CN112317332A - Servo drive control system and control method for wrapping balance wheel sorting module - Google Patents
Servo drive control system and control method for wrapping balance wheel sorting module Download PDFInfo
- Publication number
- CN112317332A CN112317332A CN202011118376.4A CN202011118376A CN112317332A CN 112317332 A CN112317332 A CN 112317332A CN 202011118376 A CN202011118376 A CN 202011118376A CN 112317332 A CN112317332 A CN 112317332A
- Authority
- CN
- China
- Prior art keywords
- driver
- servo motor
- sorting
- slave
- servo
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
-
- 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
- B65G47/34—Devices for discharging articles or materials from conveyor
Abstract
The invention relates to a servo drive control system and a servo drive control method for a wrapping balance wheel sorting module. When the servo drive control system wrapping the balance wheel sorting module is used, the upper computer sends a sorting task to the master driver, the master driver performs task allocation and sends the task allocation to the slave driver, when the sorting task is executed, a built-in photoelectric encoder of the servo motor is used for forming servo motor closed-loop drive, and the servo motor closed-loop drive adopts a position control mode to execute rotation. After the sorting task is finished, the main driver and the slave driver respectively control the servo motor to move in the opposite directions, meanwhile, the return-to-zero sensor is detected, and a return-to-zero signal sends out the servo motor to stop moving. The servo drive control system is high in timeliness and accuracy of the rotating position of the balance wheel, and can smoothly complete the sorting task of the packages.
Description
Technical Field
The invention relates to a servo drive control system and a servo drive control method for a wrapping balance wheel sorting module, and belongs to the technical field of intelligent logistics sorting.
Background
The sorting device sorts articles according to preset computer instructions and sends the sorted articles to a set position, along with the development of laser scanning, bar codes and computer control technologies, the automatic sorting device is increasingly common in logistics, and the intelligent sorting technology is also continuously improved. At present, in order to achieve single-time utilization rate and maximize cost saving, a customer changes manual bag pulling blanking into a balance wheel sorting blanking mode, and meanwhile, the balance wheel is required to achieve stable, efficient and accurate operation in a complex environment. The traditional balance wheel sorting module is characterized in that a PLC (programmable logic controller) or an embedded board card is used for controlling a general servo driver, the electric control and driving split type design is adopted, the transmission pulse frequency drives a servo motor to rotate, the problems that a circuit loses pulses in the pulse transmission process, the transmission pulse number is inconsistent with the actual received pulse number of the driver and the like exist. The actual running state of the motor cannot be obtained, and the rotating position information of the balance wheel cannot be accurately obtained, so that the coordination and the scheduling of the whole intelligent sorting system are complicated, and the timeliness and the accuracy of package sorting are greatly influenced.
Disclosure of Invention
The invention aims to solve the defects of the prior art and provides a servo drive control system for a wrapping balance wheel sorting module.
The invention adopts the following technical scheme: a servo drive control system for a sorting module of a wrapping balance wheel comprises
The upper computer sends the acquired package parameters and the information of the sorting port to the driver;
the driver comprises a master driver 16 and a slave driver 17, which are in series,
the master driver receives a sorting instruction of the upper computer, converts the data into execution target pulses to drive the first servo motor to rotate, and transmits a sorting task to the slave driver, so that the balance wheel rotates to wrap materials smoothly along an arc line;
the slave driver receives the sorting task of the master driver and then drives the second servo motor to rotate so as to enable the balance wheel to rotate;
the return-to-zero sensor is respectively arranged corresponding to the master driver and the slave driver, and can upload a trigger signal to stop the master driver and the slave driver;
and the detection sensor is used for detecting and judging whether the packages fall to the sorting port or not and transmitting signals back to the main driver and the auxiliary driver.
Furthermore, a first photoelectric encoder is installed on the first servo motor, and the main driver, the first servo motor and the first photoelectric encoder form closed-loop driving.
Furthermore, a second photoelectric encoder is installed on the second servo motor, and the slave driver, the second servo motor and the second photoelectric encoder form closed-loop driving.
The control method of the servo drive control system of the wrapping balance wheel sorting module is characterized in that: the method comprises the following steps:
s1, the master driver receives the sorting task of the upper computer, extracts the data content sent by the upper computer and calculates the execution time and the adjustment angle of the master driver and the slave driver;
s2, when the main driver is started, the stored angle value is automatically called, the total pulse number is calculated, the position mode control is triggered, and the first servo motor is driven to rotate;
when the slave driver is started, the master driver sends the total pulse number to the slave driver, the slave driver receives the pulse number to trigger position mode control, and the second servo motor rotates the corresponding pulse number;
s3, after the main driver and the slave driver respectively start the first servo motor and the second servo motor to rotate, if the corresponding zero return sensor trigger signals are detected to exist all the time, the first servo motor and the second servo motor are indicated not to rotate, and the upper computer is prompted to alarm abnormally;
s4, after the balance wheel is driven by the first servo motor and the second servo motor to swing in place, the balance wheel keeps the position unchanged, a to-be-wrapped item is placed to a sorting port, the detection sensor is used for judging whether the wrapped item is placed to the sorting port, when the detection sensor senses that the wrapped item is blocked, a trigger signal is transmitted back to the main driver, the main driver drives the first servo motor to move in the opposite direction after detecting the trigger signal, and meanwhile, the main driver controls the slave driver to drive the second servo motor to move in the opposite direction;
s5, when the main driver and the slave driver detect the trigger signal of the return-to-zero sensor, the reverse motion of the first servo motor and the second servo motor is stopped to finish the sorting task and wait for the next sorting task.
Furthermore, the linkage rhythm of the master driver and the slave driver is controlled by the length of the packages, the head of each package reaches the edge of the balance wheel, the master driver drives the first servo motor to rotate, the packages move forwards along an arc to reach the control area of the slave driver, the slave driver drives the second servo motor to rotate, after the tail end of each package leaves the edge of the control area of the master driver and detects that the packages are discharged to a sorting opening, the master driver controls the first servo motor to move in the reverse direction, and the slave driver controls the second servo motor to move in the reverse direction to execute the zeroing action.
The invention has the beneficial effects that: (1) in the control system, the upper computer directly communicates with the driver to issue the sorting task, so that the control links are reduced;
(2) the photoelectric encoder is integrated in the servo motor and forms closed-loop drive with the servo motor, and the external zero-return sensor is used as a starting point and an end point of a wheel pendulum sorting task, so that a balance wheel sorting mode is closed-loop control, and sorting actions are smoother and more accurate;
(3) a master-slave mode is arranged between the drivers, the swinging time of the master driver and the slave driver is controlled according to the reported running track, so that the packages are fed smoothly along an arc, and after the balance wheel swings in place, whether the packages are sorted normally or not is judged through the detection sensor, so that the automation degree is high.
Drawings
Fig. 1 is a schematic structural diagram of a hardware platform main control board of the servo drive control system in the invention.
FIG. 2 is a schematic diagram of a hardware platform power board of the servo drive control system according to the present invention.
Fig. 3 is a schematic diagram of the connection between the upper computer and the servo drive control system according to the present invention.
Description of the drawings: the system comprises a main control board 1, a main control chip 2, a data memory 3, a main control chip 4, a plug-in interface for butting the main control board and a power board, a photoelectric sensor interface 5, a control signal interface 6, a plug-in interface 7-485, a plug-in interface for butting the power board and a control board 8, a power supply 9, a phase line, a brake resistor bank plug-in interface 10, a power board 11, a current acquisition module 12, a PWM power driving module 13, a first servo motor 14, a second servo motor 14, an upper computer 15, a main driver 16, a slave driver 17, a return-to-zero sensor 18, a first photoelectric encoder 19 and a second photoelectric encoder 20.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, the servo control system of the wrapping balance sorting system of the present invention includes an upper computer 15, a servo drive integrated machine, a return-to-zero sensor 18, a first servo motor 13, a second servo motor 14, and a detection sensor. The servo drive integrated machine refers to a master drive and a slave drive, and the master drive 16 and the slave drive 17 are respectively composed of a master control board 1 and a power board 10.
The main control board 1 comprises a main control chip DSP2, a data memory 3, a main control board and power board connector 4, a photoelectric sensor interface 5, a control signal interface 6 and a 485 interface 7.
The power board 10 comprises a power board and main control board connector 8, a power supply, a phase line, a braking resistor interface 9, a current acquisition module 11, a PWM power driving module 12 and a power module.
The control method of the servo control system of the wrapping balance wheel sorting system comprises the following steps:
s1, the main driver 16 receives the sorting task of the upper computer 15 through a 485 interface on the main control board, the main driver 16 extracts the data content sent by the upper computer 15, the execution time of the main driver 16 and the slave driver 17 is calculated according to the data content, and the swing time of the whole wrapping balance wheel is controlled by the main driver 16;
s2, the main driver 16 automatically calls the angle value stored in the data memory 3 from the time machine to the inside of the main driver 16, calculates the corresponding total pulse number, and triggers the position mode to control and drive the first servo motor 13 to rotate; the slave driver 17 is used for sending the total pulse number to the slave driver 17 through a 485 interface, and the slave driver 17 receives a pulse number starting position mode and drives the second servo motor 14 to rotate by the corresponding pulse number;
s3, detecting whether the return-to-zero sensor 18 corresponding to the master driver 16 and the slave driver 17 has a trigger signal, if the signal of the return-to-zero sensor is not received, indicating that the first servo motor 13 and the second servo motor 14 normally rotate, and displaying normally, if the master driver 16 and the slave driver drive 17 that the first servo motor 13 and the second servo motor 14 rotate and the trigger signal of the return-to-zero sensor 18 always exists, indicating that the servo motors are not started, and prompting the upper computer 15 to alarm abnormally;
s4, when the head of the parcel reaches the edge of the balance wheel, the main driver 16 drives the first servo motor 13 to rotate, the balance wheel swings, the direction of the rotation of the parcel starts to advance along an arc, when the head of the parcel reaches the edge of the control area of the slave driver 17, the slave driver 17 drives the second servo motor 14 to rotate, the parcel continues to move along the arc, when the tail end of the parcel leaves the control area of the main driver 16, the balance wheel also swings to a corresponding position and keeps the position unchanged, the parcel is waited to successfully descend to the sorting opening, the detection sensor senses the blockage and transmits a trigger signal back to the main driver 16, the main driver 16 receives the trigger signal and then drives the first servo motor 13 to move in the opposite direction, and meanwhile, the slave driver 17 is controlled by the 485 interface to drive the second servo motor 14 to move in the opposite direction and keep the rotation speed consistent;
s5 monitors the status information of the return-to-zero sensor in real time, and stops driving the first servo motor 13 and the second servo motor 14 when the master driver 16 and the slave driver 17 monitor the trigger signals of the return-to-zero sensor, respectively, to end the sorting task and wait for the next sorting task.
The position closed-loop driving of the whole balance wheel module is composed of a main driver 16, a first servo motor 13, a slave driver 17, a second servo motor 14, a detector and corresponding return-to-zero sensors 18, wherein the main driver 16 receives a sorting instruction and converts the sorting instruction into the execution target pulse number of the driver, the pulse value of a first photoelectric encoder 19 and the target pulse number are collected to form position driving, a speed value is calculated, a speed inner ring driving is formed by the speed sensors arranged in the first photoelectric encoder 19, a current value is calculated through a PID algorithm, a current collecting module arranged in the main driver and a current ring driving output to a power module are formed by the current value and a current collecting module arranged in the main driver, and the corresponding first servo motor 13 is driven.
The principle of controlling the rotation of the second servo motor by the slave driver is the same as the above. And receiving a sorting instruction from the driver 17, acquiring a pulse value of the second photoelectric encoder 20 and a target pulse number to form position drive, calculating a speed value, forming speed inner ring drive with a speed sensor built in the second photoelectric encoder 19, calculating a current value through a PID algorithm, forming a current ring drive with a current acquisition module built in the driver, outputting the current ring drive to a power module, and driving the corresponding second servo motor 14 to rotate.
Claims (5)
1. A servo drive control system of a wrapping balance wheel sorting module is characterized in that: comprises that
The upper computer (15) sends the acquired package parameters and the information of the sorting port to the driver;
the driver comprises a master driver (16) and a slave driver (17), the master driver (16) and the slave driver (17) are connected in series,
the main driver (16) receives a sorting instruction of the upper computer (15), converts data into execution target pulses to drive the first servo motor (13) to rotate, and transmits a sorting task to the slave driver (17), so that the balance wheel rotates to wrap materials smoothly along an arc line;
after receiving the sorting task of the main driver (16) from the driver (17), the second servo motor (14) is driven to rotate to enable the balance wheel to rotate;
the return-to-zero sensor (18) is respectively arranged corresponding to the master driver (16) and the slave driver (17), and the return-to-zero sensor (18) can upload a trigger signal to stop the master driver (16) and the slave driver (17);
and the detection sensor is used for detecting whether the packages are dropped to the sorting port or not and transmitting signals back to the main driver (16) and the auxiliary driver (17).
2. The servo-driven control system of a wrap balance sorter module according to claim 1 wherein: a first photoelectric encoder (19) is installed on the first servo motor (13), and the main driver (16), the first servo motor (13) and the first photoelectric encoder (19) form closed-loop driving.
3. The servo-driven control system of a wrap balance sorter module according to claim 1 wherein: and a second photoelectric encoder (20) is installed on the second servo motor (14), and the slave driver (17), the second servo motor (14) and the second photoelectric encoder (20) form closed-loop driving.
4. The method of controlling a servo-driven control system for a sprung balance sorter module of claim 1, wherein: the method comprises the following steps:
s1, the master driver (16) receives the sorting task of the upper computer (15), extracts the data content sent by the upper computer (15) and calculates the execution time and the adjustment angle of the master driver (16) and the slave driver (17);
s2, the main driver (16) is timed to arrive, the stored angle value is automatically called, the total pulse number is calculated, the position mode control is triggered, and the first servo motor (13) is driven to rotate;
when the slave driver (17) is started, the master driver (16) sends the total pulse number to the slave driver (17), the slave driver (17) receives the pulse number to trigger position mode control, and the second servo motor (14) rotates the corresponding pulse number;
s3, after the main driver (16) and the slave driver (17) respectively start the first servo motor (13) and the second servo motor (14) to rotate, if the corresponding zero sensor (18) trigger signals are detected to exist all the time, the first servo motor (13) and the second servo motor (14) are indicated not to rotate, and the upper computer (15) is prompted to alarm abnormally;
s4, after the balance wheel is driven by the first servo motor (13) and the second servo motor (14) to swing in place, the positions are kept unchanged, a to-be-wrapped package is placed at a sorting opening, the detection sensor is used for judging whether the to-be-wrapped package is placed at the sorting opening, when the detection sensor senses that the to-be-wrapped package is shielded, a trigger signal is transmitted back to the main driver (16), the main driver (16) drives the first servo motor (13) to move in the opposite direction after detecting the trigger signal, and meanwhile, the main driver (16) controls the slave driver (17) to drive the second servo motor (14) to move in the opposite direction;
s5, when the main driver (16) and the auxiliary driver (17) detect the trigger signals of the return-to-zero sensor, the reverse motion of the first servo motor (13) and the second servo motor (14) is stopped to finish the sorting task and wait for the next sorting task.
5. The method of controlling a servo-driven control system of a sprung balance sorter module according to claim 4, in which: the linkage rhythm of the master driver (16) and the slave driver (17) is controlled by the length of the packages, the head of each package reaches the edge of the balance wheel, the master driver (16) drives the first servo motor (13) to rotate, the packages move forwards along an arc to reach a control area of the slave driver (17), the slave driver (17) drives the second servo motor (14) to rotate, after the tail end of each package leaves the edge of the control area of the master driver (17) and detects that the packages are discharged to a sorting opening, the master driver (16) controls the first servo motor (13) to move in the reverse direction, and the slave driver (17) controls the second servo motor (14) to move in the reverse direction to execute the zeroing action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011118376.4A CN112317332B (en) | 2020-10-19 | 2020-10-19 | Servo drive control system and control method for wrapping balance wheel sorting module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011118376.4A CN112317332B (en) | 2020-10-19 | 2020-10-19 | Servo drive control system and control method for wrapping balance wheel sorting module |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112317332A true CN112317332A (en) | 2021-02-05 |
| CN112317332B CN112317332B (en) | 2021-11-26 |
Family
ID=74314266
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011118376.4A Active CN112317332B (en) | 2020-10-19 | 2020-10-19 | Servo drive control system and control method for wrapping balance wheel sorting module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112317332B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3905896A (en) * | 1974-09-16 | 1975-09-16 | Mountain States Teleph Telegr | Method and apparatus for sorting and distributing mail |
| CN103406277A (en) * | 2013-07-23 | 2013-11-27 | 上海邮政科学研究院 | Supporting-roller-type bidirectional switch |
| CN106903062A (en) * | 2017-03-07 | 2017-06-30 | 湘潭大学 | A kind of multi-faceted logistics sorting transfer |
| CN108762318A (en) * | 2018-08-16 | 2018-11-06 | 合肥中科离子医学技术装备有限公司 | A kind of Multi-axis high-precision closed loop feedback kinetic control system |
| CN110125009A (en) * | 2018-02-02 | 2019-08-16 | 北京京东尚科信息技术有限公司 | Balance wheel mould group, sorting equipment and method for sorting |
| CN210138857U (en) * | 2019-04-30 | 2020-03-13 | 中顺分拣科技(深圳)有限公司 | Compact structure's rotatory commodity circulation letter sorting equipment |
| CN210312020U (en) * | 2019-05-13 | 2020-04-14 | 苏州阿波罗自动化设备有限公司 | Novel quick response balance wheel sorting machine |
-
2020
- 2020-10-19 CN CN202011118376.4A patent/CN112317332B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3905896A (en) * | 1974-09-16 | 1975-09-16 | Mountain States Teleph Telegr | Method and apparatus for sorting and distributing mail |
| CN103406277A (en) * | 2013-07-23 | 2013-11-27 | 上海邮政科学研究院 | Supporting-roller-type bidirectional switch |
| CN106903062A (en) * | 2017-03-07 | 2017-06-30 | 湘潭大学 | A kind of multi-faceted logistics sorting transfer |
| CN110125009A (en) * | 2018-02-02 | 2019-08-16 | 北京京东尚科信息技术有限公司 | Balance wheel mould group, sorting equipment and method for sorting |
| CN108762318A (en) * | 2018-08-16 | 2018-11-06 | 合肥中科离子医学技术装备有限公司 | A kind of Multi-axis high-precision closed loop feedback kinetic control system |
| CN210138857U (en) * | 2019-04-30 | 2020-03-13 | 中顺分拣科技(深圳)有限公司 | Compact structure's rotatory commodity circulation letter sorting equipment |
| CN210312020U (en) * | 2019-05-13 | 2020-04-14 | 苏州阿波罗自动化设备有限公司 | Novel quick response balance wheel sorting machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112317332B (en) | 2021-11-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101394146B (en) | Parameter recognition system and method for DC electric motor speed control object | |
| CN203064612U (en) | Intelligent control system of stereo logistics system | |
| CN107608249B (en) | Motor servo driver control system | |
| CN112317332B (en) | Servo drive control system and control method for wrapping balance wheel sorting module | |
| CN102162177A (en) | Bar tacking machine with needle position safety detection sensor, control method and sensing plate thereof | |
| CN206664791U (en) | A kind of longitudinal double-wheel self-balancing robot and control system | |
| CN101934968A (en) | Armrest drive control device | |
| CN101244574A (en) | Rotation positioning method for turntable type fusing machine and mechanism thereof | |
| US20010026135A1 (en) | Electric motor control device, method and program | |
| CN206287689U (en) | A kind of ZJ112 cigarette machines steel seal prints servo-control system | |
| CN112799377A (en) | Ring crane overspeed protection checking system and method | |
| CN111232582A (en) | Control system and method for realizing sorting of cross-belt sorting machine based on infrared communication | |
| CN102114925B (en) | Control device and method for sealing system of packing machine | |
| CN103472838A (en) | Fast sprint controller of four-wheel micro-mouse based on double processors | |
| CN207984614U (en) | A kind of electric vehicle automatic ride control system | |
| CN112992746B (en) | Positioning device and positioning method for conveying mechanism of wafer cleaning equipment | |
| CN107186473A (en) | A kind of double back power automatic assembling | |
| CN111606208B (en) | Belt drive lifting device control system | |
| CN211732862U (en) | Control system for realizing sorting of cross belt sorting machine based on infrared communication | |
| CN108190529A (en) | A kind of fully-automatic intelligent book stacker and its application method | |
| CN111464087B (en) | Control method and positioning mechanism of zero-free switch stepping motor | |
| CN201025507Y (en) | A rotary positioning structure for rotary tray adhesion machine | |
| CN108333979B (en) | Counterweight type loop control system and method | |
| CN215755136U (en) | Six-degree-of-freedom material handling system for intelligent factory | |
| CN202072895U (en) | Bartack sewing machine with needle position safety detecting sensor and inducing sheet of bartack sewing machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: No. 979, Antai Third Road, Xishan District, Wuxi City, Jiangsu Province, 214000 Patentee after: Zhongke Weizhi Technology Co.,Ltd. Address before: 299 Dacheng Road, Xishan District, Wuxi City, Jiangsu Province Patentee before: Zhongke Weizhi intelligent manufacturing technology Jiangsu Co.,Ltd. |