CN207440598U - A kind of control device of forcing press - Google Patents
A kind of control device of forcing press Download PDFInfo
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- CN207440598U CN207440598U CN201721699778.1U CN201721699778U CN207440598U CN 207440598 U CN207440598 U CN 207440598U CN 201721699778 U CN201721699778 U CN 201721699778U CN 207440598 U CN207440598 U CN 207440598U
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- servomotor
- motion controller
- electrically connected
- servo
- forcing press
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Abstract
The utility model is related to a kind of control devices of forcing press, include the servomotor of at least one driving pressure machine, further include motion controller and the servo-driver identical with servomotor quantity, servo-driver is electrically connected with servomotor one-to-one corresponding, and corresponding servomotor is driven to rotate, all servo-drivers are electrically connected with motion controller, and the driving current signal of corresponding servomotor is fed back into motion controller, encoder is installed on servomotor, encoder is electrically connected by corresponding servo-driver with motion controller, and the position signal of corresponding servomotor is fed back into motion controller.Forcing press control device provided by the utility model on the premise of pressure sensor and position sensor is not increased, realizes torque closed-loop control and the position-force control of forcing press, and torque-feedback delay is low with position feedback delay, and control accuracy is high.
Description
Technical field
The utility model is related to forcing press control technology field more particularly to a kind of control devices of forcing press.
Background technology
Forcing press generally realizes the movement of various complexity by mechanical cam or electric cam.There are machines for tradition machinery cam
Tool is complicated, throughout the year using it is easy to wear, replacement is not easy, movement locus is single and immutable shortcoming.Therefore, existing pressure
Machine is mostly using electric cam, and electric cam is by the way of speed control, the simple positioning accuracy for using speed control method
It is low, it can not be met the requirements when the material high to required precision is processed.If, it is necessary in speed when having higher positioning accuracy requirement
Increase additional position sensor on the basis of degree control mode and pressure sensor realizes that position closed loop feedback and torque are closed
Ring is fed back, and the increase of position sensor and pressure sensor necessarily causes the increase of cost, and position sensor and pressure
The feedback signal delay of force snesor is higher, causes the error of pressure feedback and position feedback larger.
Utility model content
Technical problem to be solved in the utility model is in view of the above shortcomings of the prior art, to provide a kind of forcing press control
Device processed on the premise of it need not increase additional position sensor, realizes the position closed loop and pressure closed loop of forcing press.
The technical solution that the utility model solves above-mentioned technical problem is as follows：A kind of control device of forcing press, including extremely
The servomotor of a few driving pressure machine, which is characterized in that further include the motion controller for controlling the servomotor operating
And the servo-driver identical with the servomotor quantity, the servo-driver correspond electricity with the servomotor
Connection, and the corresponding servomotor is driven to rotate, all servo-drivers are electrically connected with the motion controller,
And the driving current signal of the corresponding servomotor is fed back into the motion controller, it is equipped on the servomotor
Encoder, the encoder are electrically connected by the corresponding servo-driver with the motion controller, and by corresponding institute
The position signal for stating servomotor feeds back to the motion controller.
The beneficial effects of the utility model are：Realize that location information is fed back using encoder, motion controller passes through feedback
Location information realize servomotor position-force control；Realize that driving current information is fed back using servo-driver, movement
The moment values for the driving current acquisition of information servomotor that controller passes through feedback, so as to fulfill the torque closed loop to servomotor
Control.The utility model realizes the position of forcing press on the premise of additional pressure sensor and position sensor is not increased
Closed-loop control and torque closed-loop control are put, feedback signal delay is low, and control accuracy is high.
Based on the above technical solutions, the utility model can also do following improvement：
Further：It is electrically connected between the motion controller and the servo-driver by bus.
The advantageous effect of above-mentioned further scheme is：Motion controller facilitates movement by bus marco servo-driver
Controller reads the parameter of servo-driver, such as driving current signal；But also facilitate motion controller by bus to servo
Driver is debugged, without in addition connecting debugging line.
Further：The control device of forcing press further includes I/O expansion modules, and the I/O expansion modules pass through the bus
It is electrically connected with the motion controller.
The advantageous effect of above-mentioned further scheme is：It is further that I/O expansion modules facilitate staff to carry out forcing press
Extension and improvement.
Further：The servomotor is straight drive torque motor.
The advantageous effect of above-mentioned further scheme is：Without using speed reducer, directly using straight drive torque motor, overcome and subtract
The shortcomings that fast machine noise is big, oil leak is serious, easy to wear.
Further：The control device of forcing press further includes man-machine interface, the man-machine interface and motion controller electricity
Connection.
The advantageous effect of above-mentioned further scheme is：Man-machine interface facilitates staff to carry out the working condition of forcing press
Monitoring and monitoring.
Further：Dc bus interface is equipped on each servo-driver, all dc bus interfaces are equal
It is electrically connected to each other, all dc bus interfaces are electrically connected with external power supply.
The advantageous effect of above-mentioned further scheme is：All servo-drivers are connected with each other by dc bus interface,
The electricity of each servo-driver is shared, can generate electricity and produce electricl energy when some servo-drivers run slowly,
The electric energy can share to just to be used in Accelerating running or the servo-driver to travel at the uniform speed, is achieved the purpose that energy saving.
Further：The control device of forcing press further includes rectification adverser, all dc bus interfaces with it is described
Rectification adverser is electrically connected, and the rectification adverser is electrically connected with external power supply.
The advantageous effect of above-mentioned further scheme is：Electricity when rectification adverser brakes forcing press feed back to power grid into
Row storage subsequently to use, saves electric energy.
Description of the drawings
Fig. 1 is a kind of structure diagram of the control device of forcing press provided by the utility model.
In attached drawing, parts list represented by the reference numerals is as follows：
1st, servomotor, 2, servo-driver, 3, motion controller, 4, encoder, 5, man-machine interface, 6, I/O expanded modes
Block, 7, rectification adverser, 8, bus, DC-BUS, dc bus.
Specific embodiment
The principle and feature of the utility model are described below in conjunction with attached drawing, example is served only for explaining this practicality
It is new, it is not intended to limit the scope of the utility model.
Below in conjunction with the accompanying drawings, the utility model is illustrated.
As shown in Figure 1, the utility model embodiment provides a kind of control device of forcing press, including at least one driving pressure
The servomotor 1 of power machine, the present embodiment illustrate by taking two servomotors 1 as an example.The control servomotor 1 is further included to operate
Motion controller 3 and the servo-driver 2 identical with 1 quantity of servomotor, the servo-driver 2 watched with described
It takes motor 1 and corresponds electrical connection, and the corresponding servomotor 1 is driven to rotate, all servo-drivers 2 are and institute
It states motion controller 3 to be electrically connected, and the driving current signal of the corresponding servomotor 1 is fed back into the motion controller
3, encoder 4 is installed on the servomotor 1, the encoder 4 passes through the corresponding servo-driver 2 and the movement
Controller 3 is electrically connected, and the position signal of the corresponding servomotor 1 is fed back to the motion controller 3.Preferably,
Motion controller 3 is using position INTERPOLATION CONTROL OF PULSE scheme control servo-driver 2 and servomotor 1.
Motion controller 3 obtains the position signal for the encoder 4 installed on servomotor 1 in real time, realizes position closed loop
Control；And pass through 2 Real-time Feedback driving current signal of servo-driver, and then servomotor 1 is obtained by driving current signal
Moment values realize torque closed-loop control.The utility model need not increase additional position sensor and pressure sensing
Device simplifies structure and wiring, cost-effective, improves the adaptability of application scenario.
The utility model embodiment select motion controller 3 model be luxuriant and rich with fragrance bodyguard RP-1, RP-1 motion controller collection
Into there are two Ethernet interface, two Ethernet interfaces can support the Ethercat/CANopen agreements of standard and Modbus TCP
Agreement, one of Ethernet interface is used for connecting 4 servo-drivers 2, and walks Ethercat/CANopen agreements；Another
Ethernet interface is used for connecting man-machine interface 5, walks Modbus Transmission Control Protocol.RP-1 motion controllers integrate 8 way switch amounts and input, and 8
Way switch amount exports, and is all PNP types.There is RP-1 motion controllers 128K to power off memory block, can not by specially treated
With securely held parameter.RP-1 motion controllers use Freescale Power PC MPC5200 processors, 1.2G double-cores, shape
Size 230x77x85mm, 64MB DRAM, 128KB CMOS, horizontal and vertical can be installed.It will be apparent that except RP-1 movement controls
Outside device processed, the motion controller of other producers can also be used, can realize same function, the CP6522 movement controls of such as times good fortune
Device processed, the mainboard of CP6522 motion controllers integrate 4 RS422 serial ports, 1 RS232 serial ports and 8 USB2.0, have not
Uninterruptible power UPS, the Dual-Ethernet adapter with 10/100BASE-T interfaces.CP6522 motion controller front panels are 15 English
Very little display, resolution ratio 1024*1024, the display can be used as man-machine interface 5.CP6522 motion controllers also band number
Word keyboard and PLC special function keyboards.CP6522 motion controllers use Intel Core 2.0GHz processors, in 521MB
It deposits and 160GB SATA hard discs.
The upper embodiment of optimization, as shown in Figure 1, by total between the motion controller 3 and the servo-driver 2
Line 8 is electrically connected.Motion controller 3 controls servo-driver 2 by bus 8, and motion controller 3 is facilitated to read servo-driver 2
Parameter, such as driving current signal.But also motion controller 3 is facilitated to be debugged by bus to servo-driver 2, without
In addition connection debugging line.Because the debugging line of different servo-drivers 2 may be different, engineer is debugging different servo drives
Different debugging lines is needed replacing during dynamic device 2, motion controller 3 provided by the utility model only needs bus 8 to connect servo-drive
Device 2 can be debugged, and substantially reduce debugging difficulty.Preferably, work can be debugged by integrated drive in motion controller 3
Tool can directly be debugged the servo being connected on motion controller 3 by motion controller 3 and driver debugging acid and be driven
The parameter of dynamic device 2, so debugging are got up more convenient, need not be switched the connection of servo-driver 2, directly be passed through bus 8
Servo-driver 2 is debugged.It can also be using motion controller 3 as the router for being connected to servo-driver 2, with watching
It takes the software that driver 2 carries to be debugged, equally debugs line without frequent switching.
The upper embodiment of optimization, as shown in Figure 1, the control device of forcing press further includes I/O expansion modules 6, the I/O
Expansion module 6 is electrically connected by the bus 8 with the motion controller 3.I/O expansion modules 6 facilitate staff to pressure
Machine is further extended and improved.
The upper embodiment of optimization, the servomotor 1 are straight drive torque motor.It is driven without using speed reducer, directly
Using straight drive torque motor, the shortcomings that speed reducer noise is big, oil leak is serious, easy to wear is overcome.It is different according to load, it is straight to drive
Torque motor can select 1 to 3 axis.
The upper embodiment of optimization, as shown in Figure 1, the control device of forcing press further includes man-machine interface 5, the man-machine interface
5 are electrically connected with the motion controller 3.Man-machine interface 5 facilitate staff the working condition of forcing press is monitored and
Monitoring.Man-machine interface 5 is preferably electrically connected by bus 8 with motion controller 3, and 8 communication modes of bus can provide big traffic,
The visualization of man-machine interface 5 can be greatly promoted, improves the intelligence degree of forcing press.The utility model embodiment is selected
Man-machine interface 5 is the TFT TFT True Color LCDs of the model RHMI15 of Robox, 15 cun, 65536 colors, aluminum alloy casing.
The upper embodiment of optimization, as shown in Figure 1, being equipped with dc bus interface on each servo-driver 2 (in figure
It is not shown), each dc bus interface is mutually electrically connected, and all dc bus interfaces are electrically connected with external power supply
It connects.Servo-driver 2 has reserved DC bus powered interface, therefore all servo-drivers 2 need not individually use 380V
Power supply is powered, but all servo-drivers 2 are connected to same 380V power supplys and are powered, all servo-drivers 2
Energy can be shared.When some servo-driver 2 slows down, it can generate electricity and generate energy, this energy can be used for giving
Accelerating running or the servo-driver 2 to travel at the uniform speed use, and achieve the purpose that energy saving.
The upper embodiment of optimization, the control device of forcing press further include rectification adverser 7, and each dc bus interface is equal
It is electrically connected with the rectification adverser 7, the rectification adverser 7 is electrically connected with external power supply.Dc bus interface and rectification are inverse
It is electrically connected between change device 7 by dc bus DC-BUS.All servo-drivers 2 are connected to a rectification adverser 7, subtracting
The energy back that the servo-driver 2 of speed operation generates is into the power grid of external power supply.Since forcing press is frequent rotating,
There is the up to braking resistor of 20KW for consumed energy, after energy is fed back to power grid using rectification adverser 7, can save
More than 20% energy.
The control device for the forcing press that the utility model embodiment provides, control method are as follows：
Motion controller 3 sends control signal to the servomotor 1 of driving pressure machine, and servomotor 1 receives the control
Signal simultaneously operates；The driving current signal of the servomotor 1 is obtained by servo-driver 2, and passes through the driving current
The moment values of servomotor 1 described in signal acquisition；The position signal of the servomotor 1 is obtained by encoder 4；Using institute
It states moment values and the position signal and closed loop feedback control signal is sent to the servomotor 1, believed with correcting the control
Number, realize the closed-loop control of the servomotor.
The utility model obtains position signal by encoder 4 and feeds back to motion controller 3, realizes position closed loop control
System.Driving current signal is obtained by servo-driver 2 and feeds back to motion controller 3, and then is obtained by driving current signal
The torque signals of servomotor 1 are taken, realize torque closed-loop control.Position is realized in the state of external position sensor is not increased
Closed loop realizes torque closed loop in the state of external pressure sensor is not increased.It is cost-effective, while feedback delay is low, control
Precision is high.
Preferably, motion controller 3 sends control using position INTERPOLATION CONTROL OF PULSE pattern to the servomotor 1 of driving pressure machine
Signal processed, position INTERPOLATION CONTROL OF PULSE pattern are the common pattern of motion control, and position INTERPOLATION CONTROL OF PULSE pattern includes crank pattern, pulse
Pattern, pressurize pattern, pendulum pattern, blanking pattern and free schema.Various differences are realized by position INTERPOLATION CONTROL OF PULSE pattern
Curve movement, compared with electric cam, track species is more abundant.
Preferably, control signal is transmitted by differential mode.Pulse and simulation during the control signal transmission of forcing press
It is difficult to solve the problems, such as that the interference of amount mode, which is always one,.Motion controller 3 is sent using differential mode in the utility model
Control signal so that the antijamming capability of data transmission is strengthened.Such as twisted-pair feeder may be employed as transmission medium, it sends
The two paths of signals at end must carry out signal transmission using a twisted-pair feeder respectively, and the two paths of signals of transmitting terminal is amplitude equal phase
Opposite differential signal, the receiving unit of control signal do subtraction to the two paths of signals of reception, thus obtain amplitude and turn over
Signal again, if two paths of signals all receives same interference signal, since receiving unit does subtraction to two paths of signals,
Therefore interference signal is by basic neutralisation, so that antijamming capability is strengthened.
The above is only the preferred embodiment of the present invention, is not intended to limit the utility model, all in this practicality
Within new spirit and principle, any modifications, equivalent replacements and improvements are made should be included in the guarantor of the utility model
Within the scope of shield.
Claims (7)
1. a kind of control device of forcing press includes the servomotor of at least one driving pressure machine, which is characterized in that further include
The motion controller of the servomotor operating and the servo-driver identical with the servomotor quantity are controlled, it is described to watch
Take driver and the servomotor one-to-one corresponding be electrically connected, and the corresponding servomotor driven to rotate, it is all described in watch
It takes driver to be electrically connected with the motion controller, and the driving current signal of the corresponding servomotor is fed back into institute
State motion controller, encoder be installed on the servomotor, the encoder by the corresponding servo-driver with
The motion controller electrical connection, and the position signal of the corresponding servomotor is fed back into the motion controller.
2. the control device of forcing press according to claim 1, which is characterized in that the motion controller drives with the servo
It is electrically connected between dynamic device by bus.
3. the control device of forcing press according to claim 2, which is characterized in that further include I/O expansion modules, the I/O
Expansion module is electrically connected by the bus with the motion controller.
4. the control device of forcing press according to claim 1, which is characterized in that the servomotor is straight drive square electricity
Machine.
5. the control device of forcing press according to claim 1, which is characterized in that further include man-machine interface, the man-machine boundary
Face is electrically connected with the motion controller.
6. according to the control device of any forcing press in claim 1-5, which is characterized in that each servo-driver
On be equipped with dc bus interface, all dc bus interfaces are mutually electrically connected, and all dc bus interfaces are equal
It is electrically connected with external power supply.
7. the control device of forcing press according to claim 6, which is characterized in that rectification adverser is further included, it is all described
Dc bus interface is electrically connected with the rectification adverser, and the rectification adverser is electrically connected with external power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721699778.1U CN207440598U (en) | 2017-12-08 | 2017-12-08 | A kind of control device of forcing press |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721699778.1U CN207440598U (en) | 2017-12-08 | 2017-12-08 | A kind of control device of forcing press |
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| Publication Number | Publication Date |
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| CN207440598U true CN207440598U (en) | 2018-06-01 |
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| CN201721699778.1U Active CN207440598U (en) | 2017-12-08 | 2017-12-08 | A kind of control device of forcing press |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108021100A (en) * | 2017-12-08 | 2018-05-11 | 武汉菲仕运动控制系统有限公司 | The control device and control method of a kind of forcing press |
| CN111391395A (en) * | 2020-03-24 | 2020-07-10 | 扬州精善达伺服成形装备有限公司 | Press slide block multipoint servo adjusting system and method |
| CN113098362A (en) * | 2021-05-07 | 2021-07-09 | 成都哈工驱动科技有限公司 | Servo driver with bus cascade structure |
-
2017
- 2017-12-08 CN CN201721699778.1U patent/CN207440598U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108021100A (en) * | 2017-12-08 | 2018-05-11 | 武汉菲仕运动控制系统有限公司 | The control device and control method of a kind of forcing press |
| CN111391395A (en) * | 2020-03-24 | 2020-07-10 | 扬州精善达伺服成形装备有限公司 | Press slide block multipoint servo adjusting system and method |
| CN111391395B (en) * | 2020-03-24 | 2021-12-14 | 扬州精善达伺服成形装备有限公司 | Press slide multi-point servo adjusting system |
| CN113098362A (en) * | 2021-05-07 | 2021-07-09 | 成都哈工驱动科技有限公司 | Servo driver with bus cascade structure |
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