CN100439052C - Pneumatic electric manipulator hybrid controller - Google Patents

Abstract

The invention relates to a manipulator control device, aiming to provide a special pneumatic electric manipulator hybrid controller for an injection molding machine. The controller includes a processor module, a digital input module, and a digital output module. The processor module is a dual-CPU structure, including the handheld panel processor in the handheld panel and the lower control panel processor in the lower control panel. The handheld panel is composed of LCD liquid crystal The display screen, hand-held panel processor and control buttons are connected sequentially. The hand-held panel processor is also connected to the lower control board processor through the RS232 serial interface. The lower control board processor is connected to the inverter control output interface through a photoelectric isolation device. The processor of the lower control board is also connected with the digital input module and the digital output module through the photoelectric isolation device. The controller of the present invention is easy to implement, easy to operate, simple in control algorithm, and friendly in operation interface; it includes two kinds of control output interfaces, and can be connected to a full pneumatic or pneumatic-electric hybrid manipulator as required, and is easy to use.

Description

Pneumatic electric manipulator hybrid controller

technical field

The invention relates to a manipulator control device, more specifically, to a pneumatic electric manipulator hybrid controller dedicated to an injection molding machine.

Background technique

With the improvement of automation in the injection molding machine industry, it is necessary to use automatic equipment such as manipulators to pick up the products produced by the injection molding machine and place them in a predetermined position. The process of automatically taking products by the manipulator needs a control device to control, so that the manipulator can get the products produced by the injection molding machine according to the action sequence required by the user. Usually, the injection molding machine manipulator is installed on the injection molding machine, and its design usually has one manipulator or two manipulator arms. The manipulator has three degrees of freedom, forward and backward, up and down, and left and right. A control device is needed to control the arm of this type of manipulator to determine the sequence of actions and specifically control the execution of each action according to the position of the product produced by the injection molding machine and the position where the product needs to be placed. The controller needs some digital input and output points to detect the action execution result of the manipulator arm and the execution of the control action. At the same time, it also needs a display device to display the current working condition of the manipulator. In addition, the control device also needs buttons to control the manipulator. Run and modify parameters.

At present, there is no mature robot controller product of this type in China. Domestic products are all imported from Japan, Europe, America or Taiwan, but their common disadvantage is that the controller is complicated, and the processor chip adopts a specially customized chip or a high-priced DSP. Chips, ARM chips, high cost, complex development, poor versatility. The operation design is based on the thinking of Westerners, and it is not suitable for the usual usage habits in mainland China. Another problem is that the current dual-arm injection molding machine manipulator has a fully pneumatic type and an electric hybrid type with electric control for cross-in and cross-out. The current controllers of these two types of manipulators are different, and manipulator manufacturers need to produce these two types of manipulators. Two kinds of corresponding manipulator controllers are required, which increases the difficulty of maintenance and management. The design of the present invention sets two kinds of control interfaces on the controller of the manipulator, and performs logic AND and logic OR operations on the control algorithm, so that users The controller can be used to control both the dual-arm fully pneumatic injection molding machine manipulator and the electric hybrid dual-arm injection molding machine manipulator.

There are various working sequences and positions when the manipulator of the injection molding machine picks up materials, and different users require a non-moving manipulator action. Therefore, the controller of the manipulator of the injection molding machine generally has multiple standard action programs built in, but this method takes up a lot of memory. It is not convenient enough for users to use.

Contents of the invention

The main purpose of the present invention is to overcome the deficiencies in the prior art and provide a special pneumatic electric manipulator hybrid controller for injection molding machines.

In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

The invention provides a hybrid controller for pneumatic and electric manipulators, which includes a processor module, a digital input module, and a digital output module. Control panel processor; the hand-held panel is connected successively by an LCD liquid crystal display, a hand-held panel processor and control buttons, and the hand-held panel processor is also connected with the lower control panel processor through the RS232 serial interface, and the lower control panel processes The controller is connected to the control output interface of the inverter through the photoelectric isolation device, and the lower control board processor is also connected to the digital input module and digital output module through the photoelectric isolation device;

The digital input module is a digital input point for the position travel switch of the manipulator, the electronic switch signal and the signal from the injection molding machine;

The frequency converter control output interface includes a full pneumatic manipulator output interface and a gas-electric hybrid manipulator output interface; wherein the full-pneumatic manipulator output interface includes a pneumatic cross-out output control port J1 and a pneumatic cross-in output control port J2; the gas-electric hybrid manipulator output interface includes The interface J3 of the frequency converter for electric cross-out control, the interface J4 of the frequency converter for electric cross-in control, and the speed selection control ports J5 and J6 for the control of the cross-in and cross-out frequency converter.

Compared with prior art, the beneficial effect of the present invention is:

The pneumatic-electric manipulator hybrid controller provided by the invention adopts a dual-CPU structure, and the upper and lower CPUs adopt a mature MCS51 single-chip microcomputer, which is low in cost, easy to implement, easy to operate, simple and clear in control algorithm, friendly in operation interface, and suitable for use in mainland China; the present invention The provided pneumatic-electric manipulator hybrid controller includes two control output interfaces, which can be connected to a full-pneumatic manipulator or a pneumatic-electric hybrid manipulator as required. The specific control algorithm is set inside the processor module, which is easy to use.

Description of drawings

Fig. 1 is the overall structural block diagram of the present invention.

Fig. 2 is the first part of the schematic diagram of the lateral entry and lateral exit control circuit of the present invention.

Fig. 3 is the second part of the schematic diagram of the lateral entry and lateral exit control circuit of the present invention.

Fig. 4 is the third part of the schematic diagram of the lateral entry and lateral exit control circuit of the present invention.

In the figure: hand-held panel processor 1, lower control board processor 2, LCD liquid crystal display 3, control buttons 4, RS232 serial interface 5, RS232 serial interface 6, photoelectric isolation device 7, photoelectric isolation device 8, photoelectric isolation A device 9 , a digital input module 10 , a digital output module 11 , and an inverter control output interface 12 .

Detailed ways

With reference to accompanying drawing, the present invention will be described in detail below:

A hybrid controller for a pneumatic electric manipulator, including a processor module, a digital input module 10, and a digital output module 11. The processor module is a dual-CPU structure, including a hand-held panel processor 1 in the hand-held panel and a lower control panel in the lower control panel. Board processor 2, the hand-held panel is formed by connecting LCD liquid crystal display screen 3, hand-held panel processor 1 and control buttons 4 in turn, and hand-held panel processor 1 is also connected with lower control board processor 2 through RS232 serial interface , the lower control board processor 2 is connected to the inverter control output interface 12 through the photoelectric isolation device, and the lower control board processor 2 is also connected to the digital input module 10 and the digital output module 11 through the photoelectric isolation device.

Hand-held panel processor 1 and lower control board processor 2 adopt MCS-51 series processor AT89C55. Hand-held panel processor 1 is connected to a 128×64 dot matrix interface. 26 keys are connected to hand-held panel processor 1 through the keyboard interface. Including function keys: manual, semi-automatic, automatic, modification, teaching, input, reset, monitoring, etc. and action/number keys: up, down, forward, backward, horizontal in, horizontal out, clip, suction, clip and release, suction and release and Cursor keys: Cursor up, down, left, right. The hand-held panel processor 1 is also connected with 6 luminous LEDs to display the states of "opening the mold", "safety door", "can close the mold", "can eject pin", "main arm" and "secondary arm". The lower control board processor 2 is connected to 24 digital input points through photoelectric isolation, and the 24 digital output points are also connected to the bit control board processor 2 through photoelectric isolation. The IO port of the lower control board processor 2 is directly connected to the inverter control output interface 12 through the photoelectric isolation chip 521-4, and is also connected to the hand-held panel processor 1 through the RS232 communication interface to accept commands sent by the hand-held panel processor and modified data.

The action of the manipulator cooperates with the injection molding machine. A cycle of action of the manipulator is as follows: first, the manipulator waits for the "mold opening" signal from the injection molding machine in the standby position (this signal indicates that the product of the injection molding machine has been produced, and the manipulator can start to take the product ), if the manipulator receives the signal of "opening the mold" from the injection molding machine, it will descend to take the product. After the product is taken out, the manipulator can send a signal (mold closing signal) to inform the injection molding machine that the mold can be closed and start to produce the next mold. product. Then the manipulator moves to the predetermined position, puts down the product, and then returns to the standby position to continue waiting for the injection molding machine to produce the next mold product.

As shown in Fig. 2, Fig. 3 and Fig. 4, the present invention has designed pneumatic control output interfaces J1, J2 and electric frequency converter control interfaces J3, J4, J5, J6. J1 is the pneumatic horizontal output control port; J2 is the pneumatic horizontal input output control port; J3 is the electric horizontal output control inverter interface, that is, the forward rotation control output port of the inverter; J4 is the electric horizontal input control inverter interface, that is, the inverter reverse rotation Rotation control output ports; J5 and J6 are the speed selection control ports controlled by the inverter for cross-in and cross-out. According to the selection of J5 and J6, three different inverter speeds can be selected. When J5 is 1 and J6 is also 1, the inverter speed section 1 is selected. When J5 is 1 and J6 is 0, the inverter speed section is selected. 2. When J5 is 0 and J6 is 1, select the inverter speed section 3, so that when the inverter drives the motor to drive the manipulator of the injection molding machine to do horizontal in and horizontal out motion, there are three speeds to choose from, so you can get a smooth running effect . The end of the injection molding machine’s traverse-in and traverse-out motion is detected by the traverse-out end sensor K1 and traverse-in end-point sensor K2, and the deceleration position is detected by the traverse-out deceleration sensor K3 and the traverse-in deceleration sensor K4.

When the present invention performs lateral entry and lateral exit control, no matter whether it is a fully pneumatic injection molding machine manipulator or an electric hybrid injection molding machine manipulator, when performing lateral out control, J1, J3, J5, and J6 are output at the same time, and when the end point sensor K1 is detected After the signal is closed J1 and J3, J5, J6 output. When the cross-entry control is performed, J2, J4, J5, and J6 are all output at the same time. When the signal of the cross-entry end sensor K2 is detected, the outputs of J2, J4, J5, and J6 are all closed. In this way, there are two outputs, but the stop position after detection is passed through the sensors K1 and K2, so whether it is applied to a full-pneumatic injection molding machine manipulator or an electric hybrid injection molding machine manipulator, this control can control the normal work of the manipulator .

Both the handheld panel processor and the lower control board processor can use the AT89C55 processor chip of ATMEL Company.

The LCD liquid crystal display can adopt Taiwan Nanya 128×64 dot matrix liquid crystal display model LMC97S436A13DL.

Finally, it should also be noted that what is listed above is only a specific embodiment of the present invention. Obviously, the present invention is not limited to the above embodiments, and many variations are possible. All deformations that can be directly derived or associated by those skilled in the art from the content disclosed in the present invention should be considered as the protection scope of the present invention.

Claims (1)

1. A hybrid controller for a pneumatic electric manipulator, comprising a processor module, a digital input module (10), and a digital output module (11). The processor module is a dual-CPU structure, including a hand-held panel processor (1) in the hand-held panel And the lower control board processor (2) in the lower control board; The described hand-held panel is connected successively by LCD liquid crystal display (3), hand-held panel processor (1) and control button (4), is characterized in that , the hand-held panel processor (1) is also connected to the lower control board processor (2) through the RS232 serial interface, and the lower control board processor (2) is connected to the inverter control output interface (12) through a photoelectric isolation device, and the lower control board The board processor (2) is also connected to the digital input module (10) and the digital output module (11) through a photoelectric isolation device; The digital input module (10) is a digital quantity input point for manipulator position travel switch, electronic switch signal and signal from injection molding machine; The frequency converter control output interface (12) includes a full-pneumatic manipulator output interface and a gas-electric hybrid manipulator output interface; wherein the full-pneumatic manipulator output interface includes a pneumatic horizontal output control port (J1) and a pneumatic horizontal input output control port (J2); The output interface of the gas-electric hybrid manipulator includes the interface of the electric cross-out control frequency converter (J3), the electric cross-in control frequency converter interface (J4), the speed selection control port (J5) controlled by the cross-in frequency converter, and the speed controlled by the cross-out frequency converter. Select the control port (J6).

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