CN205540224U - Control system of punch press manipulator - Google Patents
Control system of punch press manipulator Download PDFInfo
- Publication number
- CN205540224U CN205540224U CN201620093856.2U CN201620093856U CN205540224U CN 205540224 U CN205540224 U CN 205540224U CN 201620093856 U CN201620093856 U CN 201620093856U CN 205540224 U CN205540224 U CN 205540224U
- Authority
- CN
- China
- Prior art keywords
- manipulator
- controller
- servo
- control system
- driver
- 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.)
- Active
Links
Classifications
-
- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a control system of punch press manipulator, including the same many punch presses, manipulator and controller of quantity, the controller include a main control unit and duo tai from the controller, controller and manipulator one -to -one communication connection, manipulator and punch press one -to -one are connected, connect gradually between the manipulator, main control unit and duo tai from controller communication connection in proper order, the manipulator is equipped with the state machine, the state machine with the controller that the manipulator corresponds is connected. Replace manual operation with the manipulator, can practice thrift the manual work, reduce because of the error that the human factor caused, promote the quality of product, manipulator and controller one -to -one communication connection connect gradually between the controller, can follow the controller through control by main control unit, start simultaneously or close many manipulators, and the synchronization issues between many the manipulators is solved to the bonding state machine, realizes the automation of punching press assembly line, improves production efficiency.
Description
Technical field
The utility model relates to controlling technical field, particularly relates to the control system of a kind of punching machine mechanical arm.
Background technology
Press line is many based on manual operation, according to different Product Process requirements, the people of input at present
Power also differs.Improve efficiency to save manpower, introduce intelligentized manipulator, replace manually carrying out
Feeding and blowing etc. operate.And for the punching operation of streamline, then need to use punching machine mechanical arm multimachine mutual
The method of connection.
Punching machine mechanical arm multimachine interconnection at present is the simultaneously operating realizing between multimachine by I O point mostly, logical
Crossing I O point and there is wiring complexity to realize Multi-Machine Synchronous, jitter is easily subject to the problems such as interference.
In the patent publication of Application No. 201410141317.7, it is proposed that a kind of SERVO CONTROL machinery
Hand and the control method of vision-based detection production line, it is included in the multiple stage mechanical arm on production line conveyer belt,
Arranging SERVO CONTROL and the centralized management of vision-based detection, scattered control system, this control system is controlled by CAN
Bus processed connects multiple stage mechanical arm servo-control system and vision detection system respectively；But this system is mainly used
While taking out, detect product, be placed on production line conveyer belt, finally product classification put, it is achieved
The detection quick, accurate, efficient of different product and classification are put, it is impossible to be fully achieved multiple stage manipulator it
Between simultaneously operating.
Utility model content
Technical problem to be solved in the utility model is: provide the control system of a kind of punching machine mechanical arm, real
The automation of existing ducted fluid flow waterline.
In order to solve above-mentioned technical problem, the technical solution adopted in the utility model is:
A kind of control system of punching machine mechanical arm, including multiple stage punch press, manipulator and controller that quantity is identical,
Described controller include a master controller and multiple stage from controller；Described controller and manipulator one a pair
Should communicate to connect, described manipulator and punch press connect one to one；It is sequentially connected with between described manipulator, institute
State communicating to connect successively from controller of master controller and multiple stage；Described manipulator is provided with state machine, described shape
The controller that state machine is corresponding with described manipulator connects.
Further, being communicated to connect successively by CAN from controller of described master controller and multiple stage.
Further, described manipulator is additionally provided with punching press output module, described punching press output module and described machine
The controller that tool hand is corresponding connects, the output of described state machine and the punching press output module of previous manipulator
Connect.
Further, described manipulator is additionally provided with servo-driver and servomotor, described servo-driver and
Servomotor connects, and the controller that described servo-driver is corresponding with described manipulator connects.
Further, described manipulator is additionally provided with multiple servo-driver and multiple servomotor, described servo
Driver and servomotor connect one to one, the controller that described servo-driver is corresponding with described manipulator
Connect.
Further, described manipulator is additionally provided with logging modle, described logging modle and servo-driver and connects,
The controller connection that described logging modle is corresponding with described manipulator.
Further, also include that feeder, described feeder are connected with described manipulator.
Further, described manipulator and controller are integrated.
The beneficial effects of the utility model are: replace manual operation with manipulator, can save artificial, reduce
The error caused because of human factor, the quality of improving product；It is sequentially connected with between manipulator, machinery can be transmitted
Signal between hand；Manipulator communicates to connect with controller one_to_one corresponding, is sequentially connected with between controller, can
By master controller by controlling from controller, start simultaneously or close multiple stage manipulator, bonding state machine, solve
The certainly stationary problem between multiple stage manipulator, it is achieved the automation of ducted fluid flow waterline, improves production efficiency.
Accompanying drawing explanation
Fig. 1 is the structural representation of the control system of a kind of punching machine mechanical arm of the utility model；
Fig. 2 is the system architecture schematic diagram of the utility model embodiment one.
Label declaration:
1, punch press；2, manipulator；3, controller；4, state machine；5, punching press output module；6, watch
Take driver；7, servomotor；8, logging modle；9, feeder；
31, master controller；32, from controller.
Detailed description of the invention
By describing technology contents of the present utility model in detail, being realized purpose and effect, below in conjunction with embodiment party
Formula also coordinates accompanying drawing to be explained in detail.
The design of the utility model most critical is: by the company between multiple stage punch press, manipulator and controller
Connect relation, bonding state machine, it is achieved the automation of ducted fluid flow waterline.
Referring to Fig. 1, the control system of a kind of punching machine mechanical arm, including the identical multiple stage punch press of quantity, machinery
Hand and controller, described controller include a master controller and multiple stage from controller；Described controller with
Manipulator one_to_one corresponding communicates to connect, and described manipulator and punch press connect one to one；Between described manipulator
It is sequentially connected with, communicating to connect successively from controller of described master controller and multiple stage；Described manipulator is provided with shape
State machine, the controller that described state machine is corresponding with described manipulator connects.
Knowable to foregoing description, the beneficial effects of the utility model are: by arrange many motors control device and
Specifying one in many motors control device is master controller, can control multiple stage manipulator by master controller simultaneously,
And by arranging state machine, control the state transition of manipulator, solve the stationary problem between multiple stage manipulator,
Realize the automation of ducted fluid flow waterline, improve production efficiency.
Further, being communicated to connect successively by CAN from controller of described master controller and multiple stage.
Seen from the above description, being connected by CAN between controller, wiring is simple, signal stabilization.
Further, described manipulator is additionally provided with punching press output module, described punching press output module and described machine
The controller that tool hand is corresponding connects, the output of described state machine and the punching press output module of previous manipulator
Connect.
Seen from the above description, by arranging punching press output module and being connected with the output of next state machine,
Can be according to manipulator local state and the state of next manipulator connected, it may be judged whether output punching press
Signal, improves the security of punch press production and processing.
Further, described manipulator is additionally provided with servo-driver and servomotor, described servo-driver and
Servomotor connects, and the controller that described servo-driver is corresponding with described manipulator connects.
Seen from the above description, servo-driver send the pulse to servomotor, make servomotor start fortune
OK, controlled the rotating speed of servomotor by the speed controlling transmission pulse, make motor to run smoothly.
Further, described manipulator is additionally provided with multiple servo-driver and multiple servomotor, described servo
Driver and servomotor connect one to one, the controller that described servo-driver is corresponding with described manipulator
Connect.
Seen from the above description, by arranging multiple servo-driver and servomotor, make the manipulator can multiaxis
Motion, improves the flexibility of manipulator.
Further, described manipulator is additionally provided with logging modle, described logging modle and servo-driver and connects,
The controller connection that described logging modle is corresponding with described manipulator.
Seen from the above description, by arranging logging modle, the positional information of record servo-driver output,
Realize manually dragging teaching, it may not be necessary to each servomotor is separately provided, simplifies teaching step,
Improve efficiency.
Further, also include that feeder, described feeder are connected with described manipulator.
Seen from the above description, the full-automatic operation of punch press streamline can be realized.
Further, described manipulator and controller are integrated.
Embodiment one
Refer to Fig. 1-2, embodiment one of the present utility model is: the control system of a kind of punching machine mechanical arm, can
For press line, including multiple stage punch press 1, manipulator 2 and controller 3 that quantity is identical, described control
Device 3 include a master controller 31 and multiple stage from controller 32；Described controller 3 is with manipulator 2 one by one
Corresponding communication connection, described manipulator 2 and punch press 1 connect one to one；Between described manipulator 2 successively
Connect, alternatively, connect for hardware I O point between manipulator；Described master controller 31 and multiple stage from control
Device 32 processed communicates to connect successively, further, is communicated to connect successively by CAN, uses CANOpen
Communication protocol；Described manipulator 2 is provided with state machine 4, described state machine 4 and the control of described manipulator 2 correspondence
Device 3 processed connects；Described manipulator 2 is additionally provided with punching press output module 5, described punching press output module 5 and described
The controller 3 of manipulator 2 correspondence connects, the output of described state machine 4 and rushing of previous manipulator 2
Pressure output module 5 connects；Described punching press output module 5 goes back and the punch press 1 of described manipulator 2 correspondence connects.
In the control system of described punching machine mechanical arm, can be arbitrarily designated a controller 3 is master controller 31,
Other controllers 3 are from controller 32, from operation and the control of stopping main controller 31 of controller 32.
Alternatively, when master controller 31 forwards auto state to, all under on line state also turn from controller 32
To auto state, pressing master controller 31 start button above, master controller 31 receives enabled instruction,
All controllers 3 enter starting state.First manipulator 2 starts feeding, blowing, First punch press 1
Punching press, after punching press completes, next manipulator 2 starts feeding, blowing, the punching press of second punch press 1, with
This analogizes.When needs stop producing, pressing the stop button on master controller 31, master controller 31 connects
After receiving halt instruction, wait that punch press 1 all of the above product completes punching press and all taken away by manipulator 2
After, manipulator 2 enters and stops holding state, and master controller 31 is forwarded to halted state, all of from control
Device 32 also transfers halted state to.
Front and back the state between manipulator 2 is controlled by state machine 4, the wait feeding of such as manipulator 2,
In feeding, feeding completes, waits in blowing, blowing and blowing the saltus step of mode of operation such as completes by state machine 4
Control.
Manipulator 2 can detect current mode of operation, if in a safe condition, complete for instance in feeding or
Blowing completes to wait mode of operation, then the output output safety signal of state machine 4；If the shape of a manipulator 2
The input of state machine 4 receives described safety signal, and the punching press output module 5 of described manipulator 2 is simultaneously
Receive the safety signal of state machine 4 output of next manipulator 2 connected, then controller 3 is controlled
Punching press output module 5 processed exports punching press signal and starts punching press to punch press 1, punch press 1, say, that only work as
When this TV station manipulator 2 and next manipulator 2 are simultaneously in safe condition, punch press 1 is just allowed to carry out punching press.
Described manipulator 2 is additionally provided with servo-driver 6 and servomotor 7, described servo-driver 6 and servo
Motor 7 connects, and the controller 3 of described servo-driver 6 and described manipulator 2 correspondence connects；Alternatively,
Described servo-driver 6 and servomotor 7 can be provided with multiple stage and connect one to one.Servo-driver 6 leads to
Cross control send pulse speed to control the rotating speed of servomotor 7, make servomotor 7 to transport smoothly
OK；Alternatively, S curve acceleration and deceleration algorithm can be used to control the speed that pulse sends.
Described manipulator 2 is additionally provided with logging modle 8, and described logging modle 8 and servo-driver 6 connect.Close
After closing servo enable, driving machinery hand 2 arm that can be manual, to some position, records encoded servo device,
I.e. the positional information of the output feedback of servo-driver 6, is designated as position a, then driving machinery hand this position
2 arms, to another position, record the feedback position of encoded servo device, this position are designated as position b, position
A and position b all preserves the positional information of each servomotor 7, thus need not be to each servomotor 7
Position be separately provided, manually drag teaching simplify teaching step.
Alternatively, this system also includes feeder 9, and described feeder 9 is connected with described manipulator 2, optional
Ground, described feeder 9 is communicated to connect by hardware I O point with manipulator 2.
Alternatively, described manipulator 2 and controller 3 are integrated.
Alternatively, for different punch press types, such as impulse type, gear type and continuous type, three can be arranged
Plant different punching press control modes.
In sum, the control system of a kind of punching machine mechanical arm that the utility model provides, replace with manipulator
Manual operation, can save artificial, reduce the error caused because of human factor, the quality of improving product；And can
Realize the automation of ducted fluid flow waterline, improve formation efficiency；By the security restriction to output punching press signal,
Improve the security of punch press production and processing；The speed controlling to send pulse by servo-driver controls servo
The rotating speed of motor, makes motor to run smoothly；By arranging multiple servo-driver and servomotor,
Improve the flexibility of manipulator；By arranging logging modle, it is achieved manually drag teaching, further increase
Efficiency.
The foregoing is only embodiment of the present utility model, not thereby limit the scope of the claims of the present utility model,
Every equivalents utilizing the utility model specification and accompanying drawing content to be made, or be directly or indirectly used in
Relevant technical field, is the most in like manner included in scope of patent protection of the present utility model.
Claims (8)
1. the control system of a punching machine mechanical arm, it is characterised in that: include multiple stage punch press that quantity is identical,
Manipulator and controller, described controller include a master controller and multiple stage from controller；
Described controller communicates to connect with manipulator one_to_one corresponding, and described manipulator and punch press connect one to one；
It is sequentially connected with between described manipulator, communicating to connect successively from controller of described master controller and multiple stage；
Described manipulator is provided with state machine, and the controller that described state machine is corresponding with described manipulator connects.
The control system of punching machine mechanical arm the most according to claim 1, it is characterised in that: described master control
Being communicated to connect successively by CAN from controller of device processed and multiple stage.
The control system of punching machine mechanical arm the most according to claim 1, it is characterised in that: described machinery
Hand is additionally provided with punching press output module, and the controller that described punching press output module is corresponding with described manipulator connects,
The output of described state machine and the punching press output module of previous manipulator connect.
The control system of punching machine mechanical arm the most according to claim 1, it is characterised in that: described machinery
Hand is additionally provided with servo-driver and servomotor, described servo-driver and servomotor and connects, described servo
The controller that driver is corresponding with described manipulator connects.
The control system of punching machine mechanical arm the most according to claim 1, it is characterised in that: described machinery
Hand is additionally provided with multiple servo-driver and multiple servomotor, described servo-driver and servomotor one a pair
Should connect, the controller that described servo-driver is corresponding with described manipulator connects.
The control system of punching machine mechanical arm the most according to claim 4, it is characterised in that: described machinery
Hand is additionally provided with logging modle, described logging modle and servo-driver and connects, described logging modle and described machine
The controller that tool hand is corresponding connects.
The control system of punching machine mechanical arm the most according to claim 1, it is characterised in that: also include sending
Material machine, described feeder is connected with described manipulator.
The control system of punching machine mechanical arm the most according to claim 1, it is characterised in that: described machinery
Hand and controller are integrated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620093856.2U CN205540224U (en) | 2016-01-29 | 2016-01-29 | Control system of punch press manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620093856.2U CN205540224U (en) | 2016-01-29 | 2016-01-29 | Control system of punch press manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205540224U true CN205540224U (en) | 2016-08-31 |
Family
ID=56774210
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620093856.2U Active CN205540224U (en) | 2016-01-29 | 2016-01-29 | Control system of punch press manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205540224U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106774198A (en) * | 2016-12-06 | 2017-05-31 | 潍坊路加精工有限公司 | A kind of control method and control system of industrial production line equipment |
| CN106878126A (en) * | 2016-12-28 | 2017-06-20 | 深圳市华成工业控制有限公司 | A kind of punching machine mechanical arm multimachine internet and its network-building method |
| CN110125244A (en) * | 2018-02-08 | 2019-08-16 | 上海一芯智能科技有限公司 | A kind of more stamping mechanical arm inter-linked controlling methods, system and a kind of controller |
| CN111368950A (en) * | 2020-03-03 | 2020-07-03 | 南京云岗智能科技有限公司 | Production line product identity information identification method, equipment, storage medium and device |
| CN111376516A (en) * | 2018-12-28 | 2020-07-07 | 上海新时达机器人有限公司 | Stamping device control system and method |
| CN112936300A (en) * | 2021-01-27 | 2021-06-11 | 深圳市华成工业控制股份有限公司 | Punching robot communication method and system |
-
2016
- 2016-01-29 CN CN201620093856.2U patent/CN205540224U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106774198A (en) * | 2016-12-06 | 2017-05-31 | 潍坊路加精工有限公司 | A kind of control method and control system of industrial production line equipment |
| CN106774198B (en) * | 2016-12-06 | 2019-01-15 | 潍坊路加精工有限公司 | A kind of control method and control system of industrial production line equipment |
| CN106878126A (en) * | 2016-12-28 | 2017-06-20 | 深圳市华成工业控制有限公司 | A kind of punching machine mechanical arm multimachine internet and its network-building method |
| CN110125244A (en) * | 2018-02-08 | 2019-08-16 | 上海一芯智能科技有限公司 | A kind of more stamping mechanical arm inter-linked controlling methods, system and a kind of controller |
| CN110125244B (en) * | 2018-02-08 | 2020-08-14 | 上海一芯智能科技有限公司 | Multi-stamping manipulator linkage control method and system and controller |
| CN111376516A (en) * | 2018-12-28 | 2020-07-07 | 上海新时达机器人有限公司 | Stamping device control system and method |
| CN111368950A (en) * | 2020-03-03 | 2020-07-03 | 南京云岗智能科技有限公司 | Production line product identity information identification method, equipment, storage medium and device |
| CN111368950B (en) * | 2020-03-03 | 2021-04-27 | 南京云岗智能科技有限公司 | Production line product identity information identification method, equipment, storage medium and device |
| CN112936300A (en) * | 2021-01-27 | 2021-06-11 | 深圳市华成工业控制股份有限公司 | Punching robot communication method and system |
| CN112936300B (en) * | 2021-01-27 | 2023-09-12 | 深圳市华成工业控制股份有限公司 | Stamping robot communication method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205540224U (en) | Control system of punch press manipulator | |
| CN105364926A (en) | Multi-shaft robot driving and controlling integrated control system | |
| CN109732024B (en) | Hydraulic horizontal forging machine control system and method capable of selecting forming station | |
| CN106239520A (en) | Possesses the intelligent industrial robot movement-control system of cognitive competence | |
| CN105163510A (en) | Chip mounting machine control system based on Ethernet control automation technology (EtherCAT) bus | |
| CN101628489B (en) | Paper box molding, positioning and processing control method and positioning control system | |
| CN110515358B (en) | Control method of automatic production line parallel control system based on integrated controller | |
| CN103552711B (en) | Multijoint control device, follow round method and wrapping machine | |
| CN105290210A (en) | Control device and method for stamping refrigerator compressor supporting plate | |
| CN105302031A (en) | Control device and control method for piling carrying robot | |
| CN105527922A (en) | Punch manipulator control method and system thereof | |
| CN105099281B (en) | Servomotor drive | |
| CN107786130B (en) | Linear switched reluctance motor control system and its control method | |
| CN201408354Y (en) | Control system integrated with precision machine tool and manipulator | |
| CN216286301U (en) | AGV remote control device realized by using multiple communication modes of upper computer | |
| CN203573151U (en) | Automatic production line system | |
| CN202735721U (en) | Robot motion control integration system | |
| CN108000535A (en) | A kind of six-joint robot intelligent controller | |
| CN106990740B (en) | Controller for embedded switch power supply shell production device | |
| CN202344800U (en) | Control system for horizontal travel double-arm five-shaft servo manipulator of injection molding machine | |
| CN113659890A (en) | Motor control system and conveying line | |
| CN202753158U (en) | Automatic control system for taking out machine | |
| CN206369959U (en) | A kind of puma manipulator servo control system of compatible multiplex roles | |
| CN208960415U (en) | A kind of product quality automatic sorting system | |
| CN207154990U (en) | Vehicle side welding and assembling production lines control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: Baoan District Xixiang street Shenzhen city Guangdong province 518000 Shu Road No. 108 Building 8 floor is Chilon Patentee after: Shenzhen Huacheng Industrial Control Co., Ltd Address before: Baoan District Xixiang street Shenzhen city Guangdong province 518000 Shu Road No. 108 Building 8 floor is Chilon Patentee before: SHENZHEN HUACHENG INDUSTRIAL CONTROL Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder |