Control method and full electronic servo control system for operating large-scale mechanical arm

Abstract

The invention relates to a control method and a full electronic servo control system for operating a large-scale mechanical arm; and a body is provided with a main controller, a human-computer interaction device, a power control unit, a signal sensing device and a corresponding servo unit which are interconnected by signal cables. The method comprises the steps of: firstly selecting a main function control mode by the human-computer interaction device of a process control communication module via a main control module of the controller; later detecting the mechanical state and action thereof by the switch of an input/output module and changing to a servo control module to implement the operation function of the servo unit; and then copying the executive instruction in a cache, sending the instruction to a set fault detection and repairing system, and returning the detection result data of the dispute possibility and the fault generating possibility of the instruction from the system; and providing servo motor control on the servo unit due to the control implementation therein, arranging a horizontal servo motor and a horizontal frequency conversion motor according to a horizontal drive mode, and finally implementing transfer to the pull-aligning electric motor and the upper and lower electric motors and the drive to the upper and lower servo motors.

Description

technical field [0001] The present invention relates to the field of mechanical automation control, in particular to a control method for operating a large horizontally moving mechanical arm, and the present invention further relates to an all-electronic servo control system for realizing the method. Background technique [0002] The current numerical control device is composed of a control system that controls the machine as the main function of the numerical control device; Form the CNC system to work. In such a numerical control system, a control unit that controls the machine is connected to an external operation unit, and when a processing request is issued from the control unit to the operation unit, it is regarded as abnormal if it is not received. However, in the numerical control device, the collision prevention function of detecting the collision between mechanical parts, tools, furniture, and materials is detected by using shape data in the computer that has been...

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Problems solved by technology

[0003] To sum up, because only whether the operation unit receives it is used as the judgment standard, so it can only judge its abnormality. To make high-speed judgment detection and realize fault handling, more processing time is required, resulting in mechanical control failure. The execution cycle is shorter than the fault processing time, causing system abnormality and damage to mechanical equipment

[0004] The function and operation mode of mechanical digital control is single, and there is no choice, because there is no perfect fault detection and repair concept, let alone the protection function of automatic control of abnormal operation to stop the cycle process and automatic shutdown of the system process, so it does not have multiple functions of the combination matching conditions, so that it cannot meet the development trend of the machinery manufacturing industry with higher and higher standards. The automatic fault handling method that has been realized at present can only make judgments and handle the obvious abnormalities in the overall operation control, and the specific implementation links. There are no relatively complete solutions for signal failures, such as signal failures of up, down, backward and forward movement of the mechanical arm, such as signal failures such as moving speed and acceleration exceeding the standard speed range

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