CN117647950B - Remote control system and method for servo driver - Google Patents
Remote control system and method for servo driver Download PDFInfo
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- CN117647950B CN117647950B CN202410126822.8A CN202410126822A CN117647950B CN 117647950 B CN117647950 B CN 117647950B CN 202410126822 A CN202410126822 A CN 202410126822A CN 117647950 B CN117647950 B CN 117647950B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention relates to the technical field of servo drive remote control, and discloses a servo drive remote control system and a method, wherein the system comprises the following steps: the servo driver remote control system and the method analyze and judge the inertial displacement generated by the material when the conveyor belt stops according to the weight of the material before and after the material is processed, and then adjust and control the parameters of the servo motor through the servo driver to enable the material to move to a set positioning point position through the inertial displacement after the conveyor belt stops moving, so that the mechanical grabbing clamp of each processing device can accurately move the material into the corresponding processing device for processing, the material is prevented from being processed inaccurately due to the inertial displacement, and the production cost is increased due to the influence on the integral production of the material.
Description
Technical Field
The invention relates to the technical field of servo drive remote control, in particular to a servo drive remote control system and a method.
Background
The remote control system of the servo driver mainly remotely controls the operation and monitoring of the servo driver through a network, and comprises hardware configuration, network communication, remote control instruction analysis, control signal generation, control signal transmission, data acquisition and feedback;
and writing a network communication module on the hardware platform to realize communication with the remote equipment, analyzing the command after receiving the control command sent by the remote equipment, sending the analyzed command to the servo driver according to a specific communication protocol, generating a control signal suitable for the servo driver on the hardware platform according to the analyzed command, sending the generated control signal to the servo driver through a proper interface to realize control on the running state and parameters of the servo driver, and simultaneously setting a data acquisition module on the hardware platform to monitor the working state and parameters of the servo driver in real time, and transmitting the acquired data to the remote equipment through a network to realize remote monitoring on the servo driver.
The existing servo driver remote control system and method cannot analyze and judge the inertial displacement generated when a conveyor belt is stopped according to the weight of materials before and after the materials are processed, and then the servo driver is used for adjusting and controlling the parameters of a servo motor to adjust the moving position of the conveyor belt, so that the materials are moved to the set positioning point position through the inertial displacement after the conveyor belt is stopped, and the mechanical grabbing clamps of all processing equipment can accurately move the materials into the corresponding processing equipment for processing, thereby causing inaccurate material processing due to the inertial displacement, influencing the whole production of the materials and increasing the production cost.
Disclosure of Invention
The invention provides a servo driver remote control system and a method, which are used for facilitating solving of the problems in the background technology.
The invention provides the following technical scheme: a servo driver remote control system comprising:
and the acquisition module is used for: acquiring material data and machining data, wherein the machining data comprises position data of machining equipment;
the processing equipment comprises discharging equipment, cutting equipment, assembling equipment, a servo motor and a conveyor belt;
the discharging equipment comprises a first mechanical grabbing clamp, the cutting equipment comprises a second mechanical grabbing clamp, and the assembling equipment comprises a third mechanical grabbing clamp;
and an analysis module: forming control data according to the material data and the processing data through a data analysis strategy, wherein the control data is used for controlling the servo motor;
and the control module is used for: according to the control data, the servo driver adjusts and controls the rotating speed, running and stopping of the servo motor, so that the materials move and are processed.
The invention also discloses a using method of the servo driver remote control system, wherein: the position data of the processing equipment specifically comprises:
respectively acquiring space coordinates of central points of the discharging equipment, the cutting equipment and the assembling equipment, and respectively determining the space coordinates as a first coordinate, a second coordinate and a third coordinate;
acquiring a space coordinate of a center point of the conveyor belt, and determining the space coordinate as a fourth coordinate;
and executing a position simulation strategy according to the first coordinate, the second coordinate, the third coordinate and the fourth coordinate, wherein the position simulation strategy is used for determining the position of each device and the processing and transmission paths of materials.
The invention relates to a use method of a remote control system of a servo driver, which comprises the following steps: the executing position simulation strategy specifically comprises the following steps:
acquiring a first port and a second port of a conveyor belt;
connecting the midpoint of the first port with the midpoint of the second port to form an analysis line;
acquiring a discharging point of discharging equipment, a cutting point of cutting equipment and an assembling point of assembling equipment;
taking the first coordinate, the second coordinate and the third coordinate as original points respectively, and making vertical lines to an analysis line to be respectively defined as a first vertical line, a second vertical line and a third vertical line;
extracting an intersection point of the first vertical line and the analysis line, and determining the intersection point as a first positioning point;
extracting the intersection point of the second vertical line and the analysis line, and determining the intersection point as a second positioning point;
extracting an intersection point of the third vertical line and the analysis line, and determining the intersection point as a third positioning point;
acquiring material data, wherein the material data comprises the weight of a target processing material;
acquiring processing data, wherein the processing data comprises a material processing step;
the material processing steps comprise:
s10, moving a target processing material to a first positioning point on a conveyor belt from a discharging point of a discharging device through a first mechanical grabbing clamp;
s11, moving a target processing material from a first positioning point to a second positioning point through a conveyor belt;
s12, moving the target processing material to a cutting point of the cutting equipment from a second positioning point of the conveyor belt through a second mechanical grabbing clamp for cutting processing to form a cutting material, and moving the cutting material to the second positioning point of the conveyor belt from the cutting point of the cutting equipment through the second mechanical grabbing clamp;
s13, moving the cutting material to a third positioning point from the second positioning point through a conveyor belt;
s14, moving the cutting material to an assembling point of assembling equipment from a third positioning point of the conveyor belt through a third mechanical grabbing clamp for assembling processing to form an assembling material, and moving the cutting material to the third positioning point of the conveyor belt from the assembling point of the assembling equipment through the third mechanical grabbing clamp;
s15, the assembly materials are moved to the second port through a third positioning point of the conveyor belt and then are discharged;
s16, executing the position judgment strategy in the process of carrying out the target processing material conveying and the cutting material conveying in the steps S10-S15.
The invention relates to a use method of a remote control system of a servo driver, which comprises the following steps: the data analysis strategy comprises the steps of establishing a displacement model, and specifically comprises the following steps:
acquiring the weight of a target processing material, and determining the weight as an initial weight;
acquiring the weight of the cutting material, and determining the weight as the cutting weight;
all the moving speeds of the conveyor belt set by the system in the servo driver are obtained to form a target speed set SJ, wherein the statistics are SJ1, SJn;
respectively simulating the material to move on the conveyor belt at each moving speed in the target speed set SJ according to the initial weight and the cutting weight;
acquiring the position of a target processing material, and determining the position as an initial starting position;
acquiring the position of a cutting material, and determining the position as a cutting starting position;
sequentially extracting the moving speed in the target speed set SJ as a target speed, and controlling the conveyor belt to stop after reaching the target speed from the static speed;
the position of the target processing material when the conveyor belt stops after reaching each target speed is collected and is determined as an initial stop position;
the position of the cutting material when the collection conveyor belt stops after reaching each target speed is defined as a cutting stop position;
calculating the moving distance of the target processing material when the conveyor belt is from the static speed to the target speed, and determining the moving distance as an initial moving distance, wherein the initial moving distance=an initial stopping position-an initial starting position;
calculating the moving distance of the cutting material when the conveyor belt is from the static speed to the target speed, and determining the moving distance as the cutting moving distance, wherein the cutting moving distance=cutting stop position-cutting start position;
collecting initial inertial displacement generated when the target processing material stops after the conveyor belt reaches each target speed;
collecting cutting inertial displacement generated when the cutting material stops after the conveyor belt reaches each target speed;
forming an initial moving distance set LCY for the initial moving distance of the target processing material according to the target speed set SJ;
forming an initial inertial displacement set LCG for the initial inertial displacement of the target processing material according to the target speed set SJ;
forming a cutting movement distance set LQY of the cutting movement distances of the cut materials according to the target speed set SJ;
and forming a cutting inertia displacement set LQG according to the cutting inertia displacement of the cutting material according to the target speed set SJ.
The invention relates to a use method of a remote control system of a servo driver, which comprises the following steps: the executing position judging strategy specifically comprises the following steps:
S10-S12, determining the cut material as a first material;
s10, determining the target processing material as a second material;
s13 is performed on the first material, S11 is performed on the second material;
acquiring the weight of the first material after cutting, determining the weight as a first cutting weight, and marking the first cutting weight as GP1;
obtaining the initial weight of the second material, determining the initial weight as a second initial weight, and marking the second initial weight as GP2;
obtaining a displacement model;
a first movement adjustment strategy is performed.
The invention relates to a use method of a remote control system of a servo driver, which comprises the following steps: the executing the first movement adjustment strategy specifically includes:
obtaining the distance between a second positioning point and a third positioning point on the conveyor belt, determining the distance as a third distance, and marking the third distance as L3;
acquiring a cutting movement distance set LQY and a cutting inertial displacement set LQG corresponding to the first cutting weight GP1;
extracting a cutting movement distance and a cutting inertia displacement at the same target speed, so that the cutting movement distance+the cutting inertia displacement=a third distance L3, determining the target speed as a first target speed, denoted as S1, determining the cutting movement distance as a cutting adjustment distance, and determining the cutting inertia displacement and the cutting inertia distance;
the controller updates the cutting adjustment distance and the first target speed S1 to servo motor parameters corresponding to a third distance L3 in the servo driver, so that the first material moves to a third positioning point through inertial displacement after the conveyor belt stops moving for assembly processing;
a second movement adjustment strategy is performed.
The invention relates to a use method of a remote control system of a servo driver, which comprises the following steps: the executing the second movement adjustment strategy specifically includes:
acquiring an initial moving distance set LCY and an initial inertial displacement set LCG corresponding to the second initial weight GP2;
extracting the corresponding initial moving distance and initial inertial displacement of the second material at the first target speed S1, and respectively determining the initial moving distance and the initial inertial displacement as a first initial adjusting distance and a first initial inertial distance;
calculating a stopping point of the second material, wherein the stopping point=a first positioning point+a first initial adjustment distance+a first initial inertia distance;
obtaining the distance between the stopping point and the second positioning point on the conveyor belt, determining the distance as an adjustment distance, and marking the adjustment distance as LT;
extracting an initial moving distance and an initial inertial displacement at the same target speed, so that the initial moving distance+the initial inertial displacement=an adjustment distance LT, determining the target speed as a second target speed, denoted as S2, determining the initial inertial displacement as a second initial adjustment distance, and determining the initial inertial displacement as a second initial inertial distance;
obtaining the distance between a first locating point and a second locating point on the conveyor belt, determining the distance as a second distance, and marking the second distance as L2;
and the controller updates the second initial adjustment distance and the second target speed S2 to servo motor parameters corresponding to the second distance L2 in the servo driver, so that the second material moves to a second positioning point for cutting machining through inertial displacement after the conveyor belt stops moving.
The invention has the following beneficial effects:
1. according to the servo driver remote control system and the servo driver remote control method, the weight of a target machining material before cutting machining and the weight of the machining material before assembling machining are obtained, and inertial displacement generated when two materials stop after the same conveyor belt moves at the same speed and the same distance is compared and analyzed, so that parameters of a servo driver and a servo motor are adjusted according to displacement data of the machining materials preferentially through analysis and judgment, adjustment of the moving position of the conveyor belt is achieved, the materials are enabled to move to a set locating point position through inertial displacement after the conveyor belt stops moving, mechanical grippers of all machining equipment can accurately move the materials into corresponding machining equipment for machining, and the problem that the machining of the materials is inaccurate due to the inertial displacement is solved, and accordingly production cost is increased due to the fact that the overall production of the materials is affected.
2. According to the servo driver remote control system and the servo driver remote control method, the moving distance of the conveyor belt when the cutting material is from the second locating point to the third locating point and the inertial displacement of the cutting material when the conveyor belt is stopped are analyzed and judged, the sum of the moving distance of the conveyor belt and the inertial displacement of the cutting material is the distance between the second locating point and the third locating point, and the moving speed of the conveyor belt is determined, so that parameters of the servo driver and the servo motor are adjusted, the material is moved to the third locating point through the inertial displacement after the conveyor belt is stopped, the mechanical grabbing clamp of the assembly equipment can accurately move the material into the assembly equipment for machining, and inaccuracy in machining of the material due to the inertial displacement is prevented, and accordingly the production cost is increased due to the fact that the whole production of the material is influenced.
3. According to the servo driver remote control system and the servo driver remote control method, through acquiring the stop position of the target processing material passing through the inertial displacement when the cutting material moves to the third positioning point through the inertial displacement, analyzing and judging the moving distance of the conveying belt when the target processing material moves from the stop position to the second positioning point and the inertial displacement of the target processing material when the conveying belt stops, the sum of the moving distance of the conveying belt and the inertial displacement of the target processing material is the distance between the stop position and the second positioning point, and determining the moving speed of the conveying belt, parameters of the servo driver and the servo motor are adjusted, the material moves to the second positioning point through the inertial displacement after the conveying belt stops moving, and the mechanical grabbing clamp of the cutting equipment can accurately move the material into the cutting equipment for processing, so that the material processing inaccuracy caused by the inertial displacement is prevented, and the production cost is increased due to the influence on the whole production of the material.
Drawings
FIG. 1 is a block diagram of a servo driver remote control system and method of the present invention;
FIG. 2 is a schematic view of the location of various devices according to the present invention;
FIG. 3 is a schematic view of the adjustment distance according to the present invention.
Detailed Description
In a first embodiment, a servo driver remote control system, referring to fig. 1, includes:
and the acquisition module is used for: acquiring material data and processing data, wherein the material data is the weight of the material acquired by a weight sensor, and the processing data comprises position data of processing equipment;
the processing equipment comprises discharging equipment, cutting equipment, assembling equipment, a servo motor and a conveyor belt, wherein the output end of the servo motor is connected with the conveyor belt, the servo motor is controlled to rotate through a servo driver, the servo driver is connected to a controller in a communication manner, and the servo driver is controlled through the controller to realize movement of the conveyor belt;
the discharging equipment comprises a first mechanical grabbing clamp, the cutting equipment comprises a second mechanical grabbing clamp, and the assembling equipment comprises a third mechanical grabbing clamp;
and an analysis module: forming control data according to the material data and the processing data through a data analysis strategy, wherein the control data is used for controlling the servo motor;
and the control module is used for: according to the control data, the servo driver adjusts and controls the rotating speed, running and stopping of the servo motor, so that the materials move and are processed.
Through the module, before and after the material is processed, according to the weight of the material, the inertial displacement generated by the material when the conveyor belt is stopped is analyzed and judged, and the servo motor parameters are adjusted and controlled by the servo driver, so that the material is moved to a set positioning point position through the inertial displacement after the conveyor belt is stopped, the mechanical grabbing clamp of each processing device can accurately move the material into the corresponding processing device for processing, the material processing inaccuracy caused by the inertial displacement is prevented, and the production cost is increased due to the influence on the whole production of the material.
In a second embodiment, the present embodiment further discloses a method for using a remote control system of a servo driver, referring to fig. 2, the position data of the processing device specifically includes:
respectively acquiring space coordinates of central points of the discharging equipment, the cutting equipment and the assembling equipment, and respectively determining the space coordinates as a first coordinate, a second coordinate and a third coordinate, wherein the first coordinate, the second coordinate and the third coordinate are shown in fig. 2;
acquiring a space coordinate of a center point of the conveyor belt, and determining the space coordinate as a fourth coordinate, wherein the fourth coordinate is shown in fig. 2;
and executing a position simulation strategy according to the first coordinate, the second coordinate, the third coordinate and the fourth coordinate, wherein the position simulation strategy is used for determining the position of each device and the processing and transmission paths of materials.
The executing a position simulation strategy specifically comprises the following steps:
the executing position simulation strategy specifically comprises the following steps:
acquiring a first port and a second port of the conveyor belt, as shown in the first port and the second port in fig. 2;
connecting the midpoint of the first port with the midpoint of the second port to form an analysis line;
acquiring a discharging point of the discharging device, a cutting point of the cutting device and an assembling point of the assembling device to determine a starting position of the material when the material is output by the discharging device, a position point of the material in the cutting device and a position point of the material assembled in the assembling device, wherein the discharging point, the cutting point and the assembling point are shown in fig. 2;
taking the first coordinate, the second coordinate and the third coordinate as original points respectively, and making vertical lines to an analysis line to be respectively defined as a first vertical line, a second vertical line and a third vertical line;
the intersection point of the first vertical line and the analysis line is extracted and is defined as a first positioning point so as to determine the position point of stopping moving after the material moves to the conveyor belt from the discharging equipment, as shown in the first positioning point in fig. 2;
extracting the intersection point of the second vertical line and the analysis line to be a second positioning point so as to determine the position point of the material on the conveyor belt before and after cutting, wherein the second positioning point is shown in fig. 2;
extracting the intersection point of the third vertical line and the analysis line to be a third locating point so as to determine the position point of the material on the conveyor belt before and after the assembly processing, wherein the third locating point is shown in fig. 2;
acquiring material data, wherein the material data comprises the weight of a target processing material;
acquiring processing data, wherein the processing data comprises a material processing step, wherein the material processing step is that a plurality of devices work simultaneously, such as a discharging device outputs a material 1, the material 1 moves through a conveyor belt, the discharging device outputs a material 2 when the material 1 moves to a cutting device for cutting, the material 2 moves to a cutting device for cutting when the material 1 moves to an assembling device for assembling, and the discharging device outputs a material 3;
the material processing steps comprise:
s10, moving a target processing material to a first positioning point on a conveyor belt from a discharging point of a discharging device through a first mechanical grabbing clamp;
s11, moving a target processing material from a first positioning point to a second positioning point through a conveyor belt;
s12, moving the target processing material to a cutting point of the cutting equipment from a second positioning point of the conveyor belt through a second mechanical grabbing clamp for cutting processing to form a cutting material, and moving the cutting material to the second positioning point of the conveyor belt from the cutting point of the cutting equipment through the second mechanical grabbing clamp;
s13, moving the cutting material to a third positioning point from the second positioning point through a conveyor belt;
s14, moving the cutting material to an assembling point of assembling equipment from a third positioning point of the conveyor belt through a third mechanical grabbing clamp for assembling processing to form an assembling material, and moving the cutting material to the third positioning point of the conveyor belt from the assembling point of the assembling equipment through the third mechanical grabbing clamp;
s15, moving the assembly materials to the second port through a third positioning point of the conveyor belt;
s16, in the process of executing the steps S10-S15, a position judgment strategy is executed simultaneously, namely, parameters of a servo driver are calculated and adjusted according to inertial displacement generated when each material stops rotating a servo motor and a conveyor belt stops moving, the material stops near a set second positioning point through inertial displacement before assembly processing, the material stops near a set third positioning point through inertial displacement during cutting processing, and the vicinity of the embodiment is defined as a position within 20 cm of the positioning point.
In a third embodiment, the present embodiment is an improvement made on the basis of the second embodiment, where in the present embodiment, the data analysis policy includes building a displacement model, specifically:
acquiring the weight of a target processing material, and determining the weight as an initial weight;
acquiring the weight of the cutting material, and determining the weight as the cutting weight;
all the moving speeds of the conveyor belt set by the system in the servo driver are obtained to form a target speed set SJ, wherein the statistics are SJ1, SJn;
respectively simulating the material to move on the conveyor belt at each moving speed in the target speed set SJ according to the initial weight and the cutting weight;
acquiring the position of a target processing material, and determining the position as an initial starting position;
acquiring the position of a cutting material, and determining the position as a cutting starting position;
sequentially extracting the moving speed in the target speed set SJ as a target speed, and controlling the conveyor belt to stop after reaching the target speed from the static speed;
the position of the target processing material when the conveyor belt stops after reaching each target speed is collected and is determined as an initial stop position;
the position of the cutting material when the collection conveyor belt stops after reaching each target speed is defined as a cutting stop position;
calculating the moving distance of the target processing material when the conveyor belt is from the static speed to the target speed, and determining the moving distance as an initial moving distance, wherein the initial moving distance=an initial stopping position-an initial starting position;
calculating the moving distance of the cutting material when the conveyor belt is from the static speed to the target speed, and determining the moving distance as the cutting moving distance, wherein the cutting moving distance=cutting stop position-cutting start position;
collecting initial inertial displacement generated when the target processing material stops after the conveyor belt reaches each target speed;
the method comprises the steps of collecting cutting inertial displacement generated when a conveyor belt stops after reaching each target speed, wherein the friction force between two materials and the conveyor belt is different due to different weights of the target processing materials and the cutting materials, and the pressure generated by the two materials on the conveyor belt and the deformation caused by the two materials on the conveyor belt are also different, so that the inertial displacement generated when the two materials stop moving on the conveyor belt is different, the cutting inertial displacement is lighter than the target processing materials, and the cutting inertial displacement is larger than the initial inertial displacement when the conveyor belt stops after reaching the same target speed;
forming an initial moving distance set LCY for the initial moving distance of the target processing material according to the target speed set SJ;
forming an initial inertial displacement set LCG for the initial inertial displacement of the target processing material according to the target speed set SJ;
forming a cutting movement distance set LQY of the cutting movement distances of the cut materials according to the target speed set SJ;
and forming a cutting inertia displacement set LQG according to the cutting inertia displacement of the cutting material according to the target speed set SJ.
In the fourth embodiment, the present embodiment is an improvement made on the basis of the third embodiment, referring to fig. 3, and in this embodiment, the executing a position determination policy specifically includes:
S10-S13, determining the cut material as a first material;
s10, determining the target processed material as a second material, namely, conveying the first material to a cutting device for cutting, outputting the material again by a discharging device, and determining the processed material output by the discharging device at the time as the second material;
s13 is carried out on the first material, S11 is carried out on the second material, namely, the first material is moved to a third locating point to prepare for assembly processing through the movement of a conveyor belt, and the second material is moved to a second locating point to prepare for cutting processing;
acquiring the weight of the first material after cutting, determining the weight as the first cutting weight, and marking the weight as GP1, namely acquiring the weight of the material before assembly processing;
obtaining the initial weight of a second material, determining the initial weight as a second initial weight, and marking the second initial weight as GP2, namely obtaining the weight of the material before cutting;
obtaining a displacement model;
a first movement adjustment strategy is performed.
The executing the first movement adjustment strategy specifically includes:
obtaining the distance between the second positioning point and the third positioning point on the conveyor belt, and determining the distance as a third distance which is denoted as L3, wherein the third distance L3 is shown in FIG. 3;
acquiring a cutting movement distance set LQY and a cutting inertial displacement set LQG corresponding to the first cutting weight GP1;
extracting a cutting movement distance and a cutting inertia displacement at the same target speed, so that the cutting movement distance+the cutting inertia displacement=a third distance L3, determining the target speed as a first target speed, denoted as S1, determining the cutting movement distance as a cutting adjustment distance, and determining the cutting inertia displacement and the cutting inertia displacement as a cutting adjustment distance, as shown in fig. 3;
the controller updates the cutting adjustment distance and the first target speed S1 to servo motor parameters corresponding to a third distance L3 in the servo driver, so that the first material moves to a third positioning point through inertial displacement after the conveyor belt stops moving for assembly processing;
a second movement adjustment strategy is performed.
The executing the second movement adjustment strategy specifically includes:
acquiring an initial moving distance set LCY and an initial inertial displacement set LCG corresponding to the second initial weight GP2;
extracting an initial moving distance and an initial inertial displacement of the second material corresponding to the first target speed S1, and respectively determining the initial moving distance and the initial inertial displacement as a first initial adjustment distance and a first initial inertial distance, wherein the first initial adjustment distance and the first initial inertial distance are shown in fig. 3;
calculating a stopping point of the second material, wherein the stopping point=the first positioning point+the first initial adjustment distance+the first initial inertial distance, as shown by the stopping point in fig. 3;
acquiring the distance between the stopping point and the second positioning point on the conveyor belt, determining the distance as an adjustment distance, and marking the adjustment distance as LT, as shown in the adjustment distance LT in FIG. 3;
extracting an initial moving distance and an initial inertial displacement at the same target speed, so that the initial moving distance+the initial inertial displacement=an adjustment distance LT, determining the target speed as a second target speed, denoted as S2, determining the initial inertial displacement as a second initial adjustment distance, and determining the initial inertial displacement as a second initial inertial distance, as shown by the second initial adjustment distance and the second initial inertial distance in fig. 3;
obtaining the distance between the first locating point and the second locating point on the conveyor belt, and determining the distance as a second distance which is denoted as L2, wherein the second distance L2 is shown in fig. 3;
and the controller updates the second initial adjustment distance and the second target speed S2 to servo motor parameters corresponding to the second distance L2 in the servo driver, so that the second material moves to a second positioning point for cutting machining through inertial displacement after the conveyor belt stops moving.
According to the embodiment, before and after the material is processed, according to the weight of the material, the inertial displacement generated by the material when the conveyor belt is stopped is analyzed and judged, and the servo motor parameters are adjusted and controlled by the servo driver, so that the material is moved to a set positioning point position through the inertial displacement after the conveyor belt is stopped, the mechanical grabbing clamps of all processing equipment can accurately move the material into corresponding processing equipment for processing, the material processing inaccuracy caused by the inertial displacement is prevented, and the production cost is increased due to the influence on the whole production of the material.
Claims (4)
1. A servo driver remote control system is characterized in that: comprising the following steps:
and the acquisition module is used for: acquiring material data and machining data, wherein the machining data comprises position data of machining equipment;
the processing equipment comprises discharging equipment, cutting equipment, assembling equipment, a servo motor and a conveyor belt;
the discharging equipment comprises a first mechanical grabbing clamp, the cutting equipment comprises a second mechanical grabbing clamp, and the assembling equipment comprises a third mechanical grabbing clamp;
and an analysis module: forming control data according to the material data and the processing data through a data analysis strategy, wherein the control data is used for controlling the servo motor;
and the control module is used for: according to the control data, the servo driver adjusts and controls the rotating speed, running and stopping of the servo motor to enable the materials to move and process;
the position data of the processing equipment specifically comprises:
respectively acquiring space coordinates of central points of the discharging equipment, the cutting equipment and the assembling equipment, and respectively determining the space coordinates as a first coordinate, a second coordinate and a third coordinate;
acquiring a space coordinate of a center point of the conveyor belt, and determining the space coordinate as a fourth coordinate;
executing a position simulation strategy according to the first coordinate, the second coordinate, the third coordinate and the fourth coordinate, so as to determine the position of each device and the processing and transmission paths of the materials;
the executing position simulation strategy specifically comprises the following steps:
acquiring a first port and a second port of a conveyor belt;
connecting the midpoint of the first port with the midpoint of the second port to form an analysis line;
acquiring a discharging point of discharging equipment, a cutting point of cutting equipment and an assembling point of assembling equipment;
taking the first coordinate, the second coordinate and the third coordinate as original points respectively, and making vertical lines to an analysis line to be respectively defined as a first vertical line, a second vertical line and a third vertical line;
extracting an intersection point of the first vertical line and the analysis line, and determining the intersection point as a first positioning point;
extracting the intersection point of the second vertical line and the analysis line, and determining the intersection point as a second positioning point;
extracting an intersection point of the third vertical line and the analysis line, and determining the intersection point as a third positioning point;
the data analysis strategy specifically comprises the following steps:
acquiring a discharging point, a first positioning point, a cutting point, a second positioning point, an assembling point and a third positioning point;
acquiring material data, wherein the material data comprises the weight of a target processing material;
acquiring processing data, wherein the processing data comprises a material processing step;
the material processing steps comprise:
s10, moving a target processing material to a first positioning point on a conveyor belt from a discharging point of a discharging device through a first mechanical grabbing clamp;
s11, moving a target processing material from a first positioning point to a second positioning point through a conveyor belt;
s12, moving the target processing material to a cutting point of the cutting equipment from a second positioning point of the conveyor belt through a second mechanical grabbing clamp for cutting processing to form a cutting material, and moving the cutting material to the second positioning point of the conveyor belt from the cutting point of the cutting equipment through the second mechanical grabbing clamp;
s13, moving the cutting material to a third positioning point from the second positioning point through a conveyor belt;
s14, moving the cutting material to an assembling point of assembling equipment from a third positioning point of the conveyor belt through a third mechanical grabbing clamp for assembling processing to form an assembling material, and moving the cutting material to the third positioning point of the conveyor belt from the assembling point of the assembling equipment through the third mechanical grabbing clamp;
s15, the assembly materials are moved to the second port through a third positioning point of the conveyor belt and then are discharged;
s16, in the process of executing the steps S10-S15, executing a position judgment strategy simultaneously;
the data analysis strategy further comprises the step of building a displacement model, specifically:
acquiring the weight of a target processing material, and determining the weight as an initial weight;
acquiring the weight of the cutting material, and determining the weight as the cutting weight;
all the movement speeds of the conveyor belt set by the system in the servo drive are acquired to form a target speed set SJ (SJ 1,.. SJn)
Respectively simulating the material to move on the conveyor belt at each moving speed in the target speed set SJ according to the initial weight and the cutting weight;
acquiring the position of a target processing material, and determining the position as an initial starting position;
acquiring the position of a cutting material, and determining the position as a cutting starting position;
sequentially extracting the moving speed in the target speed set SJ as a target speed, and controlling the conveyor belt to stop after reaching the target speed from the static speed;
the position of the target processing material when the conveyor belt stops after reaching each target speed is collected and is determined as an initial stop position;
the position of the cutting material when the collection conveyor belt stops after reaching each target speed is defined as a cutting stop position;
calculating the moving distance of the target processing material when the conveyor belt is from the static speed to the target speed, and determining the moving distance as an initial moving distance, wherein the initial moving distance=an initial stopping position-an initial starting position;
calculating the moving distance of the cutting material when the conveyor belt is from the static speed to the target speed, and determining the moving distance as the cutting moving distance, wherein the cutting moving distance=cutting stop position-cutting start position;
collecting initial inertial displacement generated when the target processing material stops after the conveyor belt reaches each target speed;
collecting cutting inertial displacement generated when the cutting material stops after the conveyor belt reaches each target speed;
forming an initial moving distance set LCY for the initial moving distance of the target processing material according to the target speed set SJ;
forming an initial inertial displacement set LCG for the initial inertial displacement of the target processing material according to the target speed set SJ;
forming a cutting movement distance set LQY of the cutting movement distances of the cut materials according to the target speed set SJ;
and forming a cutting inertia displacement set LQG according to the cutting inertia displacement of the cutting material according to the target speed set SJ.
2. The method of claim 1, wherein the step of using the servo driver remote control system comprises: the executing position judging strategy specifically comprises the following steps:
S10-S12, determining the cut material as a first material;
s10, determining the target processing material as a second material;
s13 is performed on the first material, S11 is performed on the second material;
acquiring the weight of the first material after cutting, determining the weight as a first cutting weight, and marking the first cutting weight as GP1;
obtaining the initial weight of the second material, determining the initial weight as a second initial weight, and marking the second initial weight as GP2;
obtaining a displacement model;
a first movement adjustment strategy is performed.
3. The method of using a servo driver remote control system of claim 2, wherein: the executing the first movement adjustment strategy specifically includes:
obtaining the distance between a second positioning point and a third positioning point on the conveyor belt, determining the distance as a third distance, and marking the third distance as L3;
acquiring a cutting movement distance set LQY and a cutting inertial displacement set LQG corresponding to the first cutting weight GP1;
extracting a cutting movement distance and a cutting inertia displacement at the same target speed, so that the cutting movement distance+the cutting inertia displacement=a third distance L3, determining the target speed as a first target speed, denoted as S1, determining the cutting movement distance as a cutting adjustment distance, and determining the cutting inertia displacement and the cutting inertia distance;
the controller updates the cutting adjustment distance and the first target speed S1 to servo motor parameters corresponding to a third distance L3 in the servo driver, so that the first material moves to a third positioning point through inertial displacement after the conveyor belt stops moving for assembly processing;
a second movement adjustment strategy is performed.
4. A method of using a servo driver remote control system as recited in claim 3, wherein: the executing the second movement adjustment strategy specifically includes:
acquiring an initial moving distance set LCY and an initial inertial displacement set LCG corresponding to the second initial weight GP2;
extracting the corresponding initial moving distance and initial inertial displacement of the second material at the first target speed S1, and respectively determining the initial moving distance and the initial inertial displacement as a first initial adjusting distance and a first initial inertial distance;
calculating a stopping point of the second material, wherein the stopping point=a first positioning point+a first initial adjustment distance+a first initial inertia distance;
obtaining the distance between the stopping point and the second positioning point on the conveyor belt, determining the distance as an adjustment distance, and marking the adjustment distance as LT;
extracting an initial moving distance and an initial inertial displacement at the same target speed, so that the initial moving distance+the initial inertial displacement=an adjustment distance LT, determining the target speed as a second target speed, denoted as S2, determining the initial inertial displacement as a second initial adjustment distance, and determining the initial inertial displacement as a second initial inertial distance;
obtaining the distance between a first locating point and a second locating point on the conveyor belt, determining the distance as a second distance, and marking the second distance as L2;
and the controller updates the second initial adjustment distance and the second target speed S2 to servo motor parameters corresponding to the second distance L2 in the servo driver, so that the second material moves to a second positioning point for cutting machining through inertial displacement after the conveyor belt stops moving.
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