CN110687841B - Automatic control system and control method of high-speed conveying device - Google Patents
Automatic control system and control method of high-speed conveying device Download PDFInfo
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- CN110687841B CN110687841B CN201910911508.XA CN201910911508A CN110687841B CN 110687841 B CN110687841 B CN 110687841B CN 201910911508 A CN201910911508 A CN 201910911508A CN 110687841 B CN110687841 B CN 110687841B
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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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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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
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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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
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses an automatic control system and a control method of a high-speed conveying device. The control method comprises the following steps: the vehicle-out station with the vehicle-in and vehicle-out conditions sends a vehicle-in and vehicle-out allowing signal to the vehicle-in station; the entering station starts entering the vehicle and transmits a front-going out-vehicle request signal to the out-vehicle station; after the departure station receives the departure request signal, the departure station starts departure transmission; judging the vehicle entering and exiting state through the relative position relationship between the trolley and the vehicle entering station; and stopping transmission between the departure station and the entry station or entering the next transmission cycle. The invention can realize the quick and accurate transmission of the body-in-white between welding stations, and has high stopping accuracy and stable and reliable equipment operation.
Description
Technical Field
The invention belongs to the technical field of high-speed conveying equipment in an automatic automobile welding technology, and particularly relates to an automatic control system and a control method of a high-speed conveying device.
Background
In the field of automobile manufacturing at the present stage, an automobile welding production line widely adopts a robot automatic welding technology, so that the positioning precision of a workpiece is required to meet the requirement of the robot automatic welding precision. The high-speed conveying equipment is mainly used for quickly and accurately conveying the body-in-white between welding stations on a welding line, the conveying speed of the high-speed conveying equipment directly influences the production beat, and the conveying precision directly influences the welding quality of the body-in-white.
The existing automotive streamline welding production line in China generally adopts a skid to load a workpiece, a rolling machine is used for conveying the skid, and the workpiece is lifted in a lifting mode of the rolling machine, so that the workpiece is separated from the skid and placed in a station clamp, and the positioning accuracy of the workpiece is guaranteed. However, the work time for conveying the workpieces is increased in the lifting process of the workpieces, and the work efficiency of the automatic production line is reduced.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an automatic control system and a control method of a high-speed conveying device, so as to realize the quick and accurate transmission of a body-in-white between welding stations, and the system has the advantages of high stopping accuracy and stable and reliable equipment operation. The technical scheme of the invention is as follows by combining the attached drawings of the specification:
an automatic control system of a high-speed conveying device comprises a PLC control cabinet, a frequency converter control cabinet, a driving motor assembly and a position coding assembly;
the PLC control cabinet consists of a network communication master station module, a CPU processor and a safety controller;
the frequency converter control cabinet consists of a frequency converter unit, a motor safety contactor and a motor internal contracting brake contactor, wherein the frequency converter unit comprises a frequency converter processor, a network communication board card, a motor encoder board card, a position encoder board card and an IO board card;
the driving motor assembly consists of a driving motor, a motor band-type brake and a motor encoder;
the position coding component consists of a coding ruler and a position coder;
the CPU processor is in bidirectional signal transmission with the frequency converter processor through the network communication master station module and the network communication board card, receives a driving motor running state signal and a trolley running state signal on the rolling machine transmitted by the frequency converter unit through the network communication master station module, and receives a field state signal including running state signals of each device at an outgoing station and an incoming station through the network communication master station module;
the CPU processor analyzes and processes the received signal data including common logic operation, and outputs a driving motor control instruction to the frequency converter processor through the network communication master station module and the network communication board card in sequence;
the network communication master station module is used for connecting a network communication board card of the frequency converter unit, and the network communication board card is used for realizing data information interaction between the CPU processor and the frequency converter processor;
the safety controller receives the field safety signal, outputs a motor safety contactor control instruction to the motor safety contactor by performing corresponding logic operation on field safety signal data, and further controls the motor safety contactor to be closed or opened;
the frequency converter processor is connected with the motor brake contactor through an IO board card in a control way, the frequency converter processor converts the received drive motor control instruction to generate a motor brake contactor control instruction, sending a control command of the motor contracting brake contactor to the motor contracting brake contactor through an IO board card so as to control the motor contracting brake contactor to be closed or opened;
the motor encoder board card is in signal transmission with the motor encoder, acquires the numerical value of the motor encoder and further acquires the running state signal of the driving motor, and sends the acquired running state signal of the driving motor to the frequency converter processor for data processing and then feeds the processed running state signal back to the CPU processor;
the position encoder board card is in signal transmission with a position encoder in the position encoding assembly, acquires a position encoder value and further acquires an operation state signal of the trolley on the roller machine, and sends the acquired operation state signal of the trolley on the roller machine to the frequency converter processor for data processing and then feeds back the processed operation state signal to the CPU processor;
the driving motor assembly comprises a plurality of groups of rolling machines corresponding to all stations respectively, and comprises a driving motor, a motor band-type brake and a motor encoder; the motor internal contracting brake and the motor encoder are integrated on the driving motor, the driving motor is in driving connection with the driving roller of the rolling machine at the corresponding station, when a power supply loop of the motor internal contracting brake is switched on, the motor internal contracting brake is opened, the driving motor rotates, when the power supply loop of the motor internal contracting brake is switched off, the motor internal contracting brake is closed, and the driving motor stops rotating;
the position encoders are respectively corresponding to the rolling machines of all the stations, the position encoders are fixedly arranged at the rolling machines of the corresponding stations, the positions of the position encoders are relatively fixed, the number of encoding rules is respectively fixedly arranged on the trolley in a one-to-one correspondence manner, the encoding rule on the trolley and the encoder at the corresponding station form a group of position encoding components, when the encoding rule in the group of position encoding components and the position encoder at the corresponding station are in the same induction area range, the transmission encoding rule is judged to be effective, and when the encoding rule in the group of position encoding components and the position encoder at the corresponding station are not in the same induction area range, the transmission encoding rule is judged to be ineffective;
the running state signal of the driving motor collected by the motor encoder is matched with the running state signal of the trolley on the rolling machine collected by the position encoding assembly to form a speed ring and a position ring for controlling the running of the driving motor by the frequency converter, so that the closed-loop control of the driving motor is realized.
Further, the driving motor control instruction output by the CPU processor to the inverter processor includes: and the driving motor starts or stops, and drives the set value of the running speed of the corresponding station rolling machine and the set value of the running target position of the corresponding station rolling machine.
Further, the field safety signal received by the safety controller includes: a rolling bed emergency stop signal, a safety door state signal and a light curtain state signal.
Further, the motor safety contactor comprises a motor safety contactor coil and a motor safety contactor contact, wherein the motor safety contactor coil is connected with the safety controller, the motor safety contactor contact is connected in a power supply loop of the driving motor, the safety controller outputs a motor safety contactor control command to control the motor safety contactor coil to be connected and pulled in or opened, and then the motor safety contactor contact is controlled to execute corresponding on-off actions, so that the on-off state of the power supply loop of the driving motor is controlled.
Further, motor band-type brake contactor contains motor band-type brake contactor coil and motor band-type brake contactor contact two parts, wherein, motor band-type brake contactor coil passes through the IO integrated circuit board and links to each other with the converter treater, motor band-type brake contactor contact is connected in motor band-type brake power supply loop, after the drive motor control instruction that the CPU treater sent was received to the converter treater, the converter treater carries out data processing back output motor band-type brake contactor control instruction control motor band-type brake contactor coil actuation or opens with drive motor control instruction, and then control motor band-type brake contactor contact execution corresponding on or off action, thereby realize the on or off state of control motor band-type brake power supply loop.
A control method of an automatic control system of a high-speed conveying device comprises the following specific steps:
s1: the vehicle-out station with the vehicle-in and vehicle-out conditions sends a vehicle-in and vehicle-out allowing signal to the vehicle-in station;
in this step, the forward-exit condition is satisfied at the same time: 1. the departure station meets station transmission action conditions, namely, the departure station has no interference in transmission; 2. a trolley is in place on the unloading station, and all work of the unloading station is finished;
the process of judging that the transmission of the station of the vehicle is not interfered is as follows: the CPU processor is used for acquiring state signals of each device at the station of the vehicle, and the state signals are displayed through the logic operation result of an internal program of the CPU processor: the current area of the departure station where the trolley is located and the area where the trolley runs forwards have no obstacle which can collide and interfere with the trolley;
the process of judging that the trolley is on the position on the trolley-out station is as follows: a position encoder fixed on the vehicle-out station rolling machine reads the value of the encoding ruler on the trolley, the frequency converter unit collects the value of the encoding ruler through a position encoder board card, and after data processing, the value of the encoding ruler is sent to a CPU (central processing unit) through a network communication board card, and the on-site signal of the trolley is obtained through the processing of the CPU;
s2: after the entering station with the condition of entering the vehicle forwards receives the signal of allowing the vehicle to enter and exit from the vehicle forwards, the entering station starts to enter the vehicle for transmission and sends a signal of requesting the vehicle to exit from the vehicle forwards;
in this step, the forward entry condition is satisfied at the same time: 1. the entering station meets station transmission action conditions, namely, the entering station has no interference in transmission; 2. the trolley is not in place on the entering station, or a driving motor of the entering station operates positively and drives the entering station trolley to move forwards;
the process of judging that the transmission of the station entering the vehicle is not interfered is as follows: the method comprises the following steps of collecting status signals of each device of a vehicle entering station through a CPU (Central processing Unit), and displaying a logical operation result of an internal program of the CPU: the current area where the entering station where the trolley is to enter is located and the area where the rear trolley passes in the entering station process are free of obstacles which can collide and interfere with the trolley;
the process of judging that no trolley is in place on the entering station comprises the following steps: the position encoder corresponding to the entering station detects that no readable encoding scale signal exists on the rolling machine corresponding to the entering station, the encoding scale signal is processed by the frequency converter processor and then sent to the CPU, and the CPU obtains a trolley-free in-place signal on the entering station through internal program logic operation;
the process of judging the forward operation of the driving motor of the station for entering the vehicle is as follows: the frequency converter processor acquires the running data of the driving motor through the motor encoder board card, processes the running data of the driving motor and feeds the processed running data back to the CPU processor, and the CPU processor obtains a forward running signal of the driving motor through internal program logic operation;
the specific process of starting the entering transmission at the entering station is as follows: the driving motor corresponding to the entering station rotates in the forward direction to drive the entering station trolley to operate in the forward direction; the forward rotation of a driving motor of a station entering a vehicle is realized by a vehicle entering memory signal before the station entering the vehicle, namely, after a CPU processor carries out vehicle entering logic operation on collected input condition signals, a signal is set as a front vehicle entering memory signal, the front vehicle entering memory signal is kept in a set state all the time before the vehicle entering action is not finished, the CPU processor sends the front vehicle entering memory signal, a speed set value and a target position set value to a frequency converter processor of the station entering the vehicle through a network communication master station module and a network communication board card, the frequency converter processor processes data, outputs a motor band-type brake contactor control signal to control a motor band-type brake contactor corresponding to the station entering the vehicle to suck and sum, further enables the motor band-type brake to be electrified and opened, and controls the driving motor corresponding to the station entering the vehicle to continuously and forwardly run;
s3: after the departure station receives the forward departure request signal, the departure station starts departure transmission;
the departure transmission process comprises the following steps: the driving motor corresponding to the vehicle-out station rotates forward to drive the rolling machine corresponding to the vehicle-out station to operate forward, and further drive the trolley on the vehicle-out station to move forward to gradually leave the vehicle-out station;
the forward rotation control process of the driving motor of the departure station is as follows: after the CPU processor carries out departure logic operation on the acquired input condition signals, setting a signal, namely a departure memory signal, and keeping the departure memory signal in a set state all the time before departure action is not finished, sending the departure memory signal and a speed set value to a frequency converter processor of a departure station by the CPU processor through a network communication master station module and a network communication board card, processing data by the frequency converter processor, outputting a motor band-type brake contactor control signal to control a motor band-type brake contactor corresponding to the departure station to be attracted and switched on so as to switch on the motor band-type brake, and controlling a driving motor corresponding to the departure station to continuously and positively run by the frequency converter processor;
s4: judging the vehicle entering and exiting state through the relative position relationship between the trolley and the vehicle entering station;
the relative position of the trolley and the entering station is realized by matching a coding ruler on the trolley with a coder corresponding to the entering station;
when the trolley starts to be transmitted to the area range of the entering station, the position encoder corresponding to the entering station is matched with the position encoding value read by the encoding ruler on the trolley, the position encoding value is processed by the frequency converter processor and then is sent to the CPU processor, and when the position encoding value received by the CPU processor is larger than the exiting completion target value set by the built-in logic program of the CPU processor, the built-in program logic operation result of the CPU processor is as follows: at the moment, the trolley is completely separated from the trolley-out station, and a front trolley-out completion signal is sent to the trolley-out station;
when the trolley starts to be transmitted to the area range of the entering station, when the code value read by the position encoder corresponding to the entering station and the code scale on the trolley in a matching way is equal to the entering completion target value set by the logic program in the CPU processor, the logic operation result of the program in the CPU processor is as follows: at the moment, the trolley reaches the target position of the trolley entering station, and a front trolley entering completion signal is output;
s5: stopping transmission between the departure station and the entry station or entering the next transmission cycle;
the process that the station stops transmission of leaving the car is: when the vehicle-out station receives a front vehicle-out completion signal, the driving motor corresponding to the vehicle-out station stops rotating, the driving motor of the vehicle-out station stops rotating through resetting a front vehicle-out memory signal of the vehicle-out station, namely when the vehicle-out station receives the vehicle-out completion signal sent by the vehicle-in station, the front vehicle-out memory signal is reset, the CPU processor sends the front vehicle-out memory signal reset signal to the frequency converter processor of the vehicle-out station through the network communication master station module and the network communication board card, the frequency converter processor controls the driving motor corresponding to the vehicle-out station to stop operating after processing data, and outputs a motor band-type brake contactor control signal to control a motor band-type brake contactor corresponding to the vehicle-out station to open so as to lock the motor band-type brake;
the process that the transmission is stopped at the entering station comprises the following steps: when the entering station receives a vehicle entering completion signal, the driving motor corresponding to the entering station stops rotating, the driving motor of the entering station stops rotating by resetting a vehicle entering memory signal before the entering station, namely when the entering station receives the vehicle entering completion signal, the memory signal of the entering vehicle is reset, the CPU processor sends the reset signal of the memory signal of the entering vehicle to the frequency converter processor of the leaving station through the network communication master station module and the network communication board card, the frequency converter processor controls the driving motor corresponding to the entering station to stop operating after processing data, and outputs a motor band-type brake contactor control signal to control a motor band-type brake contactor corresponding to the entering station to open so as to lock the motor band-type brake;
and in the process of entering the next transmission cycle, taking the departure station as a new departure station, taking the previous station adjacent to the departure station as a new departure station, and repeating the steps S1-S4 to realize the next transmission cycle.
In the steps S2 and S3, the speed set value is an operation speed set value of the driving motor for driving the corresponding station rolling machine;
in the step S2, the target position set value is a target set value for driving the trolley of the corresponding station rolling machine to enter the trolley in place by the driving motor.
In the step S3 and the step S2, the running states of various devices in the running track range of the trolley are collected through the CPU processor, and meanwhile, the transmission states of the trolley at the outgoing station and the incoming station are monitored in real time, wherein the transmission states comprise transmission action conditions, a control mode and a driving motor rotation state, so that the trolley is ensured not to collide in the process of incoming transmission.
In the step S3 and the step S2, the control modes of the entering transmission and the exiting transmission are the same, that is, manual control or automatic control is adopted at the same time.
Compared with the prior art, the invention has the beneficial effects that:
the automatic control system and the control method of the high-speed conveying device can be applied to control of rolling machines of all stations of a welding production line, can meet the production requirements of a high-beat welding production line, realize quick and accurate transmission of a white vehicle body between welding stations, realize 6-second transmission between stations when the distance between the stations reaches 6 meters, have high stopping precision and are stable and reliable in equipment operation.
Drawings
FIG. 1 is a block diagram of the structure and signal transmission of an automatic control system of a high-speed conveying device according to the present invention;
FIG. 2 is a flow chart of a control method of an automated control system of a high-speed conveyor according to the present invention;
fig. 3 is a specific operation flowchart of the control method of the automation control system of the high-speed conveying device according to the present invention.
Detailed Description
For clearly and completely describing the technical scheme and the specific working process thereof, the specific implementation mode of the invention is as follows by combining the drawings in the specification:
the invention provides an automatic control system and a control method of a high-speed conveying device, which are applied to the high-speed conveying device in an automatic automobile welding production line. The high-speed conveying device mainly comprises a rolling machine and a trolley, wherein the rolling machine is divided into a plurality of stations, each station corresponds to a group of driving motor components, the rolling machine of the corresponding station is driven to operate through the driving motor components, and the trolley is arranged on the rolling machine in a matched manner and is driven by the corresponding rolling machine to switch between adjacent stations of the rolling machine; the station that the platform truck gos forward and leaves is the station of going out the car, and the station that the platform truck gos forward and gets into is the station of going into the car, if: when the trolley moves forwards from the 020 station to the 030 station, the 020 station is the station for leaving the trolley, and the 030 station is the station for entering the trolley. The invention aims to realize that the motion state of the driving motor assembly corresponding to the rolling machine at the adjacent station is controlled, so that the rolling machine can run orderly and efficiently, and the trolley can be smoothly conveyed from the unloading station to the loading station.
As shown in fig. 1, the automatic control system of the high-speed conveying device according to the present invention includes: PLC switch board, converter switch board, driving motor subassembly and position coding subassembly. Wherein:
the PLC control cabinet is arranged on one side of the rolling machine, and a network communication master station module, a CPU (central processing unit) processor and a safety controller are mainly arranged in the PLC control cabinet;
the frequency converter control cabinet mainly comprises a frequency converter unit, a motor safety contactor and a motor band-type brake contactor; the frequency converter unit comprises a frequency converter processor, a network communication board card, a motor encoder board card, a position encoder board card and an IO board card;
the driving motor assembly comprises a driving motor, a motor band-type brake and a motor encoder;
the position coding assembly comprises a coding ruler and a position encoder.
In the PLC switch board:
the CPU processor is in bidirectional signal transmission with the frequency converter processor through the network communication master station module and the network communication board card in sequence, receives a driving motor running state signal and a trolley running state signal on the rolling machine sent by the frequency converter unit through the network communication master station module, and receives field state signals including running state signals of all devices at a departure station and a departure station through the network communication master station module; the CPU processor stores a data analysis processing program, realizes analysis and processing including common logic operation on received signal data, and outputs driving motor control instruction data including data information such as a driving motor starting or driving motor stopping instruction, a driving motor driving operation speed set value of a corresponding station rolling machine, a driving motor driving operation target position set value of the corresponding station rolling machine and the like to the frequency converter processor through the network communication master station module and the network communication board card;
the network communication master station module is used for connecting a network communication board card of the frequency converter unit, and the network communication board card realizes data information interaction between the CPU processor and the frequency converter processor through software configuration of the CPU processor;
the safety controller receives field safety signals including a rolling machine emergency stop signal, a safety door state signal and a light curtain state signal, a safety logic operation program is stored in the safety controller, the safety controller outputs a motor safety contactor control instruction to the motor safety contactor by performing corresponding logic operation on field safety signal data, and then controls the motor safety contactor to be closed or opened;
among the converter switch board:
the frequency converter processor is in bidirectional signal transmission with the CPU processor through the network communication board card and the network communication master station module in sequence, receives driving motor control instruction data sent by the CPU processor through the network communication board card, and sends driving motor running state signals and running state signals of the trolley on the rolling machine to the CPU processor through the network communication board card;
the frequency converter processor is connected with the motor band-type brake contactor through an IO board card in a control mode, carries out data conversion on the received driving motor control instruction to generate a motor band-type brake contactor control instruction, and sends the motor band-type brake contactor control instruction to the motor band-type brake contactor through the IO board card so as to control the motor band-type brake contactor to be closed or opened;
the motor encoder board card is in signal transmission with the motor encoder, acquires the numerical value of the motor encoder and further acquires the running state signal of the driving motor, and sends the acquired running state signal of the driving motor to the frequency converter processor for data processing and then feeds the processed running state signal back to the CPU processor for further analysis and processing;
the position encoder board card transmits signals with a position encoder in the position encoding assembly, acquires values of the position encoder and further acquires running state signals of the trolley on the roller machine, and sends the acquired running state signals of the trolley on the roller machine to the frequency converter processor for data processing and then feeds the running state signals back to the CPU processor for further analysis and processing;
the motor safety contactor comprises a motor safety contactor coil and a motor safety contactor contact, wherein the motor safety contactor coil is connected with a safety controller, the motor safety contactor contact is connected in a power supply loop of a driving motor, and the safety controller outputs a motor safety contactor control command to control the motor safety contactor coil to be connected, attracted or opened so as to control the motor safety contactor contact to execute corresponding on/off actions, thereby realizing the control of the on/off of the power supply loop of the driving motor;
the motor band-type brake contactor comprises a motor band-type brake contactor coil and a motor band-type brake contactor contact, wherein the motor band-type brake contactor coil is connected with a frequency converter processor through an IO board card, the motor band-type brake contactor contact is connected in a motor band-type brake power supply loop, after the frequency converter processor receives a driving motor control instruction sent by a CPU processor, the frequency converter processor carries out data processing on the driving motor control instruction and outputs the motor band-type brake contactor control instruction to control the motor band-type brake contactor coil to be sucked or opened, and then the motor band-type brake contactor contact is controlled to execute corresponding on/off actions, so that the on/off of the motor band-type brake power supply loop is controlled.
The operation of the driving motor is jointly controlled by the motor safety contactor and the motor band-type brake contactor, and only when the contact of the motor safety contactor and the contact of the motor band-type brake contactor all execute the on-state action, namely when the power supply loop of the driving motor and the power supply loop of the motor band-type brake are simultaneously switched on, the driving motor can operate, otherwise, the driving motor does not execute the operation instruction.
In the drive motor assembly:
the driving motor assembly comprises a plurality of groups of driving motor assemblies, a plurality of groups of driving motor assemblies and a plurality of groups of driving motor assemblies, wherein the groups of driving motor assemblies respectively correspond to all stations on the rolling machine; the motor internal contracting brake and the motor encoder are integrated on the driving motor, and the driving motor is in driving connection with a driving roller of the roller machine at the corresponding station so as to drive the roller machine at the corresponding station to operate; when the safety contactor of the driving motor is switched on, the site state is in a safe state, the main line of the driving motor is switched on, the driving motor is in a safe standby state, when the safety contactor of the driving motor is switched off, the site state is in a dangerous fault state, the main line of the driving motor is switched off, and the driving motor is in a stop waiting state; when the motor contracting brake power supply loop is switched on, the motor contracting brake is opened, the motor can rotate, and when the motor contracting brake power supply loop is switched off, the motor contracting brake is closed, the motor is locked, so that the motor can not rotate;
as mentioned above, the operation of the driving motor is controlled by the motor safety contactor and the motor brake contactor together, and only when the contact of the motor safety contactor and the contact of the motor brake contactor both execute the switch-on action, that is, when the driving motor power supply loop and the motor brake power supply loop are simultaneously switched on, the driving motor can operate, otherwise, the driving motor does not execute the operation instruction.
The running state signals of the driving motor collected by the motor encoder are running turns of the driving motor, and the running turns of the driving motor collected by the motor encoder are matched with the running state signals of the trolley on the rolling machine collected by the position encoding assembly to form a speed ring and a position ring for controlling the driving motor to run by the frequency converter, so that closed-loop control over the driving motor is realized.
In the position-coding assembly:
the position encoders are respectively corresponding to the rolling machines of the stations, the position encoders are respectively fixedly arranged at the rolling machines of the corresponding stations, the positions of the position encoders are relatively fixed, namely the position encoders do not move along with the operation of the rolling machines, the encoding rulers are respectively fixedly arranged on the trolley in a one-to-one correspondence manner, the encoding ruler on one trolley and the encoder at the corresponding station form a group of position encoding components, when the encoding ruler in the group of position encoding components and the position encoder at the corresponding station are in the same induction area range, the transmission encoding ruler is judged to be effective, otherwise, when the encoding ruler in the group of position encoding components and the position encoder at the corresponding station are not in the same induction area range, namely no induction signal exists between the encoding ruler and the position encoder, the transmission encoding ruler is judged to be invalid; the running state signals of the trolley on the rolling machine, which are acquired by the position coding assembly, are trolley running position signals corresponding to all stations on the rolling machine, and the trolley running position signals corresponding to all stations on the rolling machine are matched with the driving motor running turn number signals acquired by the motor encoder to form a speed ring and a position ring for controlling the driving motor to run by the frequency converter, so that the closed-loop control of the driving motor is realized.
According to the composition structure of the automatic control system of the high-speed conveying device, the invention also provides an automatic control method of the high-speed conveying device, as shown in fig. 2, the control method specifically comprises the following steps:
s1: the vehicle-out station with the vehicle-in and vehicle-out conditions sends a vehicle-in and vehicle-out allowing signal to the vehicle-in station;
in this step, the conditions for forward and backward driving are satisfied: 1, the vehicle-out station meets station transmission action conditions, namely, the vehicle-out station has no interference in transmission; 2. a trolley is in place on the unloading station, and all work of the unloading station is finished;
wherein, the process of judging that the transmission of the car station is noninterference is: the CPU processor is used for acquiring state signals of various equipment at the station of the vehicle, and the logic operation result of the internal program of the CPU processor is displayed: the current area of the departure station where the trolley is located and the area where the trolley runs forward are not provided with obstacles which can collide and interfere with the trolley;
the process of judging that the trolley is on the position on the trolley-out station is as follows: the code scale value read by the position encoder is equal to the trolley in-place value set by the internal program of the CPU processor, and the specific process is as follows: a position encoder fixed on the vehicle-out station rolling machine reads the value of the encoding ruler on the trolley, the frequency converter unit collects the value of the encoding ruler through a position encoder board card, the value of the encoding ruler is sent to a CPU (central processing unit) through a network communication board card after data processing is carried out, and the on-site signal of the trolley is obtained through program logic processing in the CPU;
in the step, the departure station sends a departure permission signal to the entry station to indicate that the current departure station meets departure conditions and allow the trolley to go forward and leave;
s2: after the entering station with the condition of entering the vehicle forwards receives the signal of allowing the vehicle to enter and exit from the vehicle forwards, the entering station starts to enter the vehicle for transmission and sends a signal of requesting the vehicle to exit from the vehicle forwards;
in this step, the forward entry condition is satisfied at the same time: 1. the entering station meets station transmission action conditions, namely, the entering station has no interference in transmission; 2. the trolley is not in place on the entering station, or a driving motor of the entering station operates positively and drives the entering station trolley to move forwards; that is to say, there are two states in the entering station to satisfy one of them, one is that there is not a trolley on the entering station, the other is that there is a trolley on the entering station, but because the trolley on the entering station is moving forward under the drive of the corresponding rolling machine, when the trolley moves from the leaving station to the entering station, the trolley on the entering station is or has left the entering station, and will not collide with the trolley about to enter the entering station.
Wherein, judge the process that the station transmission of entering the car is noninterference and do: the CPU processor is used for acquiring state signals of various devices in the working position, and the state signals are displayed through the logic operation result of an internal program of the CPU processor: the current area where the entering station where the trolley is to enter is located and the area where the rear trolley passes in the entering station process are free of obstacles which can collide and interfere with the trolley;
the process of judging that no trolley is in place on the entering station comprises the following steps: the position encoder corresponding to the entering station detects that no readable encoding scale signal exists on the rolling machine corresponding to the entering station, the encoding scale signal is processed by the frequency converter processor and then sent to the CPU, and the CPU obtains a trolley-free in-place signal on the entering station through internal program logic operation;
the process of judging the forward operation of the driving motor of the station for entering the vehicle is as follows: the frequency converter processor acquires the running data of the driving motor through the motor encoder board card, processes the running data of the driving motor and feeds the processed running data back to the CPU processor, and the CPU processor obtains a forward running signal of the driving motor through internal program logic operation;
in this step, the specific process of starting the entering transmission at the entering station is as follows: the driving motor corresponding to the entering station rotates in the positive direction to drive the entering station trolley to operate in the positive direction; the forward rotation of the driving motor of the station entering the vehicle is realized by a vehicle memory signal before the station entering the vehicle, namely, after the CPU processor performs vehicle entering logic operation on the collected input condition signals, a signal is set to be 1, which is called a front vehicle entering memory signal, the front vehicle entering memory signal is kept in a set state until the vehicle entering action is not finished, the CPU processor sends the front vehicle entering memory signal, data such as a speed set value, a target position set value and the like to a frequency converter processor of the station entering the vehicle through a network communication master station module and a network communication board card, the frequency converter processor processes the data, outputs a motor band-type brake contactor control signal to control a motor band-type brake contactor corresponding to the station entering the vehicle to be attracted and closed, so that the motor band-type brake is switched on, and the frequency converter processor controls the driving motor corresponding to the station entering the vehicle to continuously and forwardly operate.
The speed set value is an operation speed set value of the driving motor for driving the corresponding station rolling machine;
the target position set value is a target set value for driving a trolley of the corresponding station rolling machine to enter the trolley in place by a driving motor;
in the step, the entering station sends a front exiting request signal to the exiting station to indicate that the current entering station accords with the entering condition and requests the trolley to enter;
s3: after the departure station receives the departure request signal, the departure station starts departure transmission;
in this step, the departure transmission means: the driving motor corresponding to the vehicle-out station rotates forward to drive the rolling machine corresponding to the vehicle-out station to operate forward, and further drive the trolley on the vehicle-out station to move forward to gradually leave the vehicle-out station; the forward rotation of the driving motor of the departure station is realized through a departure memory signal before the departure station, namely after the CPU processor performs departure logic operation on the acquired input condition signal, setting a signal to be 1, which is called a departure memory signal, and keeping the departure memory signal in a set state all the time before departure action is not completed;
the speed set value is an operation speed set value of the driving motor for driving the corresponding station rolling machine;
in the step S3 and the step S2, the running states of various devices in the running track range of the trolley are collected through the CPU processor, and meanwhile, the transmission states of the trolley at the outgoing station and the incoming station are monitored in real time, wherein the transmission states comprise transmission action conditions, a control mode and a driving motor rotation state, so that the trolley is ensured not to collide in the process of incoming transmission;
in the step S3 and the step S2, the control modes of the vehicle entering transmission and the vehicle exiting transmission are the same, namely, manual control or automatic control is adopted at the same time;
s4: judging the vehicle entering and exiting state through the relative position relationship between the trolley and the vehicle entering station;
in the step, the relative position of the trolley and the entering station is realized by matching a coding ruler on the trolley with a coder corresponding to the entering station; when the trolley starts to be transmitted to the area range of the entering station, the position encoder corresponding to the entering station is matched with the position encoding value read by the encoding ruler on the trolley, the position encoding value is processed by the frequency converter processor and then is sent to the CPU processor, and when the position encoding value received by the CPU processor is larger than the exiting completion target value set by the built-in logic program of the CPU processor, the built-in program logic operation result of the CPU processor is as follows: at the moment, the trolley is completely separated from the trolley-out station, and a front trolley-out completion signal is sent to the trolley-out station; when the trolley starts to be transmitted to the area range of the entering station, when the code value read by the position encoder corresponding to the entering station and the code scale on the trolley in a matching way is equal to the entering completion target value set by the logic program in the CPU processor, the logic operation result of the program in the CPU processor is as follows: at the moment, the trolley reaches the target position of the entering station, and a front entering completion signal is output;
s5: stopping transmission between the departure station and the entry station or entering the next transmission cycle;
in this step, the process that the station stops transmitting of getting out of the car is: when the vehicle-out station receives a front vehicle-out completion signal, the driving motor corresponding to the vehicle-out station stops rotating, the driving motor of the vehicle-out station stops rotating through resetting a front vehicle-out memory signal of the vehicle-out station, namely the driving motor of the vehicle-out station corresponds to the front vehicle-out memory signal of the vehicle-out station, when the vehicle-out station receives the vehicle-out completion signal sent by the vehicle-in station, the front vehicle-out memory signal is reset to 0, the CPU processor sends related data such as front vehicle-out memory signal reset information and the like to the frequency converter processor of the vehicle-out station through the network communication main station module and the network communication board card, after the frequency converter processor processes the data, the frequency converter processor controls the driving motor corresponding to the vehicle-out station to stop operating, and outputs a motor band-type brake contactor control signal to control the opening of the motor band-type brake corresponding to the vehicle-out station, so that the motor band-type brake is locked;
the process that the transmission is stopped at the entering station comprises the following steps: when the entering station receives a vehicle entering completion signal before receiving the vehicle entering completion signal, the driving motor corresponding to the entering station stops rotating, the driving motor of the entering station stops rotating through resetting a vehicle entering memory signal before the entering station, namely the driving motor of the entering station corresponds to the vehicle entering memory signal before the entering station, when the entering station receives the vehicle entering completion signal, the vehicle entering memory signal is reset to 0, the CPU processor sends related data such as the vehicle entering memory signal reset information and the like to the frequency converter processor of the vehicle leaving station through the network communication master station module and the network communication board card, after the frequency converter processor processes the data, the frequency converter processor controls the driving motor corresponding to the entering station to stop operating, and outputs a motor band-type brake contactor control signal to control the motor band-type brake contactor corresponding to the entering station to open, so that the motor band-type brake is locked;
in the step, the next transmission cycle process is started, the departure station is used as a new departure station, the previous station adjacent to the departure station is used as a new departure station, and the steps S1 to S4 are repeated to realize the next transmission cycle;
to further explain the specific working process of the present invention, as shown in fig. 3, the process of the trolley leaving from the 020 station and entering into the 030 station by using the 020 station as the departure station and the 030 station as the entering station is briefly described as follows:
s1:020 stations simultaneously satisfy: 1. 020 working position meets the condition of transmission action; 2. a trolley is in place at a position 020, and the work of the position 020 is finished; at the moment, the 020 station meets the vehicle-out condition, and the 020 station sends a vehicle-out-before-going permission signal to the 030 station;
s2: the 030 stations simultaneously satisfy: 1. 030 stations meet the transmission action condition; 2. no trolley is in place on the 030 station, or the 030 station is in forward (forward) operation; at the moment, the 030 station meets the condition of entering the vehicle, the memory signal of the forward vehicle exit of the 030 station is set to be 1, the 030 station starts the transmission of entering the vehicle, and the 030 station sends a request signal of forward vehicle exit to the 020 station;
s3: after the 020 station receives the front-out vehicle request signal, setting the memory signal of the front-out vehicle at the 020 station to be 1, and starting the out-of-vehicle transmission at the out-of-vehicle station; meanwhile, the action conditions of the roller machine corresponding to the 030 station and the 020 station are detected in real time, so that the transmission process of the trolley is free from interference, and the control modes of the 030 station and the 020 station are the same;
s4: monitoring a coded value of a coding ruler on the trolley read by a coder corresponding to a 030 station, when the read coded value is larger than a set value arranged in a CPU (central processing unit), the 030 station sends a front-out trolley completion signal to a 020 station, and when the read coded value is equal to the set value arranged in the CPU, the front-in trolley completion signal is output to the 030 station;
s5: when the 020 station receives a front vehicle-out completion signal, the front vehicle-out memory signal of the 020 station is reset to 0, the driving motor corresponding to the 020 station stops rotating, when the 030 station receives a front vehicle-in completion signal, the front vehicle-out memory signal of the 030 station is reset to 0, and the driving motor corresponding to the 030 station stops rotating;
or:
when the 020 station has no trolley or the driving motor corresponding to the 020 station rotates in the forward direction, the 020 station serves as a new forward entering station, the 010 station adjacent to the 020 station serves as a new outgoing station, and the steps S1-S4 are repeated to enter the next transmission cycle.
Claims (8)
1. A control method of an automatic control system of a high-speed conveying device is disclosed, wherein the control system consists of a PLC control cabinet, a frequency converter control cabinet, a driving motor assembly and a position coding assembly;
the PLC control cabinet consists of a network communication master station module, a CPU processor and a safety controller;
the frequency converter control cabinet consists of a frequency converter unit, a motor safety contactor and a motor internal contracting brake contactor, wherein the frequency converter unit comprises a frequency converter processor, a network communication board card, a motor encoder board card, a position encoder board card and an IO board card;
the driving motor assembly consists of a driving motor, a motor band-type brake and a motor encoder;
the position coding assembly consists of a coding ruler and a position coder;
the CPU processor is in bidirectional signal transmission with the frequency converter processor through the network communication master station module and the network communication board card, receives a driving motor running state signal and a trolley running state signal on the rolling machine transmitted by the frequency converter unit through the network communication master station module, and receives a field state signal including running state signals of each device at an outgoing station and an incoming station through the network communication master station module;
the CPU processor analyzes and processes the received signal data including common logic operation, and outputs a driving motor control instruction to the frequency converter processor through the network communication master station module and the network communication board card in sequence;
the network communication master station module is used for connecting a network communication board card of the frequency converter unit, and the network communication board card is used for realizing data information interaction between the CPU processor and the frequency converter processor;
the safety controller receives the field safety signal, outputs a motor safety contactor control instruction to the motor safety contactor by performing corresponding logic operation on field safety signal data, and further controls the motor safety contactor to be closed or opened;
the frequency converter processor is in control connection with the motor band-type brake contactor through an IO board card, and the frequency converter processor performs data conversion on the received driving motor control instruction to generate a motor band-type brake contactor control instruction, and sends the motor band-type brake contactor control instruction to the motor band-type brake contactor through the IO board card to further control the motor band-type brake contactor to be closed or opened;
the motor encoder board card is in signal transmission with the motor encoder, acquires the numerical value of the motor encoder and further acquires the running state signal of the driving motor, and sends the acquired running state signal of the driving motor to the frequency converter processor for data processing and then feeds the processed running state signal back to the CPU processor;
the position encoder board card is in signal transmission with a position encoder in the position encoding assembly, acquires a position encoder value and further acquires an operation state signal of the trolley on the roller machine, and sends the acquired operation state signal of the trolley on the roller machine to the frequency converter processor for data processing and then feeds back the processed operation state signal to the CPU processor;
the driving motor assembly comprises a plurality of groups of rolling machines corresponding to all stations respectively, and comprises a driving motor, a motor band-type brake and a motor encoder; the motor internal contracting brake and the motor encoder are integrated on the driving motor, the driving motor is in driving connection with the driving roller of the rolling machine at the corresponding station, when a power supply loop of the motor internal contracting brake is switched on, the motor internal contracting brake is opened, the driving motor rotates, when the power supply loop of the motor internal contracting brake is switched off, the motor internal contracting brake is closed, and the driving motor stops rotating;
the position encoder is fixedly arranged at the rolling machine position of the corresponding station, the positions of the position encoders are relatively fixed, the encoding rulers are fixedly arranged on the trolley in a one-to-one correspondence manner, the encoding ruler on one trolley and the position encoder at the corresponding station form a group of position encoding components, when the encoding ruler in a group of position encoding components and the position encoder at the corresponding station are in the same induction area range, the encoding ruler is judged to be effective, and when the encoding ruler in a group of position encoding components and the position encoder at the corresponding station are not in the same induction area range, the encoding ruler is judged to be ineffective;
the running state signal of the driving motor collected by the motor encoder is matched with the running state signal of the trolley on the rolling machine collected by the position coding assembly to form a speed ring and a position ring for controlling the running of the driving motor by the frequency converter, so that the closed-loop control of the driving motor is realized;
the method is characterized in that:
the control method specifically comprises the following steps:
s1: the vehicle-out station with the vehicle-in and vehicle-out conditions sends a vehicle-in and vehicle-out allowing signal to the vehicle-in station;
in this step, the forward-exit condition is satisfied at the same time: 1. the departure station meets station transmission action conditions, namely, the departure station has no interference in transmission; 2. a trolley is in place on the unloading station, and all work of the unloading station is finished;
the process of judging that the transmission of the vehicle-out station is not interfered is as follows: the CPU processor is used for acquiring state signals of each device at the station of the vehicle, and the state signals are displayed through the logic operation result of an internal program of the CPU processor: the current area of the departure station where the trolley is located and the area where the trolley runs forward are not provided with obstacles which can collide and interfere with the trolley;
the process of judging that the trolley is on the position on the trolley-out station is as follows: a position encoder fixed on a vehicle-outgoing station rolling machine reads a code scale value on a trolley, a frequency converter unit collects the code scale value through a position encoder board card, the code scale value is sent to a CPU (central processing unit) through a network communication board card after data processing is carried out, and the trolley on-site signal is obtained through the processing of the CPU;
s2: after the entering station with the condition of entering the vehicle forwards receives the signal of allowing the vehicle to leave the vehicle forwards, the entering station starts entering the vehicle for transmission and sends a signal of requesting the vehicle to leave the vehicle forwards to the leaving station;
in this step, the forward entry condition is satisfied at the same time: 1. the entering station meets station transmission action conditions, namely, the entering station has no interference in transmission; 2. the trolley is not in place on the entering station, or a driving motor of the entering station operates positively and drives the entering station trolley to move forwards;
the process of judging that the transmission of the station of entering the vehicle has no interference is as follows: the method comprises the following steps of collecting status signals of each device of a vehicle entering station through a CPU (Central processing Unit), and displaying a logical operation result of an internal program of the CPU: the current area where the entering station where the trolley is to enter is located and the area where the rear trolley passes in the entering station process are free of obstacles which can collide and interfere with the trolley;
the process of judging that no trolley is in place on the entering station comprises the following steps: the position encoder corresponding to the entering station detects that no readable encoding scale signal exists on the rolling machine corresponding to the entering station, the signal is processed by the frequency converter processor and then is sent to the CPU, and the CPU obtains a trolley-free in-place signal on the entering station through internal program logic operation;
the process of judging the forward running of the driving motor of the station for entering the vehicle is as follows: the frequency converter processor acquires the running data of the driving motor through the motor encoder board card, processes the running data of the driving motor and feeds the processed running data back to the CPU processor, and the CPU processor obtains a forward running signal of the driving motor through internal program logic operation;
the specific process of starting the entering transmission at the entering station comprises the following steps: the driving motor corresponding to the entering station rotates in the positive direction to drive the entering station trolley to operate in the positive direction; the forward rotation of a driving motor of a station entering a vehicle is realized by a vehicle entering memory signal before the station entering the vehicle, namely, after a CPU processor performs vehicle entering logic operation on an acquired input condition signal, a signal is set, namely, a front vehicle entering memory signal is called, the front vehicle entering memory signal is kept in a set state all the time before the vehicle entering action is not finished, the CPU processor sends the front vehicle entering memory signal, a speed set value and a target position set value to a frequency converter processor of the station entering the vehicle through a network communication master station module and a network communication board card, the frequency converter processor processes data, outputs a motor band-type brake contactor control signal to control a motor band-type brake contactor corresponding to the station entering the vehicle to suck and sum, further electrify and open the motor band-type brake, and controls the driving motor corresponding to the station entering the vehicle to continuously and forwardly operate;
s3: after the departure station receives the departure request signal, the departure station starts departure transmission;
the departure transmission process comprises the following steps: the driving motor corresponding to the unloading station rotates forward to drive the rolling machine corresponding to the unloading station to operate forward, and then the trolley on the unloading station is driven to move forward to gradually leave the unloading station;
the forward rotation control process of the driving motor of the departure station is as follows: after the CPU processor carries out departure logic operation on the acquired input condition signals, setting a signal, namely a departure memory signal, and keeping the departure memory signal in a set state all the time before departure action is not finished, sending the departure memory signal and a speed set value to a frequency converter processor of a departure station by the CPU processor through a network communication master station module and a network communication board card, processing data by the frequency converter processor, outputting a motor band-type brake contactor control signal to control a motor band-type brake contactor corresponding to the departure station to be attracted and switched on so as to switch on the motor band-type brake, and controlling a driving motor corresponding to the departure station to continuously and positively run by the frequency converter processor;
s4: judging the vehicle entering and exiting state through the relative position relationship between the trolley and the vehicle entering station;
the relative position of the trolley and the entering station is realized by matching a coding ruler on the trolley with a coder corresponding to the entering station;
when the trolley starts to be transmitted to the area range of the entering station, the position encoder corresponding to the entering station is matched with the position encoding value read by the encoding ruler on the trolley, the position encoding value is processed by the frequency converter processor and then is sent to the CPU processor, and when the position encoding value received by the CPU processor is larger than the exiting completion target value set by the built-in logic program of the CPU processor, the built-in program logic operation result of the CPU processor is as follows: at the moment, the trolley is completely separated from the trolley-out station, and a front trolley-out completion signal is sent to the trolley-out station;
when the trolley starts to be transmitted to the area range of the entering station, when the code value read by the position encoder corresponding to the entering station and the code scale on the trolley in a matching way is equal to the entering completion target value set by the logic program in the CPU processor, the logic operation result of the program in the CPU processor is as follows: at the moment, the trolley reaches the target position of the trolley entering station, and a front trolley entering completion signal is output;
s5: stopping transmission between the departure station and the entry station or entering the next transmission cycle;
the process that the station stops transmission of leaving the car is: when the vehicle-out station receives a front vehicle-out completion signal, the driving motor corresponding to the vehicle-out station stops rotating, the driving motor of the vehicle-out station stops rotating through resetting a front vehicle-out memory signal of the vehicle-out station, namely when the vehicle-out station receives the vehicle-out completion signal sent by the vehicle-in station, the front vehicle-out memory signal is reset, the CPU processor sends the front vehicle-out memory signal reset signal to the frequency converter processor of the vehicle-out station through the network communication master station module and the network communication board card, the frequency converter processor controls the driving motor corresponding to the vehicle-out station to stop operating after processing data, and outputs a motor band-type brake contactor control signal to control a motor band-type brake contactor corresponding to the vehicle-out station to open so as to lock the motor band-type brake;
the process of stopping transmission in the entering station comprises the following steps: when the entering station receives a vehicle entering completion signal, the driving motor corresponding to the entering station stops rotating, the driving motor of the entering station stops rotating by resetting a vehicle entering memory signal before the entering station, namely when the entering station receives the vehicle entering completion signal, the memory signal of the entering vehicle is reset, the CPU processor sends the memory signal reset signal of the entering vehicle to the frequency converter processor of the entering station through the network communication master station module and the network communication board card, the frequency converter processor controls the driving motor corresponding to the entering station to stop operating after processing data, and outputs a motor band-type brake contactor control signal to control a motor band-type brake contactor corresponding to the entering station to open so as to lock the motor band-type brake;
and in the process of entering the next transmission cycle, taking the departure station as a new departure station, taking the previous station adjacent to the departure station as a new departure station, and repeating the steps S1-S4 to realize the next transmission cycle.
2. The control method of an automated control system of a high-speed conveyance apparatus according to claim 1, characterized in that:
in the steps S2 and S3, the speed set value is an operation speed set value of the driving motor for driving the corresponding station rolling machine;
in the step S2, the target position set value is a target set value for driving the trolley of the corresponding station rolling machine to enter the trolley in place by the driving motor.
3. The control method of an automated control system of a high-speed conveyance apparatus according to claim 1, characterized in that:
in the step S3 and the step S2, the running states of various devices in the running track range of the trolley are collected through the CPU processor, and meanwhile, the transmission states of the trolley at the outgoing station and the incoming station are monitored in real time, wherein the transmission states comprise transmission action conditions, a control mode and a driving motor rotation state, so that the trolley is ensured not to collide in the process of incoming transmission.
4. The control method of an automated control system of a high-speed conveyance apparatus according to claim 1, characterized in that:
in the step S3 and the step S2, the control modes of the entering transmission and the exiting transmission are the same, that is, manual control or automatic control is adopted at the same time.
5. The control method of an automated control system of a high-speed conveyance apparatus according to claim 1, characterized in that:
in the automatic control system, the driving motor control command output from the CPU processor to the frequency converter processor includes: and the driving motor starts or stops, and drives the set value of the running speed of the corresponding station rolling machine and the set value of the running target position of the corresponding station rolling machine.
6. The control method of an automated control system of a high-speed conveyance apparatus according to claim 1, characterized in that:
in the automation control system, the field safety signal received by the safety controller includes: a rolling machine emergency stop signal, a safety door state signal and a light curtain state signal.
7. The control method of an automated control system of a high-speed conveyance apparatus according to claim 1, characterized in that:
in the automatic control system, the motor safety contactor comprises a motor safety contactor coil and a motor safety contactor contact, wherein the motor safety contactor coil is connected with a safety controller, the motor safety contactor contact is connected in a power supply loop of a driving motor, the safety controller outputs a motor safety contactor control command to control the motor safety contactor coil to be attracted or opened, and then controls the motor safety contactor contact to execute corresponding on-off actions, so that the on-off state of the power supply loop of the driving motor is controlled.
8. The control method of an automated control system for a high-speed conveyance apparatus according to claim 1, wherein:
among the automated control system, motor band-type brake contactor contains motor band-type brake contactor coil and motor band-type brake contactor contact two parts, wherein, motor band-type brake contactor coil passes through the IO integrated circuit board and links to each other with the converter treater, motor band-type brake contactor contact is connected in motor band-type brake power supply loop, after the drive motor control instruction that the CPU treater sent is received to the converter treater, the converter treater carries out the actuation or the opening of output motor band-type brake contactor control instruction control motor band-type brake contactor coil after the data processing with drive motor control instruction, and then control motor band-type brake contactor contact carries out corresponding on-off action, thereby realize the on-off state of control motor band-type brake power supply loop.
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| CN115533921A (en) * | 2022-11-28 | 2022-12-30 | 北京汇研中科科技发展有限公司 | Synchronous operation control system and method based on power plant energy-saving and efficiency-increasing robot |
| CN117872776B (en) * | 2024-03-11 | 2024-06-21 | 中国航空工业集团公司沈阳空气动力研究所 | Wind tunnel operation trolley intelligent control system based on backstepping design and method thereof |
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| CN204847318U (en) * | 2015-07-29 | 2015-12-09 | 广州明珞汽车装备有限公司 | High -speed platform truck is carried and is rolled bed |
| CN206013724U (en) * | 2016-06-28 | 2017-03-15 | 中国第一汽车股份有限公司 | High speed self-loopa lifting trolley |
| CN106020127B (en) * | 2016-07-29 | 2018-10-19 | 中国第一汽车股份有限公司 | A kind of High-speed roller machine control system and its control method for conveying carrier |
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