CN107450459A - One kind radiation product cutting equipment control system - Google Patents

Abstract

The invention relates to a radiation product cutting equipment control system, which includes a PLC controller, an operation panel, a switching power supply module, a system power supply, a mobile clamping system control unit, a mobile automatic cutting device control unit and a camera; the mobile The clamping system control unit includes a clamping servo driver and a clamping servo motor; the mobile automatic cutting device control unit includes a cutting servo driver, a cutting servo motor and a cutting spindle motor. The invention has a simple and reasonable structural design, is easy to operate, can automatically control equipment cutting processing, improves cutting processing efficiency, and ensures that radiation products can be safely and smoothly processed.

Description

A radiation product cutting equipment control system

technical field

The invention relates to the technical field of radiation product cutting, in particular to a radiation product cutting equipment control system.

Background technique

Radiation product cutting equipment is used to cut or disassemble radioactive waste components or equipment with large dimensions, so that radioactive waste can be smoothly transported and packaged, and subsequently processed in a hot cell. In the nuclear industry, due to the large size of radioactive waste components or equipment, it is necessary to cut and disassemble the waste components or equipment before burial, transportation, packaging and subsequent treatment in the hot chamber. Traditional radiation product cutting equipment is usually an integrated equipment, which is not convenient to operate, inconvenient to move and not conducive to storage, low cutting efficiency and general effect, especially the operation of the control system is not convenient enough to control the mobile clamping system and The mobile automatic cutting device is working, and the mobile clamping system cannot be independently controlled to detect the surface quality of the object, and it is impossible to cut conventional components without nuclear pollution.

Contents of the invention

In view of the above problems, the present invention proposes a radiation product cutting equipment with reasonable conception, which can realize three-dimensional movement, complete the cutting of radiation products with large external dimensions, ensure the safe decomposition of metal waste, improve the processing rate of radiation products, and control stable and reliable radiation products Control System.

Technical scheme of the present invention is as follows:

The above radiation product cutting equipment control system includes PLC controller, operation panel, switching power supply module, system power supply, mobile clamping system control unit, mobile automatic cutting device control unit and camera;

The mobile clamping system control unit includes a clamping servo driver and a clamping servo motor; the mobile automatic cutting device control unit includes a cutting servo driver, a cutting servo motor and a cutting spindle motor;

The power input terminal of the clamping servo driver is connected to the system power supply, and the signal input terminal is connected to the PLC controller through the CAN bus to receive the control instructions of the PLC controller; the signal output of the clamping servo driver The terminal is electrically connected to the signal input end of the clamping servo motor to provide driving force for the clamping servo motor; the feedback input terminal of the clamping servo driver is electrically connected to the motor encoder of the clamping servo motor; The power input terminal of the clamping servo motor is connected to the system power supply, and the signal output terminal is electrically connected to the motor encoder; the motor encoder measures the speed of the clamping servo motor and sends the speed signal through the clamping The servo drive is transmitted to the PLC controller to form a closed-loop system;

The power input end of the cutting servo driver is connected to the system power supply, and the signal input end is connected to the PLC controller through the CAN bus; the signal output end of the cutting servo driver is connected to the cutting servo motor; the cutting servo motor and the power input ends of the cutting spindle motor are connected to the system power supply; the cutting spindle motor is also electrically connected to the PLC controller;

The PLC controller is also electrically connected to the operation panel, the switching power supply module and the camera respectively; the operation panel is bidirectionally electrically connected to the PLC controller through the CAN bus; The system power supply, the power output end is electrically connected with the PLC controller, the operation panel and the camera respectively; the power output end of the switching power supply module is also electrically connected with the limit sensor on the three-dimensional auxiliary moving mechanism of the cutting equipment.

The radiation product cutting equipment control system, wherein: a software system is installed on the operation panel, and the software system includes a main interface unit, an operation console control unit and a cutting device control unit; the operation console control unit and the cutting device control unit All units have start-stop, emergency stop, zero return and reset functions.

The radiation product cutting equipment control system, wherein: the operation panel adopts a MT4532T touch screen and is powered by the switching power supply module, and the touch screen communicates with the PLC controller following the MODBUS/RS485 protocol.

The radiation product cutting equipment control system, wherein: the system power supply adopts 220V alternating current, and its power supply output terminal is connected with a main power switch and is also connected in series with an overcurrent contactor and a protector; the switching power supply module connects the system power supply The 220V alternating current is rectified and stepped down to 24V to provide power for the PLC controller and touch screen.

The radiation product cutting equipment control system, wherein: the clamping servo driver includes an X-axis servo driver, a Y-axis servo driver, a Z-axis servo driver, and a C-axis servo driver; the clamping servo motor includes an auxiliary X-axis servo motor , auxiliary Y-axis servo motor, auxiliary Z-axis servo motor and auxiliary C-axis servo motor; the X-axis servo driver is used to drive the auxiliary X-axis servo motor, and the Y-axis servo driver is used to drive the auxiliary Y-axis A servo motor, the Z-axis servo driver is used to drive the auxiliary Z-axis servo motor, and the C-axis servo driver is used to drive the auxiliary C-axis servo motor.

The radiation product cutting equipment control system, wherein: the cutting servo driver includes a cutting X-axis driver, a cutting Y-axis driver, and a cutting Z-axis driver; the cutting motor includes a cutting X-axis motor, a cutting Y-axis motor, and a cutting Z-axis Motor; the cutting X-axis driver is used to drive the cutting X-axis motor, the cutting Y-axis driver is used to drive the cutting Y-axis motor, and the cutting Z-axis driver is used to drive the cutting Z-axis motor.

The radiation product cutting equipment control system, wherein: the three-dimensional auxiliary moving mechanism is mainly composed of an X-direction moving mechanism, a Y-direction moving mechanism and a Z-direction moving mechanism; the limit sensors are respectively installed on the X-direction moving mechanism, The Y-direction moving mechanism and the Z-direction moving mechanism are at the extreme positions of the travel range; the X-direction moving mechanism is installed on the operating table of the clamping system of the cutting equipment; the camera is installed on the Y-direction moving mechanism.

Beneficial effect:

The radiation product cutting equipment control system of the present invention is simple in design and reasonable in conception, and can realize independent control of the mobile clamping system control unit and the mobile automatic cutting device control unit, that is, the independent control of the mobile automatic cutting device control unit can realize automatic cutting. For radiation products, the control unit of the mobile clamping system can be independently controlled to detect the surface quality of the object. The two parts of the control unit are relatively independent, which is convenient for effective use separately; the operation panel is used as the human-computer interaction interface, and the PLC controller is used as the lower computer. The operation panel communicates with the PLC controller to form a human-computer interaction system. The two form a reliable software and hardware platform control system with easy operation, complete functions, and flexibility. It controls and monitors the entire process of cutting radiation products, which is convenient for personnel. control; and according to the external dimensions of the radiation product, the optimal cutting schedule of the radiation product can be planned, and the PLC program can be written. By controlling the three-dimensional movement of the cutting table, the cutting device can complete the cutting process of the radiation product, realizing the realization of components with radioactive waste or Automation of equipment processing; due to the great hazards of radiation products, the cutting device must be equipped with a safety shield. Image data transmitted by the camera on the slider, and check whether a cut with radioactive waste components or equipment is completed. In this way, the whole system can not only remotely monitor and control the cutting device to process radiation products, but also realize automatic cutting of radiation products, which ensures the safety of operators, improves the processing rate of radiation products, and ensures the smooth processing of radiation products.

The control mode of the control system of the present invention is based on the radiation product cutting equipment control system. The radiation product process is controlled and monitored, which is convenient for control operation, can automatically control the equipment cutting process, improves the efficiency of cutting process, and ensures that the radiation product can be processed safely and smoothly.

Description of drawings

Fig. 1 is the structural principle block diagram of the radiation product cutting equipment control system of the present invention;

Fig. 2 is a software block diagram of the operation panel of the radiation product cutting equipment control system of the present invention;

Fig. 3 is a control flow chart of the control system of the radiation product cutting equipment of the present invention.

detailed description

As shown in Figures 1 to 3, the radiation product cutting equipment control system of the present invention mainly completes the orderly operation of the entire system, and completes the remote and fixed remote control of the system through the operation interface.

The radiation product cutting equipment control system of the present invention includes a PLC controller 1, an operation panel 2, a switching power supply module 3, a system power supply 4, a mobile clamping system control unit 5, a mobile automatic cutting device control unit 6 and a camera 7.

The mobile clamping system control unit 5 includes a clamping servo driver 51 and a clamping servo motor 52; the mobile automatic cutting device control unit 6 includes a cutting servo driver 61, a cutting servo motor 62 and a cutting spindle motor 63.

The PLC controller 1 is electrically connected to the operation panel 2 , the switching power supply module 3 , the mobile clamping system control unit 5 and the mobile automatic cutting device control unit 6 .

The operation panel 2 is electrically connected to the PLC controller 1 via the CAN bus bidirectionally. A software system is installed on the operation panel 2. The software system of the operation panel 2 includes a main interface unit 21, an operation console control unit 22 and a cutting device control unit 23 ; The console control unit 22 has start-stop, emergency stop, zero-return and reset functions, and the cutting device control unit 23 also has start-stop, emergency stop, zero-return and reset functions. The operation panel 2 adopts a model MT4532T touch screen, which is powered by a 24V switching power supply module 3. The touch screen of the operation panel 2 communicates with the PLC controller 1 following the MODBUS/RS485 protocol.

The power supply input terminal of this switching power supply module 3 is electrically connected to 220V system power supply 4, and the power supply output terminal is respectively electrically connected with PLC controller 1, operation panel 2 and camera 7; This switching power supply module 3 rectifies and steps down 220V alternating current to 24V, for The PLC controller 1, the touch screen of the operation panel 2 and other equipment provide power; the power output end of the switching power supply module 3 is also electrically connected to the limit sensor on the three-dimensional auxiliary moving mechanism of the cutting equipment. The three-dimensional auxiliary moving mechanism is mainly composed of an X-direction moving mechanism, a Y-direction moving mechanism and a Z-direction moving mechanism; limit sensors are respectively installed on the limit positions of the stroke ranges of the X-direction moving mechanism, Y-direction moving mechanism and Z-direction moving mechanism. The X-direction moving mechanism is installed on the operating table of the clamping system of the cutting equipment, the Z-direction moving mechanism is installed on the X-direction moving mechanism, the Y-direction moving mechanism is installed on the Z-direction moving mechanism, and the camera 7 is installed on the Y-direction On the moving mechanism, it is used to check whether a cutting is completed; the coordinated movement of the moving mechanism in the X, Y, and Z directions can realize the three-direction adjustment movement of the camera 7; if the camera 7 is replaced with a surface quality inspection tool, the object can be realized Inspection of surface quality.

The system power supply 4 is electrically connected to the switching power supply module 3, the mobile clamping system control unit 5, and the mobile automatic cutting device control unit 6 respectively; wherein, the system power supply 4 is a 220V AC power supply, and its power output terminal is connected to a power bus There are also overcurrent contactors and protectors connected in series.

The power input end of the clamping servo driver 51 is connected to the system power supply 4, the signal input end is connected with the PLC controller 1 through the CAN bus, receives the control command of the PLC controller 1, and the signal output end of the clamping servo driver 51 is connected to the clamping servo drive 51. The motor 52 is electrically connected to provide driving force for the clamping servo motor 52 ; the feedback input end of the clamping servo driver 51 is connected to the motor encoder of the clamping servo motor 52 . The power input end of the clamping servo motor 52 is connected to the system power supply 4, the signal input end of the clamping servo motor 52 is electrically connected to the clamping servo driver 51, and the motor output shaft of the clamping servo motor 52 is mechanically connected to the mechanical equipment. The signal output terminal of the holding servo motor 52 is electrically connected with the motor encoder; the motor encoder measures the rotating speed of the holding servo motor 52 and transmits the rotating speed signal to the PLC controller 1 through the holding servo driver 51 to form a closed-loop system to ensure Accurately control motor operation. Wherein, the clamping servo driver 51 includes an X-axis servo driver, a Y-axis servo driver, a Z-axis servo driver, and a C-axis servo driver; the clamping servo motor 52 includes an auxiliary X-axis servo motor, an auxiliary Y-axis servo motor, and an auxiliary Z-axis servo motor. axis servo motor and auxiliary C-axis servo motor; the X-axis servo driver is used to drive the auxiliary X-axis servo motor, the Y-axis servo driver is used to drive the auxiliary Y-axis servo motor, and the Z-axis servo driver is used to drive the auxiliary Z-axis servo Motor, the C-axis servo driver is used to drive the auxiliary C-axis servo motor.

The power supply input end of this cutting servo driver 61 is connected with system power supply 4, and the signal input end is connected with PLC controller 1 by CAN bus; The signal output end of this cutting servo driver 61 is connected cutting servo motor 62; The power input of this cutting servo motor 62 The terminal is electrically connected to the system power supply 4; wherein, the cutting servo driver 61 includes a cutting X-axis driver, a cutting Y-axis driver and a cutting Z-axis driver; the cutting servo motor 62 includes a cutting X-axis motor, a cutting Y-axis motor and a cutting Z-axis motor ; The cutting X-axis driver is used to drive the cutting X-axis motor, the cutting Y-axis driver is used to drive the cutting Y-axis motor, the cutting Z-axis driver is used to drive the cutting Z-axis motor, and the PLC controller 1 directly controls the cutting spindle motor 63 runs.

The cutting spindle motor 63 power supply input terminal is electrically connected to the system power supply 4, and the cutting spindle motor 63 is also electrically connected to the PLC controller 1. It cuts workpieces on the cutting device platform, so the platform needs to be level with the ground. Ensure that cutting can be carried out smoothly; the cutting device is also installed on the cutting device platform, and its main function is to complete the cutting of radiation products; the cutting device is mainly composed of X, Y, Z three-dimensional motion mechanism and cutting spindle motor 63; three-dimensional movement during cutting The mechanism cooperates with the cutting spindle motor 63 to work in harmony to complete the cutting task.

The control flow of the radiation product cutting equipment control system of the present invention is:

(1) After starting up, the screen will automatically display the main interface. When the communication is normal, the indicator light will flicker and display "communication normal", otherwise the indicator light will always be on and display "communication error"; after displaying that the communication is normal, you can select " Operating table interface", or "cutting spindle motor operating interface".

(2) If you press the button "operating console interface" to enter the operating console interface, you can control the "three-dimensional auxiliary moving mechanism"; after entering the operating console interface, the system will check whether the motor driver is normal: if the green light is always on, If "Normal" is displayed, it means that the drive is not faulty, and the following operations can be performed; if the indicator light is steady red and "Fault" is displayed, it indicates that the drive is faulty, and power-off inspection is required, and subsequent operations cannot be performed.

Under normal motion: press the "Start" button, input the movement speed of the axis (X, Y, Z axis speed range 50-750mm/min, C axis speed range 1-1000r/min), set the axis movement distance ( The X, Y, and Z axis distances must be within the travel range, the unit is mm, the C axis range is 0-999, and the unit is r); select the corresponding axis number and press it, and then press "RUN", the selected axis starts After moving, the current position value of the corresponding axis will be displayed on the operation interface; when it is necessary to temporarily stop the movement of a certain axis, just press the corresponding axis number again. In case of emergency, press the "emergency stop" button, and all axes stop moving.

Under the zero-return movement: press the "Return-to-zero" button, select the corresponding axis number and press it, and the corresponding axis will return to the zero point; when the origin signal of the corresponding axis is flashing, it means returning to the original point; When the negative limit is reached, the limit indicator lights X-, X0 flash; when the positive limit is reached, the limit indicator X+ flashes; Flashing, when the positive limit is reached, the limit indicator Y+ flashes; when the Z axis returns to zero or reaches the negative limit, the limit indicator Z-, Z0 flashes, when the positive limit is reached, the limit indicator Z+ flashes .

(3) If you press the button "cutting spindle motor operation interface" to enter the cutting spindle motor operation interface, you can control the "cutting device"; or press the "home" button to return to the main interface, and then press the "cutting spindle motor operation interface" button to enter the operation interface.

If there is no fault in the drive, the indicator light is always on in green, indicating "normal", otherwise the indicator light is always on in red, indicating "fault"; only when the drive is in the condition of no fault can the operation be performed.

During normal movement: press the "Start" button to drive the lock axis, input the moving speed (the speed range of X, Y, Z axis is 50-750mm/min), the moving distance (the distance of X, Y, Z axis must be within the travel range , the unit is mm); select the button corresponding to the axis number and press it, and then press "RUN", the selected axis starts to move, and the current position value of the corresponding axis starts to change; when it is necessary to temporarily stop the movement of a certain axis , you only need to press the corresponding axis number again; in case of emergency, press the "emergency stop" button, and all axes will stop moving.

During the zero return movement: press the "Return to Zero" button, select the axis number and press it, and the corresponding axis returns to the zero point.

When the "Start" button is pressed and the X and Y axes are not moving, the "cutting spindle motor off" button can be pressed, the cutting spindle motor starts, and the button display changes to "cutting spindle motor on".

When the X-axis returns to zero or reaches the negative limit, the limit indicator lights X-, X0 flash, and when it reaches the positive limit, the limit indicator X+ flashes. When the Y axis returns to the zero point or reaches the negative limit, the limit indicator Y-, Y0 flashes, and when it reaches the positive limit, the limit indicator Y+ flashes. When the Z axis returns to the zero point or reaches the negative limit, the limit indicator lights Z-, Z0 flash, and when the positive limit is reached, the limit indicator Z+ flashes.

When you need to operate the "3D Assisted Moving Mechanism", press the "Home" button to return to the main interface for subsequent operations.

The present invention has simple structural design, reasonable conception, easy control and operation of the equipment, can automatically control the cutting process of the equipment, improves the efficiency of cutting process, and ensures that radiation products can be processed safely and smoothly; the two parts of the control system are relatively independent, which is convenient for effective use respectively.

Claims (7)

1. one kind radiation product cutting equipment control system, it is characterised in that：The control system includes PLC, operation Panel, switch power module, system power supply, portable grasping system control unit, portable automatic cutting device control unit And camera；

The portable grasping system control unit includes clamping servo-driver and clamping servomotor；The movable type is certainly Dynamic cutter device control unit includes cutting servo-driver, cutting servomotor and cutting spindle motor；

The power input of the clamping servo-driver connects the system power supply, signal input part and the PLC Connected by CAN, to receive the control instruction of the PLC；The signal output part of the clamping servo-driver The signal input part of the clamping servomotor is electrically connected, driving force is provided for the clamping servomotor；The clamping The feedback input end of servo-driver electrically connects with the motor encoder of the clamping servomotor；The clamping servo-electric The power input of machine connects the system power supply, and signal output part electrically connects with the motor encoder；The motor encoder Tach signal is simultaneously sent to the PLC controls by the rotating speed of the device measurement clamping servomotor through the clamping servo-driver In device processed, a closed-loop system is formed；

The power input of the cutting servo-driver connects the system power supply, signal input part and the PLC Connected by CAN；The signal output part of the cutting servo-driver connects the cutting servomotor；The cutting is watched The power input for taking motor and cutting spindle motor is connected with the system power supply；It is described cutting spindle motor also with it is described PLC electrically connects；

The PLC is also electrically connected the guidance panel, switch power module and camera；The guidance panel is By CAN with the PLC is two-way electrically connects；The power input of the switch power module electrically connects the system System power supply, power output end electrically connect with the PLC, guidance panel and camera respectively；The switch power module Power output end also electrically connected with the limit sensors in the three-dimensional auxiliary travel mechanism of cutting equipment.

2. radiation product cutting equipment control system as claimed in claim 1, it is characterised in that：Installed on the guidance panel There are software systems, the software systems include main interface unit, operating desk control unit and cutter device control unit；The behaviour Make platform control unit and cutter device control unit is respectively provided with start and stop, jerk, back to zero and reset function.

3. radiation product cutting equipment control system as claimed in claim 2, it is characterised in that：The guidance panel uses type Number MT4532T touch-screens and to be powered by the switch power module, the touch-screen follows with the PLC MODBUS/RS485 protocols.

4. radiation product cutting equipment control system as claimed in claim 3, it is characterised in that：The system power supply uses 220V alternating currents, its power output end are connected with the total lock of power supply and are also in series with excessively stream contactor and protector；

The 220V AC rectifications of the system power supply are depressured to 24V by the switch power module, be the PLC and Touch-screen provides power supply.

5. radiation product cutting equipment control system as claimed in claim 1, it is characterised in that：The clamping servo-driver Including X-axis servo-driver, Y-axis servo-driver, Z axis servo-driver and C axle servo-drivers；The clamping servo-electric Machine includes auxiliary X-shaft servomotor, auxiliary Y-axis servomotor, auxiliary Z axis servomotor and auxiliary C axle servomotors；The X Axle servo-driver is used to drive the auxiliary X-shaft servomotor, and the Y-axis servo-driver is used to drive the auxiliary Y-axis Servomotor, the Z axis servo-driver are used to drive the auxiliary Z axis servomotor, and the C axles servo-driver is used to drive Move the auxiliary C axle servomotors.

6. radiation product cutting equipment control system as claimed in claim 1, it is characterised in that：The cutting servo-driver Including cutting X-axis driver, cutting Y-axis driver and cutting Z axis driver；The cutting motor includes cutting X-axis motor, cut Cut y-axis motor and cutting Z axis motor；The cutting X-axis driver is used to drive the cutting X-axis motor, and the cutting Y-axis is driven Dynamic device is used to drive the cutting y-axis motor, and the cutting Z axis driver is used to drive the cutting Z axis motor.

7. radiation product cutting equipment control system as claimed in claim 1, it is characterised in that：The three-dimensional auxiliary moving machine Structure is mainly made up of X-direction travel mechanism, Y-direction travel mechanism and Z-direction travel mechanism；The limit sensors are installed respectively On the extreme position of the X-direction travel mechanism, Y-direction travel mechanism and Z-direction travel mechanism stroke range；The X side It is arranged on to travel mechanism in the operating table surface of the grasping system of cutting equipment；The camera moves installed in the Y-direction In mechanism.