TW201515937A - Multi-axial control device, circular method and a packing machine - Google Patents

Abstract

The present invention provides a multi-axial control device, a circular method and a packing machine. The multi-axial device comprises an actuating controller for receiving an actuate and stop signals from outside by a command receiving module, a motion controller for communicating with the actuating controller, a motor driver for communicating with the motion controller and a input module for communicating with the actuating controller and the motion controller. Its advantage is to precisely control numerous motors synchronously working with each other and rapidly proceed to external commands.

Description

Multi-axis control device, rounding method and packaging machine

The invention relates to the field of automatic control, in particular to a multi-axis control device, a rounding method and a packaging machine.

In the whole process of social circulation, packaging can play the role of protecting, beautifying, propagating, and selling products, and improve the competitiveness of goods. Packaging automation uses automated devices to control and manage the packaging process, allowing it to be automated according to pre-defined procedures. Packaging automation has become an inevitable trend, but the degree of automation of packaging engineering in the prior art is not high. Since the company's various production lines are continuous and uninterrupted, there are extremely high requirements for the torque, speed, accuracy and dynamic performance of the motors in the packaging machinery. In the packaging machinery, it is necessary to control the precise position of the motor and the strict speed synchronization to ensure the normal operation of the processes of conveying, loading, unloading, unloading, marking and packing. This is a key issue that needs to be considered when upgrading packaging machinery such as sealing machines, balers, coding machines, and capping machines.

There are two main methods for packaging machinery control systems that are common on the market today:

Mode 1: The main control adopts mechanical transmission. For the case where the packaging technology is not complicated and the packaging speed is not high, the mechanical cam can be used in the main control part to meet the requirements. Therefore, this control method is still used in a small amount, mainly because the cost is low. However, the use of mechanical cam control, in any case, can not avoid the inconvenience of post-maintenance. Due to mechanical rigidity Connection, in the process of operation, there will be serious mechanical wear, high noise, low efficiency and so on.

Mode 2: The master is controlled by a programmable logic controller (PLC). FIG. 1 is a schematic diagram showing the structure of a packaging machine control system using a programmable logic controller in the prior art, including a programmable logic controller 11, an AC servo driver 12, and a frequency converter 13. The PLC 11 performs a positioning operation by transmitting a pulse to the AC servo driver 12, and the inverter 13 drives the spindle 14 to perform a constant velocity motion. The pulse of the spindle 14 is also output to the AC servo driver 12 as a command source to perform corresponding actions. The PLC 11 simultaneously controls the I/O device 15, including a thermostat or the like. The disadvantage of this method is that the wiring is complicated, which is not conducive to maintenance, and the spindle is driven by the frequency conversion method, the system packaging precision is difficult to improve, and the requirements of the packaging industry for higher and higher precision cannot be met. A large number of operations are concentrated on the programmable logic controller 11, which has a large amount of computation, affecting the speed and accuracy of the operation. And each time the package program is modified, it needs to be implemented by modifying the PLC command, and modifying the PLC control command requires a lot of time for the professional to complete.

The technical problem to be solved by the present invention is to provide a multi-axis control device capable of accurately controlling a plurality of motors to work in synchronization, and the processing speed of external commands is fast.

The technical problem to be solved by the present invention is also to provide a packaging machine which can precisely control the operation of the conveying motor and the cutting motor system, and can easily and quickly adjust the working mode when the sample specifications change, thereby saving production time.

In order to solve the above problems, the present invention provides a multi-axis control device comprising: a start controller, receiving an external start and stop signal through a command receiving module; a motion controller communicating with the start controller for According to the command issued by the boot controller Starting or stopping execution of a preset control program; a motor driver communicating with the motion controller for controlling at least one external motor according to a command issued by the motion controller; and an input module, and the start controller Communicating with the motion controller for the user to input parameters from outside to control the multi-axis control device.

Preferably, the method further includes an I/O module in communication with the start controller and the motion controller, the I/O module for communicating with at least one motion controller connected to the outside of the multi-axis control device To extend the control capability of the multi-axis control device.

Preferably, the motion controller is a digital signal processing chip.

Preferably, the input module further comprises a graphical human-machine interface, and the user completes the input through the graphical human-machine interface.

Preferably, the motion controller further includes an interpolation command unit, the interpolation command unit is coupled to the motor driver, and the interpolation command unit is configured to synthesize a multi-axis synchronous interpolation command and send the signal to the motor driver implementation. Plug in.

The present invention further provides a rounding method using the multi-axis control device described above, comprising the steps of: transmitting an edited circumferential path command to the motion controller through the input module; the motion controller driving an external motor to perform the a circumferential path command, and receiving, by the command, a module feedback collection execution result, the execution result including an actual planar path of the motor executing the circumferential path command, and a change between the command position and the feedback position of the motor for Rounding error analysis.

The present invention further provides a packaging machine comprising: a multi-axis control device as described above; and a transfer motor, a feed motor and a cutting motor, each coupled to the multi-axis control device and driven by a separate motor drive, receiving The respective motor driver controls the signal and divides it Do not drive a conveyor belt, a sample of the surface of the conveyor belt and all the knives run synchronously.

Preferably, a position monitor is further included in communication with the motion controller, the position monitor is configured to monitor a sample position offset of the surface of the conveyor belt, and the command receiving module is fed back to the motion controller.

Preferably, the method further includes an I/O module in communication with the start controller and the motion controller, the I/O module for communicating with at least one motion controller connected to the outside of the multi-axis control device To extend the control capability of the multi-axis control device.

Preferably, the motion controller is a digital signal processing chip.

Preferably, the input module further comprises a graphical human-machine interface, and the user completes the input through the graphical human-machine interface.

Preferably, the motion controller further includes an interpolation command unit, the interpolation command unit is coupled to the motor driver, and the interpolation command unit is configured to synthesize a multi-axis synchronous interpolation command and send the signal to the plurality of motor drivers. Interpolated.

An advantage of the multi-axis control device of the present invention is that a motion controller is used to calculate the motion path of each motor based on external commands and to the motor driver, which performs these paths in accordance with a unified clock issued by the motion controller. This architecture allows the motion path planning of all the motor drivers to come from the same motion controller, and the clock of the motion controller is shared, which can achieve accurate synchronization; and the amount of computation in the prior art that is concentrated on the upper computer is The redistribution between the motor driver and the motion controller increases the processing speed of the system, enabling the multi-axis control device to respond to external commands in a timely and accurate manner under working conditions. Moreover, since the multi-axis control device has good synchronism between the respective axes, it is also possible to perform the function of the rounder.

The packaging machine of the invention has the advantages that the multi-axis control device is used to drive the conveying motor, the feeding motor and the cutting motor, and the precise synchronization can be achieved, and the algorithm is preset in the motion controller, and the calculation is performed according to the parameters input by the user. The operating parameters of the various components are converted into motion paths and sent to the motor drive. This eliminates the need to rewrite the software code each time you change a sample of a different specification, and only needs to enter the parameters to make adjustments. The input parameter action can be completed by ordinary operators, so the packaging machine can save production time and reduce the operation difficulty.

11‧‧‧Programmable Logic Controller

12‧‧‧AC servo drive

13‧‧‧Inverter

14‧‧‧ Spindle

15‧‧‧I/O equipment

20‧‧‧Multi-axis control device

21‧‧‧Start controller

22‧‧‧Command receiving module

23‧‧‧ Motion Controller

24‧‧‧Motor drive

25‧‧‧ Input Module

26‧‧‧I/O Module

41‧‧‧Transmission motor

42‧‧‧Cutting motor

43‧‧‧Location Monitor

44‧‧‧ samples

45‧‧‧Feeding motor

231‧‧‧Interpolation command unit

411, 451‧‧‧ drive wheels

412‧‧‧Conveyor belt

421‧‧‧ Gears

422‧‧‧Cutter

S30-S31‧‧‧Steps

Figure 1 is a block diagram showing the structure of a packaging machine control system using a programmable logic controller in the prior art.

Fig. 2 is a schematic view showing the configuration of a multi-axis control device according to a preferred embodiment of the present invention.

Fig. 3 is a schematic view showing the steps of the embodiment of the rounding method of the present invention.

Figure 4 is a schematic view showing the structure of the packaging machine of the present invention.

The multi-axis control device, the rounding method and the specific embodiment of the packaging machine provided by the present invention will be described in detail below with reference to the drawings.

2 is a schematic structural view of a multi-axis control device 20 according to the present invention, including a start controller 21, a command receiving module 22, a motion controller 23, a plurality of motor drivers 24, and an input die. Group 25 and an I/O module 26. The number of motor drives 24 is determined by the number of motors that need to be driven, and is at least one. The specific embodiment is three.

The startup controller 21 receives the external startup and the module 22 through the command. Stop the signal. The command receiving module 22 can further be connected to the motion controller 23 for receiving a reference signal sent from the multi-axis control device 20 to the motion controller 23, and the reference signal can be used, for example, to calibrate the working state of the motor driver 24. of.

The motion controller 23 is in communication with the start controller 21 for starting or stopping execution of a preset control program in accordance with a command issued by the start controller 21. The input module 25 is in communication with the start controller 21 and the motion controller 23. The preset control program is sent to the motion controller 23 via the input module 25. The user inputs the control parameters of the motion controller 23 through the input module 25. The input module 25 further includes a graphical human-machine interface through which the user can perform input actions. The motion controller 23 generates a control command that the motor driver 24 can execute based on this parameter, thereby performing a corresponding operation. The motion controller 23 can be a digital signal processing (DSP) chip.

The plurality of motor drivers 24 are each in communication with the motion controller 23 for controlling respective external motors in accordance with a motion path issued by the motion controller 23. In the case where there are a plurality of motor drivers 24, since the motion paths are from the same motion controller 23, all the motor drivers 24 share the same command clock, and the servo synchronization is strictly ensured, so that the same motion control can be realized. And the data exchanged between the motor drivers 24 passes only through the motion controller 23 without other external devices, so the switching speed is high and there is no time delay. In the above structure, the motion controller 23 is configured to calculate a motion path of each motor based on an external command and send it to the motor driver 24, which stores the received motion path to the local and is issued according to the motion controller 23. Unified clocks are used to perform these motion paths. This architecture redistributes the amount of calculations concentrated on the host computer in the prior art between the motor driver 24 and the motion controller 23, thereby improving the processing speed of the system and enabling timely and accurate external command execution under the working state. Respond. And the motion controller 23 can further collect the working state of the motor and various monitoring information through the command receiving module 22, and make adjustments according to the same.

The motion controller 23 may further include an interpolation command unit 231. The interpolation command unit 231 is connected to the motor driver 24. In three-dimensional motion, each motor corresponds to a motion axis. In the case where the motor driver 24 is plural, that is, multi-axis, a multi-axis synchronous interpolation command can be generated by the interpolation command unit 231. The interpolation command unit 231 automatically allocates the corresponding position and velocity values of the relevant motion axes according to the coordinates according to the coordinates, and sends them to the corresponding motor driver 24 to perform multi-axis synchronous interpolation, including straight lines and circles. Interpolation of arcs and spirals. The operation of the interpolation command unit 231 can reduce the controller operation, and the driving action response is more accurate and timely, and does not require the upper computer to intervene. In the multi-axis motion, in order to achieve smoother and more efficient operation of the entire path, with a three-axis circular interpolation command, only one target point is given, and the interpolation command unit 231 can automatically allocate the interpolation algorithm according to the coordinates. The corresponding position and velocity values are given to the relevant motion axes. The interpolation command unit 231 can support absolute, relative, incremental coordinate modes, and can realize single-axis positioning, two-axis/three-axis straight lines, and circular arc interpolation.

In order to extend the control capabilities of the multi-axis control device, a preferred I/O module 26 may be further included. The I/O module 26 is in communication with the start controller 21 and the motion controller 23. Since the number of motor drivers 24 in the multi-axis control device 20 is fixed, the number of motors that the multi-axis control device 20 can control must not exceed the number of motor drivers 24. An advantage of the I/O module 26 is that this limitation can be overcome to enable the multi-axis control device 20 to control more motors. The I/O module 26 communicates with at least one external motion controller and a motor controller (not shown). In order to ensure the control effect, the communication protocol should adopt a high-speed communication protocol, and can be externally ordered through a high-speed communication protocol. Axis servo fast communication to extend the control capabilities of the multi-axis control unit.

The above multi-axis control device can also easily realize the rounding function instead of the special rounding instrument.

FIG. 3 is a schematic diagram showing the implementation steps of the rounding method embodiment of the present invention, comprising: step S30, sending an edited circumferential path command to the motion controller through the input module; and step S31, the motion control The motor driving the external motor executes the circumferential path command, and receives the module feedback collection execution result through the command.

In step S30, the edited circumferential path command is sent to the motion controller 23 via the input module 25. The motion controller 23 can internally automatically assign corresponding position and velocity values to the motors corresponding to the X-axis and the Y-axis based on the coordinates using an interpolation algorithm, thereby ensuring absolute synchronization between the two axes.

In step S31, the motion controller 23 drives an external motor to execute the circumferential path command, and through the command, the receiving module 22 returns a collection execution result. The execution result includes an actual planar path at which the motor executes the circumferential path command, and a change between the commanded position and the feedback position of the motor for rounding error analysis. This result allows the user to judge the working status of the device.

Next, a specific embodiment of the packaging machine of the present invention will be given. The above multi-axis control device is suitable for use in a device such as a packaging machine that requires multiple motors to work together. 4 is a schematic structural view of the packaging machine of the present embodiment, including: a multi-axis control device 20, a conveying motor 41, a feeding motor 45, and a cutting motor 42. The transfer motor 41, the feed motor 45 and the cutting motor 42 are each coupled to the multi-axis control unit 20 and driven by a separate motor drive 24 to receive control signals from respective motor drives. The transfer motor 41 drives a conveyor belt 412 to move in a level by a set of drive wheels 411 to transport the sample 44. The feed motor 45 is driven by a drive wheel 451 The sample moves synchronously on the conveyor belt 412, and the drive wheel 451 can also simultaneously apply a color scale to the sample. The cutting motor 42 drives a set of cutters 422 to rotate through a set of gears 421 to cut the sample 44. In order for the cutter 422 to cut the sample 44 at a predetermined position each time, it is necessary to strictly ensure that the conveying motor 41, the feed motor 45, and the cutting motor 42 operate in synchronization. Since all of the motor drivers 24 in the multi-axis control device 20 perform the commands decomposed by the same motion controller 23 and share the clock of the motion controller 23, the above-described precise synchronization requirements can be well satisfied.

With continued reference to FIG. 4, the packaging machine can further include a position monitor 43. The position monitor 43 is in communication with the motion controller 23 in the multi-axis control device 20. A positioning pattern such as a color patch may be disposed on the sample 44 on the surface of the conveyor belt 412, and the frequency of occurrence of the patterns may be monitored by the position monitor 43 to calculate the position and moving speed of the sample 44. The positional shift and velocity of the sample may be caused by the sample 44 being pulled or slid at the surface. The position monitor 43 can monitor this phenomenon and feed back to the motion controller 23 via the command receiving module 22 in the multi-axis control device 20. The motion controller 23 can adjust the operating states of the three motors based on the received information. For example, if the position of the sample is found to move all the way backwards, a delay command can be sent to the cutting motor 42 to ensure that the cutting position is correct. If the speed at which the sample moves on the surface is found to be greater or smaller than the predetermined speed, the relative cutting speed of the cutting motor 42 can be increased or decreased by adjusting the rotational speed ratio of the conveying motor 41 and the cutting motor 42, thereby ensuring the cutting. The position is still correct, or the rotational speed of the feed motor 45 is adjusted to vary the speed of the sample 44. The above algorithms are all completed in the motion controller 23, and the motor motion path obtained according to the calculation result is sent to the corresponding motor driver 24, and the motor driver 24 stores the received path to the local, and according to The unified clock issued by the motion controller 23 performs these paths. Obviously this way of processing the operation and execution of the two tasks are assigned to the motion controller 23 and the motor drive respectively. The completion of the device 24 reduces the amount of calculation of the single device, particularly the motion controller 23, thereby increasing the operation speed, so that the packaging machine can adjust the transport motor 41, the feed motor 45, and the cutting motor 42 in time according to the condition of the sample 44. Working status.

The user completes the input through the input module 25, such as sample length and packaging speed. After receiving the parameters, the motion controller 23 calculates the operating parameters of the respective components according to the built-in algorithm and converts them into driving commands and sends them to the motor driver 24. The input module 25 in the multi-axis control device 20 may further include a graphical human-machine interface. For the human-machine interface, in addition to inputting parameters, some working modes or options for manually adjusting the working state of the cutter 422 and the conveyor belt 412 may be preset, and the above functions are set on the human-machine interface. button. After the user presses these buttons, the motion controller 23 makes corresponding adjustments according to the internal preset program, and sends the driving command to the motor driver 24. The motion controller 23 can further be a digital signal processing (DSP) chip. Since a large number of algorithms can be prefabricated in the motion controller 23, it is not necessary to rewrite the software code every time the samples 44 of different specifications are replaced, and only the parameters need to be input to achieve the adjustment. The input parameter action can be completed by ordinary operators, so the packaging machine can save production time and reduce the operation difficulty.

The above is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can also make several improvements and retouchings without departing from the principles of the present invention. These improvements and retouchings should also be considered. It is the scope of protection of the present invention.

20‧‧‧Multi-axis control device

21‧‧‧Start controller

22‧‧‧Command receiving module

23‧‧‧ Motion Controller

24‧‧‧Motor drive

25‧‧‧ Input Module

26‧‧‧I/O Module

231‧‧‧Interpolation command unit

Claims (12)

A multi-axis control device, comprising: a start controller, receiving an external start and stop signal through a command receiving module; a motion controller communicating with the start controller for using the start controller The issued command starts or stops executing a preset control program; a motor driver is in communication with the motion controller for controlling at least one external motor according to a command issued by the motion controller; and an input module, The start controller communicates with the motion controller for the user to input parameters from outside to control the multi-axis control device. The multi-axis control device according to claim 1, further comprising an I/O module, in communication with the startup controller and the motion controller, the I/O module being used for At least one motion controller external to the multi-axis control device communicates instantaneously to expand the control capabilities of the multi-axis control device. The multi-axis control device according to claim 1, wherein the motion controller is a digital signal processing chip. The multi-axis control device according to claim 1, wherein the input module further comprises a graphical human-machine interface, and the user completes the input through the graphical human-machine interface. The multi-axis control device according to claim 1, wherein the motion controller further includes an interpolation command unit, the interpolation command unit being coupled to the motor driver, the interpolation command unit being used for A multi-axis synchronous interpolation command is synthesized and sent to the motor driver for interpolation. A multi-axis control device according to the first aspect of the invention, characterized in that it comprises the steps of: transmitting an edited circumferential path command to the motion controller through the input module; the motion control The external motor drives the circumferential path command and receives the module feedback collection execution result through the command in the startup controller, the execution result including the actual planar path of the motor executing the circumferential path command, and the command of the motor The change between position and feedback position for rounding error analysis. A packaging machine, comprising: a multi-axis control device according to claim 1; and a transfer motor, a feed motor and a cutting motor, each connected to the multi-axis control device and separately The motor driver is driven to receive the respective motor driver control signals and drive a conveyor belt, a sample of the surface of the conveyor belt, and all of the blades to operate synchronously. A packaging machine according to claim 7 further comprising a position monitor in communication with the motion controller for monitoring a sample position offset of the surface of the conveyor belt and passing the activation The command receiving module in the controller feeds back to the motion controller. The packaging machine of claim 7, further comprising an I/O module in communication with the activation controller and the motion controller, the I/O module being configured to be connected to the same At least one motion controller external to the multi-axis control device communicates instantaneously to expand the control capabilities of the multi-axis control device. The packaging machine of claim 7, wherein the motion controller is a digital signal processing chip. The packaging machine according to claim 7, wherein the input module further comprises a graphical human-machine interface, and the user completes the input through the graphical human-machine interface. The packaging machine of claim 7, wherein the motion controller further comprises an interpolation command unit, the interpolation command unit being coupled to the motor driver, the interpolation command unit for synthesizing Synchronous interpolation of the axes is sent and sent to multiple motor drives for interpolation.