CN111352446A - Loading arm swing arm control system of plate-shaped workpiece hemming device - Google Patents

Abstract

A loading arm swing arm control system of a plate-shaped workpiece hemming device, which consists of a comparison link

The feeding arm operation control link C _α , the feeding arm swing angle control driving link Dr _α , the feeding arm inverter trigger module G _α , the feeding arm inverter execution module A _α , the feeding arm swing motor M _α and the upper feeding arm The material arm swing angle signal processing module DT _α is composed. The given swing angle signal α _R of the feeding arm and the feedback signal α of the feeding arm swing angle are in the

In comparison, the deviation signal Δα of the rotation angle of the feeding arm is generated; after the calculation and processing of C _α , Δα is converted into the swing angle control signal α _C of the feeding arm; after being amplified by Dr _α , α _C becomes the driving signal α _Dr of the feeding arm operation, In the cascade link G _α -A _α of G _α and A _α , α _Dr triggers the PWM three-phase inverter bridge, and outputs the three-phase driving currents—i _αA , i _αB and i _αC , to the feeding arm swing motor. Drive M _α , convert the output signal α _out of feeding arm swing angle; after DT _α detection and feedback, α _out is introduced as α

Description

Loading arm swing arm control system of plate-shaped workpiece hemming device

technical field

The invention relates to a method for side wrapping a flat workpiece.

Background technique

In many flat product production lines, there is a process of side wrapping flat workpieces, especially for circuit board manufacturers. This kind of production process is: use special tape to wrap the entire circumference of the flat workpiece. At present, these processes are all done manually, and the result is that the consistency of the packaging and sticking is poor, and there are defects such as partial sticking, folds, and leaks in different parts. For the usual large and heavy plate parts, manual operation is more difficult. This is a bottleneck that seriously affects the process of related product production lines, hampering the automation of the entire production process. Therefore, it is urgent to develop an automated method that can ensure the consistency of the sticking state and replace the heavy manual operation, so as to realize the automation of the entire production process.

SUMMARY OF THE INVENTION

上料臂运行控制环节C_α、上料臂摆角控制驱动环节Dr_α、上料臂逆变触发模块G_α、上料臂逆变执行模块A_α、上料臂旋摆电机M_α和上料臂摆角信号处理模块DT_α构成。上料臂给定摆角信号α_R与上料臂摆角反馈信号α在

中比较，产生上料臂转角偏差信号△α；经C_α计算处理，△α转换成为上料臂摆角控制信号α_C；经Dr_α放大，α_C成为上料臂运行驱动信号α_Dr，在G_α、A_α的级联环节G_α-A_α，α_Dr触发PWM三相逆变桥，向上料臂旋摆电机输出三相驱动电流——i_αA、i_αB和i_αC，该电流驱动M_α，转换产生上料臂摆角输出信号α_out；经DT_α检测、反馈，α_out以α引入

In order to solve the problems of poor consistency of wrapping and sticking, defects such as partial sticking, folds, leaks, and cumbersome manual wrapping and sticking operations, the present invention provides a loading arm swing arm control system of a plate-shaped workpiece hemming device.

The feeding arm operation control link C _α , the feeding arm swing angle control driving link Dr _α , the feeding arm inverter trigger module G _α , the feeding arm inverter execution module A _α , the feeding arm swing motor M _α and the upper feeding arm The material arm swing angle signal processing module DT _α is composed. The given swing angle signal α _R of the feeding arm and the feedback signal α of the feeding arm swing angle are in the

In comparison, the deviation signal Δα of the rotation angle of the feeding arm is generated; after the calculation and processing of C _α , Δα is converted into the swing angle control signal α _C of the feeding arm; after being amplified by Dr _α , α _C becomes the driving signal α _Dr of the feeding arm operation, In the cascade link G _α -A _α of G _α and A _α , α _Dr triggers the PWM three-phase inverter bridge, and outputs three-phase driving currents—i _αA , i _αB and i _αC , to the feeding arm swing motor. Drive M _α , convert the output signal α _out of feeding arm swing angle; after DT _α detection and feedback, α _out is introduced as α

The technical scheme adopted by the present invention to solve its technical problems is:

上料臂运行控制环节C_α、上料臂摆角控制驱动环节Dr_α、上料臂逆变触发模块G_α、上料臂逆变执行模块A_α、上料臂旋摆电机M_α和上料臂摆角信号处理模块DT_α构成。The control system of the feeding arm swing arm of the plate-shaped workpiece hemming device consists of the comparison link

The feeding arm operation control link C _α , the feeding arm swing angle control driving link Dr _α , the feeding arm inverter trigger module G _α , the feeding arm inverter execution module A _α , the feeding arm swing motor M _α and the upper feeding arm The material arm swing angle signal processing module DT _α is composed.

中比较，产生上料臂转角偏差信号△α；经存储于控制器芯片U的上料臂运行控制环节C_α计算处理，上料臂转角偏差信号△α转换成为上料臂摆角控制信号α_C；经存储于控制器芯片U的上料臂摆角控制驱动环节Dr_α放大，上料臂摆角控制信号α_C成为上料臂运行驱动信号α_Dr，在上料臂逆变触发模块G_α、上料臂逆变执行模块A_α的级联环节G_α-A_α，上料臂运行驱动信号α_Dr触发PWM三相逆变桥，向上料臂旋摆电机输出三相驱动电流——上料臂旋摆电机A相驱动电流i_αA、上料臂旋摆电机B相驱动电流i_αB和上料臂旋摆电机C相驱动电流i_αC，上料臂旋摆电机A相驱动电流i_αA、上料臂旋摆电机B相驱动电流i_αB和上料臂旋摆电机C相驱动电流i_αC驱动上料臂旋摆电机M_α，转换产生上料臂摆角输出信号α_out；经上料臂摆角信号处理模块DT_α检测、反馈，上料臂摆角输出信号α_out以上料臂摆角反馈信号α引入比较环节

The given swing angle signal α _R of the feeding arm and the feedback signal α of the feeding arm swing angle are stored in the comparison link of the controller chip U

In comparison, the feeding arm rotation angle deviation signal Δα is generated; after the calculation and processing of the feeding arm operation control link C _α stored in the controller chip U, the feeding arm rotation angle deviation signal Δα is converted into the feeding arm swing angle control signal α. _C ; Amplified by the feeding arm swing angle control driving link Dr _α stored in the controller chip U, the feeding arm swing angle control signal α _C becomes the feeding arm running drive signal α _Dr , which is triggered in the feeding arm inverter trigger module G _α , the cascade link G _α -A _α of the feeding arm inverter execution module A _α , the feeding arm running drive signal α _Dr triggers the PWM three-phase inverter bridge, and the feeding arm swing motor outputs three-phase driving current—— The drive current i _αA of the feeding arm swing motor A-phase, the B-phase drive current i _αB of the feeding arm swing motor, the C-phase drive current i _αC of the feeding arm swing motor, and the A-phase drive current i of the feeding arm swing motor _αA , the drive current i _αB of phase B of the feeding arm swing motor and the drive current i _αC of the C phase of the feeding arm swing motor drive the feeding arm swing motor M _α , and convert the output signal α _out of the swing angle of the feeding arm; The feeding arm swing angle signal processing module DT _α detects and feeds back, the feeding arm swing angle output signal α _out , and the feeding arm swing angle feedback signal α is introduced into the comparison link

中依如下逻辑给定：如果α＝α₀→α_R赋值α₁；如果α＝α₁→α_R赋值α₀。比较环节

的传函模型为：△α＝α_R-α。The given swing angle signal α _R of the feeding arm is in the comparison link

is given according to the following logic: if α=α ₀ →α _R assigns α ₁ ; if α=α ₁ →α _R assigns α ₀ . Compare link

The transfer function model of is: Δα=α _R -α.

The transfer function model of the feeding arm operation control link C _α is: the feeding arm swing angle control signal α _C pulse width τ _αC according to the control trigger pulse unit to calculate the cycle duty ratio τ _αC (k+1)=△α(k) [1-(πn αe R _α W _{α /(9.8T Cα} P _α )) ^k ] Approximate calculation, where n _αe is the calculated revolution of the feeding arm swing motor M _α , and R _α is the calculation arm of the feeding arm length, W _α is the inertia calculation constant of the feeding arm, T _Cα is the structural constant of the feeding arm swing motor M _α obtained from the test, P _α is the calculated power of the feeding arm swing motor M _α , and k is the unit Calculate the number of cycles.

The transfer function model of the driving link Dr _α of the swing angle control of the feeding arm is as follows: the driving signal α _Dr of the feeding arm operation produces A, B, and C three-phase control trigger pulses α _DrA , α _DrB , α _DrC according to the phase angle difference of 120 degrees, The pulse width of each phase control trigger pulse τ _αDr is calculated in units of cycle duty ratio τ _αDr (k+1)=K _α α _C (k)/n _αe approximate calculation, where K _α is the feeding arm swing motor M _α Corner scaling factor, obtained by experiment and calculation.

The beneficial effects of the invention are: an equipment complete system that can efficiently support and realize the side wrapping of flat workpieces. It enables the side wrapping of the flat workpiece to be set and adjusted in a wide range of specifications, and can be kept stable under multiple given values, and overcomes the defects of unreliable and uncontrollable manual operation. Especially for batch packaging, it can be completed quickly, far exceeding the speed of manual work; and at the same time, it greatly saves labor and manpower. The system realizes the side wrapping of flat workpieces with a compact and concise structure, and its control system is structured, highly systematized, and easy to adjust; it is easy to form a complete set of equipment systems with high cost performance. The whole is easy for mass production; system maintenance and repair are simple and easy.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

FIG. 1 is a schematic top view of an embodiment of the present invention—a method for hemming a plate-shaped workpiece.

Figure 2 is a front view of the structure of a plate-shaped workpiece hemming device.

3 is a cross-sectional view of the feeding mechanism.

Fig. 4 is the amplification-drive-execution-rotation angle detection circuit diagram of the feeding swing system.

Figure 5 is the operation and control circuit diagram of the hemming system of the plate-shaped workpiece.

Figure 6 is the magnifying and operating circuit diagram of the feeding arm taking and discharging corners.

Fig. 7 is a block diagram of the feeding arm control system of the plate-shaped workpiece hemming device.

In Figures 1-2: 1. Abutment, 2. Unloading mechanism, 3. Packing into pieces, 4. Unloading car, 5. Loading car, 6. Pieces to be packaged, 7. Loading mechanism, 8. Feeding belt mechanism, 9. Workpiece. α ₀₀ is the feeding position of the swing angle of the feeding arm, α ₁₀ is the feeding position of the feeding arm swing angle; β ₀₀ is the feeding position of the feeding arm swing angle, and β ₁₀ is the feeding position of the feeding arm swing angle.

In Figures 2 to 7: 1.1. Rotary base, 1.2. Counter, 1.3. Main motor, 1.4. Operation panel, 2.1. Feeding gas pipe, 2.2. Feeding arm, 2.3. Feeding column, 2.4. Feeding Telescopic rod, 2.5. Feeding suction cup, 7.1. Feeding air pipe, 7.2. Feeding arm, 7.3. Feeding column, 7.4. Feeding telescopic rod, 7.5. Feeding suction cup, 8.1. Guide pulley, 8.2. , 8.3. Tape roll, 8.4. Tape reel, 8.5. Seat plate, 8.6. Rocker arm cable, 8.7. Rocker arm motor, 8.8. Rocker arm, 8.9. Elastic arm, 8.10. Connecting arm, 8.11. Cutting head drive Coil, 8.12. Connecting rod, 8.13. Electric heating cable, 8.14. Cutting head, 8.15. Cutter.

In Figures 3 to 7: 7.2.9. Stator winding of telescopic motor, 7.2.10. Telescopic cable, 7.2.11. Pipe line; 7.3.10. Stator yoke ring, 7.3.11. Swing arm cable; 7.4.9. Inductance coil, 7.4.10. Bearing; 7.5.2. Inner bracket, 7.5.3. Inner eddy current ring, 7.5.4. Sealing sleeve, 7.5.5. Outer bracket, 7.5.6. Outer eddy current ring.

In Figures 4-7: LC _BP is the B-phase positive drive optocoupler, LC _CP is the C-phase positive drive optocoupler, LC _AP is the A-phase positive drive optocoupler; R _BN is the B-phase negative drive pull-up resistor, R _CN is the C-phase negative drive pull-up resistor, _RAN is the A-phase negative drive pull-up resistor; LC _BN is the B-phase negative drive optocoupler, LC _CN is the C-phase negative drive optocoupler, and LC _AN is the A-phase negative drive optocoupler; G _α is the inverter trigger module of the feeding arm. Q _AP is the A-phase switch positive MOSFET, Q _BP is the B-phase switch positive MOSFET, Q _CP is the C-phase switch positive MOSFET; Q _AN is the A-phase switch negative MOSFET, Q _BN is the B-phase switch negative MOSFET, and Q _CN is the C-phase switch Switch the negative MOSFET; A _α is the inverter execution module of the feeding arm. W _A is the A-phase winding, W _B is the B-phase winding, and W _C is the C-phase winding; M _α is the feeding arm swing motor. E is the positive terminal of the power supply of the system control circuit, P _α is the feedback signal terminal of the feeding arm swing angle; DT _α is the feeding arm swing angle signal processing module.

In Figures 5-7: R _P is the control circuit work indication resistance, D _P is the control circuit work indication LED; KM is the control system start button, _{R KM} is the start signal buffer resistance, C _KM is the start signal buffer capacitor; S _{n is} the main motor rotation angle detection-feedback link, P _{n is} the main motor rotation angle feedback signal terminal; R _M is the rotation angle feedback signal coupling resistance, R _PF is the feeding arm swing angle feedback signal coupling resistance, and R _PB is the unloading arm swing Angle feedback signal coupling resistance; C _p1 is the first self-excited capacitor, C _p2 is the second self- _excited capacitor, C _f is the crystal oscillator; U is the controller chip; terminal, P _βN is the swing angle pick-up and discharge level signal terminals of the feeding arm; R _AP0 is the pull-down resistor of the positive trigger signal of phase A, R _BP0 is the pull-down resistor of the positive trigger signal of phase B, and R _CP0 is the pull-down resistor of the positive trigger signal of phase C Resistor, R _AN0 is the pull-down resistor of the A-phase negative trigger signal, R _BN0 is the B-phase negative trigger signal pull-down resistor, R _CN0 is the C-phase negative trigger signal pull-down resistor; P _n3 is the main motor to the 3-bit signal terminal, P _n2 The main motor goes to the 2-bit signal terminal, P _n1 is the main motor to the 1-bit signal terminal, P _nC is the main motor corner control signal terminal; R _PW is the pull-down resistance of the control signal of the feeder mechanism, and R _PW is the down The pull-down resistance of the feed rod control signal, R _NTF is the pull-down resistance of the feeding rod downward control signal, R _PTF is the pull-down resistance of the feeding rod retraction control signal; LC _PW is the control signal optocoupler of the feeding mechanism, LC _PTF is the feeding rod Optocoupler for retracting control signal, LC _NTF is optocoupler for feeding rod down-extending control signal; R _R1 is the reset signal pull-up resistor, R _R2 is the reset signal buffer resistor, C _R is the reset signal buffer capacitor, K _R Reset keys for the controller.

In Figures 6-7: D _β is the freewheeling diode of the feeder arm swing angle pick-up and discharge position relay, J _β is the feeder arm swing angle pick-up and discharge position relay solenoid coil, R _β is the feeder arm swing angle Pull-down resistor for picking and discharging position signal, LC _β is the optocoupler for picking and discharging position signal of unloading arm swing angle.

In Figure 7: α _R is the given swing angle signal of the feeding arm, Δα is the deviation signal of the feeding arm rotation angle, C _α is the operation control link of the feeding arm, α _C is the control signal of the feeding arm swing angle, Dr _α is the driving link of the swing angle control of the feeding arm, α _Dr is the driving signal of the feeding arm operation, i _αA is the driving current of the A phase of the feeding arm swing motor, i _αB is the driving current of the B phase of the feeding arm swing motor, i _αC It is the drive current of phase C of the swing motor of the feeding arm, α _out is the output signal of the swing angle of the feeding arm, and α is the feedback signal of the swing angle of the feeding arm.

Detailed ways

In an embodiment of the present invention shown in FIG. 1—a schematic top view of a method for hemming a plate-shaped workpiece: the general configuration described in the method for hemming a plate-shaped workpiece includes a base 1, a blanking mechanism 2, a packaged piece, a blanking Car 4 , feeding car 5 , parts to be packaged 6 , feeding mechanism 7 , belt feeding mechanism 8 and packaged parts 9 . The base 1, as the main workbench, the chassis body and the working and bearing surface of the overall system device, is located in the middle right of the workplace. The unloading mechanism 2 is used as a system device for grasping, transferring and lowering the package, and is assembled on the left end of the base 1 . The packaged piece 3 is the work object of the system device—the finished piece has been edge-wrapped, and is grasped, transferred, and lowered by the unloading mechanism 2, and then placed in the unloading car 4 in turn. The unloading truck 4 is used as a transfer device for carrying and transporting the packaged parts 3 , and is suspended on the left side of the base 1 , and is in the positioning position to be loaded. The loading truck 5 is used as a transfer device for carrying and transporting the to-be-packaged 6 , and is suspended at the outside of the base 1 , and is in the position to be unloaded. The workpiece 6 to be packaged, as the object of the system device, the workpiece to be hemmed, is grasped, transferred, and lowered by the feeding mechanism 7 in turn, and pressed against the working position in the upper middle of the base 1 . The feeding mechanism 7 is a mechanism for grasping, transferring, lowering, and pressing the to-be-packaged parts that work as a system device, and is assembled on the right outer end above the base 1 . The tape feeding mechanism 8 is used as a feeding mechanism for the hemming tape, and is assembled on the right side of the feeding mechanism 7 above the base 1 . The packaged part 9, as the workpiece being edge-wrapped, is grasped, transferred, and lowered by the feeding mechanism 7, and is pressed against the working position in the middle of the upper surface of the base 1 .

In an embodiment of the present invention shown in FIG. 1—a schematic plan view of a method for hemming a plate-shaped workpiece and a front view of the structure of a device for hemming a plate-shaped workpiece shown in FIG. 2:

The base 1 is the main workbench, the chassis body, and the working and bearing surfaces of the overall system device. The rotary base 1.1 is used as a mechanism that carries and drives the packaged part 9 to rotate, and is tightly connected with the main shaft, that is, the output shaft of the main motor 1.3 through its shaft matching hole. The counter 1.2 is used as a device to sense, detect and transmit the rotation angle of the rotary base 1.1. It is rooted in the right side of the main motor 1.3 installed on the base 1, below the rotary base 1.1, and the upper end of the rotary base 1.1. Leave a distance of 3mm below. The main motor 1.3, as the main power and system execution device of the system device, is embedded in the left position of the middle of the base 1, and its output shaft is matched with the rotary base 1.1. The operation panel 1.4 is used as a man-machine interactive keyboard operation surface for the system to work, and is embedded and assembled in the groove chamber on the inner right side of the base 1 by means of a pull-out structure.

The feeding air pipe 2.1 is used as the suction line to obtain negative pressure for the feeding suction cup 2.5, which is drawn from the feeding suction cup 2.5, passes through the feeding telescopic rod 2.4, and then penetrates into the feeding arm 2.2, the feeding column 2.3 and the base 1, lead to the extraction system. The unloading arm 2.2 is used as a cantilever beam mechanism for the transfer movement of the unloading mechanism 2. The head end is used as the rotating shaft end to be assembled on the top of the blanking column 2.3, and the tail end is used as the working end to be equipped with a blanking telescopic rod 2.4. The blanking column 2.3 is used as the main support structure of the blanking mechanism 2 . The unloading telescopic rod 2.4 is used as the lifting and lowering mechanism of the unloading mechanism 2, and is assembled on the working end of the unloading arm 2.2, and the lower end is equipped with the unloading suction cup 2.5. The blanking suction cup 2.5 is used as the terminal part for grasping, transferring and lowering of the blanking mechanism 2. It is an umbrella-shaped mechanism of flexible material, and its top end is assembled on the lower end of the blanking telescopic rod 2.4.

The feeding air pipe 7.1 is used as a suction line to obtain negative pressure for the feeding suction cup 7.5. It is led from the feeding suction cup 7.5, passes through the feeding telescopic rod 7.4, and then penetrates the feeding arm 7.2, the feeding column 7.3 and the base table 1. lead to the extraction system. The feeding arm 7.2 is a cantilever beam mechanism for the transfer movement of the feeding mechanism 7, which is made of iron material. Its head end is used as the rotating shaft end to be assembled on the top of the feeding column 7.3, and the tail end is used as the working end. It is equipped with a feeding telescopic rod 7.4 . The feeding column 7.3 is used as the main support mechanism of the feeding mechanism 7, and the upper end is equipped with a feeding arm 7.2, and the upper end is installed outside the right end of the base 1 . The feeding telescopic rod 7.4 is used as the lifting, lowering and pressing mechanism of the feeding mechanism 7, and is assembled on the working end of the feeding arm 7.2, and the lower end is equipped with a feeding suction cup 7.5. The feeding suction cup 7.5 is used as the terminal part of the feeding mechanism 7 for grasping, transferring, lowering and pressing.

The guide pulley 8.1 is used as an inversion mechanism for guiding the edge wrapping tape, which is a wheel disc piece with a wheel edge groove, and is assembled on the left inner end of the end seat disc 8.5. The tape support shaft 8.2 is used as the positioning shaft of the tape feeding mechanism, and is the central axis protrusion of the tape support reel 8.4. The tape roll 8.3 is a commercial piece of tape material used for edging. It is a disc structure with a central shaft sleeve matching hole, and the supporting belt shaft 8.2 is matched with the matching hole sleeve and is placed flat on the top of the support tray 8.4. The belt tray 8.4 is used as a component for positioning the supporting tape roll 8.3. It is a disc with a supporting belt shaft 8.2. The central axis position of the disc body and the supporting belt shaft 8.2 is sleeved with an impermeable shaft sleeve hole at the upper end; Through the bushing hole, the carrier disc 8.4 and the end seat disc 8.5 form a rotatable fit. The end base plate 8.5 is used as the terminal base plate of the belt feeding mechanism 8. The outer middle position extends outwardly with the spring arm 8.9, the upper right inner corner is equipped with a belt tray 8.4, the upper left inner corner is equipped with a belt guide wheel 8.1, and the lower middle is left and outer Install the cutting head drive coil 8.11. The rocker arm cable 8.6 is used as the cable bundle of the electric heating cable 8.13 and the pressure signal line of the elastic arm 8.9, and is drawn out from the inner position between the loading column 7.3 of the base 1 and the rocker arm motor 8.7, and is introduced into the cable hole of the rocker arm 8.8. The rocker motor 8.7 is used as the driving device and the system execution terminal of the belt feeding mechanism 8, and is installed on the right outer end of the base 1, that is, on the right side of the feeding column 7.3. The rocker arm 8.8 is used as the main drive arm of the belt feeding mechanism 8, the head end is fastened to the output shaft end of the rocker arm motor 8.7, and the tail end is equipped with the elastic arm 8.9 and the connecting arm 8.10. The elastic arm 8.9 is used as the elastic driving secondary arm of the belt feeding mechanism 8, the head end is assembled on the tail end of the rocker arm 8.8, and the tail end is connected with the end seat plate 8.5 as a whole. The connecting arm 8.10 is used as the component force of the belt feeding mechanism 8 to drive the secondary arm. The cutting head drive coil 8.11 is used as the electromagnetic drive device and the system execution terminal of the tape cutting mechanism, and is installed at the left outer position in the lower middle of the end seat plate 8.5. The connecting rod 8.12 is used as the component steering rocker arm of the belt feeding mechanism 8. The head end hinge is assembled under the left inner side of the end seat plate 8.5, above the inner edge of the base 1, and on the right side of the groove chamber of the operation plate 1.4. The electric heating cable 8.13 is used as the electric heating driving cable of the cutter 8.15, and is led out from the end of the cable hole of the rocker arm 8.8. The lower part is attached to the elastic arm 8.9 and the end seat plate 8.5, and the cutting head 8.14 is introduced along the outer side of the cutting head driving coil 8.11. The cutting head 8.14 is used as the action swing arm of the cutting knife 8.15, the cutting knife 8.15 is installed on the tail end, and the electric heating cable 8.13 is introduced below and supports the electrical connection between the electric heating cable 8.13 and the cutting knife 8.15. The cutter 8.15 is used as the working structure for cutting the tape, which is formed by wrapping the heating wire around the support body. made, with its root fitted to the tail end of the cutting head 8.14.

In the sectional view of the feeding mechanism shown in Figure 3:

The feeding air pipe 7.1 is led to the air extraction system, and passes through the feeding column pipeline hole 7.3.1 and the feeding column pipeline cavity 7.3.9 in the feeding column 7.3, and passes through the feeding arm pipeline cavity in the feeding arm 7.2. 7.2.1. Pipeline 7.2.11, cross the feeding pipeline slot 7.7, cross the tail section of the feeding arm 7.2, penetrate the feeding rod pipeline hole 7.6, and finally introduce the feeding suction cup into the straight section 7.1.1 of the feeding rod trachea 7.5. The head end of the feeding arm 7.2 is equipped with the rotor of the swing arm drive motor and the outer ring of the feeding bearing 7.2.6, and is bored with the feeding arm pipeline cavity 7.2.1; the first section has the pipeline 7.2.11; the middle section is milled with feeding Pipeline slot 7.7; the tail end is equipped with feeding telescopic rod 7.4 and telescopic motor stator winding 7.2.9. The upper end of the feeding column 7.3 is equipped with a swing arm drive motor stator and a feeding bearing 7.2.6, and is bored with a feeding column pipeline cavity 7.3.9; the whole section is bored with a feeding column pipeline hole 7.3.1. The feeding suction cup 7.5 is a flexible material umbrella-shaped mechanism, and its top end is connected with the feeding telescopic rod 7.4 through the feeding connector 7.5.1. The feeding rod pipeline hole 7.6 is set at the central axis of the feeding telescopic rod 7.4, and the upper end is fixed with the feeding trachea bracket 7.4.4 to fasten the upper end of the feeding rod trachea straight section 7.1.1 and its accompanying The feeding signal cable 7.4.7 has a retracted edge ferrule at the lower end to fasten the lower end of the trachea straight section 7.1.1 of the feeding rod and its accompanying feeding signal cable 7.4.7. The feeding pipeline groove 7.7 is dug in the middle section of the upper top of the feeding arm 7.2, the head end is connected with the pipeline 7.2.11 in the feeding arm 7.2, and the tail end is in transition with the curved surface of the upper top surface of the feeding arm 7.2 and has a telescopic line The cable 7.2.10 is passed from the bottom of the transition surface to the telescopic motor stator winding 7.2.9 at the end of the feeder arm 7.2.

The straight section 7.1.1 of the feeding rod gas pipe goes deep into the center of the feeding rod pipeline hole 7.6 assembled in the feeding telescopic rod 7.4, and its upper end is fixed to the upper end of the feeding rod pipeline hole 7.6 through the feeding gas pipe bracket 7.4.4. The lower end is fastened in the retracted edge ferrule at the lower end of the feeding rod pipeline channel 7.6, and the feeding signal cable 7.4.7 is applied along the way. The magnetoresistor 7.2.0 is mounted on the lower wall of the tail end of the feeding arm 7.2, and on the side outside the opening of the sliding wall 7.4.3 of the telescopic rod; the lead wire of the magnetoresistor 7.2.0 is led to and beside the telescopic motor stator winding 7.2. 9, and then incorporate the telescopic cable 7.2.10. The feeding arm pipeline cavity 7.2.1 is bored at the head end of the feeding arm 7.2. It is the inner core cavity of the rotor of the swing arm drive motor. It has a bell-shaped structure, and the large mouth is upward and is smooth with the pipeline 7.2.11 of the feeding arm 7.2. through. The N pole piece of the rotor of the feeding swing arm motor and the S pole piece 7.2.4 of the rotor of the feeding swing arm motor are fixed one by one in the yoke groove ring of the swing arm drive motor rotor at the head end of the feeding arm 7.2, with the magnetic poles facing Down. The S pole piece 7.2.4 of the rotor of the feeding swing arm motor and the N pole piece 7.2.3 of the rotor of the feeding swing arm motor are fixed one by one in the swing arm drive motor rotor disk groove ring position at the head end of the feeding arm 7.2, and the magnetic pole surface face down. The moving part 7.2.7 of the rotation angle sensor of the feeding swing arm motor is an optical deletion coding structure device, which is applied along the semicircular ring on the head side of the outer ring of the toroid below the outer bearing seat 7.2.8 of the feeding arm, in a semicircular arc shape. The outer seat 7.2.8 of the feeding arm bearing is a structure that protrudes downward from the inner ring line of the inner ring surface of the rotor yoke along the ring surface of 7.2.5. The sidewall snap-seals the outer ring of the feed bearing 7.2.6.

The stator winding 7.2.9 of the telescopic motor is used as the driving device for the magnetic force of the stator of the telescopic motor. It is a high-strength electromagnetic wire coil wound in a high-strength polyester ring-slot box. Incorporates telescopic cable 7.2.10. The telescopic cable 7.2.10 is used as the drive cable for the stator winding 7.2.9 of the telescopic motor, and is separated from the swing arm cable 7.3.11 in the upper section of the feeding column pipeline channel 7.3.1, together with the feeding signal cable 7.4.7, along the road With the feeding air pipe 7.1, through the feeding column line cavity 7.3.9, the feeding arm line cavity 7.2.1 and the line pipe 7.2.11, from the end of the pipe line 7.2.11 and the feeding air pipe 7.1 and the feeding signal Separate the cable 7.4.7, run along the feeding line slot 7.7, introduce the cable hole at the end of the feeding arm 7.2 at the bottom of the transition curved surface at the end of the feeding line slot 7.7, and pass through the telescopic motor stator winding 7.2 at the end of the feeding arm 7.2. 9 Terminals. The pipeline 7.2.11 is used as the passage for the feeding air pipe 7.1 and the accompanying telescopic cable 7.2.10 and the feeding signal cable 7.4.7 to pass through the feeding arm 7.2, and is prepared in the first section of the feeding arm 7.2; The end communicates with the tail end of the feeding arm pipeline cavity 7.2.1, and the tail end opening communicates with the head end of the feeding pipeline groove 7.7.

The feeding column pipeline hole 7.3.1 is bored in the axial position of the feeding column 7.3 and coaxial with the feeding column 7.3, and its upper port and the bottom port of the feeding column pipeline cavity 7.3.9 pass through and smoothly transition. The stator pole shoe 7.3.3 of the feeding swing arm motor is a cylinder with a rectangular cross-section; each cylinder is integrated with its root disc ring to form the motor stator yoke; the whole is made of shear-formed, concentric disc rings of high magnetic density silicon steel sheets stacked . The stator winding 7.3.4 of the feeding swing arm motor is wound on the 18 stator pole shoes 7.3.3 of the feeding swing arm motor according to the three-phase six-pole sequence, and is connected according to the three-phase six-pole direction. The loading bearing roller 7.3.6 is a cylindrical structure with a large bottom surface assembled to form the loading bearing 7.2.6. The static part 7.3.7 of the rotation angle sensor of the feeding swing arm motor is an infrared LED transceiver combined device, which corresponds to the moving part 7.2.7 of the rotation angle sensor of the feeding swing arm motor, and is installed on the outer ring of the groove bottom of the feeding column bearing groove ring 7.3.8 outer end. The loading column bearing groove ring 7.3.8 is a stepped groove ring structure; its deep stepped groove ring is bored in the outer groove ring to form a loose fit with the loading arm bearing outer seat 7.2.8; its shallow stepped groove ring is bored in The inner groove ring is used to fasten the inner ring of the loading bearing 7.2.6. The feeding column pipeline cavity 7.3.9 is bored at the upper end of the axial position of the feeding column 7.3 and is coaxial with the feeding column 7.3. It is the inner core cavity of the rotor of the swing arm drive motor. The lower opening of the feeding arm pipeline cavity 7.2.1 of the arm 7.2 is aligned and penetrated, and the small opening is downward and smoothly connected to the upper end of the feeding column pipeline hole 7.3.1.

The stator yoke disc ring 7.3.10 is used as the base structure of the stator yoke of the feeding swing arm motor. It is a disc ring body with a rectangular radial cut section, which is integrated with each cylinder of the stator pole shoe 7.3.3 of the feeding swing arm motor to form a motor. Stator yoke; the whole is made of high magnetic density silicon steel sheets of shear forming and concentric disk rings. The swing arm cable 7.3.11 is used as the drive wire of the swing arm drive motor and the cable bundle of the rotation angle signal transmission line of the feeding swing arm motor. The cable 7.2.10 and the feeding signal cable 7.4.7 are separated and routed to the stator terminal of the swing arm drive motor.

After the feeding signal cable 7.4.7 separates the swing arm cable from the feeding cable bundle 7.8 at the upper end of 7.3.1, it is combined with the telescopic cable 7.2.10, along with the feeding air pipe 7.1, through the feeding Column line cavity 7.3.9, feeding arm line cavity 7.2.1 and line pipe 7.2.11, after the end of pipe line 7.2.11 is separated from telescopic cable 7.2.10, the material trachea 7.1 is applied, and the The feeding pipeline groove 7.7, spanning the tail section of the feeding arm 7.2, penetrates above the feeding rod pipeline hole 7.6, enters the feeding rod pipeline hole 7.6, and then passes through the straight section 7.1.1 of the feeding rod trachea to the upper Inductance coil 7.4.9 at the top of the material suction cup 7.5.

The induction coil 7.4.9 is used as the sensing coil for the pressure signal of the feeding sucker 7.5 and the driving coil for the excitation signal. inner ring. Bearing 7.4.10 is used as the part that cooperates and connects the bottom end of feeding telescopic rod 7.4 and feeding suction cup 7.5 top feeding connector 7.5.1. Its inner ring is fastened and embedded in the bottom end of feeding telescopic rod 7.4, and the outer ring Fasten the inner ring fitted in the feeding connector 7.5.1.

The feeding connector 7.5.1 is made of high-strength synthetic material, and its upper opening is connected with the lower end of the outer wall of the feeding telescopic rod 7.4 through the bearing 7.4.10 to form a tangential rolling sliding fit connection, and the bottom edge of the lower opening is connected with the feeding suction cup 7.5 The top edge of the upper mouth is fastened and bonded.

The inner bracket 7.5.2 is used as a connecting structure for assembling, supporting and switching the inner vortex ring 7.5.3. The parts are tightly bonded, the upper end side is airtightly bonded to the top wall of the feeding suction cup 7.5, and the bottom end surface is tightly bonded to the inner eddy current ring 7.5.3 The outer ring and the outer eddy current ring 7.5.6 The inner ring is tightly bonded on the left side The inner bracket 7.5.2 has a built-in contact pressure switch, and the two terminals of the normally open contact of the switch are respectively connected with the two terminals of the broken opening of the inner eddy current ring 7.5.3. The inner eddy current ring 7.5.3 is used as the sensor device that receives the primary pressure and generates displacement to make the touch switch turn on and then stimulated to generate eddy current. It is a disc ring structure with a slit opening on the left side of the phosphor bronze material. The combined outer eddy current ring 7.5.6 and the inner edge ring are fastened and bonded to the bottom end face of the inner bracket 7.5.2 on the left side; the axis of the disc coincides with the axis of the feeding telescopic rod 7.4; The terminals are respectively connected with the two terminals of the normally open contact of the built-in contact pressure switch in 7.5.2 of the inner bracket. The sealing sleeve 7.5.4 is used as the structural part of the airtight connection between the feeding suction cup 7.5 and the lower end of the straight section 7.1.1 of the feeding rod trachea. The lower end of the straight section 7.1.1 of the feeding rod trachea forms a tangential sliding fit from bottom to top with the outer wall of the lower end of the straight section 7.1.1 of the feeding rod trachea. The outer bracket 7.5.5 is used as a connecting structure for assembling, supporting, and switching the outer vortex ring 7.5.6. The upper end passes through the top wall of the feeding suction cup 7.5. The parts are tightly bonded, the upper end side is airtightly bonded to the top wall of the feeding suction cup 7.5, and the bottom end surface is tightly bonded to the outer eddy current ring 7.5.6 The inner edge ring and the inner eddy current ring 7.5.3 The outer ring is tightly bonded on the right side The outer bracket 7.5.5 has a built-in tact switch, and the two terminals of the normally open contact of the switch are respectively connected to the two terminals of the opening of the outer eddy current ring 7.5.6. The outer eddy current ring 7.5.6 is used as a sensor device that receives secondary pressure and generates displacement to turn on the tact switch and is stimulated to generate eddy current. It is a disc ring structure with a slit opening on the right side of the phosphor bronze material. The ring is combined with the inner eddy current ring 7.5.3. The outer ring is fastened and bonded to the bottom end face of the outer bracket 7.5.5 on the right side; the axis of the disc coincides with the axis of the feeding telescopic rod 7.4; Connect with the two terminals of the normally open contact of the built-in tact switch in the outer bracket 7.5.5 respectively.

In the amplification-drive-execution-rotation angle detection circuit diagram of the feeding swing system shown in Figure 4:

B-phase positive drive optocoupler LC _BP , C-phase positive drive optocoupler LC _CP , A-phase positive drive optocoupler LC _AP , B-phase negative drive pull-up resistor R _BN , C-phase negative drive pull-up resistor R _CN , A-phase negative The driving pull-up resistor R _AN , the B-phase negative driving optocoupler LC _BN , the C-phase negative driving optocoupler LC _CN and the A-phase negative driving optocoupler LC _AN form the feeding arm inverter trigger module G _α . B-phase positive driving optocoupler LC _BP output positive pole, C-phase positive driving optocoupler LC _CP output positive pole and A-phase positive driving optocoupler LC _AP output terminal positive pole are all connected to the positive terminal _EP of the system working power supply, B-phase positive pole Drive optocoupler LC _BP output terminal negative pole, C-phase positive drive optocoupler LC _CP output terminal negative pole and A-phase positive drive optocoupler LC _AP output terminal negative pole are respectively connected to B-phase switch positive pole MOSFET Q _BP gate, C-phase switch positive pole Gate of MOSFETQ _CP and gate of A-phase switch positive MOSFET Q _AP ; one end of B-phase negative drive pull-up resistor R _BN , one end of C-phase negative drive pull-up resistor R _CN and A-phase negative drive pull-up resistor R _AN One end of the system working power positive terminal _{EP, the other end of the B-phase negative drive pull-up resistor R BN ,} the other end of the C-phase negative drive pull-up resistor R _CN and the A-phase negative drive pull-up resistor R _AN The other end is respectively connected To the positive pole of the output terminal of the B-phase negative driving optocoupler LC _BN , the positive pole of the output terminal of the C-phase negative driving optocoupler LC _CN and the positive pole of the output terminal of the A-phase negative driving optocoupler LC _AN , and the B-phase negative driving optocoupler LC _BN output The negative pole of the terminal, the negative pole of the output terminal of the C-phase negative driving optocoupler LC _CN and the negative pole of the output terminal of the A-phase negative driving optocoupler LC _AN are respectively connected to the gate of the B-phase switch negative pole MOSFET Q _BN and the C-phase switch negative pole MOSFET Q _CN . Gate and gate of A-phase switch negative MOSFET _QAN .

A-phase switch positive MOSFET Q _AP , B-phase switch positive MOSFET Q _BP , C-phase switch positive MOSFET Q _CP , A-phase switch negative MOSFET Q _AN , B-phase switch negative MOSFET Q _BN , C-phase switch negative MOSFET Q _CN Material arm inverter execution module A _α . The drain of the positive MOSFET Q _AP of the A-phase switch, the drain of the positive MOSFET Q _CP of the C-phase switch, and the drain of the positive MOSFET Q _BP of the B-phase switch are all connected to the positive terminal _EP of the system working power supply, and the positive terminal of the A-phase switch MOSFET Q _AP The source of the C-phase switch positive MOSFET Q _CP and the source of the B-phase switch positive MOSFET Q _BP are connected to the head of the A-phase winding W _A , the head of the C-phase winding W _C and the B-phase winding W, respectively The head end of _B ; the drain of the A-phase switch negative MOSFET Q _AN , the drain of the C-phase switch negative MOSFETQ _CN and the B-phase switch negative MOSFET Q _BN drain are connected to the head of the A-phase winding W _A , the C-phase The head end of the winding W _C and the head end of the B-phase winding W _B , the source of the A-phase switch negative MOSFET Q _AN , the C-phase switch negative MOSFET Q _CN and the B-phase switch negative MOSFET Q _BN are all connected to the source To the negative terminal _EN of the system working power supply.

The A-phase winding W _A , the B-phase winding W _B and the C-phase winding W _C are the three-phase windings of the stator of the feeding arm swing motor M _α , namely the stator winding 7.3.4 of the feeding arm swing arm motor. The tail end of the A-phase winding W _A , the tail end of the C-phase winding W _C and the tail end of the B-phase winding W _B are connected to one point. The static part 7.3.7 of the rotation angle sensor of the feeding swing arm motor is installed corresponding to the moving part 7.2.7 of the rotation angle sensor of the feeding swing arm motor to obtain the rotation angle pulse signal.

The two-stage forward-connected inverters constitute the feeding arm swing angle signal processing module DT _α . The output end of the last stage of the inverter is used as the feeding arm swing angle feedback signal terminal P _α , and the input end of the first stage inverter is connected to the signal output end of the static part 7.3.7 of the feeding swing arm motor rotation angle sensor; The positive power supply terminal and the grounding terminal of the static part 7.3.7 of the rotation angle sensor of the feeding swing arm motor are respectively connected to the positive terminal E and grounding of the power supply of the system control circuit; the positive power supply terminal of the inverter chip is connected to the positive terminal E of the power supply of the system control circuit , the negative power supply terminal of the inverter chip is grounded.

In the front view of the structure of the plate-shaped workpiece hemming device shown in Figure 2, the circuit diagram shown in Figures 3-4 and the operation and control circuit diagram of the plate-shaped workpiece hemming system shown in Figure 5:

引脚之间；重置信号缓冲电阻R_R2与控制器重置按键K_R串连，该串连支路与重置信号缓冲电容C_R并连；该并连支路跨接在控制器芯片U的

引脚与地之间。控制器芯片U的GND引脚接地。The positive pole of the control circuit work indication LED D _P is connected to the positive terminal E of the power supply of the system control circuit through the control circuit work indication resistor R _P , and the negative pole of the control circuit work indication LED D _P is connected to the PD0 pin of the controller chip U. The elastic arm is connected to the PD1 pin of the controller chip U close to the signal terminal P _BP . The right frame of the unloading arm inverter trigger module G _β corresponds to one end of the A-phase positive trigger signal pull-down resistor R _AP0 in the left frame of the feeding arm inverter trigger module G _α , and one end of the B-phase positive trigger signal pull-down resistor R _BP0 , One end of the C-phase positive trigger signal pull-down resistor R _CP0 , one end of the A-phase negative trigger signal pull-down resistor R _AN0 , one end of the B-phase negative trigger signal pull-down resistor R _BN0 and one end of the C-phase negative trigger signal pull-down resistor R _CN0 are respectively connected To the PD2, PD3, PD4, PD5, PD6 and PD7 pins of the controller chip U. One end of the control system start key KM is connected to the PA0 pin of the controller chip U through the start signal buffer resistor _{R KM} , and the other end is grounded; the start signal buffer capacitor C _KM is connected across the PA0 pin of the controller chip U and the ground. between. The main motor rotation angle feedback signal terminal P _n is connected to the PA1 pin of the controller chip U through the rotation angle feedback signal coupling resistor R _M ; the feeding arm swing angle feedback signal terminal P _α is coupled through the feeding arm swing angle feedback signal coupling resistor R _PF is connected to the PA2 pin of the controller chip U; the feeding arm swing angle feedback signal terminal P _β is connected to the PA3 pin of the controller chip U through the feeding arm swing angle feedback signal coupling resistor R _PB . The positive pole of the output terminal of the optocoupler LC _{TF of the upper retraction signal of the feeding rod is connected to the PA4 pin of the controller chip U, and the negative pole of the output terminal of the optocoupler LC TF of} the upper retracted signal of the feeding rod is grounded; the signal of the upper retracted position of the unloading rod is grounded The positive pole of the output terminal of the optocoupler LC _TB is connected to the PA5 pin of the controller chip U, and the negative pole of the output terminal of the signal optocoupler LC _TB is grounded when the feeding rod is retracted to the position. The feeding rod touch signal terminal P _SF is connected to the PA6 pin of the controller chip U; the blanking rod touch signal terminal P _SB is connected to the PA7 pin of the controller chip U. The first self-excited capacitor C _p1 is connected across the XTAL1 pin of the controller chip U and the ground; the second self-excited capacitor C _p2 is connected across the XTAL2 pin of the controller chip U and the ground; the crystal oscillator C _f is connected across Connected between the XTAL1 pin and XTAL2 pin of the controller chip U. The V _CC pin of the controller chip U is connected to the positive terminal E of the power supply of the system control circuit. The signal terminal P _αN of the feeding arm swing angle picking and discharging position is connected to the PC7 pin of the controller chip U; the feeding arm swing angle picking and discharging position signal terminal P _βN is connected to the PA6 pin of the controller chip U. foot. One end of A-phase positive trigger signal pull-down resistor R _AP0 , one end of B-phase positive trigger signal pull-down resistor R _BP0 , one end of C-phase positive trigger signal pull-down resistor, one end of A-phase negative trigger signal pull-down resistor, B-phase negative trigger signal pull-down One end of the resistor and one end of the C-phase negative trigger signal pull-down resistor are respectively connected to the PC5, PC4, PC3, PC2, PC1 and PC0 pins of the controller chip U, and the A-phase positive trigger signal pull-down resistor R _AP0 The other end, the B-phase The other end of the positive trigger signal pull-down resistor R _BP0 , the other end of the C-phase positive trigger signal pull-down resistor, the other end of the A-phase negative trigger signal pull-down resistor, the other end of the B-phase negative trigger signal pull-down resistor, and the C-phase negative trigger signal pull-down The other end of the resistor is connected to A-phase positive drive optocoupler LC _AP , B-phase positive drive optocoupler LC _BP , C-phase positive drive optocoupler LC _CP , A-phase negative drive optocoupler LC _AN , B-phase negative drive optocoupler LC _BN and C-phase negative drive optocoupler LC _CN positive input; A-phase positive-drive optocoupler LC _AP , B-phase positive-drive optocoupler LC _BP , C-phase positive-drive optocoupler LC _CP , A-phase negative-drive optocoupler LC _AN , B-phase negative drive optocoupler LC _BN and C-phase negative drive optocoupler LC _CN input terminals are grounded. The main motor goes to the 3-bit signal terminal P _n3 , the main motor goes to the 2-bit signal terminal P _n2 , the main motor goes to the 1-bit signal terminal P _n1 and the main motor angle control signal terminal P _nC is respectively connected to the control PB7, PB6, PB5 and PB4 pins of the device chip U. Feeding mechanism control signal optocoupler LC _PW input terminal positive pole, unloading rod retraction control signal optocoupler LC _PTB input terminal positive pole, feeding rod downward extension control signal optocoupler LC _NTF input terminal positive pole and feeding pole The positive pole of the input end of the optocoupler LC _PTF of the retraction control signal is controlled by the feeder mechanism to pull down the signal pull-down resistor R _PW , the pull-down control signal R _RPB of the unloading rod retraction control signal, the pull-down resistor R _NTF of the feeding rod down-extension control signal, and the feeding rod. The pull-down control signal pull-down resistor R _PTF is connected to the PB3, PB2, PB1 and PB0 pins of the controller chip U. The reset signal pull-up resistor R _R1 is connected across the positive terminal E of the power supply of the system control circuit and the controller chip U

Between pins; the reset signal buffer resistor R _R2 is connected in series with the controller reset button K _R , and the series branch is connected in parallel with the reset signal buffer capacitor _CR ; the parallel branch is connected across the controller chip U's

between pin and ground. The GND pin of the controller chip U is grounded.

In the operation and control circuit diagram of the plate-shaped workpiece hemming system shown in Figure 5 and the magnification and operation circuit diagram of the feeding angle of the feeding arm shown in Figure 6: the freewheeling diode D _β of the feeding position relay of the feeding arm swing angle The negative pole is connected to the positive terminal E of the power supply of the system control circuit, and the positive pole of the freewheeling diode D _β of the swing angle discharge level relay of the blanking arm is connected to the positive pole of the output terminal of the optocoupler LC _β of the swing angle discharge position signal of the blanking arm; The electromagnetic coil J _β of the arm swing angle discharge level relay is connected between the positive terminal E of the power supply of the system control circuit and the positive terminal of the output terminal of the blanking arm swing angle discharge position signal optocoupler LC _β ; the blanking arm swing angle discharge The negative pole of the output terminal of the bit signal optocoupler LC _β is grounded. The positive pole of the input end of the signal optocoupler LC _β for the swing angle of the unloading arm is connected to the signal terminal P _βN of the unloading arm swing angle and the discharge level signal through the pull-down resistor R _β of the signal of the unloading arm swing angle. The negative pole of the input end of the signal optocoupler LC _β is grounded at the swing angle of the material arm.

In the front view of the structure of the plate-shaped workpiece hemming device shown in Figure 2, the enlargement-drive-execution-rotation angle detection circuit diagram of the feeding swing system shown in Figure 4, and the operation of the plate-shaped workpiece hemming system shown in Figure 5 , the control circuit diagram and the block diagram of the feeding arm control system of the plate-shaped workpiece hemming device shown in Figure 7:

上料臂运行控制环节C_α、上料臂摆角控制驱动环节Dr_α、上料臂逆变触发模块G_α、上料臂逆变执行模块A_α、上料臂旋摆电机M_α和上料臂摆角信号处理模块DT_α构成。The control system of the feeding arm of the plate-shaped workpiece hemming device consists of the comparison link

The feeding arm operation control link C _α , the feeding arm swing angle control driving link Dr _α , the feeding arm inverter trigger module G _α , the feeding arm inverter execution module A _α , the feeding arm swing motor M _α and the upper feeding arm The material arm swing angle signal processing module DT _α is composed.

中比较，产生上料臂转角偏差信号△α；经存储于控制器芯片U的上料臂运行控制环节C_α计算处理，上料臂转角偏差信号△α转换成为上料臂摆角控制信号α_C；经存储于控制器芯片U的上料臂摆角控制驱动环节Dr_α放大，上料臂摆角控制信号α_C成为上料臂运行驱动信号α_Dr，在上料臂逆变触发模块G_α、上料臂逆变执行模块A_α的级联环节G_α-A_α，上料臂运行驱动信号α_Dr触发PWM三相逆变桥，向上料臂旋摆电机输出三相驱动电流——上料臂旋摆电机A相驱动电流i_αA、上料臂旋摆电机B相驱动电流i_αB和上料臂旋摆电机C相驱动电流i_αC，上料臂旋摆电机A相驱动电流i_αA、上料臂旋摆电机B相驱动电流i_αB和上料臂旋摆电机C相驱动电流i_αC驱动上料臂旋摆电机M_α，转换产生上料臂摆角输出信号α_out；经上料臂摆角信号处理模块DT_α检测、反馈，上料臂摆角输出信号α_out以上料臂摆角反馈信号α引入比较环节

The given swing angle signal α _R of the feeding arm and the feedback signal α of the feeding arm swing angle are stored in the comparison link of the controller chip U

In comparison, the feeding arm rotation angle deviation signal Δα is generated; after the calculation and processing of the feeding arm operation control link C _α stored in the controller chip U, the feeding arm rotation angle deviation signal Δα is converted into the feeding arm swing angle control signal α. _C ; Amplified by the feeding arm swing angle control driving link Dr _α stored in the controller chip U, the feeding arm swing angle control signal α _C becomes the feeding arm running drive signal α _Dr , which is triggered in the feeding arm inverter trigger module G _α , the cascade link G _α -A _α of the feeding arm inverter execution module A _α , the feeding arm running drive signal α _Dr triggers the PWM three-phase inverter bridge, and the feeding arm swing motor outputs three-phase driving current—— The drive current i _αA of the feeding arm swing motor A-phase, the B-phase drive current i _αB of the feeding arm swing motor, the C-phase drive current i _αC of the feeding arm swing motor, and the A-phase drive current i of the feeding arm swing motor _αA , the drive current i _αB of phase B of the feeding arm swing motor and the drive current i _αC of the C phase of the feeding arm swing motor drive the feeding arm swing motor M _α , and convert the output signal α _out of the swing angle of the feeding arm; The feeding arm swing angle signal processing module DT _α detects and feeds back, the feeding arm swing angle output signal α _out , and the feeding arm swing angle feedback signal α is introduced into the comparison link

中依如下逻辑给定：如果α＝α₀→α_R赋值α₁；如果α＝α₁→α_R赋值α₀。比较环节

的传函模型为：△α＝α_R-α。The given swing angle signal α _R of the feeding arm is in the comparison link

is given according to the following logic: if α=α ₀ →α _R assigns α ₁ ; if α=α ₁ →α _R assigns α ₀ . Compare link

The transfer function model of is: Δα=α _R -α.

The transfer function model of the feeding arm operation control link C _α is: the feeding arm swing angle control signal α _C pulse width τ _αC according to the control trigger pulse unit to calculate the cycle duty ratio τ _αC (k+1)=△α(k) [1-(πn αe R _α W _{α /(9.8T Cα} P _α )) ^k ] Approximate calculation, where n _αe is the calculated revolution of the feeding arm swing motor M _α , and R _α is the calculation of the feeding arm 7.2 Arm length, W _α is the inertia calculation constant of the feeding arm 7.2, T _Cα is the structural constant of the feeding arm swing motor M _α obtained from the test, P _α is the calculated power of the feeding arm swing motor M _α , k Calculates the cycle number for the unit.

The transfer function model of the driving link Dr _α of the swing angle control of the feeding arm is as follows: the driving signal α _Dr of the feeding arm operation produces A, B, and C three-phase control trigger pulses α _DrA , α _DrB , α _DrC according to the phase angle difference of 120 degrees, The pulse width of each phase control trigger pulse τ _αDr is calculated in units of cycle duty ratio τ _αDr (k+1)=K _α α _C (k)/n _αe approximate calculation, where K _α is the feeding arm swing motor M _α Corner scaling factor, obtained by experiment and calculation.

Claims (3)

1. A loading arm swing arm control system of a plate-shaped workpiece hemming device for hemming a plate-shaped workpiece is composed of a comparison link

The feeding arm operation control link C _α , the feeding arm swing angle control driving link Dr _α , the feeding arm inverter trigger module G _α , the feeding arm inverter execution module A _α , the feeding arm swing motor M _α and the upper feeding arm The material arm swing angle signal processing module DT _α is composed, which is characterized by: The given swing angle signal α _R of the feeding arm and the feedback signal α of the feeding arm swing angle are stored in the comparison link of the controller chip U

In comparison, the feeding arm rotation angle deviation signal Δα is generated; after the calculation and processing of the feeding arm operation control link C _α stored in the controller chip U, the feeding arm rotation angle deviation signal Δα is converted into the feeding arm swing angle control signal α. _C ; Amplified by the feeding arm swing angle control driving link Dr _α stored in the controller chip U, the feeding arm swing angle control signal α _C becomes the feeding arm running drive signal α _Dr , which is triggered in the feeding arm inverter trigger module G _α , the cascade link G _α -A _α of the feeding arm inverter execution module A _α , the feeding arm running drive signal α _Dr triggers the PWM three-phase inverter bridge, and the feeding arm swing motor outputs the three-phase drive current, namely The drive current i _αA of the feeding arm swing motor A-phase, the B-phase drive current i _αB of the feeding arm swing motor, the C-phase drive current i _αC of the feeding arm swing motor, and the A-phase drive current i of the feeding arm swing motor _αA , the drive current i _αB of phase B of the feeding arm swing motor and the drive current i _αC of the C phase of the feeding arm swing motor drive the feeding arm swing motor M _α , and convert the output signal α _out of the swing angle of the feeding arm; The feeding arm swing angle signal processing module DT _α detects and feeds back, the feeding arm swing angle output signal α _out , and the feeding arm swing angle feedback signal α is introduced into the comparison link

The given swing angle signal α _R of the feeding arm is in the comparison link

is given according to the following logic: if α=α ₀ →α _R assigns α ₁ ; if α=α ₁ →α _R assigns α ₀ ; the comparison link

The transfer function model of is: △α=α _R -α; The transfer function model of the feeding arm operation control link C _α is: the feeding arm swing angle control signal α _C pulse width τ _αC according to the control trigger pulse unit to calculate the cycle duty ratio τ _αC (k+1)=△α(k) [1-(πn αe R _α W _{α /(9.8T Cα} P _α )) ^k ] Approximate calculation, where n _αe is the calculated revolution of the feeding arm swing motor M _α , and R _α is the calculation arm of the feeding arm length, W _α is the inertia calculation constant of the feeding arm, T _Cα is the structural constant of the feeding arm swing motor M _α obtained from the test, P _α is the calculated power of the feeding arm swing motor M _α , and k is the unit Calculate the number of cycles; The transfer function model of the driving link Dr _α of the swing angle control of the feeding arm is as follows: the driving signal α _Dr of the feeding arm operation produces A, B, and C three-phase control trigger pulses α _DrA , α _DrB , α _DrC according to the phase angle difference of 120 degrees, The pulse width of each phase control trigger pulse τ _αDr is calculated in units of cycle duty ratio τ _αDr (k+1)=K _α α _C (k)/n _αe approximate calculation, where K _α is the feeding arm swing motor M _α Corner scaling factor, obtained by experiment and calculation. 2. The loading arm swing arm control system of the plate-shaped workpiece hemming device according to claim 1, is characterized in that: B-phase positive drive optocoupler LC _BP , C-phase positive drive optocoupler LC _CP , A-phase positive drive optocoupler LC _AP , B-phase negative drive pull-up resistor R _BN , C-phase negative drive pull-up resistor R _CN , A-phase negative Drive pull-up resistor R _AN , B-phase negative drive optocoupler LC _BN , C-phase negative drive optocoupler LC _CN and A-phase negative drive optocoupler LC _AN to form a loading arm inverter trigger module G _α ; B-phase positive drive optocoupler The positive pole of the LC _BP output terminal, the positive pole of the C-phase positive drive optocoupler LC _CP output terminal, and the positive pole of the LC _AP output terminal of the A-phase positive drive optocoupler are connected to the positive terminal _EP of the system working power supply, and the B-phase positive drive optocoupler LC _BP output The negative terminal of the terminal, the negative terminal of the C-phase positive driving optocoupler LC _CP output terminal and the A-phase positive driving optocoupler LC _AP output terminal negative terminal are respectively connected to the gate of the B-phase switch positive MOSFET Q _BP and the C-phase switch positive MOSFET Q _CP . And the gate of the A-phase switch positive MOSFET Q _AP ; one end of the B-phase negative drive pull-up resistor R _BN , one end of the C-phase negative drive pull-up resistor R _CN and one end of the A-phase negative drive pull-up resistor R _AN System working power supply The positive terminal _{EP, the other end of the B-phase negative drive pull-up resistor R BN ,} the other end of the C-phase negative drive pull-up resistor R _CN and the other end of the A-phase negative drive pull-up resistor R _AN are respectively connected to the B-phase negative drive The positive pole of the output terminal of the optocoupler LC _BN , the negative pole of the output terminal of the C-phase negative drive optocoupler LC _CN , and the negative pole of the output terminal of the A-phase negative drive optocoupler LC _AN , the negative pole of the B-phase driving the negative pole of the output terminal of the optocoupler LC _BN , the phase C of the optocoupler The negative pole of the output terminal of the negative driving optocoupler LC _CN and the negative pole of the output terminal of the A-phase negative driving optocoupler LC _AN are respectively connected to the gate of the B-phase switch negative MOSFET _QBN , the C-phase switch negative MOSFET _QCN gate and the A-phase switch. The gate of the switch negative MOSFET _QAN ; A-phase switch positive MOSFET Q _AP , B-phase switch positive MOSFET Q _BP , C-phase switch positive MOSFET Q _CP , A-phase switch negative MOSFET Q _AN , B-phase switch negative MOSFET Q _BN , C-phase switch negative MOSFET Q _CN The material arm inverter execution module A _α ; the drain of the A-phase switch positive MOSFET Q _AP , the C-phase switch positive MOSFET Q _CP and the B-phase switch positive MOSFET _{Q BP} are all connected to the positive terminal EP of the system working power supply , the source of A-phase switch positive MOSFET Q _AP , the source of C-phase switch positive MOSFET Q _CP , and the source of B-phase switch positive MOSFET Q _BP are respectively connected to the head end of A-phase winding W _A , C-phase winding W _C The head end of the B-phase winding W _B ; the drain of the A-phase switch negative MOSFET Q _AN , the C-phase switch negative MOSFET Q _CN and the B-phase switch negative MOSFET Q _BN drain are respectively connected to the A-phase The head of winding W _A , the head of C-phase winding W _C and the head of B-phase winding W _B , the source of A-phase switch negative MOSFET Q _AN , the source of C-phase switch negative MOSFET Q _CN , and the B-phase switch The sources of the negative MOSFET Q _BN are all connected to the negative terminal _EN of the system working power supply; The A-phase winding W _A , the B-phase winding W _B and the C-phase winding W _C are the three-phase windings of the stator of the feeding arm swing motor M _α , that is, the stator winding of the feeding swing arm motor; the tail end of the A-phase winding W _A , The tail end of the C-phase winding W _C is connected to the tail end of the B-phase winding W _B ; the static part of the rotation angle sensor of the feeding swing arm motor is installed corresponding to the moving part of the rotation angle sensor of the feeding swing arm motor to obtain the rotation angle pulse signal; The two-stage forward-connected inverters form the feeding arm swing angle signal processing module DT _α ; the output end of the last stage of the inverter is used as the feeding arm swing angle feedback signal terminal P _α , The input terminal is connected to the signal output terminal of the static part of the rotation angle sensor of the feeding swing arm motor; the positive power supply terminal and the ground terminal of the static part of the feeding swing arm motor rotation angle sensor are respectively connected to the positive terminal E and grounding of the power supply of the system control circuit; The positive power terminal of the inverter chip is connected to the positive terminal E of the power supply of the system control circuit, and the negative power terminal of the inverter chip is grounded. 3. The loading arm swing arm control system of the plate-shaped workpiece hemming device according to claim 1, is characterized in that: The feeding arm swing angle feedback signal terminal P _α is connected to the PA2 pin of the controller chip U through the feeding arm swing angle feedback signal coupling resistor R _PF ; the feeding arm swing angle feedback signal terminal P _β passes through the feeding arm swing angle. The angle feedback signal coupling resistor R _PB is connected to the PA3 pin of the controller chip U; the feeding arm swing angle pick-up and discharge position signal terminal P _β is connected to the PA6 pin of the controller chip U; the A-phase positive trigger signal is pulled down One end of the resistor R _AP0 , one end of the B-phase positive trigger signal pull-down resistor R _BP0 , one end of the C-phase positive trigger signal pull-down resistor, one end of the A-phase negative trigger signal pull-down resistor, one end of the B-phase negative trigger signal pull-down resistor and the C-phase One end of the negative trigger signal pull-down resistor is connected to the PC5, PC4, PC3, PC2, PC1 and PC0 pins of the controller chip U respectively, the other end of the A-phase positive trigger signal pull-down resistor R _AP0 , the B-phase positive trigger signal pull-down resistor R The other end of _BP0 , the other end of the C-phase positive trigger signal pull-down resistor, the other end of the A-phase negative trigger signal pull-down resistor, the other end of the B-phase negative trigger signal pull-down resistor, and the C-phase negative trigger signal pull-down resistor are connected respectively. To phase A positive driving optocoupler LC _AP , B phase positive driving optocoupler LC _BP , C phase positive driving optocoupler LC _CP , A phase negative driving optocoupler LC _AN , B phase negative driving optocoupler LC _BN and C phase negative driving The positive pole of the input terminal of the optocoupler LC _CN ; A-phase positive driving optocoupler LC _AP , B-phase positive driving optocoupler LC _BP , C-phase positive driving optocoupler LC _CP , A-phase negative driving optocoupler LC _AN , B-phase negative driving optocoupler The negative poles of the input terminals of the coupling LC _BN and the C-phase negative driving optocoupler LC _CN are both grounded.

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