阅读说明：本技术 压力机中基于hmi编辑的电子凸轮同步取放件控制系统 (Electronic cam synchronous picking and placing part control system based on HMI editing in press ) 是由 曹希发 曾自立 于 2021-08-19 设计创作，主要内容包括：本发明公开了压力机中基于HMI编辑的电子凸轮同步取放件控制系统,压力机数量为多个,压力机之间通过机械手完成上料和下料工作,控制系统包括有电子凸轮控制器,电子凸轮控制器采用编码器进行编码,电子凸轮控制器生成电子凸轮曲线,电子凸轮曲线通过伺服放大器分别控制各个机械手的伺服电机,利用HMI对各个凸轮曲线关键点的编辑和存储。本发明的压力机中基于HMI编辑的电子凸轮同步取放件控制系统,压力机控制采用同步连续运行方式,同时送料系统需与压力机同步运行,整线可在连续或单次运行两种方式下进行自动化生产。HMI存储多种产品型号的数据,实现一键换型。离合制动器不需要频繁动作,寿命长,维护费用低,噪音低。(The invention discloses an electronic cam synchronous picking and placing control system based on HMI editing in a press machine, wherein the number of the press machines is multiple, the press machines finish feeding and discharging work through mechanical arms, the control system comprises an electronic cam controller, the electronic cam controller adopts an encoder for encoding, the electronic cam controller generates an electronic cam curve, the electronic cam curve respectively controls a servo motor of each mechanical arm through a servo amplifier, and the HMI is used for editing and storing key points of each cam curve. According to the electronic cam synchronous picking and placing part control system based on HMI editing in the press machine, the press machine is controlled in a synchronous and continuous operation mode, meanwhile, the feeding system and the press machine need to be operated synchronously, and the whole line can be automatically produced in a continuous or single operation mode. The HMI stores data of various product models to realize one-key model changing. The clutch brake does not need to be frequently operated, and has long service life, low maintenance cost and low noise.)

1. The control system is characterized in that the control system comprises an electronic cam controller used for controlling the action track of the mechanical arm, the electronic cam controller adopts an encoder to encode, the electronic cam controller generates an electronic cam curve, the electronic cam curve respectively controls a servo motor of each mechanical arm through a servo amplifier, and the HMI is used for editing and storing key points of each cam curve.

2. An HMI editing-based electronic cam synchronized picking and placing control system in a press as claimed in claim 1 wherein the press incorporates a servo as a modal spindle with which the electronic cam controller is coupled.

3. An electronic cam synchronous pick-and-place control system edited on the basis of an HMI (human machine interface) in a press machine according to claim 2, wherein the HMI comprises safety angle data of a mechanical arm in the process of loading and unloading materials in the press machine.

4. The HMI editing-based electronic cam synchronous pick-and-place part control system in the press machine according to claim 3, wherein the control system adopts an embedded PC double-fortune CX5140, and the communication mode is EtherCat.

5. An HMI editing-based electronic cam synchronized pick-and-place control system in a press as claimed in claim 4, wherein the scanning period of the program in the electronic cam controller is 4 ms.

Technical Field

The invention belongs to the technical field of control of a press machine, and particularly relates to an electronic cam synchronous picking and placing part control system based on HMI editing in the press machine.

Background

The loading and unloading carrying process between the pressing machines is as follows: stopping the press at the top dead center → enabling the blanking manipulator to enter the press for blanking → completing discharging of blanking → enabling the feeding manipulator to enter the press for feeding → completing discharging of feeding → enabling the clutch of the press to act → waiting for the completion of the whole stroke and then carrying out the next cycle. The press stops running for 3-5 seconds (depending on the operation performance of the manipulator) in the whole loading and unloading process, so that the production efficiency of the production line is low. The frequent action of the clutch of the press machine has higher equipment maintenance cost and energy consumption.

Disclosure of Invention

In order to solve the technical problem, the optimal track curve of the manipulator is optimized by the electronic cam, so that the manipulator can complete specified actions quickly, stably and accurately, and the requirement of high-speed stamping automation line production is met.

In order to achieve the purpose, the invention adopts the technical scheme that: the control system comprises an electronic cam controller used for controlling the action track of the mechanical arm, the electronic cam controller adopts an encoder to encode, the electronic cam controller generates an electronic cam curve, the electronic cam curve respectively controls a servo motor of each mechanical arm through a servo amplifier, and the HMI is used for editing and storing key points of each cam curve.

Preferably, the press is provided with a servo as a mode main shaft, and the electronic cam controller is coupled with the mode main shaft.

Preferably, the HMI includes safety angle data of a mechanical hand in a loading and unloading process of the press.

Preferably, the control system adopts an embedded PC double-happiness CX5140, and the communication mode is EtherCat.

Preferably, in the above-described aspect, a scanning period of the program in the electronic cam controller is 4 ms.

The invention has the beneficial effects that: according to the electronic cam synchronous picking and placing part control system based on HMI editing in the press machine, the press machine is controlled in a synchronous and continuous operation mode, meanwhile, the feeding system and the press machine need to be operated synchronously, and the whole line can be automatically produced in a continuous or single operation mode. When the punching line is produced in a synchronous and continuous mode, synchronous operation is kept among all the pressing machines and between the pressing machines and the mechanical arm. The HMI stores data of various product models, each product comprises a plurality of groups of cam curve key points, different cam curves are formed according to the key points, and one-key model changing is realized. The clutch brake does not need to be frequently operated, and has long service life, low maintenance cost and low noise.

Detailed Description

The technical solutions of the present invention will be described clearly and completely below, and it should be apparent that the described embodiments are some, but not all, embodiments of the present invention. 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.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The control system comprises an electronic cam controller used for controlling the action track of the mechanical arm, the electronic cam controller adopts an encoder to encode, the electronic cam controller generates an electronic cam curve, the electronic cam curve respectively controls a servo motor of each mechanical arm through a servo amplifier, and the HMI is used for editing and storing key points of each cam curve.

Preferably, the press is provided with a servo as a mode main shaft, and the electronic cam controller is coupled with the mode main shaft.

Preferably, the HMI includes safety angle data of a mechanical hand in a loading and unloading process of the press.

Preferably, the control system adopts an embedded PC double-happiness CX5140, and the communication mode is EtherCat.

Preferably, in the above-described aspect, a scanning period of the program in the electronic cam controller is 4 ms.

Part of the key code of the control system:

sideslip X axle electronic cam table: table1X _ Point

cam_table1X.ArraySize:＝SIZEOF(table1)；

cam_table1X.NoOfColumns:＝1；

cam_table1X.NoOfRows:＝10；

cam_table1X.pArray:＝ADR(table1)；

cam_table1X.TableType:＝MC_TABLETYPE_MOTIONFUNCTION；

table1[1].FunctionType:＝MOTIONFUNCTYPE_POLYNOM5；

table1[1].MasterPos:＝CamTables.MasterXPos1；

table1[1].SlavePos:＝CamTables.SlaveXPos1；

table1[1].PointIndex:＝1；

table1[1].PointType:＝MOTIONPOINTTYPE_MOTION；

table1[2].FunctionType:＝MOTIONFUNCTYPE_POLYNOM5；

table1[2].MasterPos:＝CamTables.MasterXPos2；

table1[2].SlavePos:＝CamTables.SlaveXPos2；

table1[2].PointIndex:＝2；

table1[2].PointType:＝MOTIONPOINTTYPE_MOTION；

table1[3].FunctionType:＝MOTIONFUNCTYPE_POLYNOM5；

table1[3].MasterPos:＝CamTables.MasterXPos3；

table1[3].SlavePos:＝CamTables.SlaveXPos3；

table1[3].PointIndex:＝3；

table1[3].PointType:＝MOTIONPOINTTYPE_MOTION；

table1[4].FunctionType:＝MOTIONFUNCTYPE_POLYNOM5；

table1[4].MasterPos:＝CamTables.MasterXPos4；

table1[4].SlavePos:＝CamTables.SlaveXPos4；

table1[4].PointIndex:＝4；

table1[4].PointType:＝MOTIONPOINTTYPE_MOTION；

table1[5].FunctionType:＝MOTIONFUNCTYPE_POLYNOM5；

table1[5].MasterPos:＝CamTables.MasterXPos5；

table1[5].SlavePos:＝CamTables.SlaveXPos5；

table1[5].PointIndex:＝5；

table1[5].PointType:＝MOTIONPOINTTYPE_MOTION；

table1[6].FunctionType:＝MOTIONFUNCTYPE_POLYNOM5；

table1[6].MasterPos:＝CamTables.MasterXPos6；

table1[6].SlavePos:＝CamTables.SlaveXPos6；

table1[6].PointIndex:＝6；

table1[6].PointType:＝MOTIONPOINTTYPE_MOTION；

table1[7].FunctionType:＝MOTIONFUNCTYPE_POLYNOM5；

table1[7].MasterPos:＝CamTables.MasterXPos7；

table1[7].SlavePos:＝CamTables.SlaveXPos7；

table1[7].PointIndex:＝7；

table1[7].PointType:＝MOTIONPOINTTYPE_MOTION；

table1[8].FunctionType:＝MOTIONFUNCTYPE_POLYNOM5；

table1[8].MasterPos:＝CamTables.MasterXPos8；

table1[8].SlavePos:＝CamTables.SlaveXPos8；

table1[8].PointIndex:＝8；

table1[8].PointType:＝MOTIONPOINTTYPE_MOTION；

table1[9].FunctionType:＝MOTIONFUNCTYPE_POLYNOM5；

table1[9].MasterPos:＝CamTables.MasterXPos9；

table1[9].SlavePos:＝CamTables.SlaveXPos9；

table1[9].PointIndex:＝9；

table1[9].PointType:＝MOTIONPOINTTYPE_MOTION；

table1[10].FunctionType:＝MOTIONFUNCTYPE_POLYNOM5；

table1[10].MasterPos:＝CamTables.MasterXPos10；

table1[10].SlavePos:＝CamTables.SlaveXPos10；

table1[10].PointIndex:＝10；

table1[10].PointType:＝MOTIONPOINTTYPE_MOTION；

Electronic cam meter for longitudinal shifting Y-axis: table2Y _ Point

cam_table2Y.ArraySize:＝SIZEOF(table2)；

cam_table2Y.NoOfColumns:＝1；

cam_table2Y.NoOfRows:＝5；

cam_table2Y.pArray:＝ADR(table2)；

cam_table2Y.TableType:＝MC_TABLETYPE_MOTIONFUNCTION；

table2[1].FunctionType:＝MOTIONFUNCTYPE_POLYNOM5；

table2[1].MasterPos:＝CamTables.MasterYPos1；

table2[1].SlavePos:＝CamTables.SlaveYPos1；

table2[1].PointIndex:＝1；

table2[1].PointType:＝MOTIONPOINTTYPE_MOTION；

table2[2].FunctionType:＝MOTIONFUNCTYPE_POLYNOM5；

table2[2].MasterPos:＝CamTables.MasterYPos2；

table2[2].SlavePos:＝CamTables.SlaveYPos2；

table2[2].PointIndex:＝2；

table2[2].PointType:＝MOTIONPOINTTYPE_MOTION；

table2[3].FunctionType:＝MOTIONFUNCTYPE_POLYNOM5；

table2[3].MasterPos:＝CamTables.MasterYPos3；

table2[3].SlavePos:＝CamTables.SlaveYPos3；

table2[3].PointIndex:＝3；

table2[3].PointType:＝MOTIONPOINTTYPE_MOTION；

table2[4].FunctionType:＝MOTIONFUNCTYPE_POLYNOM5；

table2[4].MasterPos:＝CamTables.MasterYPos4；

table2[4].SlavePos:＝CamTables.SlaveYPos4；

table2[4].PointIndex:＝4；

table2[4].PointType:＝MOTIONPOINTTYPE_MOTION；

table2[5].FunctionType:＝MOTIONFUNCTYPE_POLYNOM5；

table2[5].MasterPos:＝CamTables.MasterYPos5；

table2[5].SlavePos:＝CamTables.SlaveYPos5；

table2[5].PointIndex:＝5；

table2[5].PointType:＝MOTIONPOINTTYPE_MOTION；

Upper and lower axis Z electronic cam meter: table3Z _ Point

cam_table3Z.ArraySize:＝SIZEOF(table3)；

cam_table3Z.NoOfColumns:＝1；

cam_table3Z.NoOfRows:＝10；

cam_table3Z.pArray:＝ADR(table3)；

cam_table3Z.TableType:＝MC_TABLETYPE_MOTIONFUNCTION；

table3[1].FunctionType:＝MOTIONFUNCTYPE_POLYNOM5；

table3[1].MasterPos:＝CamTables.MasterZPos1；

table3[1].SlavePos:＝CamTables.SlaveZPos1；

table3[1].PointIndex:＝1；

table3[1].PointType:＝MOTIONPOINTTYPE_MOTION；

table3[2].FunctionType:＝MOTIONFUNCTYPE_POLYNOM5；

table3[2].MasterPos:＝CamTables.MasterZPos2；

table3[2].SlavePos:＝CamTables.SlaveZPos2；

table3[2].PointIndex:＝2；

table3[2].PointType:＝MOTIONPOINTTYPE_MOTION；

table3[3].FunctionType:＝MOTIONFUNCTYPE_POLYNOM5；

table3[3].MasterPos:＝CamTables.MasterZPos3；

table3[3].SlavePos:＝CamTables.SlaveZPos3；

table3[3].PointIndex:＝3；

table3[3].PointType:＝MOTIONPOINTTYPE_MOTION；

table3[4].FunctionType:＝MOTIONFUNCTYPE_POLYNOM5；

table3[4].MasterPos:＝CamTables.MasterZPos4；

table3[4].SlavePos:＝CamTables.SlaveZPos4；

table3[4].PointIndex:＝4；

table3[4].PointType:＝MOTIONPOINTTYPE_MOTION；

table3[5].FunctionType:＝MOTIONFUNCTYPE_POLYNOM5；

table3[5].MasterPos:＝CamTables.MasterZPos5；

table3[5].SlavePos:＝CamTables.SlaveZPos5；

table3[5].PointIndex:＝5；

table3[5].PointType:＝MOTIONPOINTTYPE_MOTION；

table3[6].FunctionType:＝MOTIONFUNCTYPE_POLYNOM5；

table3[6].MasterPos:＝CamTables.MasterZPos6-2；

table3[6].SlavePos:＝CamTables.SlaveZPos6；

table3[6].PointIndex:＝6；

table3[6].PointType:＝MOTIONPOINTTYPE_MOTION；

table3[7].FunctionType:＝MOTIONFUNCTYPE_POLYNOM5；

table3[7].MasterPos:＝CamTables.MasterZPos7；

table3[7].SlavePos:＝CamTables.SlaveZPos7；

table3[7].PointIndex:＝7；

table3[7].PointType:＝MOTIONPOINTTYPE_MOTION；

table3[8].FunctionType:＝MOTIONFUNCTYPE_POLYNOM5；

table3[8].MasterPos:＝CamTables.MasterZPos8+2；

table3[8].SlavePos:＝CamTables.SlaveZPos8；

table3[8].PointIndex:＝8；

table3[8].PointType:＝MOTIONPOINTTYPE_MOTION；

table3[9].FunctionType:＝MOTIONFUNCTYPE_POLYNOM5；

table3[9].MasterPos:＝CamTables.MasterZPos9；

table3[9].SlavePos:＝CamTables.SlaveZPos9；

table3[9].PointIndex:＝9；

table3[9].PointType:＝MOTIONPOINTTYPE_MOTION；

table3[10].FunctionType:＝MOTIONFUNCTYPE_POLYNOM5；

table3[10].MasterPos:＝CamTables.MasterZPos10；

table3[10].SlavePos:＝CamTables.SlaveZPos10；

table3[10].PointIndex:＝10；

table3[10].PointType:＝MOTIONPOINTTYPE_MOTION；

The program adopts a modularized design, and the program flow of the manipulator consisting of the electronic cam is as follows:

master (); virtual main shaft

encoder (); press encoder shaft

slavex1 (); the traversing axis X1 is linked with a solid axis

slaveX2 (); the traversing axis X2 is linked with a solid axis

slaveY1 (); the traversing axis Y1 is linked with the solid axis

slaveZ1 (); the traversing axis Z1 is linked with a solid axis

Model sel (); operation mode selection

Error (); fault alarm information

PressData (); press machine interactive signal

aManuall (); manual single step operation of shutdown

TableSetValue (); electronic cam meter position data setting

power (); each servo axis being enabled

aGearIn (); x1 shaft and X2 shaft electronic gear coupling

(*

ID:＝TO_UDINT(ioRobots.Code*3)；

alaming (); x1, Y1, Z1 electronic cam coupling

PressSim (); press and virtual shaft electronic gear coupling

axisreset (); alarm for each shaft fault

aAxisJog (); each axis operating in a point motion

aaxisa soluble (); absolute positioning of the axes

SetAxisVelocity (); setting the speed value of each shaft

aAxisVelocity (); each axis moving at a speed

table1X _ point (); electronic cam meter with transverse shaft

Table2Y _ point (); electronic cam meter with longitudinal shift shaft

table3Z _ point (); electronic cam meter with upper and lower shafts

Calib (); correction of origin position of each axis

StateLamp (); identification of arrival position of each axis

Oil (); lubricating oil injection for movable guide rail

aMode1 (); standby mode manual operation

aMode2 (); discontinuous production mode operation (press stop at top dead center)

aMode3 (); continuous production mode operation (continuous stamping of press, top dead center)

It should be noted that the technical features of the servo motor, the encoder, and the like, which are referred to in the present patent application, should be regarded as the prior art, and the specific structure, the operation principle, and the control manner and the spatial arrangement manner that may be referred to in the present patent application may be conventional in the art, and should not be regarded as the invention point of the present patent, and the present patent is not further specifically described in detail.

Having described preferred embodiments of the present invention in detail, it is to be understood that modifications and variations may be resorted to without departing from the spirit and scope of the invention as defined by the appended claims.