CN110716488A - Shot blasting equipment control method - Google Patents
Shot blasting equipment control method Download PDFInfo
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- CN110716488A CN110716488A CN201911005238.2A CN201911005238A CN110716488A CN 110716488 A CN110716488 A CN 110716488A CN 201911005238 A CN201911005238 A CN 201911005238A CN 110716488 A CN110716488 A CN 110716488A
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- brick
- brick pushing
- pushing machine
- shot blasting
- plc
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1103—Special, intelligent I-O processor, also plc can only access via processor
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Furnace Housings, Linings, Walls, And Ceilings (AREA)
Abstract
The invention discloses a control method of shot blasting equipment, wherein the shot blasting equipment comprises a brick conveying belt, a brick pushing machine, a shot blasting belt and a power control mechanism, the brick pushing machine comprises a brick pushing clamping jaw and a folding clamping jaw, and the power control mechanism comprises a PLC (programmable logic controller), a servo driver and a servo motor. The PLC controller, the servo driver and the servo motor are matched to realize rich motion control functions, the servo driver drives the servo motor to work after receiving signals of the PLC controller and automatically accelerates and decelerates according to a configured motion curve, the servo motor can return the position of the brick pushing device to the PLC controller in real time, the brick pushing device acts quickly and accurately, multi-point positioning is realized, the working efficiency is improved, and the operation is reliable.
Description
Technical Field
The invention relates to the field of bricklaying forming, in particular to a shot blasting equipment control method.
Background
The brick pushing device of the shot blasting equipment is an important component in a shot blasting production line of a concrete block forming machine, and is transfer equipment for concrete blocks.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the shot blasting equipment control method provided by the invention has the advantages that the equipment action is rapid and accurate, the multi-point positioning is realized, the working efficiency is improved, and the operation is reliable.
The shot blasting equipment comprises a brick conveying belt, a brick pushing machine, a shot blasting belt and a power control mechanism, wherein the brick pushing machine comprises a brick pushing clamping jaw and a folding clamping jaw, the power control mechanism comprises a PLC (programmable logic controller), a servo driver and a servo motor, and the control method comprises the following steps: s1, the PLC checks an external detection signal and confirms that the PLC is ready for initial preparation; s2, the PLC sends a brick pushing machine advancing signal, an operation speed and a numerical value of the brick pushing machine advancing in place to the servo driver; s3, the servo driver receives the signal and then drives the servo motor to rotate positively, the servo motor automatically accelerates and decelerates according to the configured motion curve, and the brick pusher moves forward; s4, when the brick pushing machine reaches the folding position, the folding clamping jaws clamp tightly, and the edge of the brick pushing machine moves forward; s5, the PLC acquires the position of the brick pushing machine from the servo driver in real time, and when the distance between the brick pushing machine and the workpiece on the shot blasting belt reaches a set interval, the PLC sends a deceleration signal to the servo driver to control the servo motor to reduce the speed to be the same as that of the shot blasting belt; s6, stopping when the brick pushing machine advances in place, lifting the brick pushing clamping jaws, and loosening the folded clamping jaws; s7, the PLC sends a brick pusher backing signal, an operation speed and a brick pusher backing in-place numerical value to the servo driver; s8, the servo driver drives the servo motor to work in a reverse rotation mode, the servo motor automatically accelerates and decelerates according to a configured motion curve, and the brick pushing machine retreats; and S9, after the brick pushing machine retreats to the proper position, stopping the action of the brick pushing machine, and returning to the step S1.
The shot blasting equipment control method provided by the embodiment of the invention at least has the following beneficial effects: adopt servo drive system to realize the motion control that the fragment of brick transported in the shot blasting equipment, the PLC controller can carry out accurate control to pushing away brick machine position and action, the PLC controller, servo driver and servo motor cooperation realize abundant motion control function, servo driver receives the work of drive servo motor behind the PLC controller signal, and according to the automatic acceleration and deceleration of the motion curve that the configuration is good, servo motor can return in real time and push away brick device position to the PLC controller, it is quick, accurate to push away the action of brick device, and realize the multiple spot location, and the high pressure heater improves work efficiency, and the operation is reliable.
According to some embodiments of the invention, the step S1 includes: and the PLC checks an external detection signal, and confirms whether the brick pushing clamping jaw is lifted in place, whether the folding clamping jaw is loosened in place and whether the brick conveying belt conveys the workpiece to the brick pushing machine.
According to some embodiments of the invention, the step S1 includes: the PLC checks an external detection signal, detects whether the shot blasting belt runs or not, detects whether the brick pushing machine is at a transition platform position or not if the shot blasting belt does not run, and waits for the shot blasting belt to run if the brick pushing machine is at the transition platform position; if the brick pusher is not at the position of the transition platform, the PLC sends a brick pusher advancing signal, an operation speed and a numerical value of the brick pusher advancing to the transition platform to the servo driver, the servo driver receives the signal and then drives the servo motor to rotate forwardly and automatically accelerate and decelerate according to a configured motion curve, and the brick pusher stops and waits for the operation of a shot blasting belt after advancing to the position of the transition platform.
According to some embodiments of the invention, the step S4 includes: and the PLC acquires the position of the brick pushing machine from the servo driver, judges whether the brick pushing machine reaches the folding position, and clamps the folding clamping jaw if the brick pushing machine reaches the folding position, so that the brick pushing machine advances while being folded.
According to some embodiments of the invention, the step S6 includes: the PLC acquires the position of the brick pushing machine from the servo driver in real time, judges whether the brick pushing machine advances in place or not, stops the brick pushing machine if the brick pushing machine advances in place, raises the brick pushing clamping jaw and releases the folding clamping jaw.
According to some embodiments of the invention, the step S7 includes: the PLC controller detects whether the brick pushing clamping jaw ascends to the right position and whether the folding clamping jaw is loosened to the right position, if the brick pushing clamping jaw ascends to the right position and the folding clamping jaw is loosened to the right position, the PLC controller sends a brick pushing machine retreating signal, an operation speed and a numerical value of the brick pushing machine retreating to the right position to the servo driver.
According to some embodiments of the invention, the step S9 includes: and the PLC acquires the position of the brick pushing machine from the servo driver in real time, judges whether the brick pushing machine backs in place or not, stops the action of the brick pushing machine if the brick pushing machine backs in place, and returns to the step S1.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a control method of the present invention;
FIG. 2 is a flowchart of step S1 according to the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
Referring to fig. 1 and 2, a shot blasting device control method, the shot blasting device comprises a brick feeding belt, a brick pushing machine, a shot blasting belt and a power control mechanism, the brick pushing machine comprises a brick pushing clamping jaw and a folding clamping jaw, the power control mechanism comprises a PLC (programmable logic controller), a servo driver and a servo motor, the PLC configures and debugs motion control through a process object function, PROFINET is adopted to transmit a control command to the servo driver, the servo driver directly controls the servo motor, the numerical value of a built-in encoder of the servo motor is fed back to the servo driver, the servo driver feeds back the encoder value, the motor state and the servo driver state of the servo motor to the PLC in real time through a PROFINET communication protocol, and closed-loop control of the servo motor is realized. The control method comprises the following steps: s1, the PLC checks the external detection signal and confirms the initial readiness; s2, the PLC sends a brick pushing machine advancing signal, an operation speed and a numerical value of the brick pushing machine in-place advancing to the servo driver; s3, after receiving the signal, the servo driver drives the servo motor to rotate positively, and automatically accelerates and decelerates according to the configured motion curve, and the brick pusher advances; s4, when the brick pushing machine reaches the folding position, the folding clamping jaw is clamped tightly, and the folding edge of the brick pushing machine advances; s5, the PLC acquires the position of the brick pushing machine from the servo driver in real time, and when the spacing distance between the brick pushing machine and the workpiece on the shot blasting belt reaches a set interval, the PLC sends a deceleration signal to the servo driver to control the servo motor to reduce the speed to be the same as that of the shot blasting belt; s6, stopping when the brick pushing machine advances to the right position, lifting the brick pushing clamping jaw, and loosening the folded clamping jaw; s7, the PLC sends a brick pusher backing signal, the running speed and the numerical value of the brick pusher backing in place to the servo driver; s8, the servo driver drives the servo motor to work reversely, and the servo motor automatically accelerates and decelerates according to the configured motion curve, and the brick pusher moves backwards; and S9, after the brick pushing machine retreats to the right position, stopping the brick pushing machine, and returning to the step S1.
Adopt servo drive system to realize the motion control that the fragment of brick transported in the shot blasting equipment, the PLC controller can carry out accurate control to pushing away brick machine position and action, the PLC controller, servo driver and servo motor cooperation realize abundant motion control function, servo driver receives the work of drive servo motor behind the PLC controller signal, and according to the automatic acceleration and deceleration of the motion curve that the configuration is good, servo motor can return in real time and push away brick device position to the PLC controller, it is quick, accurate to push away the action of brick device, and realize the multiple spot location, and the high pressure heater improves work efficiency, and the operation is reliable. The PLC controller adopts Siemens S7-1500PLC as a control main body, and exchanges data with a driving device through PROFINET, so that the servo motor is controlled through the driving device. The Siemens S7-1500PLC comprises a motion control process object function, supports process objects such as a rotating shaft, a positioning shaft, a synchronizing shaft and an external encoder, has a shaft control panel and comprehensive online and diagnosis functions, and is beneficial to easily completing debugging and optimizing work of a driving device. An SINAMICSV90 servo motor is adopted, and an encoder is arranged in the servo motor, so that the problem of installation and fixation of an external encoder is solved; the encoder is directly connected to the servo drive, the encoder numerical value is not required to be processed by the PLC, and the PLC directly obtains the encoder numerical value from the servo drive through the PROFINET.
According to the shot blasting equipment control method provided by the embodiment of the invention, the step S1 comprises the following steps: the PLC checks an external detection signal, and confirms whether the brick pushing clamping jaw is lifted in place, whether the folding clamping jaw is loosened in place and whether the brick conveying belt conveys the workpiece to the brick pushing machine. And judging whether the brick pushing machine is ready according to whether the brick pushing clamping jaw is lifted in place, whether the folding clamping jaw is loosened in place and whether the brick conveying belt conveys the workpiece to the brick pushing machine position, and ensuring that the brick pushing machine returns to the initial position.
According to some embodiments of the invention, step S1 further comprises: the PLC checks an external detection signal, detects whether the shot blasting belt runs or not, detects whether the brick pushing machine is at the position of the transition platform or not if the shot blasting belt does not run, and waits for the shot blasting belt to run if the brick pushing machine is at the position of the transition platform; if the brick pusher is not at the position of the transition platform, the PLC sends a brick pusher advancing signal, an operation speed and a numerical value of the brick pusher advancing to the transition platform to the servo driver, the servo driver drives the servo motor to rotate forwardly after receiving the signal and automatically accelerates or decelerates according to a configured motion curve, and the brick pusher stops after advancing to the position of the transition platform and waits for the operation of a shot blasting belt. The shot blasting belt is ensured to run before the brick pushing machine pushes bricks, and the situation that the shot blasting belt does not work and cannot be processed next step when the bricks are sent to the shot blasting belt is avoided.
According to some embodiments of the invention, the step S4 includes: the PLC acquires the position of the brick pushing machine from the servo driver, judges whether the brick pushing machine reaches the folding position, and clamps the folding clamping jaw if the brick pushing machine reaches the folding position, and the brick pushing machine moves forwards while being folded. The position of the brick pushing machine is positioned in real time, when the brick pushing machine reaches the folding position, the folding clamping jaws are clamped, the brick pushing machine moves forwards while being folded, the equipment runs accurately, and the reliability is high.
According to some embodiments of the invention, the step S6 includes: the PLC controller acquires the position of the brick pushing machine from the servo driver in real time, judges whether the brick pushing machine advances in place or not, stops the brick pushing machine if the brick pushing machine advances in place, raises the brick pushing clamping jaws, and releases the folding clamping jaws. The brick is delivered to the designated location.
According to some embodiments of the invention, step S7 includes: the PLC detects whether the brick pushing clamping jaw is lifted in place or not and whether the folding clamping jaw is loosened in place or not, and if the brick pushing clamping jaw is lifted in place and the folding clamping jaw is loosened in place, the PLC sends a brick pushing machine retreating signal, a running speed and a brick pushing machine retreating in place numerical value to the servo driver. Whether the action is in place or not is detected after the brick is confirmed to be delivered to the designated position by the brick pushing claw, the condition that the brick is not put down by the brick pushing claw is avoided, and the equipment is reliable in work.
According to some embodiments of the invention, step S9 includes: and the PLC acquires the position of the brick pushing machine from the servo driver in real time, judges whether the brick pushing machine backs in place or not, stops the action of the brick pushing machine if the brick pushing machine backs in place, and returns to the step S1. And returning the brick pushing machine to the initial position to prepare for next brick pushing.
Claims (7)
1. A shot blasting equipment control method is characterized by comprising the following steps: the shot blasting equipment comprises a brick conveying belt, a brick pushing machine, a shot blasting belt and a power control mechanism, the brick pushing machine comprises a brick pushing clamping jaw and a folding clamping jaw, the power control mechanism comprises a PLC (programmable logic controller), a servo driver and a servo motor, and the control method comprises the following steps:
s1, the PLC checks an external detection signal and confirms that the PLC is ready for initial preparation;
s2, the PLC sends a brick pushing machine advancing signal, an operation speed and a numerical value of the brick pushing machine advancing in place to the servo driver;
s3, the servo driver receives the signal and then drives the servo motor to rotate positively, the servo motor automatically accelerates and decelerates according to the configured motion curve, and the brick pusher moves forward;
s4, when the brick pushing machine reaches the folding position, the folding clamping jaws clamp tightly, and the edge of the brick pushing machine moves forward;
s5, the PLC acquires the position of the brick pushing machine from the servo driver in real time, and when the distance between the brick pushing machine and the workpiece on the shot blasting belt reaches a set interval, the PLC sends a deceleration signal to the servo driver to control the servo motor to reduce the speed to be the same as that of the shot blasting belt;
s6, stopping when the brick pushing machine advances in place, lifting the brick pushing clamping jaws, and loosening the folded clamping jaws;
s7, the PLC sends a brick pusher backing signal, an operation speed and a brick pusher backing in-place numerical value to the servo driver;
s8, the servo driver drives the servo motor to work in a reverse rotation mode, the servo motor automatically accelerates and decelerates according to a configured motion curve, and the brick pushing machine retreats;
and S9, after the brick pushing machine retreats to the proper position, stopping the action of the brick pushing machine, and returning to the step S1.
2. The shot blasting apparatus control method according to claim 1, characterized in that: the step S1 includes: and the PLC checks an external detection signal, and confirms whether the brick pushing clamping jaw is lifted in place, whether the folding clamping jaw is loosened in place and whether the brick conveying belt conveys the workpiece to the brick pushing machine.
3. The shot blasting apparatus control method according to claim 1 or 2, characterized in that: the step S1 includes: the PLC checks an external detection signal, detects whether the shot blasting belt runs or not, detects whether the brick pushing machine is at a transition platform position or not if the shot blasting belt does not run, and waits for the shot blasting belt to run if the brick pushing machine is at the transition platform position; if the brick pusher is not at the position of the transition platform, the PLC sends a brick pusher advancing signal, an operation speed and a numerical value of the brick pusher advancing to the transition platform to the servo driver, the servo driver receives the signal and then drives the servo motor to rotate forwardly and automatically accelerate and decelerate according to a configured motion curve, and the brick pusher stops and waits for the operation of a shot blasting belt after advancing to the position of the transition platform.
4. The shot blasting apparatus control method according to claim 1, characterized in that: the step S4 includes: and the PLC acquires the position of the brick pushing machine from the servo driver, judges whether the brick pushing machine reaches the folding position, and clamps the folding clamping jaw if the brick pushing machine reaches the folding position, so that the brick pushing machine advances while being folded.
5. The shot blasting apparatus control method according to claim 1, characterized in that: the step S6 includes: the PLC acquires the position of the brick pushing machine from the servo driver in real time, judges whether the brick pushing machine advances in place or not, stops the brick pushing machine if the brick pushing machine advances in place, raises the brick pushing clamping jaw and releases the folding clamping jaw.
6. The shot blasting apparatus control method according to claim 1, characterized in that: the step S7 includes: the PLC controller detects whether the brick pushing clamping jaw ascends to the right position and whether the folding clamping jaw is loosened to the right position, if the brick pushing clamping jaw ascends to the right position and the folding clamping jaw is loosened to the right position, the PLC controller sends a brick pushing machine retreating signal, an operation speed and a numerical value of the brick pushing machine retreating to the right position to the servo driver.
7. The shot blasting apparatus control method according to claim 1, characterized in that: the step S9 includes: and the PLC acquires the position of the brick pushing machine from the servo driver in real time, judges whether the brick pushing machine backs in place or not, stops the action of the brick pushing machine if the brick pushing machine backs in place, and returns to the step S1.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911005238.2A CN110716488A (en) | 2019-10-22 | 2019-10-22 | Shot blasting equipment control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911005238.2A CN110716488A (en) | 2019-10-22 | 2019-10-22 | Shot blasting equipment control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP1804145A1 (en) * | 2005-12-29 | 2007-07-04 | Doosan Infracore Co., Ltd. | Turret tool servo control device with overriding function |
| CN201833249U (en) * | 2010-10-27 | 2011-05-18 | 广东科达机电股份有限公司 | Brick pushing device adopting servo control |
| CN106429465A (en) * | 2016-10-31 | 2017-02-22 | 洛阳理工学院 | Intelligent brick stacking machine |
| CN106896781A (en) * | 2015-12-17 | 2017-06-27 | 广东科达洁能股份有限公司 | A kind of edge polisher numerical control pushes away brick device and method |
| CN110228754A (en) * | 2018-11-27 | 2019-09-13 | 东南大学 | A kind of industrial overhead crane control method and system of adaptive speed planning |
| CN110339976A (en) * | 2019-08-09 | 2019-10-18 | 河北秋旺智能装备有限公司 | A robot automatic gluing heating feeding system for automobile rear glass |
-
2019
- 2019-10-22 CN CN201911005238.2A patent/CN110716488A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1804145A1 (en) * | 2005-12-29 | 2007-07-04 | Doosan Infracore Co., Ltd. | Turret tool servo control device with overriding function |
| CN201833249U (en) * | 2010-10-27 | 2011-05-18 | 广东科达机电股份有限公司 | Brick pushing device adopting servo control |
| CN106896781A (en) * | 2015-12-17 | 2017-06-27 | 广东科达洁能股份有限公司 | A kind of edge polisher numerical control pushes away brick device and method |
| CN106429465A (en) * | 2016-10-31 | 2017-02-22 | 洛阳理工学院 | Intelligent brick stacking machine |
| CN110228754A (en) * | 2018-11-27 | 2019-09-13 | 东南大学 | A kind of industrial overhead crane control method and system of adaptive speed planning |
| CN110339976A (en) * | 2019-08-09 | 2019-10-18 | 河北秋旺智能装备有限公司 | A robot automatic gluing heating feeding system for automobile rear glass |
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