阅读说明：本技术 一种利用码垛机夹砖的控制方法 (Control method for clamping bricks by using stacker crane ) 是由 蔡荣奇 傅鑫源 傅炳煌 于 2019-10-22 设计创作，主要内容包括：本发明公开了一种利用码垛机夹砖的控制方法,所述码垛机包括主PLC控制器、伺服驱动器、伺服电缸和夹爪,所述控制方法包括以下步骤:S1、所述主PLC控制器向所述伺服驱动器发送开始指令,所述伺服驱动器控制所述伺服电缸移动至初始位置；S2、所述主PLC控制器向所述伺服驱动器发送前进参数,所述伺服驱动器控制所述伺服电缸移动到参数设定位置；S3、所述伺服驱动器切换至力矩控制模式并控制所述伺服电缸对外输出的转矩值到达设定的转矩值以夹紧工件。采用伺服驱动控制,控制精度较高,通过直接控制伺服电缸对外输出的转矩值来实现对夹爪压力的控制,能够适应不同大小的砖的码垛,提高工作效率。(The invention discloses a control method for clamping bricks by using a stacker crane, wherein the stacker crane comprises a main PLC (programmable logic controller), a servo driver, a servo electric cylinder and a clamping jaw, and the control method comprises the following steps that S1, the main PLC sends a starting instruction to the servo driver, and the servo driver controls the servo electric cylinder to move to an initial position; s2, the main PLC sends forward parameters to the servo driver, and the servo driver controls the servo electric cylinder to move to a parameter setting position; and S3, switching the servo driver to a torque control mode and controlling the torque value output by the servo electric cylinder to the outside to reach a set torque value so as to clamp the workpiece. Adopt servo drive control, control accuracy is higher, realizes the control to clamping jaw pressure through the torque value of the external output of direct control servo electric cylinder, can adapt to the pile up neatly of the brick of equidimension not, improves work efficiency.)

1. A control method for clamping bricks by using a stacker crane is characterized by comprising the following steps: the stacker crane comprises a main PLC (programmable logic controller), a servo driver, a servo electric cylinder and a clamping jaw, wherein the main PLC is connected with the servo driver through a communication protocol, the servo driver drives the servo electric cylinder to act, the clamping jaw is arranged on an output shaft of the servo electric cylinder, and the control method comprises the following steps:

s1, the main PLC sends a starting instruction to the servo driver, and the servo driver controls the servo cylinder to move to an initial position;

s2, the main PLC sends forward parameters to the servo driver, and the servo driver controls the servo electric cylinder to move to a parameter setting position;

and S3, switching the servo driver to a torque control mode and controlling the torque value output by the servo electric cylinder to the outside to reach a set torque value so as to clamp the workpiece.

2. The control method for clamping bricks by using the stacker crane according to claim 1, wherein the control method comprises the following steps: in step S3, the method for controlling the torque value output by the servo electric cylinder to the outside to reach the set torque value includes: the servo driver detects the output current of the servo driver to the servo electric cylinder, the output current is negatively fed back to the setting of the current for PID adjustment, the output current is equal to the setting current, and therefore the torque value output by the servo electric cylinder to the outside reaches the set torque value.

3. The control method for clamping bricks by using the stacker crane according to claim 2, wherein the control method comprises the following steps: the method for the servo driver to detect the output current in step S3 is as follows: and a Hall device is arranged on the servo electric cylinder, and the output current is detected through the Hall device.

4. The control method for clamping bricks by using the stacker crane according to claim 1, wherein the control method comprises the following steps: the step S1 includes: the main PLC controller sends a starting instruction to the servo driver, the servo driver judges whether the servo electric cylinder is located at an initial position, and if the servo electric cylinder is not located at the initial position, the servo driver controls the servo electric cylinder to return to the initial position.

5. The control method for clamping bricks by using the stacker crane according to claim 1, wherein the control method comprises the following steps: the step S2 includes the master PLC sending a forward parameter to the servo driver, the servo driver determining whether the servo cylinder reaches a parameter setting position, and if the servo cylinder does not reach the parameter setting position, the servo driver controlling the servo cylinder to move forward to the parameter setting position.

Technical Field

The invention relates to the field of stacker crane control, in particular to a control method for clamping bricks by using a stacker crane.

Background

When bricks are manufactured, the bricks need to be stacked neatly by using a stacker crane, the clamping jaw of the existing stacker crane is controlled by adopting a hydraulic oil cylinder and a proximity switch, the clamping and releasing positions of the hydraulic oil cylinder are determined by the mounting position of the proximity switch, and the brick clamping pressure of the stacking clamping jaw is determined by the pressure of a hydraulic station and is fixed and unchangeable. When bricks made by different molds are stacked, the position of the proximity switch needs to be adjusted on a machine table manually so as to adapt to the sizes of the brick stacks of different molds. Because the clamping pressure of the clamping jaws for clamping bricks cannot be adjusted, for some bricks, the bricks can be damaged due to the fact that the clamping pressure is too high, and the bricks can not be clamped due to the fact that the clamping pressure is too low.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a control method for clamping bricks by using a stacker crane, which can adjust the pressure of clamping the bricks by using the clamping jaws and stack bricks with different sizes.

S1, the main PLC controller sends a start instruction to the servo driver, and the servo driver controls the servo electric cylinder to move to an initial position; s2, the main PLC sends forward parameters to the servo driver, and the servo driver controls the servo electric cylinder to move to a parameter setting position; and S3, switching the servo driver to a torque control mode and controlling the torque value output by the servo electric cylinder to the outside to reach a set torque value so as to clamp the workpiece.

According to the control method for clamping bricks by using the stacker crane, the control method has the following beneficial effects that: adopt servo drive control, control accuracy is higher, realizes the control to clamping jaw pressure through the torque value of the external output of direct control servo electric cylinder, can adapt to the pile up neatly of the brick of equidimension not, improves work efficiency.

According to some embodiments of the present invention, the method for controlling the torque value output to the outside by the servo electric cylinder to reach the set torque value in step S3 is: the servo driver detects the output current of the servo driver to the servo electric cylinder, the output current is negatively fed back to the setting of the current for PID adjustment, the output current is equal to the setting current, and therefore the torque value output by the servo electric cylinder to the outside reaches the set torque value. The output current is regulated through negative feedback to control the torque value output by the servo electric cylinder, and the effect of accurately controlling the torque value is achieved.

According to some embodiments of the invention, the method for the servo driver to detect the output current of the servo cylinder in step S3 is: and a Hall device is arranged on the servo electric cylinder, and the output current is detected through the Hall device.

According to some embodiments of the invention, the step S1 includes: the main PLC controller sends a starting instruction to the servo driver, the servo driver judges whether the servo electric cylinder is located at an initial position, and if the servo electric cylinder is not located at the initial position, the servo driver controls the servo electric cylinder to return to the initial position.

According to some embodiments of the invention, the step S2 includes the master PLC controller sending an advance parameter to the servo driver, the servo driver determining whether the servo cylinder reaches a parameter setting position, and if the servo cylinder does not reach the parameter setting position, the servo driver controlling the servo cylinder to advance to the parameter setting position.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a flow chart of a control method according to an embodiment of the present invention;

FIG. 2 is a flowchart illustrating a step S3 of the control method according to the embodiment of the invention;

FIG. 3 is a flowchart illustrating a step S1 of the control method according to the embodiment of the invention;

fig. 4 is a flowchart of step S2 in the control method according to the embodiment of the invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.