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Publication numberCN101885247 A
Publication typeApplication
Application numberCN 201010209462
Publication date17 Nov 2010
Filing date25 Jun 2010
Priority date25 Jun 2010
Also published asCN101885247B
Publication number201010209462.6, CN 101885247 A, CN 101885247A, CN 201010209462, CN-A-101885247, CN101885247 A, CN101885247A, CN201010209462, CN201010209462.6
Inventors胡鹏, 陈春童
Applicant江苏扬力集团有限公司
Export CitationBiBTeX, EndNote, RefMan
External Links: SIPO, Espacenet
Press and intelligent control system of feeding device thereof
CN 101885247 A
Abstract
The invention discloses a press and an intelligent control system of a feeding device thereof, relating to the punching machinery field. The press comprises a main eccentric shaft and an auxiliary eccentric shaft, wherein the main eccentric shaft is provided with a main encoder, the auxiliary eccentric shaft is provided with an auxiliary encoder, and the signals of the two encoders are all accessed into the single input end of a programmable controller; and the feeding device consists of lifting, transporting and clamping mechanisms which respectively adopt a servo control system, and the programmable controller calculates setting values of the lifting, transporting and clamping actions and sends the setting values to corresponding motor controllers to control the lifting, transporting and clamping mechanisms to make synchronous motion. The intelligent control system can greatly improve the production efficiency of the press, deviations occur between a signal fed back by the feeding device and a setting signal sent from the programmable controller when the feeding device and the press are desynchronized, and the programmable controller can report an error and halts to prevent the press, the feeding device and workpieces from damages when any one deviation exceeds a preset limit.
Claims(6)  translated from Chinese
  1. 一种压力机及其送料装置的智能控制系统,压力机包括对称动作的主偏心轮轴及副偏心轮轴,送料装置包括提升机构、运送机构及夹取机构,其特征是,该智能控制系统还包括可编程控制器及与可编程控制器信号连接的系统总线;所述主偏心轮轴上安装有主编码器,所述副偏心轮轴上安装有副编码器,所述主编码器及副编码器的信号均接入所述可编程控制器的信号输入端;所述提升机构包括提升伺服电机、控制提升伺服电机运转的提升电机控制器、由提升伺服电机驱动且与之相连接的提升传动机构;所述提升电机控制器经系统总线与所述可编程控制器信号连接,所述提升传动机构上设有提升机构编码器,所述提升伺服电机上设有提升伺服电机编码器,所述提升机构编码器及提升伺服电机编码器的信号线分别接入所述提升电机控制器的信号输入端,所述提升电机控制器的信号输出端接入所述提升伺服电机;所述可编程控制器接受主编码器及副编码器的压力机冲模位置信号,计算出送料装置的提升动作信号,发往所述提升电机控制器,进而输入至所述提升伺服电机;所述提升机构编码器发出的提升实际位移量信号及提升伺服电机编码器发出的提升反馈信号分别通过提升电机控制器传输至所述可编程控制器,供可编程控制器判断提升动作正误。 Intelligent control system for the press and feeding apparatus, including the main press eccentric shaft and the eccentric shaft symmetry deputy movement, feeding device comprises a lifting mechanism, transportation agencies and the gripping mechanism, characterized in that the intelligent control system also includes programmable logic controller and system bus of the programmable controller signal connections; installed on the main eccentric shaft has a master encoder mounted on the sub-eccentric shaft encoder deputy, the main encoder and vice encoder signals are access signal input of the programmable controller; the lifting mechanism comprises a lifting servo motor, servo motor control - Lifting running motor controller, servo motor drive by the lifting and lifting actuator connected thereto; The lift motor controller via the system bus and the programmable controller signal connection, the lift has a lifting mechanism encoder drive mechanism, the lift has a lifting servo motor encoder on the servo motor, said lifting mechanism Encoder and enhance servo motor encoder signal lines are accessing the lift motor controller signal input, the signal output terminal to enhance access to the lifting servo motor controller motor; the programmable controller accepts press die master encoder position signal and the sub-encoder calculates the feed device to enhance the operation signal sent to the lift motor controller, and then input to the lifting servo motor; the lifting mechanism lifting issued encoder enhance the feedback signal and enhance actual displacement signal emitted by the servo motor encoder are transmitted to the motor controller by upgrading the programmable controller, for judges to enhance the operation of the programmable controller or false.
  2. 2.根据权利要求1所述的压力机及其送料装置的智能控制系统,其特征是,所述运送机构包括运送伺服电机、控制运送伺服电机运转的运送电机控制器、由运送伺服电机驱动且与之相连接的运送传动机构;所述运送电机控制器经系统总线与所述可编程控制器信号连接,所述运送传动机构上设有运送机构编码器,所述运送伺服电机上设有运送伺服电机编码器,所述运送机构编码器及运送伺服电机编码器的信号线分别接入所述运送电机控制器的信号输入端,所述运送电机控制器的信号输出端接入所述运送伺服电机;所述可编程控制器接受主编码器及副编码器的压力机冲模位置信号,计算出送料装置的运送动作信号,发往所述运送电机控制器,进而输入至所述运送伺服电机;所述运送机构编码器发出的运送实际位移量信号及运送伺服电机编码器发出的运送反馈信号分别通过运送电机控制器传输至所述可编程控制器,供可编程控制器判断运送动作正误。 The Intelligent Control System press and feeding apparatus according to claim 1, characterized in that said transport mechanism comprises a transport servo motor, servo motor controls the transport operation of transporting motor controller, driven by a servo motor and transport conveyance transmission mechanism connected thereto; motor controller via the system bus and the programmable controller signals the transport connection with an encoder on the transport mechanism transporting drive mechanism, the servo motor transport has transported servo motor encoder, the transport mechanism and transport encoder servo motor encoder signal lines respectively connected to the signal input of the transport motor controller, the transport motor controller signal output terminal to access the transport servo motor; the programmable controller accepts the main encoder and encoder deputy press die position signal to calculate the transport operation signal feeding device, sent to the transport motor controller, and then input to the transport servo motor; the transport mechanism transporting a feedback signal emitted by the encoder actual displacement signal transport and conveyance servo motor encoder are emitted by the transport motor controller is transmitted to the programmable controller, a programmable controller determines the transport operation for right and wrong.
  3. 3.根据权利要求2所述的压力机及其送料装置的智能控制系统,其特征是,所述夹取机构包括夹取伺服电机、控制夹取伺服电机运转的夹取电机控制器、由夹取伺服电机驱动且与之相连接的夹取传动机构;所述夹取电机控制器经系统总线与所述可编程控制器信号连接,所述夹取传动机构上设有夹取机构编码器,所述夹取伺服电机上设有夹取伺服电机编码器,所述夹取机构编码器及夹取伺服电机编码器的信号线分别接入所述夹取电机控制器的信号输入端,所述夹取电机控制器的信号输出端接入所述夹取伺服电机;所述可编程控制器接受主编码器及副编码器的压力机冲模位置信号,计算出送料装置的夹取动作信号,发往所述夹取电机控制器,进而输入至所述夹取伺服电机;所述夹取机构编码器发出的夹取实际位移量信号及夹取伺服电机编码器发出的夹取反馈信号分别通过夹取电机控制器传输至所述可编程控制器,供可编程控制器判断夹取动作正误。 3. Intelligent Control System press and feeding apparatus according to claim 2, wherein the gripping mechanism includes a gripping servo motor, servo motor control operation of the gripping gripping motor controller, the clip Take servo motor and connected thereto gripping transmission mechanism; the gripping motor controller via the system bus and the programmable controller signal connection, the gripping mechanism has a gripping encoder transmission, provided on the gripping servo motor signal input terminal gripping servo motor encoder, the gripping mechanism gripping encoder and servo motor encoder signal lines respectively connected to the gripping motor controller, said gripping motor controller signal output terminal access to the gripping servo motor; the programmable controller accepts the main encoder and encoder deputy press die position signal to calculate the feed device gripping action signal, send to the gripping motor controller, and then input to the gripping servo motor; gripping feedback signal actual displacement signal and gripping servo motor encoder issued gripping the gripping mechanism encoders are issued by folder Take motor controller is transmitted to the programmable controller for programmable controller determines the gripping action right or wrong.
  4. 4.根据权利要求1至3中任一项所述的压力机及其送料装置的智能控制系统,其特征是,所述提升机构编码器、运送机构编码器及夹取机构编码器均为线性绝对编码器。 4. Press 1 to 3 in any one of its intelligent control system feeding device, characterized in that said lifting mechanism encoders, transport mechanism and the gripping mechanism encoders are linear encoder claim absolute encoder.
  5. 5.根据权利要求4中所述的压力机及其送料装置的智能控制系统,其特征是,所述主编码器及副编码器均为绝对旋转编码器。 Intelligent Control System press and feeding apparatus as claimed in claim 4 claims, characterized in that the main encoder and encoder are absolute vice rotary encoder.
  6. 6.根据权利要求1至3中任一项所述的压力机及其送料装置的智能控制系统,其特征是,所述主编码器及副编码器均为绝对旋转编码器。 6. Press 1 to 3 in any one of its intelligent control system feeding device, characterized in that the main encoder and vice encoder rotary encoder are absolute claims.
Description  translated from Chinese

压力机及其送料装置的智能控制系统 Intelligent Control System press and feeding devices

技术领域 Technical Field

[0001] 本发明涉及一种压力机,特别涉及一种压力机及其送料装置的智能控制系统。 [0001] The present invention relates to a press, in particular to the intelligent control system for the press and feeding apparatus. 背景技术 Background

[0002] 多工位压力机是送料系统和压力机的结合。 [0002] presses was sent binder system and presses. 压力机包括对称动作的主偏心轮轴及副偏心轮轴,主偏心轮轴及副偏心轮轴分别驱动各自滑块沿各自导轨作往复运动,各冲模分别连接在各自滑块上。 Press includes symmetric operation and vice eccentric main eccentric shaft axles, the main eccentric shaft and the eccentric shaft are driven deputy along their respective slide rails for reciprocating movement, each die are connected to the respective slider.

[0003] 送料系统的作用是将金属工件或非金属工件自动运送至压力机的一系列模位中, 压力机的滑块逐步将工件在模腔中冲压成型。 [0003] The feeding system is the role of metal or nonmetal parts workpieces are automatically transported to a series of press molding position, the press slider gradually artifacts in the mold cavity stamping. 当压力机的冲模打开时,送料系统用其夹紧钳从每个模腔中夹取工件,举升工件离开模腔,接着运送工件至下一个模腔上方,放低工件至该模腔上,在冲模闭合之前松开夹紧钳并撤回。 When open die press feeding system with its gripper from each cavity in the workpiece gripping, lifting workpieces leave the cavity, then the cavity above the workpiece transported to the next module, the workpiece onto the lower cavity Before closing the die loosen the clamping jaws and withdrawn. 假如夹紧钳没有在适当的时候撤回,夹紧钳就会被压在模具中,导致损坏冲模、送料系统和工件。 If the gripper not withdrawn at the appropriate time, the clamping jaws will be pressed in a mold, resulting in damage die, feeding systems and artifacts.

[0004] 近年来,多工位压力机加工的工件尺寸显著增大。 [0004] In recent years, the workpiece size presses processing significantly increased. 同样,多工位压力机的加工能力尺寸以及机床本身的尺寸也都相应增大。 Similarly, the processing capacity of size presses, as well as the size of the machine itself also increased accordingly. 工件尺寸的增加要求送料系统的夹紧、举升和传送的行程也要相应增加。 Increase the size of the workpiece feeding system requirements stroke clamping, lifting and delivery should increase accordingly. 这三种运动都是周期性的,在每个行程的终点停止,停顿片刻,然后返回。 These three sports are cyclical, at the end of each stroke stop, pause, and then return. 因此,送料系统的运动可视作间歇的,并且会给传送驱动源造成波动的扭矩负载。 Thus, the feed motion of the system may be regarded as intermittent, and will cause fluctuations in transmission of the driving source torque load. 随着生产率的提高,工件尺寸和多工位压力机尺寸的增大,对机械传动驱动源的要求也越来越苛刻。 With the increase in productivity, the workpiece size and multi-station presses size increases, the driving source of mechanical transmission requirements are more demanding.

[0005] 多工位压力机的生产率主要受到保证送料不失误的送料速度以及保证不损坏工件的冲模移动速度的限制。 [0005] presses productivity mainly by the failure to ensure that the feed is not feeding speed and ensure that no damage to the workpiece die movement speed limit.

[0006] 现有技术中的多工位压力机,从安全出发,为保证压力机和送料系统之间动作的同步性,大多数压力机由机构驱动,送料系统是由压力机上的动力源通过一系列的齿轮、 轴、皮带轮和滑轮,或者链条和链轮驱动的。 [0006] The prior art presses, safety reasons, in order to ensure the synchronization of actions between the press and feeding systems, most of the press by an organization driven by the feed system is the power source through the press a series of gears, shafts, pulleys and pulley or chain and sprocket drive. 由于这种送料系统是由压力机的动力源经机构驱动的,所以送料机构和冲模在导轨上往复运动的同步性得到了精确的保证,但是也导致了压力机及其送料装置结构复杂。 Because of this feeding system is driven by the power source by press agencies, so feeding mechanism and die on the rail reciprocating synchronization has been to ensure accurate, but also led to the press and feeding device structure complicated.

[0007] 还有一种多工位压力机,压力机配合电机驱动的送料系统一起使用,送料系统在冲模闭合动作开始之前从冲模下方撤回,压力机只会在送料机构撤回到一个安全的位置才开始动作。 [0007] Another presses, presses with motor-driven feeding system used with feed system before the start of the closing action of the die to withdraw from the bottom die, the feeding mechanism of the press will only withdraw to a safe location before He began to move. 压力机开始一个行程,之后停在上死点。 Press start a trip, then stopped at the top dead center. 与此同时,卸料机构移入模腔拾取工件,此时传感器触发装料机构将下一个工件装入模腔;当装料机构从冲模区撤出后,传感器触发下一个冲压周期。 Meanwhile, the discharge mechanism into the cavity of the workpiece pickup, then the sensor will trigger a feeding mechanism into the mold cavity under a workpiece; when the feeding mechanism is withdrawn from the die area, the sensor triggers the next press cycle. 这种压力机和送料系统的组合,在生产过程中,卸料系统和装料系统的任何失效都会立即停止加工周期,从而避免了冲模或压力机的损坏。 This combination of presses and feeding system, in the production process, any failure will discharge systems and charging systems immediately stop the processing cycle, thus avoiding damage to the die or press. 但是,这种压力机和送料系统工作时交替动作,彼此等待对方到达安全位置后才进行下一个动作,严重制约了生产效率。 However, the press and feeding system work when the action alternately, each waiting for the other to a safe location before the next action, severely restricted the production efficiency.

发明内容 DISCLOSURE

[0008] 为克服现有技术中存在的问题,本发明提供一种压力机及其送料装置的智能控制系统,压力机及送料装置分别驱动,控制系统能够实时监控压力机及送料装置的运行情况, 对错误情况及时作出响应,对压力机、送料装置及工件提供保护。 [0008] To overcome the problems of the prior art, the present invention provides a feeding device press and intelligent control systems, presses and feeding device separately driven, real-time control system can monitor the operation of the press and feeding devices for errors in a timely manner in response to the press, a workpiece feeding device and provide protection.

[0009] 为解决以上技术问题,本发明所提供的一种压力机及其送料装置的智能控制系统,压力机包括对称动作的主偏心轮轴及副偏心轮轴,送料装置包括提升机构、运送机构及夹取机构,该智能控制系统还包括可编程控制器及与可编程控制器信号连接的系统总线; 所述主偏心轮轴上安装有主编码器,所述副偏心轮轴上安装有副编码器,所述主编码器及副编码器的信号均接入所述可编程控制器的信号输入端;所述提升机构包括提升伺服电机、控制提升伺服电机运转的提升电机控制器、由提升伺服电机驱动且与之相连接的提升传动机构;所述提升电机控制器经系统总线与所述可编程控制器信号连接,所述提升传动机构上设有提升机构编码器,所述提升伺服电机上设有提升伺服电机编码器,所述提升机构编码器及提升伺服电机编码器的信号线分别接入所述提升电机控制器的信号输入端,所述提升电机控制器的信号输出端接入所述提升伺服电机;所述可编程控制器接受主编码器及副编码器的压力机冲模位置信号,计算出送料装置的提升动作信号,发往所述提升电机控制器,进而输入至所述提升伺服电机;所述提升机构编码器发出的提升实际位移量信号及提升伺服电机编码器发出的提升反馈信号分别通过提升电机控制器传输至所述可编程控制器,供可编程控制器判断提升动作正误。 [0009] In order to solve the above technical problem, the intelligent control system of the present invention to provide press and feeding device, the press including the main eccentric shaft and the eccentric shaft symmetry deputy movement, feeding device comprises a lifting mechanism, transportation agencies and gripping mechanism, the intelligent control system also includes a programmable controller and a system bus of the programmable controller signal connections; master encoder mounted on the main eccentric shaft mounted on the eccentric shaft deputy vice encoder The master encoder and vice encoder signals are access signal input of the programmable controller; the lifting mechanism comprises a lifting servo motor, servo motor control - Lifting running motor controller, servo motor drive by the lifting and enhance the transmission mechanism connected thereto; the lifting motor controller via the system bus and the programmable controller signal connection, the lift has a lifting mechanism encoder drive mechanism, the lift is provided on the servomotor signal output terminal access lift servo motor encoder, the lifting mechanism and enhance encoder servo motor encoder signal lines respectively connected to the lift motor controller signal input, the lifting of the lifting motor controller servo motor; the programmable controller accepts the main encoder and encoder deputy press die position signal to calculate the feed device to enhance the operation signal sent to the lift motor controller, and then input to the lifting servo motor ; enhance the feedback signal to enhance the actual displacement encoder signal of the lifting mechanism and enhance issued by the servo motor encoder are sent by raising motor controller is transmitted to the programmable controller, for judges to enhance the operation of the programmable controller or false.

[0010] 相对于现有技术,本发明取得了以下有益效果:压力机运转时,主偏心轮轴上的主编码器及副偏心轮轴上的副编码器分别检测到冲模位置信号,输入到可编程控制器中,可编程控制器对主编码器信号及副编码器信号进行检测,且监控其信号是否正常,如果压力机在运行时主编码器信号和副编码器信号出现较大突变,则视为故障,则可编程控制器发出报错信号,压力机停机;同时可编程控制器还比较主编码器信号和副编码器信号是否有偏差,如果偏差值超过了预先设定好的冲模位置极限,则可编程控制器也发出报错信号,压力机停机。 [0010] with respect to the prior art, the present invention achieved the following beneficial effects: when the press operation, the main encoder and deputy vice eccentric shaft encoder on the main eccentric shaft were detected on the die position signal to the programmable input controller, a programmable controller and deputy master encoder signal encoder signal is detected and monitor its signal is normal, the master encoder signal and vice encoder signals a larger mutation if the press is running, the visual fault, the PLC signals an error, press down; and programmable controller compares the primary and secondary encoder signal encoder signal whether there is bias, if the deviation exceeds a predefined limit die position, the programmable controller also signals an error, press stop. 可编程控制器根据压力机冲模位置信号,计算出送料装置的提升动作信号,发往提升电机控制器控制提升机构同步运动,使压力机与送料装置的提升机构的动作同步起来;当送料装置的提升机构与压力机不同步时,提升机构编码器发出的提升实际位移量信号与可编程控制器发出的提升动作信号发生偏差,偏差值超过预定极限时,可编程控制器发出报错信号,压力机及送料装置停机,使压力机、送料装置及工件免遭损坏;由于很好地解决了送料同步及安全保护问题,使得多工位压力机的生产率得到大幅度提高;提升机构采用伺服控制系统可以精确地控制提升动作的加减速、速度和位移输出曲线。 According to the press programmable controller die position signal to calculate the feed device to enhance the operation signal sent to the motor controller controls the lifting mechanism to enhance the movement of sync, so that the action of the press and the lifting mechanism feed device sync up; when the feed device When the lifting mechanism is not synchronized with the press, the lifting mechanism to enhance the operation of the signal emitted by the encoder to enhance the actual displacement signal emitted by the programmable controller deviation occurs when the deviation exceeds a predetermined limit, the programmable controller signals an error, press and feeding means stop, so the press, feeding device and the workpiece from damage; as a good solution to feed synchronization and security issues, making presses productivity has been greatly improved; the lift mechanism with servo control system precisely controlled movements to enhance acceleration and deceleration, velocity and displacement output curves.

[0011] 作为本发明的改进,所述运送机构包括运送伺服电机、控制运送伺服电机运转的运送电机控制器、由运送伺服电机驱动且与之相连接的运送传动机构;所述运送电机控制器经系统总线与所述可编程控制器信号连接,所述运送传动机构上设有运送机构编码器, 所述运送伺服电机上设有运送伺服电机编码器,所述运送机构编码器及运送伺服电机编码器的信号线分别接入所述运送电机控制器的信号输入端,所述运送电机控制器的信号输出端接入所述运送伺服电机;所述可编程控制器接受主编码器及副编码器的压力机冲模位置信号,计算出送料装置的运送动作信号,发往所述运送电机控制器,进而输入至所述运送伺服电机;所述运送机构编码器发出的运送实际位移量信号及运送伺服电机编码器发出的运送反馈信号分别通过运送电机控制器传输至所述可编程控制器,供可编程控制器判断运送动作正误。 [0011] as the improvement of the invention, the transport mechanism includes a transport servo motor, servo motor controls the transport operation of transporting motor controller, servo motor driven by the transport and conveyance transmission mechanism connected thereto; the transport motor controller via the system bus and the programmable controller signal connection, the transport mechanism has a conveying encoder drive mechanism, the servo motor transport has transported servo motor encoder, the transport mechanism and transport servo motor encoder encoder signal lines are access signal input of the transport motor controller, the transport motor controller signal output terminal to access the transport servo motor; the programmable controller accepts the main encoder and vice coding the press die position signal to calculate the transport operation signal feeding device, sent to the transport motor controller, and then input to the transport servo motor; the actual amount of displacement of the transport mechanism transporting the signal emitted by the encoder and delivery transport servo motor encoder feedback signals are emitted by the transport motor controller is transmitted to the programmable controller, a programmable controller determines the transport operation for right and wrong. 可编程控制器根据压力机冲模位置信号,计算出送料装置的运送动作信号,发往运送电机控制器控制运送机构同步运动,使压力机与送料装置的运送机构的动作同步起来;当送料装置的运送机构与压力机不同步时,运送机构编码器发出的运送实际位移量信号与可编程控制器发出的运送动作信号发生偏差,偏差值超过预定极限时,可编程控制器发出报错信号,压力机及送料装置停机,使压力机、送料装置及工件免遭损坏;由于很好地解决了送料同步及安全保护问题,使得多工位压力机的生产率得到大幅度提高;运送机构采用伺服控制系统可以精确地控制运送动作的加减速、速度和位移输出曲线。 Programmable controller according to the transport operation signal press die position signal to calculate the feed device, sent to transport motor controller controls the transport mechanism synchronized movement, so that the action of the delivery mechanism of the press and synchronize feeding device; when the feed device When transporting mechanism is not synchronized with the press, the transport operation signal actual displacement signal transport transport mechanism and PLC issued issued encoder deviation occurs when the error exceeds a predetermined limit, the programmable controller signals an error, press and feeding means stop, so the press, feeding device and the workpiece from damage; as a good solution to feed synchronization and security issues, making presses productivity has been greatly improved; delivery mechanism with servo control system precisely controls the transport operation of acceleration and deceleration, velocity and displacement output curves.

[0012] 作为本发明的进一步改进,所述夹取机构包括夹取伺服电机、控制夹取伺服电机运转的夹取电机控制器、由夹取伺服电机驱动且与之相连接的夹取传动机构;所述夹取电机控制器经系统总线与所述可编程控制器信号连接,所述夹取传动机构上设有夹取机构编码器,所述夹取伺服电机上设有夹取伺服电机编码器,所述夹取机构编码器及夹取伺服电机编码器的信号线分别接入所述夹取电机控制器的信号输入端,所述夹取电机控制器的信号输出端接入所述夹取伺服电机;所述可编程控制器接受主编码器及副编码器的压力机冲模位置信号,计算出送料装置的夹取动作信号,发往所述夹取电机控制器,进而输入至所述夹取伺服电机;所述夹取机构编码器发出的夹取实际位移量信号及夹取伺服电机编码器发出的夹取反馈信号分别通过夹取电机控制器传输至所述可编程控制器,供可编程控制器判断夹取动作正误。 [0012] As a further refinement of the invention, the gripping mechanism comprises a gripping servo motor, servo motor control operation of the gripping gripping motor controller, the servo motor and gripping with the gripping actuator connected ; the gripping motor controller via the system bus and the programmable controller signal connection, the gripping mechanism has a gripping encoder transmission mechanism is provided on the gripping gripping servo motor servo motor encoder , said gripping mechanism gripping encoder and servo motor encoder signal lines respectively connected to the gripping motor controller signal input, the gripping motor controller signal output terminal to access the folder Take servo motor; the programmable controller accepts the main encoder and encoder deputy press die position signal to calculate the feed device gripping action signal, sent to the gripping motor controller, and then input to the gripping servo motor; gripping the gripping mechanism gripping issued encoder feedback signal actual displacement signal and gripping servo motor encoder are issued by the gripping motor controller is transmitted to the programmable controller, for Programmable controller determines the gripping action right or wrong. 可编程控制器根据压力机冲模位置信号,计算出送料装置的夹取动作信号,发往夹取电机控制器控制夹取机构同步运动,使压力机与送料装置的夹取机构的动作同步起来;当送料装置的夹取机构与压力机不同步时,夹取机构编码器发出的夹取实际位移量信号与可编程控制器发出的夹取动作信号发生偏差,偏差值超过预定极限时,可编程控制器发出报错信号,压力机及送料装置停机,使压力机、送料装置及工件免遭损坏;由于很好地解决了送料同步及安全保护问题,使得多工位压力机的生产率得到大幅度提高;夹取机构采用伺服控制系统可以精确地控制夹取动作的加减速、速度和位移输出曲线。 According to the press programmable controller die position signal to calculate the feed device gripping action signal sent to the motor controller gripping the gripping mechanism synchronized movement, so that the gripping mechanism of action of the press and synchronize feeding device; When the feeding device when gripping mechanism is not synchronized with the press, the gripping action gripping actual displacement signal to the programmable controller issued a gripping mechanism encoder signal emitted deviation occurs, the deviation exceeds a predetermined limit, programmable The controller signals an error, press and feeding device shutdown, so the press, feeding device and the workpiece from damage; as a good solution to feed synchronization and security issues, making presses have been greatly improved productivity ; gripping mechanism with servo control system can precisely control the gripping action of acceleration and deceleration, velocity and displacement output curves.

[0013] 作为本发明的优选方案,所述提升机构编码器、运送机构编码器及夹取机构编码器均为线性绝对编码器。 [0013] As a preferred embodiment of the present invention, the lifting mechanism encoders, encoders and transport mechanism gripping mechanism encoders are linear absolute encoder. 提升机构、运送机构及夹取机构采用线性绝对编码器,可靠性好, 使用寿命长,具有高抗振动冲击能力、高轴向径向负载能力,及高性能价格比等优点。 Promotion agencies, transport agencies and the gripping mechanism using a linear absolute encoder, good reliability, long life, high resistance to shock and vibration resistance and high axial radial load capacity, and high cost performance advantages.

[0014] 作为本发明的优选方案,所述主编码器及副编码器均为绝对旋转编码器。 [0014] As a preferred embodiment of the present invention, the main encoder and encoder are absolute vice rotary encoder. 主编码器及副编码器采用绝对旋转编码器,具有分辨率高,位置绝对唯一,抗干扰能力强的优点。 Main encoder and absolute encoder deputy rotary encoders, high resolution, position absolutely unique anti-jamming capability advantages.

附图说明 Brief Description

[0015] 图1为本发明压力机及其送料装置的智能控制系统的结构示意图。 [0015] Figure 1 is a schematic configuration of the invention of the press and feeding device intelligent control system.

[0016] 图中:1压力机;la主编码器;lb副编码器;R1主编码器信号;R2副编码器信号; Rm实际冲模位置信号;2可编程控制器;3系统总线;4、4' :提升伺服电机;41、41' :提升电机控制器;42、42' :提升传动机构;43、43' :提升机构编码器;44、44' :提升伺服电机编码器; Lll、L11' :提升动作信号;L12、L12':提升实际位移量信号;L13、L13' :提升反馈信号;5、 5' :运送伺服电机;51、51' :运送电机控制器;52、52' :运送传动机构;53、53' :运送机构编码器;54、54' :运送伺服电机编码器;T11、T11' :运送动作信号;T12、T12' :运送实际位移量信号;T13、T13,:运送反馈信号;6、6,:夹取伺服电机;61,61':夹取电机控制器;62,62':夹取传动机构;63、63' :夹取机构编码器;64、64' :夹取伺服电机编码器;C11、C11' :夹取动作信号;C12、C12' :夹取实际位移量信号;C13、C13' :夹取反馈信号。 [0016] in which: 1 press; la main encoder; lb deputy encoder; R1 master encoder signal; R2 deputy encoder signal; Rm actual die position signal; 2 programmable controller; 3 system bus; 4, 4 ': to enhance the servo motor; 41, 41': lift motor controller; 42, 42 ': to enhance the transmission mechanism; 43, 43': a lifting mechanism encoder; 44, 44 ': to enhance the servo motor encoder; Lll, L11 ': upgrade action signal; L12, L12': lift actual displacement signal; L13, L13 ': lifting feedback signal; 5, 5': transport servo motor; 51, 51 ': transport motor controller; 52, 52': conveyance transmission mechanism; 53, 53 ': transport agency encoder; 54, 54': transport servo motor encoder; T11, T11 ': the transport operation signal; T12, T12': delivery of actual displacement signal; T13, T13 ,: transporting feedback signal; 6,6 ,: gripping servo motor; 61, 61 ': Gripping motor controller; 62, 62': Gripping transmission; 63, 63 ': a gripping mechanism encoder; 64, 64' : Gripping servo motor encoder; C11, C11 ': a gripping action signal; C12, C12': Gripping actual displacement signal; C13, C13 ': Gripping feedback signal. 具体实施方式 DETAILED DESCRIPTION

[0017] 如图1所示,本发明的压力机及其送料装置的智能控制系统包括压力机1、送料装置、可编程控制器2及与可编程控制器信号连接的系统总线3。 [0017] As shown, the intelligent control system and feeding the press apparatus of the present invention comprises a press 1, the feed means 2 and the programmable controller signals a programmable controller connected to the system bus 3. 压力机1包括对称动作的主偏心轮轴及副偏心轮轴,送料装置包括提升机构、运送机构及夹取机构。 Press 1 comprises a main symmetry operation and vice eccentric shaft eccentric shaft, feeding device includes a lifting mechanism, transportation agencies and the gripping mechanism. 主偏心轮轴上安装有主编码器la,副偏心轮轴上安装有副编码器lb,主编码器la及副编码器的信号均接入可编程控制器的信号输入端。 Master encoder mounted la, installed on the secondary eccentric shaft encoder Deputy lb, la main encoder and encoder signals are vice-access signal input of the programmable controller on the main eccentric shaft.

[0018] 提升机构包括两套提升伺服电机4、4',控制提升伺服电机运转的提升电机控制器41、41',由提升伺服电机驱动且与之相连接的提升传动机构42、42'。 [0018] The lifting mechanism includes two lift servo motor 4,4 ', control the operation of the servo motor to enhance lift motor controllers 41, 41', by the lifting servo motor and drive mechanism connected with promotion of 42, 42 '. 提升电机控制器41、 41'分别经系统总线3与可编程控制器2信号连接;提升传动机构42、42'上分别设有提升机构编码器43、43',提升伺服电机4、4'上分别设有提升伺服电机编码器44、44',提升机构编码器43、43'及提升伺服电机编码器44、44'的信号分别接入提升电机控制器41、41'的信号输入端,提升电机控制器41、41'的信号输出端分别接入提升伺服电机4、4'。 Lift motor controller 41, 41 'are connected via the system bus 2 signal 3 and the programmable controller; enhance the transmission mechanism 42, 42', respectively, with the lifting mechanism encoders 43, 43 ', to enhance the servo motor 4,4' on They are provided to enhance the servo motor encoder 44, 44 ', the lifting mechanism encoders 43, 43' and lift the servo motor encoder 44, 44 'of the signals the access lift motor controllers 41, 41' of the signal input to improve motor controllers 41, 41 'are respectively connected to the signal output terminal upgrade servo motor 4,4'.

[0019] 运送机构包括两套运送伺服电机5、5 ',控制运送伺服电机运转的运送电机控制器51、51',由运送伺服电机驱动且与之相连接的运送传动机构52、52'。 [0019] transport mechanism comprises two transport servo motor 5,5 ', controls the transport operation of the servo motor transport motor controller 51, 51', by a transport servo motor and drive mechanism connected with the delivery of 52, 52 '. 运送电机控制器51、 51'分别经系统总线3与可编程控制器2信号连接;运送传动机构52、52'上分别设有运送机构编码器53、53',运送伺服电机5、5'上分别设有运送伺服电机编码器54、54',运送机构编码器53、53'及运送伺服电机编码器54、54'的信号分别接入运送电机控制器51、51'的信号输入端,运送电机控制器51、51'的信号输出端分别接入运送伺服电机5、5'。 Transport motor controller 51, 51 'respectively connected via the system bus 3 2 signal programmable controller; conveyance transmission mechanism 52, 52', respectively, with the transport mechanism encoders 53, 53 ', transport servo motor 5,5' on respectively, with the signal input transport servo motor encoder 54, 54 ', conveying mechanism encoders 53, 53' and transport servo motor encoder 54, 54 'are respectively connected to the signal transport motor controller 51, 51' of transport motor controllers 51, 51 'are respectively connected to the signal output of the servo motor transport 5,5'.

[0020] 夹取机构包括两套夹取伺服电机6、6 ',控制夹取伺服电机运转的夹取电机控制器61、61',由夹取伺服电机驱动且与之相连接的夹取传动机构62、62' ;夹取电机控制器61、 61'分别经系统总线3与可编程控制器2信号连接;夹取传动机构62、62'上分别设有夹取机构编码器63、63',夹取伺服电机6、6'上分别设有夹取伺服电机编码器64、64',夹取机构编码器63、63'及夹取伺服电机编码器64、64'的信号分别接入夹取电机控制器61、61'的信号输入端,夹取电机控制器61、61'的信号输出端分别接入夹取伺服电机6、6'。 [0020] The gripping mechanism comprises two gripping servo motor 6,6 ', controlling servo motor operation gripping gripping motor controllers 61, 61', the gripping servo motor and connected thereto gripping drive bodies 62, 62 '; gripping the motor controller 61, 61', respectively, via the system bus 2 signal 3 and PLC connection; gripping actuator 62, 62 ', respectively, with the gripping mechanism on the encoder 63, 63' The signal gripping servo motor 6,6 'are provided on the gripping servo motor encoder 64, 64', the gripping mechanism encoders 63, 63 'and the gripping servo motor encoder 64, 64', respectively, access folders Take motor controller 61, 61 'of the signal input, the gripping motor controllers 61 and 61' respectively connected to the signal output terminal gripping servo motor 6,6 '.

[0021] 提升机构编码器43、43',运送机构编码器53、53'及夹取机构编码器63、63'均为线性绝对编码器。 [0021] The lifting mechanism encoders 43, 43 ', conveying mechanism encoders 53, 53' and the gripping mechanism encoders 63, 63 'are linear absolute encoder. 主编码器la及副编码器lb均为绝对旋转编码器。 Master encoder la and lb deputy encoder Absolute rotary encoders are.

[0022] 压力机1运转时,主编码器la及副编码器lb分别检测到冲模位置信号即主编码器信号R1及副编码器信号R2,并输入到可编程控制器2中。 [0022] 1 when the press operation, the master encoder la and lb respectively deputy encoder position signal is detected die master encoder signal R1 and vice encoder signals R2, and input to the programmable controller 2. 可编程控制器2对主编码器信号R1及副编码器信号R2进行检测,且监控其信号是否正常,如果压力机在运行时主编码器信号R1和副编码器信号R2出现较大突变,则视为故障,则可编程控制器2发出报错信号, 压力机停机。 PLC two pairs of master encoder signal encoder signal R1 and R2 deputy detect and monitor its signal is normal, master encoder signal encoder signals R1 and R2 deputy larger mutations if the press is running, then as a fault, the programmable controller 2 signals an error, press stop. 同时可编程控制器2还比较主编码器信号R1和副编码器信号R2是否有偏差, 如果(R1-R2)的值超过了预先设定好的冲模位置极限,则可编程控制器2也发出报错信号, 压力机停机。 While the programmable controller 2 also compares the primary encoder signals R1 and R2 is deputy encoder signal deviation, if (R1-R2) value exceeds the predefined die position limit, the programmable controller 2 also issued error signal, press stop.

[0023] 由于压力机在冲压是产生的震动导致主编码器信号R1及副编码器信号R2不平稳,一般发生在下死点即冲压瞬间。 [0023] Since the press on the press is the main cause vibrations generated encoder signal encoder signals R1 and R2 deputy is not smooth, the bottom dead center general occurrence that is stamped moments. 可编程控制器2对主编码器信号R1及副编码器信号R2 进行平滑处理,生成实际冲模位置信号Rm。 PLC two pairs of master encoder signal encoder signals R1 and R2 deputy smoothing process to generate the actual die position signal Rm.

[0024] 可编程控制器2通过系统总线3将实际冲模位置信号Rm传输至提升电机控制器41、41,,运送电机控制器51、51,,夹取电机控制器61、61,。 [0024] 2 PLC via the system bus 3 Rm actual die position signal transmitted to the lift motor controller 51, 51, 41, 41 ,, ,, transport motor controller gripping motor controller 61, 61 ,. 并且可编程控制器2计算出提 And a programmable controller 2 calculates the mention

7升动作信号1^11、1^11,,运送动作信号111、111,;夹取动作信号C11、C11,。 7 liters action signal 1 ^ 11 ^ 11, 1 ,, transport operation signal 111, 111 ,; gripping action signal C11, C11 ,.

[0025] 提升动作信号Lll、L11'通过系统总线3分别发送至提升电机控制器41、41',提升电机控制器41、41'分别驱动提升伺服电机4、4'运转,提升伺服电机4、4'分别通过提升传动机构42、42'驱动提升机构完成提升动作,提升机构编码器43、43'分别将提升实际位移量信号L12、L12'发送至提升电机控制器41、41',进而传输至可编程控制器2中;提升伺服电机编码器44、44'也分别将提升反馈信号L13、L13'发送至提升电机控制器41、41',进而传输至可编程控制器2 中。 [0025] hoisting operation signal Lll, L11 '3 respectively transmitted through the system bus to the lift motor controller 41, 41', to enhance the motor controller 41, 41 'are driven hoist servo motor 4,4' operation, enhance the servo motor 4, 4 ', respectively, by enhancing the transmission mechanism 42, 42' drive to complete the upgrade action lifting mechanism, lifting mechanism encoders 43, 43 'will enhance the actual displacement signals L12, L12' sent to the lift motor controller 41, 41 ', and then transfer in to the programmable controller 2; lifting servo motor encoder 44, 44 ', respectively, will also enhance the feedback signal L13, L13' sent to the lift motor controller 41, 41 ', and then transferred to the PLC 2. 当(Lll-Lll,)、(L11-L12)、(L11,-L12,)或(L12-L12')的值超出设定极限时,可编程控制器2即认定提升动作出错,发出报错信号使压力机及送料装置停机。 When (Lll-Lll,), (L11-L12), (L11, -L12,) or (L12-L12 ') value exceeds the set limit, the programmable controller 2 that is determined to enhance the operation of error signals an error so that the press and feeding device downtime.

[0026] 运送动作信号Til、T11,通过系统总线3分别发送至运送电机控制器51、51,,运送电机控制器51、51'分别驱动运送伺服电机5、5'运转,运送伺服电机5、5'分别通过运送传动机构52、52'驱动运送机构完成运送动作,运送机构编码器53、53'分别将运送实际位移量信号T12、T12'发送至运送电机控制器51、51',进而传输至可编程控制器2中;运送伺服电机编码器54、54'也分别将运送反馈信号T13、T13'发送至运送电机控制器51、51',进而传输至可编程控制器2 中。 [0026] The transfer operation signal Til, T11, 3 are sent via the system bus to transport motor controller 51, 51 ,, transport motor controller 51, 51 'are driven servo motor transport 5,5' operation, transport servo motor 5, 5 ', respectively, by the transport drive mechanism 52, 52' to complete the driver conveyance mechanism conveying action, transportation agencies encoder 53, 53 'will be shipped separately actual displacement signal T12, T12' is sent to the conveying motor controller 51, 51 ', and then transfer in to the programmable controller 2; transport servo motor encoder 54, 54 'respectively will be shipped feedback signal T13, T13' sent to the conveying motor controller 51, 51 ', and then transferred to the PLC 2. 当(Tll-Tll,)、(T11-T12)、(T11,-T12,)或(T12-T12,)的值超出设定极限时,可编程控制器2即认定运送动作出错,发出报错信号使压力机及送料装置停机。 When (Tll-Tll,), (T11-T12), (T11, -T12,) or (T12-T12,) the value exceeds the set limit, the programmable controller 2, or identified transfer operation error signals an error so that the press and feeding device downtime.

[0027] 夹取动作信号Cll、C11'通过系统总线3分别发送至夹取电机控制器61、61',夹取电机控制器61、61'分别驱动夹取伺服电机6、6'运转,夹取伺服电机6、6'分别通过夹取传动机构62、62'驱动夹取机构完成夹取动作,夹取机构编码器63、63'分别将夹取实际位移量信号C12、C12'发送至夹取电机控制器61、61',进而传输至可编程控制器2中;夹取伺服电机编码器64、64'也分别将夹取反馈信号C13、C13'发送至夹取电机控制器61、61',进而传输至可编程控制器2 中。 [0027] The gripping action signal Cll, C11 'respectively transmitted via the system bus 3 to grip the motor controller 61, 61', the gripping motor controllers 61 and 61 ', respectively, gripping servo motor drive 6,6' running, folder Take servo motor 6,6 'respectively, through the gripping actuator 62, 62' driving the gripping mechanism gripping action is completed, the gripping mechanism encoders 63, 63 ', respectively, by the gripping actual displacement signal C12, C12' send to folder Take motor controllers 61, 61 ', and then transmitted to the programmable controller 2; gripping servo motor encoder 64, 64' also gripping the feedback signal, respectively C13, C13 'sent to the gripping motor controller 61, 61 ', and then transferred to the PLC 2. 当(Cll-Cll,)、(C11-C12)、(C11,-C12,)或(C12-C12,)的值超出设定极限时,可编程控制器2即认定夹取动作出错,发出报错信号使压力机及送料装置停机。 When (Cll-Cll,), (C11-C12), (C11, -C12,) or (C12-C12,) the value exceeds the set limit, the programmable controller 2 that is gripping action finds an error, issue an error signal to the press and feeding device downtime.

[0028] 可编程控制器根据冲模位置信号,计算出提升、运送、夹取动作设定量,发往各相应电机控制器控制提升、运送、夹取机构同步运动,使压力机与送料装置的动作同步起来。 [0028] The programmable controller based on die position signal to calculate the lifting, transporting, gripping action set amount, sent to the respective motor controller upgrade, transport, the gripping mechanism synchronized movement, so that the press and the feed device Action synchronize. 当送料装置与压力机不同步时,提升、运送、夹取机构编码器发出的实际位移量信号与可编程控制器发出的动作设定量信号发生偏差,任意一项偏差值超过预定极限时,可编程控制器发出报错信号,压力机及送料装置停机,使压力机、送料装置及工件免遭损坏。 When the feeding device is not synchronized with the press, promotion, transportation, operation setting signals actual displacement signal to the programmable controller gripping mechanism encoders issued emitted deviation occurs, any one of the deviation exceeds a predetermined limit, PLC signals an error, press and feeding device shutdown, so the press, feeding device and the workpiece from damage. 因此,可编程控制器可以自动而不间断地监视送料系统的表现并且保证送料装置在提升、运送、夹取三个轴方向上都保持同步。 Therefore, the programmable controller can automatically and continuously monitors the performance of the feed system and ensure the feeding means lifting, transporting, gripping three-axis directions in sync.

[0029] 除上述实施例外,本发明还可以有其他实施方式。 [0029] In addition to the above-described embodiment exceptions, the present invention is capable of other embodiments. 例如可编程控制器检测到有错误发生时可以仅仅停止压力机,或者在停止压力机的同时,移动送料装置到远离冲模的安全位置。 Such as a programmable controller may simply stop detected an error occurs press, or press to stop, move the feed device to a secure location away from the die. 本发明可以用在单运动轴的送料装置上,也可用在具有三个或三个以上运动轴的送料装置上。 The present invention can be used in a single motion axis feeding device, and can also be used on feed means having three or more axes in motion. 且并不局限于采用电机驱动的送料装置上,也可用于液压马达驱动的送料装置上。 And it is not limited to the use of the motor-driven feeding device can also be used on a hydraulic motor driven feed device. 凡采用等同替换或等效变换形成的技术方案,均落在本发明要求的保护范围内。 Where the use of equivalents or equivalent form of technology transformation program, fall within the scope of the invention claimed.

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Referenced by
Citing PatentFiling datePublication dateApplicantTitle
CN104325056A *29 Nov 20144 Feb 2015合肥合锻机床股份有限公司Mechanism for driving two or more rotation encoders
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Classifications
International ClassificationB30B15/30, B30B15/14
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