CN210996263U

CN210996263U - Combined control device for press machine and manipulator

Info

Publication number: CN210996263U
Application number: CN201922073150.6U
Authority: CN
Inventors: 郭俊
Original assignee: Nanjing Xinjie Zerong Intelligent Control Technology Co ltd
Current assignee: Nanjing Xinjie Zerong Intelligent Control Technology Co ltd
Priority date: 2019-11-26
Filing date: 2019-11-26
Publication date: 2020-07-14
Anticipated expiration: 2029-11-26

Abstract

The utility model discloses a press and manipulator's joint control device, including a P L C control circuit, press drive circuit, conveying and manipulator drive circuit, display screen all are connected with P L C control circuit, the utility model discloses only used a P L C controller just can carry out joint complete machine control to press and manipulator, make the cooperation of press and manipulator reach the zero-time difference, whole production line constitutes a bus net, make the quality of product obtain guaranteeing, defective rate and cost greatly reduced, stability and resource utilization obtain the promotion of quality, not only saved manpower, financial resources, material resources greatly, and more safety, high efficiency moreover.

Description

Combined control device for press machine and manipulator

Technical Field

The utility model relates to a press and manipulator's joint control device is applied to the industrial automation field.

Background

At present, the press machine and a mechanical hand control device on the market are in decentralized control, the press machine and the mechanical hand are respectively controlled through two P L C, time difference occurs when the press machine and the mechanical hand are matched in the mode, the quality of products cannot be guaranteed, the reject ratio and the cost are high, the safety is low, and the stability and the resource utilization rate are not high.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming the defects in the prior art, the utility model provides a combined control device of a press machine and a manipulator, which utilizes a P L C controller to carry out combined complete machine control on the press machine and the manipulator, so that the cooperation of the press machine and the manipulator reaches zero-time difference.

The technical scheme is as follows: in order to achieve the above object, the utility model adopts the following technical scheme:

a combined control device for a press machine and a manipulator comprises a P L C control circuit, a press machine driving circuit, a transmission and manipulator driving circuit and a display screen, wherein the press machine driving circuit, the transmission and manipulator driving circuit and the display screen are all connected with the P L C control circuit.

The press machine driving circuit comprises a first circuit breaker, a third frequency converter, a first press machine main motor, a second circuit breaker, a first contactor, a second slider adjusting motor, a third lubricating motor, a first intermediate relay, a second intermediate relay and a third circuit breaker, wherein a wire inlet end of the first circuit breaker is connected to a power line, a wire outlet end of the first circuit breaker is connected to the third frequency converter, a wire outlet end of the first circuit breaker is connected to the second circuit breaker inlet end, one end of the first contactor is connected to a wire outlet end of the second circuit breaker, the other end of the first contactor is connected to the second slider adjusting motor, the second contactor is connected to two ends of the first contactor in parallel, one end of the first intermediate relay is connected to a pin 1P24V, the other end of the first intermediate relay is connected to a positive pole of the lubricating motor, one end of the second intermediate relay is connected to a pin 1M, the other end of the second intermediate relay is connected to a negative pole of the lubricating motor, one end of the third contactor is connected to a phase wire outlet and a.

The press machine driving circuit further comprises a power supply control circuit and a power supply protection circuit, wherein the power supply protection circuit comprises a first transformer, a fourth breaker and a first control switch, one side of the first transformer is respectively connected with the L pin and the L pin, L pin of the first transformer, a fourth breaker, a first control switch and a second control switch, which are sequentially connected, the power supply control circuit comprises a fifth breaker, a first socket, a third control switch, a first push switch, a second push switch, a first limit switch, a second limit switch, an eleventh intermediate relay, a twelfth intermediate relay, a contactor and an AC220V/DC24V converter, the fifth breaker and the first socket are connected in series and then connected in parallel with the second connector and the N pin of the first transformer, the first push switch, the second push switch, the first limit switch and the second limit switch are connected in series, one end of the control switch is connected with the second connector, the other end of the control switch is respectively connected with the eleventh intermediate relay, the twelfth intermediate relay and the first push switch, one end of the contactor is connected with the twelfth intermediate relay, the fifth switch and the DC 24/DC 24 converter, one end of the AC 5631 is connected with the N pin of the second limit switch and the third switch, the fifth switch is connected with the N pin 3624 pin of the third switch, the fifth switch.

The transmission and manipulator driving circuit comprises an XD-EX16Y16R chip, an intermediate relay II, an intermediate relay III, an intermediate relay IV, an intermediate relay V, an intermediate relay VI, a first intermediate relay VII, a second intermediate relay VII, an intermediate relay VIII, an intermediate relay IX, a push switch III, a resistor I, a resistor II, a resistor III, a resistor IV and a resistor V. The COMO pin of the XD-EX16Y16R chip is connected with the pin 1P24V, the COMO pin of the XD-EX16Y16R chip, a seventh intermediate relay, a third push switch, a ninth intermediate relay, an eighth intermediate relay, a fourth intermediate relay, a second intermediate relay and a YV1 pin are sequentially connected, one end of the seventh intermediate relay is connected with the COMO pin of the XD-EX16Y16R chip, and the other end of the seventh intermediate relay is connected between the seventh intermediate relay and the third push switch. One end of the first resistor is connected between the seventh intermediate relay and the third push switch, and the other end of the first resistor is connected with the first intermediate relay. One end of the intermediate relay III is connected between the intermediate relay IV and the intermediate relay II, the other end of the intermediate relay III is connected with a YV2 pin, a Y0 pin of the XD-EX16Y16R chip is connected with a YV3 pin, a Y1 pin of the XD-EX16Y16R chip is connected with a YV4 pin, a Y2 pin of the XD-EX16Y16R chip is connected with an intermediate relay Ten, and the intermediate relay I, a YV1 pin, a YV2 pin, a YV3 pin and a YV4 pin are all connected with a 1M pin. The COM1 pin of the XD-EX16Y16R chip is connected with a COM pin of the frequency converter, the Y4 pin of the XD-EX16Y16R chip is connected with an X1 pin of the frequency converter, the Y5 pin of the XD-EX16Y16R chip is connected with an X2 pin of the frequency converter, the COM2 pin of the XD 16Y16R chip is connected with a 1P24V pin, the Y10 pin of the XD-EX16Y R chip is connected with a CAM pin, the Y11 pin, the three R3 and the 1M pin of the XD-EX16Y16R chip are sequentially connected, the Y12 pin and the four R4 and 1M pin of the XD-EX16Y16R chip are sequentially connected, and the Y13 pin, the five R5 and the 1M pin of the XD-EX16Y16 365 chip are sequentially connected. The fifth intermediate relay is connected in parallel to

pins

21 and 22 of the XD-EX16Y16R chip, and the sixth intermediate relay is connected in parallel to

pins

23 and 24 of the XD-EX16Y16R chip.

The P C control circuit comprises an XD-48T-C chip, an I chip, a pin 1 of the XD-48T-0C chip is connected with a second connector, a pin N of the XD-48T-2C chip is connected with a pin N of a first transformer, a pin COM of the XD-48T-3C chip is grounded, a pin XO of the XD-48T-4C chip is grounded after a pin XO of a pressing switch is connected with a third ground, a pin X of the XD-48T-5C chip is grounded after a pin X of a proximity switch is connected with a first ground, a pin X of the XD-48T-EP 6C chip is grounded after a pin XG C of a limit switch is connected with a third ground, a pin X of the XD-48T-7C chip is grounded after a pin G C of a limit switch, a pin X of the XD-48T-8C chip is grounded after a pin G C of a fifth switch, a pin XG pin G C-48T-48C is connected with a pin G T-C of a switch, a pin G C-C48C, a pin G C-.

Preferably: and the pin R of the third frequency converter is connected with the phase A in the power line, the pin S of the third frequency converter is connected with the phase B in the power line, and the pin T of the third frequency converter is connected with the phase C in the power line. And a U pin of the third frequency converter is connected with a U1 pin of the first main motor of the press machine, a V pin of the third frequency converter is connected with a V1 pin of the first main motor of the press machine, and a W pin of the third frequency converter is connected with a W1 pin of the first main motor of the press machine.

Compared with the prior art, the utility model, following beneficial effect has:

the utility model discloses only used a P L C just can carry out joint complete machine control to press and manipulator, made the cooperation of press and manipulator reach the zero-time difference, whole production line constitutes a total line net, made the quality of product obtain guaranteeing, defective rate and cost greatly reduced, stability and resource utilization obtain the promotion of quality, have not only saved manpower, financial resources, material resources greatly, and safety more moreover, high-efficient.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a press drive circuit diagram;

FIG. 3 is a power control circuit diagram;

FIG. 4 is a power protection circuit diagram;

FIG. 5 is a P L C control circuit diagram;

fig. 6 is a transfer and robot drive circuit diagram.

Detailed Description

The invention will be further elucidated with reference to the drawings and specific embodiments, it being understood that these examples are intended to illustrate the invention only and are not intended to limit the scope of the invention, and that modifications to the various equivalent forms of the invention, which may occur to those skilled in the art after reading the present invention, fall within the scope of the invention as defined in the claims appended hereto.

A combined control device of a press machine and a manipulator is shown in figures 1-6 and comprises a P L C control circuit, a press machine driving circuit, a transmission and manipulator driving circuit and a display screen, wherein the press machine driving circuit, the transmission and manipulator driving circuit and the display screen are all connected with the P L C control circuit.

The press driving circuit comprises a first QF1 breaker, a third frequency converter VH3, a first press main motor M1, a second breaker QF2, a first contactor KM1, a second contactor KM2, a second slider adjusting motor M2, a third lubricating motor M3, a first intermediate relay ten KA10-1, a second intermediate relay ten KA10-2 and a third breaker QF3, wherein a first breaker QF1 inlet terminal is connected to a power line, an outlet terminal is connected with the third frequency converter VH 1, the first press main motor M1 is connected with the third frequency converter VH 1, the second breaker QF1 inlet terminal is connected with an outlet terminal of the first breaker QF1, one end of the first contactor KM1 is connected with the outlet terminal of the second breaker QF1, the other end of the second contactor KM1 is connected with the slider adjusting motor M1, the second contactor KM1 is connected in parallel with two ends of the first intermediate contactor KM1, one end of the first intermediate contactor QF 1P 1 is connected with a power line, the other end of the third frequency converter QF1, the third frequency converter QF1 is connected with a V pin of the V1, a lead of the third frequency converter Q1, and a lead of the third frequency converter Q1, the third frequency converter Q1 is connected with a lead of the third frequency converter Q1, the lubricating motor V lead of the V lead 1, the V lead of the V lead 1, the V lead of the third frequency converter.

The press machine driving circuit further comprises a power supply control circuit and a power supply protection circuit, wherein the power supply protection circuit comprises a transformer TC, a breaker quad QF and a control switch SA, one side of the transformer TC is respectively connected with 12 pins and 22 pins, the pins of the transformer TC, the breaker quad QF, the control switch SA and a connector II are sequentially connected, the power supply control circuit comprises a breaker five QF, a socket XS, a control switch three SA, a press switch SB, a press switch two SB, a limit switch SQ, an intermediate relay eleven KA, an intermediate relay twelve KA, a contactor eleven KM, a contactor twelve KM and an AC 220/DC 24 converter, the breaker five QF and the socket XS are connected in series and then connected in parallel to the connector II and the N pin of the transformer TC, the press switch SB, the press switch two SB, the limit switch SQ and the limit switch two KA are connected in series, one end of the control switch three SA is connected with the connector eleven, the other end of the intermediate relay is respectively connected with the intermediate relay twelve SB, the contactor KM, the connector SQ, the intermediate relay is connected with the connector 24, the connector KM, the transformer TC 24 and the connector is connected with the other end of the transformer TC 24.

The transmission and manipulator driving circuit comprises an XD-EX16Y16R chip, an intermediate relay two KA2, an intermediate relay three KA3, an intermediate relay four KA4, an intermediate relay five KA5, an intermediate relay six KA6, a first intermediate relay seven KA7, a second intermediate relay seven, an intermediate relay eight KA8, an intermediate relay nine KA9, a push switch three SB3, a resistor one R1, a resistor two R2, a resistor three R3, a resistor four R4 and a resistor five R5. The COMO pin of the XD-EX16Y16R chip is connected with the pin 1P24V, the COMO pin of the XD-EX16Y16R chip, the second intermediate relay seven, the push switch three SB3, the intermediate relay nine KA9, the intermediate relay eight KA8, the intermediate relay four KA4, the intermediate relay two KA2 and the YV1 pin are sequentially connected, one end of the first intermediate relay seven KA7 is connected with the COMO pin of the XD-EX16Y16R chip, and the other end of the first intermediate relay seven KA7 is connected between the second intermediate relay seven and the push switch three SB 3. One end of the first resistor R1 is connected between the seventh second intermediate relay and the third push switch SB3, and the other end of the first resistor R1 is connected with the first intermediate relay KA 1. One end of the intermediate relay three KA3 is connected between the intermediate relay four KA4 and the intermediate relay two KA2, the other end of the intermediate relay three KA3 is connected with a YV2 pin, a YO pin of the XD-EX16Y16R chip is connected with a YV3 pin, a Y1 pin of the XD-EX16Y16R chip is connected with a YV4 pin, a Y2 pin of the XD-EX16Y16R chip is connected with the intermediate relay ten KA10, and the intermediate relay one KA1, the YV1 pin, the YV2 pin, the YV3 pin and the YV4 pin are all connected with a 1M pin. The COM1 pin of the XD-EX16Y16R chip is connected with a COM pin of the frequency converter, the Y4 pin of the XD-EX16Y16R chip is connected with an X1 pin of the frequency converter, the Y5 pin of the XD-EX16Y16R chip is connected with an X2 pin of the frequency converter, the COM2 pin of the XD 16Y16R chip is connected with a 1P24V pin, the Y10 pin of the XD-EX16Y R chip is connected with a CAM pin, the Y11 pin, the three R3 and the 1M pin of the XD-EX16Y16R chip are sequentially connected, the Y12 pin and the four R4 and 1M pin of the XD-EX16Y16R chip are sequentially connected, and the Y13 pin, the five R5 and the 1M pin of the XD-EX16Y16 365 chip are sequentially connected. The intermediate relay five KA5 is connected in parallel with

pins

21 and 22 of the XD-EX16Y16R chip, and the intermediate relay six KA6 is connected in parallel with

pins

23 and 24 of the XD-EX16Y16R chip.

The P C control circuit comprises an XD-48T-C chip, an I chip, a pin 1 of the XD-48T-0C chip is connected with a second connector, a pin N of the XD-48T-2C chip is connected with a pin N of a transformer first TC, a pin COM of the XD-48T-3C chip is grounded, a pin X of the XD-48T-4C chip is grounded after being connected with a third pressing switch, a pin X of the XD-48T-5C chip is grounded after being connected with a proximity switch first SP, a pin X of the XD-48T-6C chip is grounded after being connected with a limit switch third SQ, a pin X of the XD-48T-7C chip is grounded after being connected with a limit switch fourth SQ, a pin X of the XD-48T-8C chip is grounded after being connected with a limit switch fifth pressing switch fourth SB, a pin XD-48T KA X-5K is connected with a pin XD C-T-Q, a pin XD-48T-C.

XD5-48T4-E P L C chip has host 20 enter/20 go out, the transistor output, power supply AC100 ~ 240V, 4 way AB phase high speed count, 4 way high speed pulse, compared with XD3 series have more soft components, DC24V outputs rated current 400mA, support 2 way high speed pulse, 3 way high speed count, 10 way external interrupt, 28 point NPN type input, 20 point relay (R) or transistor (T) or transistor relay mix (RT, front 2 way transistor) output, AC220 (E) or DC24V (C) power, support USB interface high speed download function, 16 modules and 2 BD board can be extended at most externally, have higher processing speed, XC series is about 10 times, take clock and carry out power down maintenance to data, support basic logic control and data operation, support MODC language editing function block, communication, free format communication, X-NET bus function, etc., the utility model discloses a manipulator power down maintenance to data, make the manipulator carry out the high efficiency control to the manipulator through the high efficiency control of power down, make the manipulator obtain the high efficiency of the manipulator through the high efficiency control of the manipulator through the high efficiency of the industrial control of power-saving, make the manipulator carry out the manipulator to make the manipulator obtain the high efficiency control of the manipulator through the industrial control of the industrial robot and the industrial control of power consumption, make it not only, make it reach the manipulator greatly to carry out the industrial robot, the industrial press machine, the industrial robot, the industrial press, the industrial robot, the industrial machine, the.

The above description is only a preferred embodiment of the present invention, and it should be noted that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be considered as the protection scope of the present invention.

Claims

1. A combined control device for a press machine and a manipulator is characterized by comprising a P L C control circuit, a press machine driving circuit, a transmission and manipulator driving circuit and a display screen, wherein the press machine driving circuit, the transmission and manipulator driving circuit and the display screen are all connected with the P L C control circuit;

the press machine driving circuit comprises a first breaker (QF1), a third inverter (VH3), a first press machine motor (M1), a second breaker (QF2), a first contactor (KM2), a second slider adjusting motor (M2), a third lubricating motor (M2), a first intermediate relay (KA 2-1), a second intermediate relay (KA 2-2) and a third breaker (QF2), wherein the inlet end of the first breaker (QF2) is connected to a power line, the outlet end of the first breaker (QF2) is connected with the third inverter (VH 2), the first press machine (M2) is connected with the third inverter (M2), the inlet end of the second breaker (QF2) is connected with the outlet end of the first breaker (QF2), one end of the first contactor (KM2) is connected with the outlet end of the second breaker (QF2), the other end of the second breaker (QF2) is connected with the second breaker (M2), the second contactor (KM2) is connected with the outlet end of the first breaker (KM2) and the second contactor (KM2) and the other end of the lubricating motor (KM 2A), the second relay (2) is connected with the third relay (2) in parallel, the lubricating relay (K2), the second contactor (KM2) and the lubricating motor (2), the lubricating relay (K2) is connected with the second relay, the lubricating relay (K2), the second relay (KM2), the second relay (;

the press machine driving circuit further comprises a power supply control circuit and a power supply protection circuit, wherein the power supply protection circuit comprises a first Transformer (TC), a fourth circuit breaker (QF) and a first control Switch (SA), one side of the first Transformer (TC) is respectively connected with 12 pins and 22 pins, the pins of the first Transformer (TC), the fourth circuit breaker (QF), the first control Switch (SA) and a second connector are sequentially connected, the power supply control circuit comprises a fifth circuit breaker (QF), a first socket (XS), a third control Switch (SA), a first push Switch (SB), a second push Switch (SB), a first limit Switch (SQ), a second limit Switch (SQ), an eleventh intermediate relay (KA), a eleventh contactor (KM), a twelfth contactor (KM) and an AC 220/DC 24 converter, the fifth circuit (QF) and the first socket (XS) are connected in series and then connected in parallel to the second connector and the N pin of the first Transformer (TC), the first push Switch (SB), the second push Switch (SB), the first limit Switch (SQ), the second switch (KM), the twelfth contactor (KM), the second switch (KM) and the AC 220/DC 24 converter, the first intermediate relay, the twelfth contactor (KM) are connected in series, the first switch (KM), the second switch (KM), the one end of the second switch (KM) is connected in parallel to the intermediate relay, the twelfth switch (KM, the intermediate relay;

the transmission and manipulator driving circuit comprises an XD-EX16Y16R chip, an intermediate relay II (KA2), an intermediate relay III (KA3), an intermediate relay IV (KA4), an intermediate relay V (KA5), an intermediate relay VI (KA6), a first intermediate relay VII (KA7), a second intermediate relay VII, an intermediate relay VIII (KA8), an intermediate relay IX (KA9), a push switch III (SB3), a resistor I (R1), a resistor II (R2), a resistor III (R3), a resistor IV (R4) and a resistor V (R5); the COMO pin of the XD-EX16Y16R chip is connected with a pin 1P24V, the COMO pin of the XD-EX16Y16R chip, a seventh second intermediate relay, a third push switch (SB3), a ninth intermediate relay (KA9), an eighth intermediate relay (KA8), a fourth intermediate relay (KA4), a second intermediate relay (KA2) and a YV1 are sequentially connected, one end of the seventh first intermediate relay (KA7) is connected with the COMO pin of the XD-EX16Y16R chip, and the other end of the seventh first intermediate relay is connected between the seventh second intermediate relay and the third push switch (SB 3); one end of the first resistor (R1) is connected between the seventh second intermediate relay and the third push switch (SB3), and the other end of the first resistor is connected with the first intermediate relay (KA 1); one end of the intermediate relay III (KA3) is connected between the intermediate relay IV (KA4) and the intermediate relay II (KA2), the other end of the intermediate relay III is connected with a YV2 pin, a Y0 pin of the XD-EX16Y16R chip is connected with a YV3 pin, a Y1 pin of the XD-EX16Y16R chip is connected with a YV4 pin, a Y2 pin of the XD-EX16Y16R chip is connected with a relay ten (KA10), and the intermediate relay I (KA1), the YV1 pin, the YV2 pin, the YV3 pin and the YV4 pin are all connected with a 1M pin; a COM1 pin of the XD-EX16Y16R chip is connected with a COM pin of the frequency converter, a Y4 pin of the XD-EX16Y16R chip is connected with an X1 pin of the frequency converter, a Y5 pin of the XD-EX16Y16R chip is connected with an X2 pin of the frequency converter, a COM2 pin of the XD 16Y16R chip is connected with a 1P24V pin, a Y10 pin of the XD-EX16Y16R chip is connected with a CAM pin, a Y11 pin, a resistor three R3 and a 1M pin of the XD-EX16Y16R chip are sequentially connected, a Y12 pin, a resistor four R4 and a 1M pin of the XD-EX16Y16R chip are sequentially connected, and a Y13 pin, a resistor five R5 and a 1M pin of the XD-EX16Y16R chip are sequentially connected; the intermediate relay five (KA5) is connected in parallel to pins 21 and 22 of the XD-EX16Y16R chip, and the intermediate relay six (KA6) is connected in parallel to pins 23 and 24 of the XD-EX16Y16R chip;

the P C control circuit comprises an XD-48T-C chip, an I chip, a COM pin of the XD-48T-0C chip is connected with a second connector, an N pin of the XD-48T-2C chip is connected with an N pin of a first Transformer (TC), an X pin of the XD-48T-3C chip is grounded, an X pin of the XD-48T-4C chip is grounded after being connected with a third pressing Switch (SB), an X pin of the XD-48T-5C chip is grounded after being connected with a first proximity Switch (SP), an X pin of the XD-48T-6C chip is grounded after being connected with a third pressing Switch (SQ), an X pin of the XD-48T-7C chip is grounded after being connected with a fourth pressing Switch (SQ), an X pin of the XD-48T-8C chip is grounded after being connected with a fifth pressing Switch (SQ) and a fifth pressing Switch (SQ) C-48, an X pin of the XD-48T-48 KA K-C K-8C chip is grounded after being connected with a third pressing switch (SB-24-T-C-24-SB-C chip, an XD-C chip is grounded after being connected with a fifth pressing switch (SB-C-.

2. The combined control device of a press and a robot as set forth in claim 1, wherein: the R pin of the frequency converter III (VH3) is connected with the phase A in the power line, the S pin of the frequency converter III (VH3) is connected with the phase B in the power line, and the T pin of the frequency converter III (VH3) is connected with the phase C in the power line; the U pin of the frequency converter III (VH3) is connected with the U1 pin of the first press motor (M1), the V pin of the frequency converter III (VH3) is connected with the V1 pin of the first press motor (M1), and the W pin of the frequency converter III (VH3) is connected with the W1 pin of the first press motor (M1).