be completed, winding mechanism drives wire rod movement, to lay out coil.
According to one or more embodiment, the entire software and hardware workflow of coil winding machine is described as follows.
After learning coil shape parameter, all parameters of coil shape are input to man-machine interface, and rule of thumb to meter
The coiling action parameter of calculating is finely adjusted, and is determined whether to open A axis taper function according to wire properties, further according to speed ratio
Rate changes the speed equal proportion of calculating.After determining all parameters, the parameter that will be determined by coiling parameter input module
Writing controller, Spindle Status read module read coil winding machine all working unit and are in the standby state, and execute starting coiling.
After starting coiling, before coiling movement, the end face skeleton b is first sent to operating position by Y ' axis, makes rotation axis and skeleton a
End face rotation axis coincident, then depressing A axis compresses the end face skeleton a and the end face b horizontal registration, eliminates the influence of mechanical clearance,
Ensure the depth of parallelism of both ends of the surface in the margin of tolerance.Wire rod is played line end and is sent in the fixed device of initial line by thread feeding mechanism simultaneously,
Prepare to start coiling.
When starting coiling, axis control module, fitted shaft parameter writing module are called, position writing module executes first floor circle
Number coiling movement.SP0 axis and SP1 axis synchronous rotary start, at the same calculated in electric cam function module the A axis matched and X,
Y or Z axis, which synchronize, to be started to act.Effect is each very much frequently, to execute coiling movement, A axis, which executes a bit of motion profile, to be made
The gap of a winding pitch width is isolated in the end face skeleton a and the end face skeleton b, and SP axis rotates a bit of coiling with initial velocity
Movement, X-axis is with the mobile a bit of pitch move angle of initial velocity.The time used in the static arrival initial velocity is when accelerating
Between, it during which executes acceleration and increases speed to present speed to reach initial velocity.Constant speed is executed when reaching initial velocity.Add
Fast length is reordered fast length, when being equal to the corresponding initial length of initial circle number, is switched to accelerations, so that speed is climbed fast to low speed
Degree.Meanwhile SP axis is synchronous with X-axis with the every a bit of coiling track of frequency execution very much.A axis is also synchronized to be corresponded to frequency cooperation very much
Speed execute per a bit of motion profile, act the coiling each time of first floor coiling, wire rod is all by the end face skeleton a and
Around line squeeze, fit closely.
Stopping acts after A axis moves to setting position, and X-axis and SP axis have also been gone for a stroll first floor circle number.SP axis revolving speed is protected
The inverted command constant, X-axis receives the position data issued in electric cam function and axis order writing module issues is held, is cut
The direction of motion is changed, continues to execute and is acted per a bit of coiling.After having executed low speed circle number, target velocity increases, and cuts from constant speed
Acceleration is changed to, low speed is switched to high speed, X-axis and SP axis within the acceleration time and is moved with continuing to execute at a high speed per a bit of coiling
Make.
According to number of total coils, i.e. residue length, further according to deceleration time, it can extrapolate and execute deceleration in a certain circle.When around
When line proceeds to this circle, X-axis and SP axis are switched to deceleration regime, and it is remaining each to continue the speed interfered with deceleration completion
Segment coiling movement, until coiling is completed, X-axis and SP axle speed are reduced to 0.The buttock line end of coil wire material is fixed to by subsequent Z axis
On the fixed device of buttock line, the line end that rises for sending the fixed device of initial line to fix next section of coiling wire rod, cutting wire rod, the end face skeleton b
Winding area, blanking unit blanking are receded from through Y ' axis, coiling terminates.
According to embodiments of the present invention, the coil that the entire winding process of coil winding machine obtains is smooth, and wire rod itself is
There is fine difference.In order to offset these small differences, coiling must be acted to be regulated and controled in real time in winding process,
Irregular wire rod is driven with irregular movement, lays out the product of rule.So-called irregular movement, refers to around linear speed
The address of degree and winding mechanism operation carries out the planning prejudged, may when accomplishing with irregular wire rod coiling
The irregular conditions of generation are pre-processed, each irregular conditions is finely divided, and are controlled per a bit of irregular conditions
Coiling movement, accomplish absolute control.Winding process high frequency sends signal, leads to the movement of winding mechanism execution unit
Actually not at the uniform velocity.In order to achieve the effect that at the uniform velocity to be supervised in real time with acceleration-deceleration and constant speed instruction to execution unit
Control.And so-called irregular movement, actually can control the irregular movement for having planning deliberately.Certainly, wire rod is not
Rule also can be in the margin of tolerance of control at one.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware
With the interchangeability of software, each exemplary composition and step are generally described according to function in the above description.This
A little functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Specially
Industry technical staff can use different methods to achieve the described function each specific application, but this realization is not
It is considered as beyond the scope of this invention.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.In addition, shown or beg for
Opinion mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING of device or unit
Or communication connection, it is also possible to electricity, mechanical or other form connections.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, is also possible to two or more units and is integrated in one unit.It is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) executes the complete of each embodiment the method for the present invention
Portion or part steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey
The medium of sequence code.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace
It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection scope subject to.
Claims (8)
1. a kind of coil winding machine, which includes master controller, and master controller is used to control the coiling movement of coil winding machine, feature
It is, the master controller exports continuous control data bag in multiple timing, and the control data bag includes at least one control
System instruction, the control instruction are used for the control acted to coiling.
2. coil winding machine according to claim 1, which is characterized in that the coil winding machine further includes servo controller, Yi Jizhi
A few servo-driver, a servo motor and an axis servomotor, master controller transmission control data bag to servo controller,
Controlling servo motor by servo-driver by servo controller drives axis servomotor to move in winding space, assists completion coiling dynamic
Make.
3. coil winding machine according to claim 2, which is characterized in that the winding mechanism of the coil winding machine include line sending unit and
Coiling unit, wherein
Line sending unit along line sending direction successively includes tensioner, wire-sending device, send initial line fixed device,
Coiling unit includes around the fixed device of initial line, the fixed device of buttock line.
4. coil winding machine according to claim 3, which is characterized in that the coiling unit include around the fixed device of initial line, around
The fixed device of line skeleton, buttock line.
5. coil winding machine according to claim 1, which is characterized in that the coil winding machine includes parameter input interface, in coiling
Before movement starts, one or more product parameters of coiling needed for being inputted by the parameter input interface, master controller
The product parameters are received, calculate the control data bag needed for obtaining according to product parameters.
6. a kind of coil winding machine Wire Winding method, which is characterized in that the control method is by Wire Winding data to coil winding machine
Coiling controlled, the Wire Winding data include continuous control data bag in multiple timing, the control data bag
Comprising at least one control instruction, which is used for the control acted to coiling.
7. a kind of master controller of coil winding machine, which is characterized in that the master controller includes memory；And
It is coupled to the processor of the memory, which is configured as executing the instruction of storage in the memory, institute
It states processor and executes following operation:
One or more product parameters of coiling needed for receiving coil winding machine,
Winding process control data are calculated according to product parameters,
Winding process control data are resolved into continuous control data bag in multiple timing,
The control data bag includes at least one control instruction, which is used for the control acted to coiling,
Output multiple control data bags, for controlling the winding process of coil winding machine.
8. the master controller of coil winding machine according to claim 7, which is characterized in that the processor is by executing control master
Routine call is with lower module:
Coiling parameter input module receives coiling formal parameter and/or coiling action parameter,
Coiling formal parameter and/or coiling action parameter are converted to coiling action parameter by coiling Parameter Switch module,
Spindle Status read module receives the operating status for reading axis servomotor,
Axis parameter writing module, is called by electric cam function module, and axis servomotor parameter is written in electric cam function module,
Shaft position writing module, by the centralized processing of axis positioning address and Batch sending is to axis control module,
Axis control module, for controlling specified axis.
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| CN111371266A (en) * | 2020-03-31 | 2020-07-03 | 厦门瑞熠自动化系统有限公司 | Novel winding method of annular stator |
| CN115586737A (en) * | 2022-11-18 | 2023-01-10 | 合肥安迅精密技术有限公司 | Chip mounter surface mounting control method and system based on software and hardware cooperative processing |
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