CN110789991A - Control method for clamping bricks by using stacker crane - Google Patents
Control method for clamping bricks by using stacker crane Download PDFInfo
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- CN110789991A CN110789991A CN201911005000.XA CN201911005000A CN110789991A CN 110789991 A CN110789991 A CN 110789991A CN 201911005000 A CN201911005000 A CN 201911005000A CN 110789991 A CN110789991 A CN 110789991A
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- servo
- electric cylinder
- servo driver
- control method
- servo electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
Abstract
The invention discloses a control method for clamping bricks by using a stacker crane, wherein the stacker crane comprises a main PLC (programmable logic controller), a servo driver, a servo electric cylinder and a clamping jaw, and the control method comprises the following steps that S1, the main PLC sends a starting instruction to the servo driver, and the servo driver controls the servo electric cylinder to move to an initial position; s2, the main PLC sends forward parameters to the servo driver, and the servo driver controls the servo electric cylinder to move to a parameter setting position; and S3, switching the servo driver to a torque control mode and controlling the torque value output by the servo electric cylinder to the outside to reach a set torque value so as to clamp the workpiece. Adopt servo drive control, control accuracy is higher, realizes the control to clamping jaw pressure through the torque value of the external output of direct control servo electric cylinder, can adapt to the pile up neatly of the brick of equidimension not, improves work efficiency.
Description
Technical Field
The invention relates to the field of stacker crane control, in particular to a control method for clamping bricks by using a stacker crane.
Background
When bricks are manufactured, the bricks need to be stacked neatly by using a stacker crane, the clamping jaw of the existing stacker crane is controlled by adopting a hydraulic oil cylinder and a proximity switch, the clamping and releasing positions of the hydraulic oil cylinder are determined by the mounting position of the proximity switch, and the brick clamping pressure of the stacking clamping jaw is determined by the pressure of a hydraulic station and is fixed and unchangeable. When bricks made by different molds are stacked, the position of the proximity switch needs to be adjusted on a machine table manually so as to adapt to the sizes of the brick stacks of different molds. Because the clamping pressure of the clamping jaws for clamping bricks cannot be adjusted, for some bricks, the bricks can be damaged due to the fact that the clamping pressure is too high, and the bricks can not be clamped due to the fact that the clamping pressure is too low.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a control method for clamping bricks by using a stacker crane, which can adjust the pressure of clamping the bricks by using the clamping jaws and stack bricks with different sizes.
S1, the main PLC controller sends a start instruction to the servo driver, and the servo driver controls the servo electric cylinder to move to an initial position; s2, the main PLC sends forward parameters to the servo driver, and the servo driver controls the servo electric cylinder to move to a parameter setting position; and S3, switching the servo driver to a torque control mode and controlling the torque value output by the servo electric cylinder to the outside to reach a set torque value so as to clamp the workpiece.
According to the control method for clamping bricks by using the stacker crane, the control method has the following beneficial effects that: adopt servo drive control, control accuracy is higher, realizes the control to clamping jaw pressure through the torque value of the external output of direct control servo electric cylinder, can adapt to the pile up neatly of the brick of equidimension not, improves work efficiency.
According to some embodiments of the present invention, the method for controlling the torque value output to the outside by the servo electric cylinder to reach the set torque value in step S3 is: the servo driver detects the output current of the servo driver to the servo electric cylinder, the output current is negatively fed back to the setting of the current for PID adjustment, the output current is equal to the setting current, and therefore the torque value output by the servo electric cylinder to the outside reaches the set torque value. The output current is regulated through negative feedback to control the torque value output by the servo electric cylinder, and the effect of accurately controlling the torque value is achieved.
According to some embodiments of the invention, the method for the servo driver to detect the output current of the servo cylinder in step S3 is: and a Hall device is arranged on the servo electric cylinder, and the output current is detected through the Hall device.
According to some embodiments of the invention, the step S1 includes: the main PLC controller sends a starting instruction to the servo driver, the servo driver judges whether the servo electric cylinder is located at an initial position, and if the servo electric cylinder is not located at the initial position, the servo driver controls the servo electric cylinder to return to the initial position.
According to some embodiments of the invention, the step S2 includes the master PLC controller sending an advance parameter to the servo driver, the servo driver determining whether the servo cylinder reaches a parameter setting position, and if the servo cylinder does not reach the parameter setting position, the servo driver controlling the servo cylinder to advance to the parameter setting position.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a control method according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a step S3 of the control method according to the embodiment of the invention;
FIG. 3 is a flowchart illustrating a step S1 of the control method according to the embodiment of the invention;
fig. 4 is a flowchart of step S2 in the control method according to the embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1 to 4, a control method for clamping bricks by using a stacker crane, wherein the stacker crane comprises a main PLC controller, a servo driver, a servo electric cylinder and a clamping jaw, the main PLC controller and the servo driver are connected through a communication protocol, the servo driver drives the servo electric cylinder to act, the clamping jaw is arranged on an output shaft of the servo electric cylinder, and the control method comprises the following steps that S1, the main PLC controller sends a start instruction to the servo driver, and the servo driver controls the servo electric cylinder to move to an initial position; s2, the main PLC sends forward parameters to the servo driver, and the servo driver controls the servo electric cylinder to move to a parameter setting position; and S3, switching the servo driver to a torque control mode and controlling the torque value output by the servo electric cylinder to the outside to reach a set torque value so as to clamp the workpiece.
According to some embodiments of the present invention, the method for controlling the torque value output to the outside by the servo electric cylinder to reach the set torque value in step S3 is: the servo driver detects the output current of the servo driver to the servo electric cylinder, the output current is negatively fed back to the setting of the current for PID adjustment, the output current is equal to the setting current, and therefore the torque value output by the servo electric cylinder to the outside reaches the set torque value.
According to some embodiments of the invention, the method for the servo driver to detect the output current of the servo cylinder in step S3 is: and a Hall device is arranged on the servo electric cylinder, and the output current is detected through the Hall device.
According to some embodiments of the invention, the step S1 includes: the main PLC controller sends a starting instruction to the servo driver, the servo driver judges whether the servo electric cylinder is located at an initial position, and if the servo electric cylinder is not located at the initial position, the servo driver controls the servo electric cylinder to return to the initial position.
Further, the step S2 includes the main PLC controller sending a forward parameter to the servo driver, the servo driver determining whether the servo cylinder reaches a parameter setting position, and if the servo cylinder does not reach the parameter setting position, the servo driver controlling the servo cylinder to move forward to the parameter setting position.
Further, in step S3, the method for controlling the torque value output from the servo cylinder to the outside to reach the set torque value includes: the servo driver detects the output current of the servo driver to the servo electric cylinder, the output current is negatively fed back to the setting of the current for PID adjustment, the output current is equal to the setting current, and therefore the torque value output by the servo electric cylinder to the outside reaches the set torque value. The method for detecting the output current of the servo electric cylinder by the servo driver comprises the following steps: and a Hall device is arranged on the servo electric cylinder, and the output current is detected through the Hall device.
Further, the main PLC controller sends a starting instruction to the servo driver, the servo driver judges whether the servo electric cylinder is located at an initial position, and if the servo electric cylinder is not located at the initial position, the servo driver controls the servo electric cylinder to return to the initial position.
Further, the step S2 includes the main PLC controller sending a forward parameter to the servo driver, the servo driver determining whether the servo cylinder reaches a parameter setting position, and if the servo cylinder does not reach the parameter setting position, the servo driver controlling the servo cylinder to move forward to the parameter setting position.
The main PLC controller is a Siemens CPU 1511F-1PN, the model of a servo driver is SEW MDX61B + DFE32B V1.2, and the model of a servo electric cylinder is SEW CMSB71L/BP/KY/RH1M/SB 1. The servo electric cylinder is a modularized product which integrally designs a servo motor and a lead screw, and the speed of the servo electric cylinder is 0.1-2 m/s. Because closed-loop servo control is adopted, the control precision is higher. The servo electric cylinder can work for a long time without failure in a severe environment, and the protection grade can reach IP 66. And realize high strength, high accuracy location, the motion is steady, the low noise. The servo electric cylinder exchanges position data with a servo driver of the SEW through a built-in absolute value encoder of the servo electric cylinder, so that the servo driver can calculate the proportion, the integral and the differential of the deviation value of the system through an IPOS position closed-loop algorithm program in the servo electric cylinder to obtain a control quantity, and the controlled object is adjusted according to the control quantity. Therefore, the aims of eliminating static deviation and improving precision are fulfilled. The speed loop and the current loop are included in the speed loop control, in other words, the current loop is necessary to be used in any mode, the current loop is the root of the control, and the system actually controls the current to achieve the corresponding control of the speed and the position at the same time of the speed and the position control. The position loop can be constructed between the drive and the motor encoder or between the external controller and the motor encoder or the final load, depending on the actual situation. Since the internal output of the position control loop is the setting of the speed loop, the system performs the calculation of all 3 loops in the position control mode, and the system calculation amount is the largest and the dynamic response speed is the slowest at the moment. When the servo electric cylinder automatically runs to a set position, the system automatically switches an IPOS position positioning mode to a torque control mode, and the servo electric cylinder sets the magnitude of torque output externally by the servo electric cylinder according to a torque control word value sent by the main PLC. If the load of the electric cylinder is lower than the set torque value, the servo electric cylinder continues to advance at a set speed until the load of the servo electric cylinder reaches the set torque value, the electric cylinder stops advancing, and the situation shows that the clamping jaws of the stacker crane are clamped in place to achieve the purpose of clamping the clamping jaws. The current loop of the servo driver is adopted at the stage, the current loop is carried out in the servo driver, the output current of the driver to each phase of the motor is detected through the Hall device, negative feedback is carried out on the setting of the current to carry out PID adjustment, and therefore the output current is as close as possible to be equal to the set current, and the current loop is used for controlling the torque of the motor, so that the operation of the driver is minimum in a torque mode, and the dynamic response is fastest. The invention adopts servo drive control, has higher control precision, realizes the control of the pressure of the clamping jaw by directly controlling the torque value output by the servo electric cylinder, can adapt to the stacking of bricks with different sizes and improves the working efficiency.
Claims (5)
1. A control method for clamping bricks by using a stacker crane is characterized by comprising the following steps: the stacker crane comprises a main PLC (programmable logic controller), a servo driver, a servo electric cylinder and a clamping jaw, wherein the main PLC is connected with the servo driver through a communication protocol, the servo driver drives the servo electric cylinder to act, the clamping jaw is arranged on an output shaft of the servo electric cylinder, and the control method comprises the following steps:
s1, the main PLC sends a starting instruction to the servo driver, and the servo driver controls the servo cylinder to move to an initial position;
s2, the main PLC sends forward parameters to the servo driver, and the servo driver controls the servo electric cylinder to move to a parameter setting position;
and S3, switching the servo driver to a torque control mode and controlling the torque value output by the servo electric cylinder to the outside to reach a set torque value so as to clamp the workpiece.
2. The control method for clamping bricks by using the stacker crane according to claim 1, wherein the control method comprises the following steps: in step S3, the method for controlling the torque value output by the servo electric cylinder to the outside to reach the set torque value includes: the servo driver detects the output current of the servo driver to the servo electric cylinder, the output current is negatively fed back to the setting of the current for PID adjustment, the output current is equal to the setting current, and therefore the torque value output by the servo electric cylinder to the outside reaches the set torque value.
3. The control method for clamping bricks by using the stacker crane according to claim 2, wherein the control method comprises the following steps: the method for the servo driver to detect the output current in step S3 is as follows: and a Hall device is arranged on the servo electric cylinder, and the output current is detected through the Hall device.
4. The control method for clamping bricks by using the stacker crane according to claim 1, wherein the control method comprises the following steps: the step S1 includes: the main PLC controller sends a starting instruction to the servo driver, the servo driver judges whether the servo electric cylinder is located at an initial position, and if the servo electric cylinder is not located at the initial position, the servo driver controls the servo electric cylinder to return to the initial position.
5. The control method for clamping bricks by using the stacker crane according to claim 1, wherein the control method comprises the following steps: the step S2 includes the master PLC sending a forward parameter to the servo driver, the servo driver determining whether the servo cylinder reaches a parameter setting position, and if the servo cylinder does not reach the parameter setting position, the servo driver controlling the servo cylinder to move forward to the parameter setting position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911005000.XA CN110789991A (en) | 2019-10-22 | 2019-10-22 | Control method for clamping bricks by using stacker crane |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911005000.XA CN110789991A (en) | 2019-10-22 | 2019-10-22 | Control method for clamping bricks by using stacker crane |
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| CN110789991A true CN110789991A (en) | 2020-02-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911005000.XA Pending CN110789991A (en) | 2019-10-22 | 2019-10-22 | Control method for clamping bricks by using stacker crane |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01246088A (en) * | 1988-03-24 | 1989-10-02 | Nagano Pref Gov | Work rotating hand equipped with grasping force adjusting mechanism |
| CN1486914A (en) * | 2002-08-23 | 2004-04-07 | 发那科株式会社 | Articles transfer device |
| CN106429465A (en) * | 2016-10-31 | 2017-02-22 | 洛阳理工学院 | Intelligent brick stacking machine |
| CN207559883U (en) * | 2017-12-12 | 2018-06-29 | 武汉菲仕运动控制系统有限公司 | A kind of Bag Making Machine control device and system |
| CN208179572U (en) * | 2018-04-08 | 2018-12-04 | 安徽明匠智能系统有限公司 | A kind of novel stacking special plane |
| CN109623859A (en) * | 2019-02-17 | 2019-04-16 | 周博文 | A kind of novel mechanical gripper with pressure buffer structure |
| US20190193954A1 (en) * | 2017-12-26 | 2019-06-27 | Cynergy Ergonomics, Inc. | Tire manipulator |
-
2019
- 2019-10-22 CN CN201911005000.XA patent/CN110789991A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01246088A (en) * | 1988-03-24 | 1989-10-02 | Nagano Pref Gov | Work rotating hand equipped with grasping force adjusting mechanism |
| CN1486914A (en) * | 2002-08-23 | 2004-04-07 | 发那科株式会社 | Articles transfer device |
| CN106429465A (en) * | 2016-10-31 | 2017-02-22 | 洛阳理工学院 | Intelligent brick stacking machine |
| CN207559883U (en) * | 2017-12-12 | 2018-06-29 | 武汉菲仕运动控制系统有限公司 | A kind of Bag Making Machine control device and system |
| US20190193954A1 (en) * | 2017-12-26 | 2019-06-27 | Cynergy Ergonomics, Inc. | Tire manipulator |
| CN208179572U (en) * | 2018-04-08 | 2018-12-04 | 安徽明匠智能系统有限公司 | A kind of novel stacking special plane |
| CN109623859A (en) * | 2019-02-17 | 2019-04-16 | 周博文 | A kind of novel mechanical gripper with pressure buffer structure |
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Application publication date: 20200214 |
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