CN216264448U - Multi-point positioning support flexible clamping tool control system - Google Patents
Multi-point positioning support flexible clamping tool control system Download PDFInfo
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- CN216264448U CN216264448U CN202122327971.5U CN202122327971U CN216264448U CN 216264448 U CN216264448 U CN 216264448U CN 202122327971 U CN202122327971 U CN 202122327971U CN 216264448 U CN216264448 U CN 216264448U
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Abstract
The utility model discloses a multi-point positioning support flexible clamping tool control system which comprises an industrial PC master station, an EtherCAT coupler I/O module, a left workbench slave station and a right workbench slave station, wherein the EtherCAT coupler I/O module comprises an EtherCAT coupler, a PNP8 point input module, an NPN8 point input module, an 8 point output module, an analog input module, a manual operator output module and a tail end module which are sequentially connected with the EtherCAT coupler; each slave station of the left and right working tables is connected with the industrial PC master station or the other slave station, and each slave station is correspondingly and respectively connected with the corresponding motor; the system structure mode can increase and expand the nodes of the quantity of the single devices in the whole glue spreader equipment in the network, randomly adjust the number of the nodes and the geographical positions of the nodes, meet the requirements of expansion and integration of the control system and facilitate the system to realize distributed control; the requirement of double-step operation of gluing and buckle mounting at the same station is met, and meanwhile, the production efficiency can be improved, and the production cost is reduced.
Description
Technical Field
The utility model relates to the technical field of tool control of pneumatic fixtures in the automobile industry, in particular to a control system of a multipoint positioning support flexible clamping tool, which is used for positioning and clamping workpieces when sealing rubber strips are coated and injected on a door plate of a workpiece of a plastic part on the inner side of an automobile and installing plastic buckles on the door plate at the same station.
Background
In the development of the project of pneumatic fixture tooling equipment in the automobile industry, the flexibility requirement is higher and higher, namely, different workpieces of various different vehicle types need to be glued on the same gluing robot equipment, and more pneumatic fixture tooling needs to be switched and installed. For example, an automobile door panel usually comprises a metal sheet part and an inner plastic part on the outer side, the joint of the metal sheet part and/or the plastic part needs a gluing robot to apply a sealing rubber strip, the gluing part is arranged on the edge of the workpiece, and plastic buckles used for positioning, mounting and fixing are arranged on the door panels of the inner plastic parts of different automobile types. Because the inner plastic part is a thin-wall part formed by a plurality of irregular-shaped one-time injection molding parts, and the inner plastic part is provided with a plurality of special-shaped holes, matching holes, mounting holes and the like which are matched with the metal sheet metal parts on the outer side. In the prior art, the steps of coating sealing rubber strips and installing plastic buckles belong to two different stations, namely a gluing station and a buckle installing station, and due to the fact that the stations are different, gluing and buckle installing tools which are consistent with the stations are required to be customized and used for completing respective gluing and buckle installing steps. Therefore, while the technical process requirements of the gluing and buckling steps are met, in order to improve the production efficiency and further reduce the production cost, a multi-point positioning support flexible clamping tool control system is needed to be developed on the basis of the prior art, so that the plastic buckle on the door plate can be installed at the same station while the clamping and positioning of the plastic workpiece of the type can be realized and the gluing of the sealing strip is implemented. Also, "flexible" refers broadly to the production organization and adaptability of automated manufacturing equipment to processing tasks (workpieces); a narrow sense refers to the ability to quickly and inexpensively switch from providing one product or service to another. The clamping tool is used for gluing workpieces of various types (up to 6 types), and therefore the flexibility refers to the capability of making quick response to various gluing tracks during gluing on inner plastic part door plates of different vehicle types in a narrow sense.
Disclosure of Invention
Aiming at the defects in the prior art, the utility model provides a control system of a multi-point positioning support flexible clamping tool, which is used for implementing double-step operation of gluing a sealing strip at the same position and jacking and buckling a buckle on a plastic part workpiece on the inner side of an automobile door panel, and can improve the production efficiency and reduce the production cost while meeting the requirements of the double-step operation of gluing at the same position and buckling.
The technical scheme adopted by the utility model for solving the technical problems is as follows:
the control system comprises an industrial PC master station, an EtherCAT coupler I/O module, a left workbench slave station and a right workbench slave station, wherein each slave station is connected with the industrial PC master station or the other slave station through an EtherCAT interface, and each slave station is correspondingly provided with a control interface; the control interfaces of the left and right working table slave stations are respectively connected with the corresponding motors, the control interfaces are set to be capable of receiving the corresponding control signals for representing the data transmission in the stations, and drive and control the motors correspondingly connected according to the control signals, and the motors are used for driving the left and right working tables.
The industrial PC master station adopts a C6640 industrial PC as a main control platform of the EtherCAT bus network master station, is used for overall system scheduling and man-machine interaction, and is responsible for receiving and managing data, sending control commands and displaying dynamic parameters and equipment states of each control unit in real time; the industrial PC is connected with an SG150-BGCM touch screen display for displaying a system human-computer interaction interface, a system power supply adopts a 24V DC power supply module, an integrated Uninterruptible Power Supply (UPS) can be optionally arranged to supply power for the industrial PC and the touch screen display, and a battery pack can be connected from the outside and is arranged on a DIN guide rail close to the PC.
The EtherCAT coupler I/O module comprises an EK1100 EtherCAT bus coupler, a PNP8 point input module, an NPN8 point input module, an 8 point output module, an analog input module, a manual operator output module and a tail end module which are sequentially connected with the EK1100 EtherCAT bus coupler; the EtherCAT bus coupler is used for converting data of each input and output module and the slave stations of the left and right working tables, connecting field data into an industrial PC master station, and the input and output modules are used for acquiring and processing signals of the tool; the EtherCAT bus coupler EK1100 is configured with two Ethernet interfaces, the first one is used for connecting an industrial PC, the second one is used for connecting other EtherCAT slave station equipment on a network, and the EtherCAT bus coupler provides a direct-current 24V power supply to supply power to a PNP8 point input module, an NPN8 point input module, an 8 point output module, an analog input module, a manual operator output module and an end module, wherein the end module EL9011 is placed at the end of an I/O module of the EtherCAT coupler.
The PNP8 point input module adopts 6 EL 10888 channel digital quantity input terminal modules which are respectively connected with digital quantity signal inputs of a left workbench positive limit switch, a left workbench negative limit switch, a right workbench positive limit switch, a right workbench negative limit switch, an emergency stop alarm, a left tool magnetic switch and a right tool magnetic switch, and digital quantity signal inputs of the left workbench positive limit switch, the right workbench negative limit switch, the emergency stop alarm, the left tool magnetic switch and the right tool magnetic switch;
the NPN8 point input module adopts 2 EL 10088 channels digital quantity input end sub-modules which are respectively connected with a left tool photoelectric switch, an operation button, a right tool photoelectric switch and digital quantity signal input of the operation button and is used for the digital quantity signal input of the left tool photoelectric switch, the right tool photoelectric switch and the operation button;
the 8-point output module adopts 4 EL 20088 channel digital quantity output terminal modules which are respectively connected with digital quantity signal outputs of a left tool electromagnetic valve, a left tool indicating lamp, a right tool electromagnetic valve and a right tool indicating lamp and used for inputting digital quantity signals of the left tool electromagnetic valve, the right tool electromagnetic valve, the left tool indicating lamp and the right tool indicating lamp;
the analog input module adopts 2 EL 30688 channel analog input terminal sub-modules to connect with the left and right frock pressure sensor respectively, is used for the analog signal input of the left and right frock pressure sensor;
the manual operator input module adopts 3 EL 10088 channel digital quantity input terminal submodules to be connected with a manual operator output end and is used for manual operator digital quantity signal input of zeroing \ debugging \ positioning \ feeding \ continuously inching \ inching 10mm \ inching 1mm \ inching 0.1mm \ pausing of a left workbench and a right workbench;
the manual operator output module adopts 2 EL 20088 channel digital output end submodules to be connected with a manual operator input end and is used for manual operator digital quantity signal output of a return zero lamp \ a debugging lamp \ a positioning lamp \ a feeding lamp \ a continuous inching lamp \ a inching 10mm lamp \ a inching 1mm lamp \ a inching 0.1mm lamp \ a deleting lamp of a left workbench and a right workbench;
the left workbench slave station adopts 1 Eston PROECT-08AEG-ECD servo driver with an EtherCAT communication module as a left workbench driver, and the left workbench driver is connected with a left workbench motor; the right workbench slave station adopts 1 Eston PROECT-08AEG-ECD servo driver with an EtherCAT communication module as a right workbench driver, and the right workbench driver is connected with a right workbench motor.
The utility model has the beneficial effects that:
the utility model provides a control system of a flexible clamping tool for multi-point positioning support, which can increase and expand the number of nodes of a single device in the whole glue spreader equipment in a network by a system structure mode, randomly adjust the number of the nodes and the geographical positions of the nodes, meet the requirements of expansion and integration of the control system of the flexible clamping tool and facilitate the system to realize distributed control; the requirement of double-step operation of gluing and buckle mounting at the same station is met, and meanwhile, the production efficiency can be improved, and the production cost is reduced.
Drawings
FIG. 1 is a schematic perspective view of the present tool set on an alternate table
FIG. 2 is a schematic perspective view of the tool with the workpiece and the long front side plate removed
FIG. 3 is a schematic diagram of a control structure of the tool control system
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 2, the present embodiment provides a multi-point positioning support flexible clamping tool, where the tool 3 takes an automobile door panel as an example, a workpiece 1 shows a situation when a plastic door panel on an inner side of an automobile is glued and buckled, and two alternative work tables horizontally arranged on the left and right sides are selected for description, where: the two alternating tables are illustrated as a left table 4 and a right table 5, respectively.
The fixture 3 of the embodiment comprises a base bottom plate 351, wherein a bottom plate square hole is formed in the base bottom plate 351 and used for conveying a rotary clamping cylinder III, a rotary clamping cylinder II, a cylinder conveying air source pipeline and signal cables for various sensors, and a plurality of buckle top-mounted assemblies 31, a plurality of pressing assemblies 32, a plurality of clamping assemblies 33 and a plurality of positioning support assemblies 34 are respectively arranged on the base bottom plate 351;
the top ends of the positioning support components 34 are respectively positioned on different horizontal planes, the axial support height of the positioning support components is adjusted by screwing the positioning support head I and the positioning support head II, the locking nut I and the locking nut II, and the workpiece 1 is supported at the top ends of the positioning support components 34;
the lower surfaces of positioning heads at the top ends of the clamping assemblies 33 are respectively positioned on different horizontal planes and penetrate through process holes at the edge of the workpiece 1, a square-head piston rod of a rotary clamping cylinder III drives the eccentrically arranged positioning heads to axially retract and simultaneously rotate, after the positioning heads retract and rotate to the position, the lower surfaces of the positioning heads are axially attached and clamped on the edge of the process hole of the workpiece 1, otherwise, the clamped workpiece 1 is loosened, firstly, the axial clamping height of the clamping assemblies 33 is adjusted by installing disc seats with different axial heights, secondly, axially moving the installation position of a supporting shaft and screwing an inner hexagon screw V to lock the supporting shaft;
the bottom ends of pressing claws II on the rotating connecting rods II of the plurality of pressing assemblies 32 are respectively positioned on different horizontal planes, square-head piston rods III of the rotary clamping cylinders II respectively drive the rotating connecting rods II to axially retract and simultaneously rotate, after the rotating connecting rods II retract to a certain position, the lower surfaces of the pressing claws II are axially attached and clamped on the edge of a workpiece 1, otherwise, the pressed workpiece 1 is loosened, and the axial pressing heights of the plurality of pressing assemblies 32 are adjusted by installing the pressing claws II with different axial heights;
the top of a plurality of buckle top dress subassemblies 31 is located different horizontal planes respectively, adjust the originated height of the jacking of a plurality of buckle top dress subassemblies 31 axial through the round gasket of installation different axial height, buckle 2 is placed on the top of a plurality of buckle top dress subassemblies 31, the square head piston rod I of cylinder drives link block along guide arm rebound, drive the pillar rebound on the link block simultaneously, 2 top dresses the buckle installation hole to work piece 1 with the buckle that its top was placed, otherwise, the originated height of jacking is reset to a plurality of buckle top dress subassemblies 31 axial.
This frock 3 preparation operation at initial:
the two pieces of the tool 3 are respectively placed on a left workbench 4 and a right workbench 5, and a first self-locking positioning pin and a second self-locking positioning pin of the tool 3 are respectively in datum positioning with positioning holes on the respective workbench and are respectively fixedly connected with the respective workbench through a first knob and a second knob of each knob;
teaching and adjusting the axial heights of the plurality of buckle top-mounted components 31, the plurality of pressing components 32, the plurality of clamping components 33 and the plurality of positioning support components 34 respectively to enable the gluing track plane of the workpiece 1 to be in a horizontal state and enable the buckles 2 to be top-mounted in the buckle mounting holes of the workpiece 1;
initially, left side workstation 4 is in preceding position operating position, right side workstation 5 is in back position operating position, the square head piston rod I of each cylinder of a plurality of buckle top-mounted subassemblies 31 all is in and does not stretch out operating position, the square head piston rod of each gyration die clamping cylinder of a plurality of centre gripping subassemblies 33 all is in and stretches out and does not rotate operating position, the square head piston rod III of the gyration die clamping cylinder II of a plurality of pressure holding subassemblies 32 and the square head piston rod III of each gyration die clamping cylinder II all are in and stretch out operating position, it is in parallel operating position to drive each rotation connecting rod II respectively rotatory to the circumference rectangle base with base bottom plate 351 simultaneously.
Gluing operation is detained in this 3 during operation of frock:
when the buckles 2 are loaded, the left workbench 4 is located at a front working position, the buckles 2 are loaded in two loading modes, firstly, the buckles 2 are placed on the buckle top-mounted assemblies 31 one by one through manual loading, then the left workbench 4 is manually started and moved to a rear working position, secondly, the buckles 2 are simultaneously placed on the buckle top-mounted assemblies 31 through mechanical arm loading, then the left workbench 4 is automatically started and moved to the rear working position through a control system after the photoelectric switches arranged in blind holes at the upper ends of the struts of the buckle top-mounted assemblies 31 detect that the buckles 2 are placed in place through mechanical arm loading, and the right workbench 5 is moved forwards to the front working position while the left workbench 4 is moved backwards, and the right workbench 5 and the left workbench 4 are moved forwards and backwards to place simultaneously;
after a limit switch arranged on a guide rail at the lower side of the left workbench 4 is used for limiting the position or the stroke of the rear movement of the left workbench 4, a control system automatically starts mechanical arm feeding to place the workpiece 1 on a plurality of positioning and supporting components 34 of the tool 3, a photoelectric switch arranged on a sensor support 38 detects the workpiece 1, and the control system automatically starts square-head piston rods III of all rotary clamping cylinders II of a plurality of pressing and holding components 32 to drive respective rotary connecting rods II to respectively rotate to be in vertical working positions with the circumferential rectangular bottom edge of the base bottom plate 351, and all the square-head piston rods III axially retract in the rotating process, so that pressing claws II on the respective rotary connecting rods II are axially attached to and pressed at the edge of the workpiece 1;
square-head piston rods of rotary clamping cylinders III of the plurality of clamping assemblies 33 are located at extending positions, the positioning heads are located at the positions where the upper clamping sleeves extend out of the clamping sleeve cutting tables, and after the workpiece 1 is placed on the left workbench 4, the positioning heads penetrate through workpiece process holes in the edge of the workpiece 1, wherein the positioning heads are arranged in a circular truncated cone shape and are used for conveniently aligning and aligning the rotation center of the workpiece process holes; when the square-head piston rods III and the square-head piston rods II of the plurality of pressing and holding assemblies 32 rotate and axially retract, the square-head piston rods of the rotary clamping cylinders III of the plurality of clamping assemblies 33 drive the positioning heads to rotate clockwise by +180 degrees or anticlockwise by-180 degrees, and when the square-head piston rods axially retract, the square-head piston rods drive the positioning heads to rotate to positions, the lower surfaces of the positioning heads are axially attached to and pressed on the edges of the process holes of the workpiece 1, so that the workpiece 1 is clamped and fixed on the left workbench 4;
after pressure sensors arranged in blind holes of a positioning support head I and a positioning support head II detect a set pressure value and the pressure value reaches an upper limit pressure value set by a program, a control system automatically starts a plurality of buckle top-mounting assemblies 31, a square head piston rod I of an air cylinder of the plurality of buckle top-mounting assemblies 31 drives a connecting slide block to move upwards along a guide rod and simultaneously drives a support column on the connecting slide block to move upwards, and a buckle 2 placed at the top of the connecting slide block is jacked into a buckle mounting hole of a workpiece 1; after the cylinder is jacked in place, a magnetic switch of the cylinder sends out an in-place signal, the cylinder is controlled to change direction by a control system program, and a square-head piston rod I of the cylinder drives a connecting slide block to move downwards along a guide rod and simultaneously drives a support on the connecting slide block to move downwards to reset to an initial position;
after the air cylinder is reset, the magnetic switch of the air cylinder sends an in-place signal, and simultaneously, the square-head piston rods III of the rotary clamping air cylinders II of the plurality of pressing and holding assemblies 32 are controlled by a control system program to extend out and rotate simultaneously, and the square-head piston rods III drive the rotary connecting rods II to respectively rotate to initial positions which are parallel to the circumferential rectangular bottom edge of the base bottom plate 351;
after pressure sensors arranged in blind holes of the positioning support heads I and II detect a set pressure value and the pressure value reaches a lower limit pressure value set by a program, a control system automatically starts a plasma activation device and a gluing device, and a manipulator drives the integrated activation head and gluing head to carry out activation and gluing operation along a gluing track at the edge of the workpiece 1;
after the gluing head is reset to the initial position, a control system program judges that the gluing head is reset to the initial position and then sends a signal to a rotary clamping cylinder III of a plurality of clamping assemblies 33 to control the reversing of the rotary clamping cylinder III, a square-head piston rod extends out to drive a positioning head to rotate anticlockwise for-180 degrees or clockwise for +180 degrees, and the square-head piston rod drives the positioning head to rotate when the square-head piston rod extends out axially, so that the lower surface of the positioning head is axially separated from the workpiece 1 and reset to the initial position;
after the rotary clamping cylinder III is reset, a magnetic switch of the rotary clamping cylinder III sends a reset in-place signal, a control system program controls a starting manipulator to unload the workpiece 1 placed on the tool 3, and after a photoelectric switch arranged on a sensor support 38 detects that the workpiece 1 is unloaded, the control system program controls a starting left workbench 4 to move forwards to a front working position of the left workbench 4 for next cycle operation; and the right workbench 5 which has placed the buckle 2 while the left workbench 4 moves forwards moves backwards to a front working position, and the buckling and gluing operation is performed, wherein the operation steps are alternately changed, so that the left workbench 4 and the right workbench 5 alternately perform buckling and gluing operation.
Please refer to fig. 3, which is a schematic diagram of the architecture of the control system of the present invention, the control system includes an industrial PC master station, an EtherCAT coupler I/O module, and left and right workstation slave stations, each slave station is connected to the industrial PC master station or another slave station via an EtherCAT interface, and each slave station is correspondingly configured with a control interface; the control interfaces of the left and right working table slave stations are respectively connected with the corresponding motors, the control interfaces are set to be capable of receiving the corresponding control signals for representing the data transmission in the stations, and drive and control the motors correspondingly connected according to the control signals, and the motors are used for driving the left and right working tables.
The industrial PC master station adopts a C6640 industrial PC as a main control platform of the EtherCAT bus network master station, is used for overall system scheduling and man-machine interaction, and is responsible for receiving and managing data, sending control commands and displaying dynamic parameters and equipment states of each control unit in real time; the industrial PC is connected with an SG150-BGCM touch screen display for displaying a system human-computer interaction interface, a system power supply adopts a 24V DC power supply module, an integrated Uninterruptible Power Supply (UPS) can be optionally arranged to supply power for the industrial PC and the touch screen display, and a battery pack can be connected from the outside and is arranged on a DIN guide rail close to the PC.
The EtherCAT coupler I/O module comprises an EK1100 EtherCAT bus coupler, a PNP8 point input module, an NPN8 point input module, an 8 point output module, an analog input module, a manual operator output module and a tail end module which are sequentially connected with the EK1100 EtherCAT bus coupler; the EtherCAT bus coupler is used for converting data of each input and output module and the slave stations of the left and right working tables, connecting field data into an industrial PC master station, and the input and output modules are used for acquiring and processing signals of the tool; the EtherCAT bus coupler EK1100 is configured with two Ethernet interfaces, the first one is used for connecting an industrial PC, the second one is used for connecting other EtherCAT slave station equipment on a network, and the EtherCAT bus coupler provides a direct-current 24V power supply to supply power to a PNP8 point input module, an NPN8 point input module, an 8 point output module, an analog input module, a manual operator output module and an end module, wherein the end module EL9011 is placed at the end of an I/O module of the EtherCAT coupler.
The PNP8 point input module adopts 6 EL 10888 channel digital quantity input terminal modules which are respectively connected with digital quantity signal inputs of a left workbench positive limit switch, a left workbench negative limit switch, a right workbench positive limit switch, a right workbench negative limit switch, an emergency stop alarm, a left tool magnetic switch and a right tool magnetic switch, and digital quantity signal inputs of the left workbench positive limit switch, the right workbench negative limit switch, the emergency stop alarm, the left tool magnetic switch and the right tool magnetic switch;
the NPN8 point input module adopts 2 EL 10088 channels digital quantity input end sub-modules which are respectively connected with a left tool photoelectric switch, an operation button, a right tool photoelectric switch and digital quantity signal input of the operation button and is used for the digital quantity signal input of the left tool photoelectric switch, the right tool photoelectric switch and the operation button;
the 8-point output module adopts 4 EL 20088 channel digital quantity output terminal modules which are respectively connected with digital quantity signal outputs of a left tool electromagnetic valve, a left tool indicating lamp, a right tool electromagnetic valve and a right tool indicating lamp and used for inputting digital quantity signals of the left tool electromagnetic valve, the right tool electromagnetic valve, the left tool indicating lamp and the right tool indicating lamp;
the analog input module adopts 2 EL 30688 channel analog input terminal sub-modules to connect with the left and right frock pressure sensor respectively, is used for the analog signal input of the left and right frock pressure sensor;
the manual operator input module adopts 3 EL 10088 channel digital quantity input terminal submodules to be connected with a manual operator output end and is used for manual operator digital quantity signal input of zeroing \ debugging \ positioning \ feeding \ continuously inching \ inching 10mm \ inching 1mm \ inching 0.1mm \ pausing of a left workbench and a right workbench;
the manual operator output module adopts 2 EL 20088 channel digital output end submodules to be connected with a manual operator input end and is used for manual operator digital quantity signal output of a return zero lamp \ a debugging lamp \ a positioning lamp \ a feeding lamp \ a continuous inching lamp \ a inching 10mm lamp \ a inching 1mm lamp \ a inching 0.1mm lamp \ a deleting lamp of a left workbench and a right workbench;
the left workbench slave station adopts 1 Eston PROECT-08AEG-ECD servo driver with an EtherCAT communication module as a left workbench driver, and the left workbench driver is connected with a left workbench motor; the right workbench slave station adopts 1 Eston PROECT-08AEG-ECD servo driver with an EtherCAT communication module as a right workbench driver, and the right workbench driver is connected with a right workbench motor.
Furthermore, the control system adopts a network topology structure with one master station and multiple slaves, one master station (an industrial PC master station) is linearly connected with the left and right work station slave stations through an EtherCAT communication network line, and each of the left and right work station slave stations controls one servo motor. The working principle is as follows: the industrial PC is used for operating upper computer software and providing a human-computer interaction interface, the built embedded EtherCAT real-time industrial PC master station is used as a system master station module, and an Estan PROECT-08AEG-ECD servo driver supporting EtherCAT protocol communication is used as a slave station module. The system employs a periodic process data communication mode. The master station is set to be in a DC mode, and the local time of the master station and the local clock time of all the slave station devices are all synchronous to the reference clock time in the DC mode, so that the time consistency of all the devices on the bus is ensured. The slave station is set to be synchronous to a distributed clock synchronous Signal (SYNC) mode, and the operation period of the master station is equal to the period of the SYNC signal of the slave station. Setting the servo motor operation mode as a periodic synchronous position (csp) operation mode. The industrial PC master station preprocesses input position control data, the master station position interpolation module of the industrial PC master station calculates target position control data of each servo motor, the master station protocol stack is responsible for packing the target position control data into an EtherCAT message form according to an EtherCAT protocol, the EtherCAT message form is sent to each slave station (AC1-AC6 servo controller) through an EtherCAT bus network, the AC1-AC6 servo controller analyzes the EtherCAT message data, a position control command is sent to the servo motor, and the servo motor is driven to move to a target position.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the utility model.
Claims (10)
1. Flexible centre gripping frock control system is supported in multiple spot location, including an industry PC main website, its characterized in that:
the system also comprises an EtherCAT coupler I/O module, a left workbench slave station and a right workbench slave station;
the EtherCAT coupler I/O module comprises an EK1100 EtherCAT coupler, a PNP8 point input module, an NPN8 point input module, an 8 point output module, an analog input module, a manual operator output module and a tail end module which are sequentially connected with the EK1100 EtherCAT coupler;
the EtherCAT coupler is used for converting data of each input module, each output module, the left workbench slave station and the right workbench slave station and connecting data of field tools into an industrial PC master station; each input/output module is used for acquiring and processing signals of the field tool;
each slave station in the left and right workbench slave stations is connected with the industrial PC master station or the other slave station through an EtherCAT interface, and each slave station is correspondingly provided with a control interface;
the control interfaces of the left and right working table slave stations are respectively connected with the corresponding motors, and the control interfaces are set to be capable of receiving the corresponding control signals for representing the data transmission in the stations and driving and controlling the corresponding connected motors according to the corresponding control signals; the motor is used for driving the left and right working tables.
2. The multi-point positioning support flexible clamping tool control system of claim 1, characterized in that:
the industrial PC master station adopts a C6640 industrial PC as an EtherCAT bus network master station, and the industrial PC is connected with an SG150-BGCM touch screen display and a system power supply.
3. The multi-point positioning support flexible clamping tool control system of claim 1, characterized in that:
the PNP8 point input module adopts 6 EL 10888 channels digital quantity input terminal modules to be respectively connected with the digital quantity signal input of a left workbench positive limit switch, a left workbench negative limit switch, a right workbench positive limit switch, a left tool magnetic switch, a right tool magnetic switch and an emergency stop alarm.
4. The multi-point positioning support flexible clamping tool control system of claim 1, characterized in that:
the NPN8 point input module adopts 2 EL 10088 channels digital quantity input terminal modules to be respectively connected with digital quantity signal inputs of a left tool photoelectric switch, an operation button, a right tool photoelectric switch and an operation button.
5. The multi-point positioning support flexible clamping tool control system of claim 1, characterized in that:
the 8-point output module adopts 4 EL 20088 channel digital quantity output terminal modules to be respectively connected with digital quantity signal outputs of a left tool electromagnetic valve, a left tool indicating lamp, a right tool electromagnetic valve and a right tool indicating lamp.
6. The multi-point positioning support flexible clamping tool control system of claim 1, characterized in that:
the analog input module adopts 2 EL 30688 channel analog input terminal modules to be respectively connected with a left tool pressure sensor and a right tool pressure sensor.
7. The multi-point positioning support flexible clamping tool control system of claim 1, characterized in that:
the manual operator input module is connected with a manual operator output end by adopting a 3 EL 10088 channel digital quantity input terminal module.
8. The multi-point positioning support flexible clamping tool control system of claim 1, characterized in that:
the manual operator output module is connected with a manual operator input end by adopting 2 EL 20088 channel digital quantity output end sub-modules.
9. The multi-point positioning support flexible clamping tool control system of claim 1, characterized in that:
the left workbench slave station adopts 1 Eston PROECT-08AEG-ECD servo driver with an EtherCAT communication module as a left workbench driver and is connected with a left workbench motor.
10. The multi-point positioning support flexible clamping tool control system of claim 1, characterized in that:
and the right workbench slave station adopts 1 Eston PROECT-08AEG-ECD servo driver with an EtherCAT communication module as a right workbench driver and is connected with a right workbench motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202122327971.5U CN216264448U (en) | 2021-09-17 | 2021-09-17 | Multi-point positioning support flexible clamping tool control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202122327971.5U CN216264448U (en) | 2021-09-17 | 2021-09-17 | Multi-point positioning support flexible clamping tool control system |
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| CN216264448U true CN216264448U (en) | 2022-04-12 |
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| CN202122327971.5U Active CN216264448U (en) | 2021-09-17 | 2021-09-17 | Multi-point positioning support flexible clamping tool control system |
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2021
- 2021-09-17 CN CN202122327971.5U patent/CN216264448U/en active Active
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