CN1743980A - Bending machine control method and system - Google Patents
Bending machine control method and system Download PDFInfo
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- CN1743980A CN1743980A CN 200510041014 CN200510041014A CN1743980A CN 1743980 A CN1743980 A CN 1743980A CN 200510041014 CN200510041014 CN 200510041014 CN 200510041014 A CN200510041014 A CN 200510041014A CN 1743980 A CN1743980 A CN 1743980A
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Abstract
An automatic control system for bender, which contains controller, electric control cabinet with special driver, X axle Y axle photoelectric coder for position detection, said X axle photoelectric coder set in rear material stop position, Y axle photoelectric coder se tin stop block position, driver connected with driving motor, controller controlling special driver action according to signal and controlling the relay signal output whose control logic completed by system software to replace the function of PLC with simplified structure, selectable Chinese and English and switchable metric system and English system.
Description
Technical field
The present invention relates to a kind of bender control method and system.
Background technology
At present, it is higher that the control system that domestic bender is joined mostly is external control system price, though and homemade system's price is easy relatively but man-machine interface is unfriendly (mostly be charactron show), and major part can only be programmed the position, can not carry out the angle programming, so that programming is not directly perceived, easily produces waste material.Domestic controller does not generally have frequently mold exchange inconvenience more of mould library facility, can not carry out slide block control, need external PLC or complicated relay circuit, improve cost and reduced reliability, and be difficult for realizing some special-purpose control algolithms, so the adjustment control to bender is inconvenient, the control effect is undesirable.Therefore people press for and a kind ofly can locate and can control slide block, and have the mould library facility, can carry out the angle programming and have friendly man-machine interface, the special-purpose bending control system that price is suitable.
Bender comprises: frame, be arranged at upper rack slide block, be fixed in slide block below patrix, the back backgauge that is arranged at frame lower and link stopper, be arranged at the counterdie on the worktable of frame lower, also comprise driving the slider driving system that slide block moves up and down, slider driving system is by hydraulic pressure or other power.Typical torque shaft bending machine slide block power is made up of hydraulic system, and system is by the action control slide block power of control electromagnetic valve.
Summary of the invention
The objective of the invention is to release a kind of bender control method and control system that integrates multiple function, have good cost performance, be fit to the control of torque shaft bending machine, debugging is convenient, and is simple to operate, reliable operation.Has higher precision.
A kind of bender control method, be provided with the microprocessor controller of special-purpose bender, comprise the driver that special-purpose control motor is housed simultaneously, and being provided with the back backgauge photoelectric encoder that is used to detect the X-axis position, the block photoelectric encoder of Y-axis position, photoelectric encoder detects the physical location of back backgauge and block simultaneously; Special-purpose bender controller is gathered the signal of photoelectric encoder, and constant, parameter, the program of combination setting are controlled the action of motor special purpose driver, thereby the position of control back backgauge and block is exported the relay signal of control setting in the slide block of upper rack simultaneously.
Described to back backgauge and stop location control, give rotating signal, high low speed signal, the stop signal of special purpose driver (thereby control three phase electric machine) and give the signal of electric control cabinet and control the operating condition of some motors in conjunction with the signal of photoelectric encoder by special-purpose bending controller, carry out the location of back backgauge, block, and high low speed is changed distance, the free stop distance of motor can be by the parameter setting, and the system that makes like this can adapt to the use of different lathes.
Control system of the present invention composed as follows: comprise bender microprocessor controller, the electrical control cubicles of special purpose driver is housed, its feature also comprises X-axis, Y-axis photoelectric encoder and the bender nonshared control unit that is used for position probing, and wherein the X-axis photoelectric encoder is located at that the backstop material level is put, the Y-axis photoelectric encoder is located at stop location; Described driver connects the drive motor of control back backgauge and block movement position, detects the signal output connecting microprocessor controller of the physical location photoelectric encoder of back backgauge and block; Special-purpose bending controller is simultaneously gathered the signal from Machine Tool Electric Appliance, and one side is gathered the signal of photoelectric encoder, and controls the output of the relay signal of the action of special purpose driver and control slide block in conjunction with constant, parameter, the program of user's setting.Slider driving system is made of hydraulic pressure or servomotor etc.To microprocessor controller (single-chip minimum system), microprocessor or storer have the job sequence of special-purpose control program and user's input to the signal of photoelectric encoder through the photoelectric encoder circuit.
Control motor by the bender nonshared control unit to driver signal, the motion of driven by motor backgauge and block, the signal of gathering photoelectric encoder calculates the position of backgauge and block, when backgauge and block are far away apart from distance programmed, Control Driver drives motor and runs up, the moving device low-speed running in control zone when backgauge and block are nearer apart from distance programmed, allow motor freely stop when soon arriving program location by inertial positioning, the distance of high low speed conversion, the distance that freely stops need to be debugged as the different machine tool of lathe parameter, to guarantee locating accuracy, this is how to carry out pinpoint principle.
The inventive method also comprises: each bender all is to finish the Y-axis location earlier, and then carry out X-axis and locate, carry out bending at last, therefore we can connect two winding tentaculums with the output of the concrete way driver of two motors of a driver band, every winding tentaculum connects a motor, the break-make of contactor has the bender special use to control, like this when our the X-axis motor that need turn round, just close that winding tentaculum of y-axis motor earlier, connect that winding tentaculum of X-axis motor then, we can realize the location respectively of X-axis, Y-axis as mentioned above.
Special-purpose bending controller can carry out The compensation of pitch error on X-axis, improves the location degree precision on the X-direction.
Principle of work of the present invention:
Comprise that it has crawl, single, continuous to the mode of operation of slide block.Crawl and continuously-running duty have only when inner lathe parameter " continuation mode setting " and " some flowing mode setting " and when all being " 1 ", just might being in and working under this mode, and the user comes the working method of selective system by 3 sections toggle switch on the panel.When crawl is effective, stepping on " descending " slide block may be soon down or the worker advance, unclamp rear slider to be failure to actuate, " crawl settings " when be " 0 ", the worker advances after the fast arrival " speed change point " down, " crawl setting " worker advances when being " 1 "; Slide block backhaul when stepping on " up " is unclamped rear slider and is failure to actuate.When single is effective, and X-axis, Y-axis all put in place, after stepping on " descending " not loose then slide block and finishing the bending action of a work step, must unclamp foot-operatedly, otherwise slide block will be failure to actuate next time when putting in place.During continuous effective, when X-axis, Y-axis all put in place, step on " descending ",, need not stepping on foot-operated slide block always and can finish the bending action in each X-axis, when Y-axis puts in place.
Have only when the user imports legal The compensation of pitch error table, the bending nonshared control unit just can carry out the calculating of The compensation of pitch error, and at first calculating has several groups of effective The compensation of pitch error tables, adopts the way of linear interpolation to calculate the every bit pitch error then.
1, The compensation of pitch error be when the user imports one group of correct offset data, physical location is adjusted the user accordingly according to compensation numerical value can also can be in input offset data made in Great Britain in input offset data under the metric system, as long as the data of user's input are correctly.
2, code-disc is exactly a photoelectric encoder, and angle programming is meant the user program input is angle, system is calculated according to the angle gauge of programming will fold the position that this angle slide block should arrive, and the angle programming here is a kind of algorithm, and this algorithm does not need angular detection.
Work as X, scanning and the relevant machine motor signal of slide block action when Y has put in place, and according to the control signal of these signal delivery valves (" down fast ", " worker advances ", " off-load ", " backhaul ", " pressure "), when the input of " foot-operated descending " signal, output " down fast " signal, after output " down fast ", the input of " speed change point " signal is arranged, then close " down fast ", output " worker advances " signal also starts " bending time-delay ", after " clamping point " input is arranged, " escape to expect preceding time-delay " and start, when " escaping to expect preceding time-delay " finishes then X-axis motor yielding (escaping material), the output state of " worker advances " signal depends on that lathe parameter " escapes the material mode ", and 0 selects to escape material and the worker advances simultaneously to carry out, and 1 selects to continue the worker again after the fugitive material end advances.When " bending time-delay " finishes, close " worker advances " output " off-load " and start " off-load time-delay ", when " off-load time-delay " finishes, close " off-load ", output " backhaul ", as " upper dead center " input, " backhaul " finishes, when the signal output of each valve changes, close " pressure " output and start " pressure valve commutation time-delay ", finish back output " pressure signal " in time-delay.Finish the back in " off-load " and then begin to carry out next step program if any the input of " changing step " signal, carry out the location of X-axis, Y-axis earlier, carrying out the control signal output of valve, program is carried out step by step in order like this, return first step program and carry out when executing the final step program, which step the user can specify from brings into operation.Usually these signals are the coils that output to the relay in the electrical control cubicles, and whether the relay control electromagnetic valve switches on.
Advantage of the present invention:
1, adopts the mode cost of two alternating current generators of a driver control to be significantly less than the price of two cover servo-drive systems,, be higher than stepping motor system on the precision, make this system that high performance price ratio be arranged owing to adopted horse dish feedback.
2, make simple to operate, easy with the mode of liquid crystal display shortcut operation (the corresponding interface of key), the operator does not need Special Training.
3, the logic control of valve is all finished by special-purpose bender controller, integrated PLC function has reduced the element and the line of system, has improved the reliability of system.
4, have the mould library facility, as long as more mold exchange is reselected a bed die number, it is more convenient to make debugging use.
5, can adopt angle programming, make user program more directly perceived, operate simpler, debug more convenient.
6, the present invention is used for torque shaft bending machine, can certainly be used for other bender.
Description of drawings
Fig. 1 is a system architecture synoptic diagram of the present invention
Fig. 2 is a circuit block diagram of the present invention
Fig. 3 is microcontroller circuit figure of the present invention
Fig. 4 is storer of the present invention and peripheral circuit figure
Fig. 5 has the control program block diagram of functional module for the present invention
Fig. 6 is a key scan process flow diagram of the present invention
Fig. 7 is a display process process flow diagram of the present invention
Fig. 8 is the process flow diagram of angle programming of the present invention
Fig. 9 is a slide block control flow chart of the present invention
Figure 10 is a The compensation of pitch error process flow diagram of the present invention
Figure 11 calculates the process flow diagram of distance for pulse equivalency of the present invention
Figure 12 is a drive controlling process flow diagram of the present invention
Embodiment
As shown in Figure 1, the present invention includes X-axis photoelectric encoder 1, bending nonshared control unit 2, Y-axis photoelectric encoder 3, Machine Tool Electric Appliance input 4, electrical control cubicles 5 is contained in the special purpose driver 6 in the electrical control cubicles, drives the electromagnetic valve group 7 of slide block, X-axis motor 8, y-axis motor 9.
That Machine Tool Electric Appliance input 4 comprises is spacing after control mode 1, control mode 2, pump start signal, upper dead center, speed change point, clamping point, bottom dead centre, foot-operated up, foot-operated descending, programming lock, the signal of changing step, X-axis front limit, the X-axis, Y is spacing, spacing, safe light curtain after the Y-axis.Wherein control mode 1 and control mode 2 are the working methods that are used for selecting slide block: single, continuous, crawl.
When the bending nonshared control unit receives the pump start signal, system just can work, only can be by starting manually operation or operation automatically otherwise be in crawl duty system, start the back if slide block is not then at first controlled the slide block backhaul to upper dead center position at upper dead center position, control the y-axis motor action then and make block put in place, switch to the X-axis motor action then and make backstop expect the position.
Bending nonshared control unit 2 is carrying out X-axis, at first determine it is the positioning control of which axle during the Y-axis location, the contactor of bending nonshared control unit 2 control electrical control cubicles 5 is controlled corresponding motor action then, then according to X-axis photoelectric encoder 1, the numerical value that Y-axis photoelectric encoder 3 feeds back obtains current physical location, if current physical location is far away from program location, then the special-purpose control 2 control special purpose driver 6 of bending run up, the special-purpose control 2 control special purpose driver of bending 6 low-speed runnings when near program location, but special purpose driver makes motor freely stop by inertial positioning when the position, physical location is to what distance High-speed running of program location, what is apart from low-speed running, what can be by the parameter setting apart from freely stopping these, and the system that Here it is can be fit to different lathes.
After X-axis puts in place and light curtain signal the input of " foot-operated descending " signal is normally arranged, 2 outputs of bending nonshared control unit " down fast " are to electrical control cubicles 5, make the solenoid valve energising of corresponding " down fast ", produce to move down soon.
After slide block arrived speed change point, bending nonshared control unit 2 was closed " down fast " output " worker advances " and is arrived electrical control cubicles 5, the solenoid valve energising of feasible corresponding " worker advances ", and the beginning worker advances, and the 2 startup bendings of bending nonshared control unit are delayed time.
Delay time when bending and to arrive, bending nonshared control unit 2 is closed " worker advances " output " off-load " to electrical control cubicles 5, discharges the pressure that " worker advances " causes, and starts the off-load time-delay.
Off-load is delayed time and is arrived, and bending nonshared control unit 2 is closed " off-load " output backhaul to electrical control cubicles 5, makes corresponding solenoid valve switch on, the beginning backhaul.
If then next step location of bending nonshared control unit 2 beginning X, Y-axis of signal of changing step is arranged, the backhaul slide block is run into bending work step of upper dead center and is finished the bending in 2 new steps of control slide blocks of bending nonshared control unit after X, Y-axis put in place during backhaul.
The input of safe light curtain signal when down moving, slide block is arranged, bending nonshared control unit 2 is in slide block " down fast " or " worker advances ", make slide block suspend action, slide block continues action when the safe light curtain signal is removed, when " single " duty, whenever bending nonshared control unit 2 receive " foot-operated up " slide block all backhaul to upper dead center, bending nonshared control unit 2 receives " foot-operated up " slide block pause in action for the first time when " continuously " duty, and upper dead center is arrived in backhaul more for the second time.The action of slide block only needs bending nonshared control unit 2 to receive " foot-operated descending " once can to move always when " continuously " duty.
As shown in Figure 2, the hardware of bending nonshared control unit is made up of button display circuit, single-chip minimum system, I/O interface circuit.The I/O interface circuit comprises X-axis encoder circuit, Y-axis encoder circuit and imput output circuit and forms.The encoded device circuit of code device signal is to single-chip minimum system, and lathe I/O signal arrives single-chip minimum system through input/output interface circuit.There is control program in the single-chip minimum system, bender controlled with realization.
Shown in Fig. 3,4, single-chip minimum system is by single-chip microcomputer IC1, flash memory IC 5, and SRAM memory IC 4, IC5, programming device IC2, reset chip IC9 and crystal oscillator Y1, Y2 forms.Wherein IC2 is that programming device is to be used for carrying out address decoding, data strobe, photoelectric encoder decoding.IC11 bit switch chip provides 5V power supply to total system, and IC15 is that three-terminal regulator block is powered to photoelectric encoder, and IC12 is that three-terminal regulator block is powered to liquid crystal display, and IC14 provides 3.3V power supply for the DC-DC chip to single-chip microcomputer.IC3 is a lcd drive chip, and IC8 gives the liquid crystal chip for driving for storer metadata cache is provided.The circuit that other device is formed is that circuit common no longer illustrates at this.
Control program in the single-chip minimum system has been realized functions such as X-axis, Y-axis location and slide block control.
As shown in Figure 5, control program is divided into following functional module:
1, program initialization module: program internal initialization.2, main program module.3, timing interrupt module.4, power-fail interrupt module.5, external interrupt module.
Master routine comprises following 3 modules again:
A sweep keyboard handling procedure; The control of B slide block; Demonstration under the various interfaces of C and other processing
Regularly interrupt comprising following several module:
A reads photoelectric encoder numerical evaluation position equivalent.The B The compensation of pitch error.
The various delay process of C.The D drive controlling.The E motor switches.
Control program moves as follows
Next at first executive routine initialization after the bending nonshared control unit powers on carries out main program module, various interrupt routines.
Below main program module is described further:
Shown in Figure 6 is the key scan process flow diagram, and output low level is read in column data then and judged which classifies low ranks numerical evaluation according to correspondence as and go out key assignments line by line, if whether the same keys Value Data keeps the key assignments data of the above then key assignments of 20ms for true input.
Shown in Figure 7 is the display process process flow diagram, the key assignments that obtains shortcut according to scanning changes interface number, number enter different interfaces according to the interface and carry out different interface processing programs, judge that at first whether this interface is to show for the first time behind the image switching, if then showing the main body at this interface number shows, then carry out the button of each button under this interface number if not and handle, as the processing of directionkeys, numerical key, enter key.
Shown in Figure 8 is the process flow diagram of angle programming, and the programming of user's angle converted the position programming between how whole flow process described in detail.
Shown in Figure 9 is slide block control, has only the control flow that just can enter control flower piece when a series of conditions as Fig. 7 satisfy, and the The whole control flow process is controlled slide block movement according to " down fast " such job order of " worker advances " " off-load " " backhaul ".
Describe regularly interrupting below:
Shown in Figure 10 is The compensation of pitch error, have only when the user imports legal The compensation of pitch error table, the bending nonshared control unit just can carry out the calculating of The compensation of pitch error, at first calculating has several groups of effective The compensation of pitch error tables, adopts the way of linear interpolation to calculate the every bit pitch error then.
Pulse equivalency shown in Figure 11 calculates the scale factor of setting according to the user, and the reading of photoelectric encoder calculates current location.
Shown in Figure 12 is drive controlling, and drive controlling is divided into manual control, automatically control.Locator meams is divided into monolateral location, bilateral location, and each the startup always is decided to be Y-axis earlier then in the execution X-axis when moving.
Photoelectric encoder EPC-755A, antijamming capability is very strong when measurement of angle, displacement measurement, and has reliable and stable output pulse signal, and this pulse signal can obtain measured digital signal behind counting.The phase demodulation of the actual use of photoelectric encoder and two-way counting circuit, phase discriminator is formed with 1 d type flip flop and 2 Sheffer stroke gates, and counting circuit is formed with 3 74LS193.
Claims (9)
1, a kind of bender control method, be provided with the microprocessor controller of special-purpose bender, comprise the driver that special-purpose control motor is housed simultaneously, and being provided with the back backgauge photoelectric encoder that is used to detect the X-axis position, the block photoelectric encoder of Y-axis position, photoelectric encoder detects the physical location of back backgauge and block simultaneously; Special-purpose bender controller is gathered the signal of photoelectric encoder, and constant, parameter, the program of combination setting are controlled the action of motor special purpose driver, thereby the position of control back backgauge and block is exported the relay signal of control setting in the slide block of upper rack simultaneously.
2, bender control method according to claim 1, its feature is described to back backgauge and stop location control, give the rotating signal of special purpose driver, high low speed signal, stop signal and give the signal of electric control cabinet and control the operating condition of some motors in conjunction with the signal of photoelectric encoder by special-purpose bending controller, carry out the location of back backgauge, block, and high low speed is changed distance, the free stop distance of motor can be by the parameter setting.Bender automatic control system according to claim 1, its feature comprise that also it has crawl, single, continuous to the mode of operation of slide block; Crawl and continuously-running duty have only when inner lathe parameter " continuation mode setting " and " some flowing mode setting " and when all being " 1 ", just might being in and working under this mode, and the user comes the working method of selective system by 3 sections toggle switch on the panel; When crawl is effective, stepping on " descending " slide block may be soon down or the worker advance, unclamp rear slider to be failure to actuate, " crawl settings " when be " 0 ", the worker advances after the fast arrival " speed change point " down, " crawl setting " worker advances when being " 1 "; Slide block backhaul when stepping on " up " is unclamped rear slider and is failure to actuate.When single is effective, and X-axis, Y-axis all put in place, after stepping on " descending " not loose then slide block and finishing the bending action of a work step, must unclamp foot-operatedly, otherwise slide block will be failure to actuate next time when putting in place.During continuous effective, when X-axis, Y-axis all put in place, step on " descending ",, need not stepping on foot-operated slide block always and can finish the bending action in each X-axis, when Y-axis puts in place.
3, bender control method according to claim 1 and 2, it is characterized in that control program in the microprocessor by program initial module, main program module, regularly interrupt module, external interrupt module constitute, power down process interrupts; Affiliated main program module comprises LED processing, keyboard processing and display process, slide block logic control program, angle programming, mould library management, metric and English conversion; Affiliated regularly interrupt module is carried out once every 1ms, is to read photoelectric encoder numerical value successively, and special purpose driver is calculated, controlled in real time in position equivalent conversion, The compensation of pitch error, various time-delay; The external interrupt module will be revised current location with user's programming value after searching reference point.
4, bender control method according to claim 3 is characterized in that the logic control program of slide block has replaced the function of PLC.
5, bender control method according to claim 3 is characterized in that the user can adopt angle programming, and the bender automatic control system can be wide according to lathe parameter that the user imported and mould, material, plate, thickness of slab calculates the position programming value automatically.
6, bender control method according to claim 3 is characterized in that the user can select different moulds to process, and mould is divided into upper die and lower die, and every secondary patrix user need import height, angle; Every secondary counterdie need import height, angle, opening, when the radius user writes job sequence as long as select corresponding mould number.
7, bender control method according to claim 3 is characterized in that the user can select different long measure millimeters or inch, does not have truncated error when the user is switched unit back and forth.
8, bender control method according to claim 34 can be preserved current location when it is characterized in that system's power down, the position when position numerical value was last the power failure when system powered on.
9, bender control control system: comprise bender microprocessor controller, the electrical control cubicles of special purpose driver is housed, its feature also comprises X-axis, Y-axis photoelectric encoder and the bender nonshared control unit that is used for position probing, and wherein the X-axis photoelectric encoder is located at that the backstop material level is put, the Y-axis photoelectric encoder is located at stop location; Described driver connects the drive motor of control back backgauge and block movement position, detects the signal output connecting microprocessor controller of the physical location photoelectric encoder of back backgauge and block; Special-purpose bending controller is simultaneously gathered the signal from Machine Tool Electric Appliance, and one side is gathered the signal of photoelectric encoder, and controls the output of the relay signal of the action of special purpose driver and control slide block in conjunction with constant, parameter, the program of user's setting.
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| CNB2005100410149A CN100384588C (en) | 2005-07-13 | 2005-07-13 | Bending machine control method and system |
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| CNB2005100410149A CN100384588C (en) | 2005-07-13 | 2005-07-13 | Bending machine control method and system |
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| CN101833301B (en) * | 2009-03-10 | 2011-11-16 | 伟创力(上海)金属件有限公司 | Backer detection system and control method of bending machine |
| CN101623827B (en) * | 2009-08-14 | 2012-05-09 | 东华大学 | Positioning numerical control device and method used for bending machine tool |
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| CN101623827B (en) * | 2009-08-14 | 2012-05-09 | 东华大学 | Positioning numerical control device and method used for bending machine tool |
| CN101700544A (en) * | 2009-11-12 | 2010-05-05 | 朱斌 | Numerical control torque synchronous hydraulic bender slide block flexivity compensation mechanism |
| CN102091731B (en) * | 2010-11-30 | 2013-05-08 | 大连三高重工设备有限公司 | Hole shape regulating and controlling system of steel tube empty curving forming unit and control method thereof |
| CN102091731A (en) * | 2010-11-30 | 2011-06-15 | 大连三高重工设备有限公司 | Hole shape regulating and controlling system of steel tube empty curving forming unit and control method thereof |
| CN103008772A (en) * | 2012-12-13 | 2013-04-03 | 南京埃斯顿自动化股份有限公司 | Positioning method and positioning system for back barrier material of sheet shear or bending machine |
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| CN103028640A (en) * | 2012-12-18 | 2013-04-10 | 宁波钜智自动化装备有限公司 | Pipe bending machine and method for carrying out real-time detection on same |
| CN104898576A (en) * | 2015-06-17 | 2015-09-09 | 江苏大金激光科技有限公司 | Torsion synchronous intelligent numerical control bender numerical control system |
| CN105537676A (en) * | 2015-12-30 | 2016-05-04 | 南京埃斯顿自动化股份有限公司 | Intelligent positioning method for shearing and bending machine tool |
| CN106424231A (en) * | 2016-08-17 | 2017-02-22 | 南通惠宇机床有限公司 | Full-automatic online bending machine control system |
| CN108334031A (en) * | 2017-12-29 | 2018-07-27 | 南京埃斯顿自动化股份有限公司 | The torque shaft bending machine control method of adjust automatically R axis zero-bit and its movement locus |
| CN108334031B (en) * | 2017-12-29 | 2020-06-02 | 南京埃斯顿自动化股份有限公司 | Torsion shaft bending machine control method capable of automatically adjusting zero position and motion trail of R shaft |
| CN111683759A (en) * | 2018-01-31 | 2020-09-18 | 株式会社天田集团 | Plate bender control device, plate bender control method, die management method, and data structure of die management data |
| CN113579027A (en) * | 2021-07-20 | 2021-11-02 | 深圳市合信自动化技术有限公司 | Test equipment for simulating torsion shaft bending machine |
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