CN110614629B - Automatic positioning control system and method for manipulator - Google Patents
Automatic positioning control system and method for manipulator Download PDFInfo
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- CN110614629B CN110614629B CN201810628113.4A CN201810628113A CN110614629B CN 110614629 B CN110614629 B CN 110614629B CN 201810628113 A CN201810628113 A CN 201810628113A CN 110614629 B CN110614629 B CN 110614629B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C3/00—Abrasive blasting machines or devices; Plants
- B24C3/32—Abrasive blasting machines or devices; Plants designed for abrasive blasting of particular work, e.g. the internal surfaces of cylinder blocks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator automatic positioning control system and method for a shot blasting device, which comprises the following steps: programmable logic control circuit PLC, converter, inverter motor and encoder. The encoder provides the measured pulse number to a counting module in the PLC, the counting module calculates the actual position of the mobile positioning according to the measured pulse number and sends a control command to the frequency converter, the frequency converter changes the frequency of a working power supply of the frequency converter and decelerates from a normal rotating speed to a slow rotating speed, and therefore the operating speed of the manipulator is switched from the normal operating speed to the slow operating speed to form a buffer operating area until the manipulator reaches the positioning position. And a control mode of firstly reducing the speed and then positioning is adopted, so that the positioning precision is improved. The mechanical arm shot blasting is fully automatic and accurate, the product quality is improved, the process requirements are met, and the use cost of the ceramic shots is reduced.
Description
Technical Field
The invention relates to the technical field of automatic control of steel pipe surface treatment, in particular to an automatic positioning control system and method for a manipulator, which can improve the positioning control accuracy.
Background
The shot blasting equipment of the special button in the steel pipe factory is an important device for carrying out surface treatment on the thread of the steel pipe. The shot blasting is to throw ceramic balls or glass balls out by using high-speed air pressure to impact the surface of a part at high speed, so that an oxide layer on the surface of the part can be removed. Meanwhile, the ceramic pellets or the glass pellets impact the surface of the part at a high speed to cause the crystal lattice distortion of the surface of the part and increase the surface hardness, and the method is a method for cleaning the surface of the part.
According to the process requirements, the surface of the end part of the steel pipe which is threaded requires sand blasting and shot blasting. The method is characterized in that the end part of the steel pipe is sent into a shot blasting box of the shot blasting machine by a transmission roller, after a detection element in the shot blasting box detects an in-place signal of the end part of the steel pipe, the in-place signal is sent to the transmission roller, and at the moment, a manipulator starts to walk and performs shot blasting on the end part of the steel pipe. The travel of the manipulator is controlled by a top motor, so that the stroke is single and constant. It often happens that some steel pipe ends are threaded and do not. This is because the length of the threading thread of each steel pipe is different, and the shot blasting robot cannot accurately position the steel pipe. Thus, the phenomenon that some threading threads are sprayed and some threads are not sprayed is formed.
Due to different process requirements, the surface shot blasting treatment needs to be carried out on the threads at the end parts of the steel pipes with different specifications. In the past, the operation of the manipulator is controlled in a manual mode, and the stroke length is the same. Meanwhile, the shot blasting amount is required to be more than that required.
Therefore, a control scheme for improving the positioning control accuracy of the shot blasting machine needs to be designed and provided, so that the manipulator can automatically run and automatically position according to the process requirements, meanwhile, the control scheme needs to have flexibility, and operators can set the positioning by manual operation according to threads of different specifications. The bottleneck that the stroke is difficult to control is fundamentally solved, and therefore the accuracy of the positioning control of the shot blasting machine is improved.
Disclosure of Invention
The invention designs and provides an automatic positioning control system and method for a manipulator, aiming at solving the problems of high positioning requirement and difficult control of stroke of a special shot blasting machine. The system and the method can meet the requirements of a normal shot blasting process, meet the requirements of a large-scale automatic continuous production process, improve the reliability of equipment, improve the production efficiency and greatly save the use cost of the ceramic shots.
In order to achieve the above object, the present invention adopts the following technical solutions.
A manipulator automatic positioning control system for shot blasting processing device, wherein, shot blasting processing device includes: the spray gun control system comprises a variable frequency motor, a sliding support, a plurality of spray guns, a spray gun X-axis manipulator, a manipulator positioning switch, a plug mechanism, a plug limit switch and an operation table control panel, wherein the operation table control panel comprises a manipulator walking starting point setting dial switch and a stroke setting dial switch; the manipulator automatic positioning control system includes: the device comprises a programmable logic control circuit PLC, a frequency converter, a variable frequency motor and an encoder; wherein: the PLC is provided with a counting module and two data storage blocks, and the data storage blocks are respectively used for storing the pulse number set by the console control panel and the actual walking pulse number of the manipulator; the encoder is arranged at the other end of the screw transmission of the variable frequency motor and is used for sending the measured actual walking pulse number of the manipulator to a counting module in the PLC; the counting module calculates the actual position of the mechanical arm in the moving and positioning mode according to the pulse number and sends a position signal of the moving and positioning mode to the frequency converter; the frequency converter changes the working power supply frequency of the variable frequency motor according to the position signal of the mobile positioning; the variable frequency motor changes the frequency of the working power supply and reduces the frequency from the normal rotating speed to the slow rotating speed, so that the operating speed of the manipulator is switched from the normal operating speed to the slow operating speed to form a buffer operating area until the manipulator reaches a positioning position; and when the variable frequency motor reaches the positioning position, the band-type brake of the variable frequency motor is started, and the variable frequency motor stops running.
According to the embodiment of the invention, the programmable logic circuit PLC is Siemens S7300 PLC, the frequency converter is Siemens MMV440 frequency converter, the encoder is Siemens photoelectric rotary encoder, and the counting module is FM 350.
The current position of the manipulator is obtained through a positioning switch which walks along with the manipulator, the initial position of the manipulator is set, the positioning switch walks along with the manipulator by one station, and the current position of the manipulator is equal to the initial position plus one;
the current position of manipulator and the target location who sets for in the stroke setting are compared to the count module, and when the difference of two parties is greater than one time, the manipulator walks fast to the target location, and when the difference of two parties equals one time, the manipulator switches into the intermediate speed walking, and when the difference of two parties is less than one time, the manipulator switches into low-speed walking.
According to the threads with different specifications, a user inputs the numerical value of the shot blasting starting point and the stroke of the manipulator to the threads through the starting point setting dial switch and the stroke setting dial switch on the console control panel.
When the mechanical arm reaches the positioning position of the target position, the counting module compares the target position pulse value set by the dial switch with the actual position pulse value obtained by the encoder, when the target position pulse value and the actual position pulse value are within the error allowable range, the mechanical arm is judged to be positioned in place, the band-type brake of the variable frequency motor is started, the variable frequency motor stops running, and the plurality of spray guns start to simultaneously spray the shots, so that the shot blasting coverage rate of the thread surface reaches 100%.
The invention also provides a manipulator automatic positioning control method for the shot blasting device, wherein the shot blasting device comprises the following steps: the spray gun control system comprises a variable frequency motor, a sliding support, a plurality of spray guns, a spray gun X-axis manipulator, a manipulator positioning switch, a plug mechanism, a plug limit switch and an operation table control panel, wherein the operation table control panel comprises a manipulator walking starting point setting dial switch and a stroke setting dial switch; the automatic positioning control method of the manipulator comprises the following steps:
a manipulator automatic positioning control system consisting of a programmable logic control circuit PLC, a frequency converter, the variable frequency motor and an encoder is arranged;
a counting module and two data storage blocks are arranged in the PLC, and the data storage blocks are respectively used for storing the pulse number set by the control panel of the operating platform and the actual walking pulse number of the manipulator;
the encoder is arranged on the side surface of the variable frequency motor and used for sending the measured actual walking pulse number of the manipulator to a counting module in the PLC;
the counting module calculates the actual position of the mechanical arm in the moving and positioning mode according to the pulse number and sends a position signal of the moving and positioning mode to the frequency converter;
the frequency converter changes the working power supply frequency of the variable frequency motor according to the position signal of the mobile positioning;
the variable frequency motor changes the frequency of the working power supply and reduces the frequency from the normal rotating speed to the slow rotating speed, so that the operating speed of the manipulator is switched from the normal operating speed to the slow operating speed to form a buffer operating area until the manipulator reaches a positioning position;
and when the variable frequency motor reaches the positioning position, the band-type brake of the variable frequency motor is started, and the variable frequency motor stops running.
According to the embodiment of the invention, the programmable logic circuit PLC is Siemens S7300 PLC, the frequency converter is Siemens MMV440 frequency converter, the encoder is Siemens photoelectric rotary encoder, and the counting module is FM 350.
Acquiring the current position of the manipulator through a positioning switch which walks along with the manipulator, setting the initial position of the manipulator, and when the positioning switch walks along with the manipulator for one station, the current position of the manipulator is equal to the initial position plus one;
the current position of manipulator and the target location who sets for in the stroke setting are compared to the count module, and when the difference of two parties is greater than one time, the manipulator walks fast to the target location, and when the difference of two parties equals one time, the manipulator switches into the intermediate speed walking, and when the difference of two parties is less than one time, the manipulator switches into low-speed walking.
According to the threads with different specifications, a user inputs the numerical value of the shot blasting starting point and the stroke of the manipulator to the threads through the starting point setting dial switch and the stroke setting dial switch on the console control panel.
When the mechanical arm reaches the positioning position of the target position, the counting module compares the target position pulse value set by the dial switch with the actual position pulse value obtained by the encoder, when the target position pulse value and the actual position pulse value are within the error allowable range, the mechanical arm is judged to be positioned in place, the band-type brake of the variable frequency motor is started, the variable frequency motor stops running, and the plurality of spray guns start to simultaneously spray the shots, so that the shot blasting coverage rate of the thread surface reaches 100%.
By using the manipulator shot blasting positioning control technology, the automatic positioning degree of shot blasting processing equipment is greatly improved. Through the selection of the dial switch, the positioning control precision of the walking of the shot blasting mechanical hand is effectively improved. An operator can automatically modify and set the positioning control stroke of the manipulator according to the pipe end threads with different specifications, so that the flexibility of the process is improved.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, with reference to the accompanying drawings.
Fig. 1 is a general view of an automatic positioning actuator of the shot blasting machine of the present invention, in which: 1 is a variable frequency motor; 2, sliding the bracket; 3, an encoder; 4, a spray gun X-axis manipulator; 5, a spray gun group; 6, a plug mechanical device; a plug limit switch; 8, an automatic feeding hopper; 9, a manipulator positioning switch; 10 a cabin body;
FIG. 2 is a schematic view of an operating deck of the shot blasting machine of the present invention, including "kick point set" and "travel set" dip switches;
fig. 3 is a configuration diagram of an automatic positioning control system of a robot of the present invention;
FIG. 4 is a schematic view of an X-axis robot slide mechanism;
figure 5 is a schematic view of a stopper mechanism.
Detailed Description
The technical scheme of the invention is specifically explained in the following with the accompanying drawings of the specification.
The detailed features and advantages of the present invention are described in detail in the detailed description which follows, and will be sufficient for anyone skilled in the art to understand the technical content of the present invention and to implement the present invention, and the related objects and advantages of the present invention will be easily understood by those skilled in the art from the description, claims and drawings disclosed in the present specification.
The existing manipulator positioning mode which is positioned by only relying on the proximity switch has poor positioning effect, has larger deviation with a target position, and is difficult to adjust. Furthermore, the shot blasting robot cannot be accurately positioned. Thus, the phenomenon that some threading threads are sprayed and some threading threads are not sprayed is formed.
For the positioning problem, the invention adopts a method of positioning control by an encoder and a pulse counter. Aiming at the characteristics of the manipulator, the invention designs a reasonable and reliable shot blasting manipulator positioning mode so as to improve the manipulator positioning precision and the equipment working efficiency.
Fig. 1 shows a general view of an automatic positioning actuator of the shot blasting machine of the present invention.
As shown in fig. 1, the automatic positioning and executing mechanism of the shot blasting machine comprises the following parts: the device comprises a variable frequency motor 1, a sliding support 2, an encoder 3, a spray gun X-axis manipulator 4, a spray gun group 5, a plug mechanism device 6, a plug limit switch 7, a manipulator positioning switch 9 and the like.
Fig. 2 is a schematic view of an operating console of the shot blasting machine of the invention, which comprises a start point setting switch and a travel setting dial switch.
According to pipe end threads of different specifications, an operator can set the operation starting point and the positioning control stroke of the manipulator by dialing switches of starting point setting and stroke setting.
Fig. 3 is a configuration diagram of an automatic robot positioning control system according to the present invention.
The automatic positioning control system of the manipulator comprises an encoder, a programmable logic circuit PLC, a frequency converter and a variable frequency motor. The programmable logic circuit PLC is provided with a counting module.
According to the preferred embodiment of the invention, the programmable logic circuit of the manipulator automatic positioning control system is Siemens S7300 PLC, the frequency converter is Siemens MMV440 frequency converter, and the encoder is Siemens photoelectric rotary encoder. The counting module is FM 350.
The encoder is installed on the play axle of removing the slip table device, and inverter motor drives and removes the slip table device and remove, and it is rotatory to remove the slip table device, and the count module in PLC is provided with the pulse count that the encoder will record, and the actual position of mobile location is calculated according to the pulse count that records to the count module to send control command to the converter.
The manipulator is connected with the S7-300PLC through the PROFIBUS. The operation action of the manipulator is left-right walking and is controlled by an MASTERDRIVE frequency converter and a variable frequency motor. According to the present invention, the encoder 3 is installed on the motor driving side, thereby improving the positioning accuracy.
According to the invention, a dial switch device 8 is arranged on a control panel of the operation table, and an operator can automatically set the operation starting point and the positioning control stroke of the manipulator according to pipe end threads with different specifications through the dial switch 8.
Based on the principle of pulse counting, a counter is provided in the PLC. The operation mode is as follows: when the manipulator 4 is in the home position, the coded buttons are adjusted. The manipulator consists of a gear variable-frequency speed reducing motor 1, a sliding support 2 and the like, and the running distance of the manipulator is adjusted within the range of 0-400 mm. There is a meter display on the console.
The manipulator control technical scheme is as follows:
in order to increase the positioning accuracy of the manipulator 4, a positioning mode of firstly reducing speed and then positioning is adopted, namely when the manipulator 4 approaches a target position, the PLC sends an instruction to control the frequency converter, the running speed of the manipulator is switched from the normal running speed to a slower speed to form a buffer area, and after the positioning position is reached, the motor 1 is started and the motor 1 is stopped. Meanwhile, a mechanical arm 4 is arranged on an operation panel to walk to form a starting point and a stroke setting dial switch 8, so that a user can input the numerical value of the shot blasting starting point and the stroke of the mechanical arm 4 to the thread shot blasting according to actual thread conditions of different specifications.
When the manipulator 4 is started, positioning control is realized by calling the pulse number of the target station and the time of the buffer area.
When the mechanical arm 4 moves to the positioning position of the target position, the motor 1 is braked, and then the two spray guns 5 start to simultaneously spray sand, so that the coverage rate of the shot blasting on the thread surface is ensured to reach 100 percent.
The mechanical arm 4 walks for a set time through the PLC, and pulse counting control is carried out to ensure that the mechanical arm 4 runs in place. When the action type of the manipulator 4 is forward, a manipulator initial position value is set, the positioning switch 9 of the manipulator moves through a station along with the manipulator, the positioning signal 9 is powered on, the current position of the manipulator is equal to the initial position plus one, the current position is compared with the target position in the process data, if the difference between the two is greater than one, the manipulator 4 rapidly moves forward to the target station, the difference between the two is equal to one, the manipulator 4 is switched to medium speed, and in the station, the forward buffer signal is powered on, the manipulator is switched to low speed to start positioning. The retraction control process of the robot 4 is the same as this.
The successful positioning of the manipulator simultaneously meets a condition that: in the S7 process, two data blocks are provided for storing pulses set by the operation panel and pulses actually traveled, respectively, and when the manipulator 4 is in position, the set pulses are compared with the actual pulses, and if the set pulses are within the error allowable range, it is determined that the manipulator is in position.
FIG. 4 is a schematic view of an X-axis robot slide mechanism;
FIG. 5 is a schematic view of a stopper mechanism
And (3) sending the steel pipe into a shot blasting box of the shot blasting machine, after a plug signal behind the shot blasting box detects a steel pipe end in-place signal, starting to rotate the rotary roller, and carrying out shot blasting treatment on the threaded part of the steel pipe by the shot blasting machine. The shot blasting machine comprises an operation table, a dial switch, a shot blasting machine manipulator, a shot blasting completion signal and a shot blasting machine manipulator, wherein the operation table is used for storing the stroke of the shot blasting machine manipulator, the dial switch is used for switching the stroke of the shot blasting machine manipulator to the stroke of the shot blasting machine manipulator, and the operation table is used for setting the stroke of the shot blasting machine manipulator.
The automatic positioning control technology of the manipulator is implemented on shot blasting equipment, and the effect is good. By using the manipulator shot blasting positioning control technology, the automatic positioning degree of equipment is greatly improved. Through the selection of the dial switch, the positioning control of the walking of the shot blasting mechanical arm is effectively improved, in addition, an operator can automatically modify the stroke positioning control of the mechanical arm through pipe end threads with different specifications, and the flexibility of the process is improved.
Before the automatic positioning control technology of the manipulator is implemented, the shot blasting error of the threads at the pipe end of the steel pipe generally reaches 100mm to the maximum. After the automatic positioning control technology of the manipulator is implemented, the error of the thread of the pipe end is reduced to 10mm generally. By using the automatic positioning control technology of the manipulator, the mechanical arm shot blasting is completely automatic and accurate, and the quality of products is greatly improved. Under the condition of equal production, the use cost of the ceramic pill is reduced from another aspect.
Finally, it should be noted that while the present invention has been described with reference to the specific embodiments thereof, it should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be construed as limiting the present invention, and various equivalent changes and substitutions may be made therein without departing from the spirit of the present invention, and therefore, it is intended that all changes and modifications to the above embodiments within the spirit and scope of the present invention be covered by the appended claims.
Claims (10)
1. An automatic positioning control system of a manipulator for a shot blasting device is characterized in that,
the shot blasting device comprises: the spray gun control system comprises a variable frequency motor, a sliding support, a plurality of spray guns, a spray gun X-axis manipulator, a manipulator positioning switch, a plug mechanism, a plug limit switch and an operation table control panel, wherein the operation table control panel comprises a manipulator walking starting point setting dial switch and a stroke setting dial switch;
the manipulator automatic positioning control system comprises: the device comprises a programmable logic control circuit PLC, a frequency converter, a variable frequency motor and an encoder; wherein:
the PLC is provided with a counting module and two data storage blocks, and the data storage blocks are respectively used for storing the pulse number set by the console control panel and the actual walking pulse number of the manipulator;
the encoder is arranged at the other end of the screw transmission of the variable frequency motor and is used for sending the measured actual walking pulse number of the manipulator to a counting module in the PLC;
the counting module calculates the actual position of the mechanical arm in the moving and positioning mode according to the pulse number and sends a position signal of the moving and positioning mode to the frequency converter;
the frequency converter changes the working power supply frequency of the variable frequency motor according to the position signal of the mobile positioning;
the variable frequency motor changes the frequency of the working power supply and reduces the frequency from the normal rotating speed to the slow rotating speed, so that the operating speed of the manipulator is switched from the normal operating speed to the slow operating speed to form a buffer operating area until the manipulator reaches a positioning position;
and when the variable frequency motor reaches the positioning position, the band-type brake of the variable frequency motor is started, and the variable frequency motor stops running.
2. The robot automatic positioning control system for a shot blasting apparatus according to claim 1, characterized in that:
the programmable logic circuit PLC is Siemens S7300 PLC, the frequency converter is Siemens MMV440 frequency converter, the encoder is Siemens photoelectric rotary encoder, and the counting module is FM 350.
3. The robot automatic positioning control system for a shot blasting apparatus according to claim 1, characterized in that:
the current position of the manipulator is obtained through a positioning switch which walks along with the manipulator, the initial position of the manipulator is set, the positioning switch walks along with the manipulator by one station, and the current position of the manipulator is equal to the initial position plus one;
the current position of manipulator and the target location who sets for in the stroke setting are compared to the count module, and when the difference of two parties is greater than one time, the manipulator walks fast to the target location, and when the difference of two parties equals one time, the manipulator switches into the intermediate speed walking, and when the difference of two parties is less than one time, the manipulator switches into low-speed walking.
4. The robot automatic positioning control system for a shot blasting apparatus according to claim 1, characterized in that:
according to the threads with different specifications, a user inputs the numerical value of the shot blasting starting point and the stroke of the manipulator to the threads through the starting point setting dial switch and the stroke setting dial switch on the console control panel.
5. The robot automatic positioning control system for a shot blasting apparatus according to claim 1, characterized in that:
when the mechanical arm reaches the positioning position of the target position, the counting module compares the target position pulse value set by the dial switch with the actual position pulse value obtained by the encoder, when the target position pulse value and the actual position pulse value are within the error allowable range, the mechanical arm is judged to be positioned in place, the band-type brake of the variable frequency motor is started, the variable frequency motor stops running, and the plurality of spray guns start to simultaneously spray the shots, so that the shot blasting coverage rate of the thread surface reaches 100%.
6. A manipulator automatic positioning control method for a shot blasting processing device is characterized in that,
the shot blasting device comprises: the spray gun control system comprises a variable frequency motor, a sliding support, a plurality of spray guns, a spray gun X-axis manipulator, a manipulator positioning switch, a plug mechanism, a plug limit switch and an operation table control panel, wherein the operation table control panel comprises a manipulator walking starting point setting dial switch and a stroke setting dial switch;
the automatic positioning control method of the manipulator comprises the following steps:
a manipulator automatic positioning control system consisting of a programmable logic control circuit PLC, a frequency converter, the variable frequency motor and an encoder is arranged;
a counting module and two data storage blocks are arranged in the PLC, and the data storage blocks are respectively used for storing the pulse number set by the control panel of the operating platform and the actual walking pulse number of the manipulator;
the encoder is arranged on the side surface of the variable frequency motor and used for sending the measured actual walking pulse number of the manipulator to a counting module in the PLC;
the counting module calculates the actual position of the mechanical arm in the moving and positioning mode according to the pulse number and sends a position signal of the moving and positioning mode to the frequency converter;
the frequency converter changes the working power supply frequency of the variable frequency motor according to the position signal of the mobile positioning;
the variable frequency motor changes the frequency of the working power supply and reduces the frequency from the normal rotating speed to the slow rotating speed, so that the operating speed of the manipulator is switched from the normal operating speed to the slow operating speed to form a buffer operating area until the manipulator reaches a positioning position;
and when the variable frequency motor reaches the positioning position, the band-type brake of the variable frequency motor is started, and the variable frequency motor stops running.
7. The automatic positioning control method for the robot arm of the shot blasting processing apparatus according to claim 6, wherein:
the programmable logic circuit PLC is Siemens S7300 PLC, the frequency converter is Siemens MMV440 frequency converter, the encoder is Siemens photoelectric rotary encoder, and the counting module is FM 350.
8. The automatic positioning control method for the robot arm of the shot blasting processing apparatus according to claim 6, wherein:
acquiring the current position of the manipulator through a positioning switch which walks along with the manipulator, setting the initial position of the manipulator, and when the positioning switch walks along with the manipulator for one station, the current position of the manipulator is equal to the initial position plus one;
the current position of manipulator and the target location who sets for in the stroke setting are compared to the count module, and when the difference of two parties is greater than one time, the manipulator walks fast to the target location, and when the difference of two parties equals one time, the manipulator switches into the intermediate speed walking, and when the difference of two parties is less than one time, the manipulator switches into low-speed walking.
9. The automatic positioning control method for the robot arm of the shot blasting processing apparatus according to claim 6, wherein:
according to the threads with different specifications, a user inputs the numerical value of the shot blasting starting point and the stroke of the manipulator to the threads through the starting point setting dial switch and the stroke setting dial switch on the console control panel.
10. The automatic positioning control method for the robot arm of the shot blasting processing apparatus according to claim 6, wherein:
when the mechanical arm reaches the positioning position of the target position, the counting module compares the target position pulse value set by the dial switch with the actual position pulse value obtained by the encoder, when the target position pulse value and the actual position pulse value are within the error allowable range, the mechanical arm is judged to be positioned in place, the band-type brake of the variable frequency motor is started, the variable frequency motor stops running, and the plurality of spray guns start to simultaneously spray the shots, so that the shot blasting coverage rate of the thread surface reaches 100%.
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| CN112830237A (en) * | 2021-01-13 | 2021-05-25 | 广东智源机器人科技有限公司 | Movement control method, device, equipment and cooking system |
| CN113552054A (en) * | 2021-07-16 | 2021-10-26 | 苏州苏试试验集团股份有限公司 | Control device and control method for automatic positioning of environmental test chamber |
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| CN100503122C (en) * | 2007-02-13 | 2009-06-24 | 包钢钢威液压件有限责任公司 | Method for controlling on-line self-centering perforation of seamless tube blank puncher |
| US20130009084A1 (en) * | 2011-07-09 | 2013-01-10 | Phuong Taylor Nguyen | Modular Media Control Valve |
| CN104415873A (en) * | 2013-09-08 | 2015-03-18 | 天津睛龙智能科技有限公司 | Automobile manipulator control system |
| CN103707197A (en) * | 2013-12-31 | 2014-04-09 | 国核宝钛锆业股份公司 | Loading-unloading device of metal pipe sheared billet shot blasting machine |
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2018
- 2018-06-19 CN CN201810628113.4A patent/CN110614629B/en active Active
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