Electromagnetic chuck control device and control method for electromagnetic chuck control device

Abstract

This invention discloses an electromagnetic chuck control device and a control method for the electromagnetic chuck control device. The electromagnetic chuck control device includes: a command input module, a main controller, a phase-shift trigger, a thyristor module, an electromagnetic chuck, and a sampling feedback module. The command input module is connected to the main controller and is used to transmit external commands to the main controller. The sampling feedback module is connected between the electromagnetic chuck and the main controller and is used to sample the current and voltage of the electromagnetic chuck and feed them back to the main controller. The phase-shift trigger is connected between the main controller and the thyristor module and is used to trigger the thyristor module according to the trigger signal sent by the main controller. The thyristor module is connected to the electromagnetic chuck and is used to rectify AC voltage into DC voltage and control the electromagnetic chuck. This invention can improve the adjustment accuracy and working efficiency of the electromagnetic chuck's magnetic force and enhance the intelligence level of the electromagnetic chuck device.

Description

Technical Field

[0001] This invention relates to the field of industrial control technology, and in particular to an electromagnetic chuck control device and a control method for the electromagnetic chuck control device. Background Technology

[0002] Existing electromagnetic chuck control devices are unable to achieve real-time protection of the thyristor rectified current during electromagnetic chuck operation. In severe cases, this may lead to dangerous consequences and safety issues such as electromagnetic chuck burnout and the falling of the adsorbed object. Existing electromagnetic chuck control devices use open-loop output, resulting in poor working stability and low precision in adjusting the magnetic force of the electromagnetic chuck. Summary of the Invention

[0003] This invention provides an electromagnetic chuck control device and a control method for the electromagnetic chuck control device, which can improve the adjustment accuracy of the electromagnetic chuck, improve the working efficiency of the electromagnetic chuck, and enhance the intelligence level of the electromagnetic chuck device.

[0004] According to one aspect of the present invention, an electromagnetic chuck control device is provided, comprising: a command input module, a main controller, a phase-shifting trigger, a thyristor module, an electromagnetic chuck, and a sampling feedback module;

[0005] The command input module is connected to the main controller, and the command input module is used to transmit external commands to the main controller;

[0006] The sampling feedback module is connected between the electromagnetic chuck and the main controller. The sampling feedback module is used to sample the current and voltage of the electromagnetic chuck and feed them back to the main controller.

[0007] The phase-shift trigger is connected between the main controller and the thyristor module. The phase-shift trigger is used to trigger the thyristor module according to the trigger signal sent by the main controller.

[0008] The thyristor module is connected to the electromagnetic chuck, and the thyristor module is used to rectify the AC voltage into DC voltage and control the electromagnetic chuck.

[0009] Optionally, the main controller includes a PID calculation unit, a current monitoring unit, a thyristor conduction angle adjustment unit, a processing unit, and a bus communication unit;

[0010] The sampling feedback module is used to sample the current and voltage of the electromagnetic chuck and feed them back to the PID calculation unit and the current monitoring unit;

[0011] The phase-shifting trigger is used to receive the trigger signal from the thyristor conduction angle adjustment unit and trigger the thyristor module;

[0012] The main controller communicates with the crane's electrical control system through the bus communication unit, and the processing unit is used for processing and calculating the electromagnetic chuck's operation control logic.

[0013] Optionally, the current monitoring unit and the processing unit are used to identify faults that occur during the operation of the electromagnetic chuck. The processing unit is used to identify erroneous command input faults through logical judgment and to identify overheating faults of the thyristor module through temperature detection. The sampling feedback module is used to identify current faults by sampling and judging the three-phase input current.

[0014] Optionally, the sampling feedback module is used to sample the DC voltage across the coil and the DC current flowing through it during operation of the electromagnetic chuck;

[0015] The PID calculation unit is used to adjust the voltage at both ends of the electromagnetic chuck or the current flowing through the electromagnetic chuck coil to control and regulate the magnetic force of the electromagnetic chuck.

[0016] Optionally, the thyristor conduction angle adjustment unit is used to calculate the conduction angle of the thyristor in the thyristor module and adjust the conduction angle of the thyristor;

[0017] The thyristor conduction angle adjustment unit is also used to adjust the conduction angle to change the operating mode of the thyristor, which includes rectification mode and inverter mode.

[0018] Optionally, the thyristor conduction angle adjustment unit is used to calculate the conduction angle of the thyristor using a first preset conduction angle calculation formula when the power supply side is a three-phase AC 220V power supply.

[0019] The thyristor conduction angle adjustment unit is used to calculate the conduction angle of the thyristor using a second preset conduction angle calculation formula when the power supply side is a three-phase AC 380V power supply.

[0020] Optionally, the conduction angle of the thyristor can be adjusted within the range of 0° to 150°.

[0021] Optionally, the bus communication unit is used to issue action instructions and numerical commands;

[0022] The action command includes at least one of the following: excitation action command, demagnetization action command, strong magnetization action command, and weak magnetization action command;

[0023] The numerical commands include at least one of constant voltage operating voltage value, constant current operating current value, and strong magnetic operating voltage value.

[0024] Optionally, the processing unit is used to set the delay time for the automatic feeding judgment of the electromagnetic chuck and the trigger time for the automatic demagnetization operation.

[0025] According to another aspect of the present invention, a control method for an electromagnetic chuck control device is provided. The electromagnetic chuck control device includes: a command input module, a main controller, a phase-shift trigger, a thyristor module, an electromagnetic chuck, and a sampling feedback module. The command input module is connected to the main controller, the sampling feedback module is connected between the electromagnetic chuck and the main controller, the phase-shift trigger is connected between the main controller and the thyristor module, and the thyristor module is connected to the electromagnetic chuck.

[0026] The control method of the electromagnetic chuck control device includes:

[0027] Obtain external input commands and send them to the main controller;

[0028] The current and voltage of the electromagnetic chuck are sampled and fed back to the main controller;

[0029] The thyristor module is triggered according to the trigger signal sent by the main controller;

[0030] The externally input AC voltage is rectified into DC voltage and used to control the electromagnetic chuck.

[0031] The technical solution of this invention, through intelligent upgrading and transformation of existing electromagnetic chucks, proposes a control device for industrial high-current electromagnetic chucks. This device enables intelligent control of industrial electromagnetic chucks, employing real-time current monitoring and fault identification to effectively avoid risks. By using negative feedback control technology and PID software algorithms to dynamically adjust the voltage and current of the rectified output, it ensures that the voltage or current on the electromagnetic chuck coil remains constant, achieving high-precision magnetic output. It can realize functions such as current anomaly protection, high-precision closed-loop control, compatibility with different power supplies, energy feedback, and equipment linkage during electromagnetic chuck operation, thereby optimizing the control characteristics of industrial electromagnetic chucks and maximizing work efficiency. In summary, this invention solves the safety problem of existing electromagnetic chuck control devices failing to achieve real-time protection of the thyristor rectified current during electromagnetic chuck operation, which may lead to electromagnetic chuck burnout and object drop in severe cases. It also solves the problems of existing electromagnetic chuck control devices using open-loop output, resulting in poor operational stability and low magnetic force adjustment accuracy.

[0032] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the structure of an electromagnetic chuck control device according to an embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram of the structure of another electromagnetic chuck control device provided according to an embodiment of the present invention;

[0036] Figure 3 This is a flowchart of a control method for an electromagnetic chuck control device according to an embodiment of the present invention. Detailed Implementation

[0037] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0038] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0039] Figure 1 This is a schematic diagram of an electromagnetic chuck control device according to an embodiment of the present invention. (Refer to...) Figure 1This invention provides an electromagnetic chuck control device, comprising: a command input module 10, a main controller 20, a phase-shift trigger 30, a thyristor module 40, an electromagnetic chuck 50, and a sampling feedback module 60. The command input module is connected to the main controller 20 and is used to transmit external commands to the main controller. The sampling feedback module 60 is connected between the electromagnetic chuck 50 and the main controller 20 and is used to sample the current and voltage of the electromagnetic chuck 50 and feed them back to the main controller 20. The phase-shift trigger 30 is connected between the main controller 20 and the thyristor module 40 and is used to trigger the thyristor module 40 according to a trigger signal sent by the main controller 20. The thyristor module 40 is connected to the electromagnetic chuck 50 and is used to rectify AC voltage into DC voltage and control the electromagnetic chuck 50.

[0040] Specifically, the main controller 20 can use an industrial-grade microcontroller chip, which needs to have serial communication and A / D conversion functions. Common chips such as STM32F407 and GD32F303 can meet the requirements. The command input module 10 can use a self-locking push-button switch (such as the LA38 series) to provide input signals to the microcontroller chip; the phase-shift trigger 30 can use commercially available products (such as the DK1 series) or can be made into its own circuit hardware; the thyristor module 40 can use commonly used MTC series thyristors; the electromagnetic chuck 50 can be an industrial high-current electromagnetic chuck; the sampling feedback module 60 can use a general-purpose AC current transformer (such as the Chint BH series) to sample the three-phase AC current, a Hall-effect DC current sensor (such as the JCE series) to sample the DC current, and a voltage divider resistor to sample the DC voltage.

[0041] The electromagnetic chuck control device consists of a main controller and necessary peripheral hardware, including a command input module 10, a sampling feedback module 60, a phase-shift trigger 30, and a thyristor module 40. The command input module 10 inputs external commands to the main controller 20. The sampling feedback module 60 samples the current and voltage of the electromagnetic chuck 12 and feeds them back to the main controller 20. The phase-shift trigger 30 receives the trigger signal from the main controller 20 and triggers the thyristors in the thyristor module 40. The three-phase AC voltage is rectified by the thyristor module 40 into a DC voltage to control the electromagnetic chuck 12. The main controller 20 communicates with the crane's electrical control system via a bus, and it implements all operational control logic functions.

[0042] The technical solution of this invention, through intelligent upgrading and transformation of existing electromagnetic chucks, proposes a control device for industrial high-current electromagnetic chucks. This device enables intelligent control of industrial electromagnetic chucks, employing real-time current monitoring and fault identification to effectively avoid risks. By using negative feedback control technology and PID software algorithms to dynamically adjust the voltage and current of the rectified output, it ensures that the voltage or current on the electromagnetic chuck coil remains constant, achieving high-precision magnetic output. It can realize functions such as current anomaly protection, high-precision closed-loop control, compatibility with different power supplies, energy feedback, and equipment linkage during electromagnetic chuck operation, thereby optimizing the control characteristics of industrial electromagnetic chucks and maximizing work efficiency. In summary, this invention solves the safety problem of existing electromagnetic chuck control devices failing to achieve real-time protection of the thyristor rectified current during electromagnetic chuck operation, which may lead to electromagnetic chuck burnout and object drop in severe cases. It also solves the problems of existing electromagnetic chuck control devices using open-loop output, resulting in poor operational stability and low magnetic force adjustment accuracy.

[0043] Figure 2 This is a schematic diagram of the structure of another electromagnetic chuck control device according to an embodiment of the present invention, with reference to... Figure 2 Optionally, the main controller 20 includes a PID calculation unit 21, a current monitoring unit 22, a thyristor conduction angle adjustment unit 23, a processing unit 24, and a bus communication unit 25; the sampling feedback module 60 is used to sample the current and voltage of the electromagnetic chuck 50 and feed them back to the PID calculation unit 21 and the current monitoring unit 22; the phase-shift trigger 30 is used to receive the trigger signal issued by the thyristor conduction angle adjustment unit 23 and trigger the thyristor module 40; the main controller 20 communicates with the crane electrical control system through the bus communication unit 25, and the processing unit 24 is used for processing and calculating the control logic of the electromagnetic chuck 12.

[0044] Specifically, the command input module 10 inputs external commands to the main controller 20, the sampling feedback module 60 samples the current and voltage of the electromagnetic chuck 50 and feeds them back to the PID calculation unit 21 and the current monitoring unit 22 in the main controller 20, the phase-shift trigger 30 receives the trigger signal from the thyristor conduction angle adjustment unit 23 in the main controller 20 and triggers the thyristors in the thyristor module 40, the three-phase AC voltage is rectified by the thyristor module 40 into DC voltage to control the electromagnetic chuck 50, the main controller 20 realizes collaborative work with the crane electrical control system through the bus communication unit 25, and the processing unit 24 in the main controller 20 is used to realize all the operation control logic functions.

[0045] Existing electromagnetic chuck control methods do not provide sufficient precision in controlling the thyristor conduction angle, limiting them to basic functions. This invention dynamically adjusts the thyristor conduction angle through a built-in algorithm in the thyristor conduction angle adjustment unit 23, thereby achieving numerous functions such as inverter mode coil energy feedback, compatibility with AC220V and AC380V power supplies, and high-current electromagnetic chuck control, further improving the working efficiency and applicable scenarios of the electromagnetic chuck.

[0046] Existing electromagnetic chuck control methods operate in a stand-alone mode and cannot interact with other electrical control systems in the factory. This invention, through built-in bus communication 25 and providing an open interface, enables collaborative work with other electrical control systems, effectively improving the factory's automation level.

[0047] Continue to refer to Figure 2 Optionally, the current monitoring unit 22 and the processing unit 24 are used to identify faults that occur during the operation of the electromagnetic chuck 50. The processing unit 24 is used to identify faulty command input through logical judgment and to identify overheating faults of the thyristor module 40 through temperature detection. The sampling feedback module 60 is used to identify current faults by sampling and judging the three-phase input current.

[0048] Specifically, the system can automatically identify faults occurring during the operation of the electromagnetic chuck 50. Through logical judgment, it can identify erroneous command input faults; through temperature detection, it can identify thyristor overheating faults in the thyristor module 40; and through sampling and judging the three-phase input current, it can identify current faults. The current fault identification method compares the sampled current with the current value under rated power conditions, using the accumulated error value to identify abnormalities in the operation of the electromagnetic chuck 50 in real time. Upon fault identification, an alarm is immediately triggered. If the fault is not current-related, the device will be locked after the current workflow ends, and operation can only resume after the user finds the cause of the abnormality and resets the device. If the fault is current-related, it automatically switches to a power-off magnetic preservation program, powered by an external battery, to ensure that the currently adsorbed material does not fall due to power supply issues. Identifiable current faults include overload, short circuit, phase loss, phase reversal, and phase imbalance.

[0049] The real-time three-phase AC current values ​​are compared with the theoretical current values ​​under rated operation. If there is an error, the error value is accumulated. Once the accumulated value reaches a certain upper limit, it can be identified as a current overload or short circuit fault. The real-time three-phase AC current values ​​are also compared with each other. If the current value of one phase differs too much from the current values ​​of the other two phases and the difference is maintained for a certain period of time, it can be identified as a current phase loss or phase imbalance fault. By identifying the maximum value of each phase of the three-phase AC current, the phase reversal fault is identified based on the sampling time of the maximum value. Once a current fault is identified, an alarm is triggered to promptly find the cause of the fault and prevent dangerous consequences.

[0050] Continue to refer to Figure 2 Optionally, the sampling feedback module 60 is used to sample the DC voltage across the coil and the DC current flowing through it when the electromagnetic chuck 50 is running; the PID calculation unit 21 is used to adjust the voltage across the electromagnetic chuck 50 or the current flowing through the coil of the electromagnetic chuck 50 to control and regulate the magnetic force of the electromagnetic chuck 50.

[0051] Specifically, the sampling feedback module 60 samples the DC voltage across the coil and the DC current flowing through it during operation of the electromagnetic chuck. Using a negative feedback control method, an incremental PID control algorithm is used in the built-in software of the PID calculation unit 21 to dynamically adjust the voltage across the electromagnetic chuck 50 or the current flowing through the coil, so that the operating voltage or current is consistent with the preset value, thereby achieving constant voltage or constant current control and thus making the magnetic force of the electromagnetic chuck 50 stable and controllable.

[0052] Two output modes are provided: constant voltage mode and constant current mode. In constant voltage mode, the voltage signal is used as feedback, and the PID algorithm dynamically adjusts the thyristor's voltage output based on the feedback voltage to keep the output voltage constant. In constant current mode, the current signal is used as feedback, and the PID algorithm dynamically adjusts the thyristor's current output based on the feedback current to keep the output current constant. By fine-tuning the PID coefficients, stable output and high output accuracy can be obtained, thereby ensuring the stability of the electromagnetic attraction force.

[0053] Continue to refer to Figure 2 Optionally, the thyristor conduction angle adjustment unit 23 is used to calculate the conduction angle of the thyristor in the thyristor module 40 and adjust the conduction angle of the thyristor; the thyristor conduction angle adjustment unit 23 is also used to adjust the conduction angle to change the working mode of the thyristor, the working mode of the thyristor includes rectification mode and inverter mode.

[0054] Specifically, a built-in algorithm calculates the thyristor conduction angle and precisely adjusts it within a 150-degree range. This adjustment dynamically changes the thyristor's operating mode: during excitation, it operates in rectification mode to fully utilize electrical energy; during release, it operates in inverter mode, feeding coil energy back to the grid and reducing energy waste. Thanks to the flexibility of the software algorithm, the thyristor conduction angle can be adjusted according to the electromagnetic chuck's operating stage. When material needs to be released, the conduction angle is changed to switch the thyristor to inverter mode, rapidly feeding the energy stored in the electromagnetic chuck coil back to the grid, achieving rapid material release and saving energy.

[0055] Continue to refer to Figure 2Optionally, when the power supply side is a three-phase AC 220V power supply, the thyristor conduction angle adjustment unit 23 uses a first preset conduction angle calculation formula to calculate the conduction angle of the thyristor; when the power supply side is a three-phase AC 380V power supply, the thyristor conduction angle adjustment unit 23 uses a second preset conduction angle calculation formula to calculate the conduction angle of the thyristor.

[0056] Specifically, for different power supply voltages on the power supply side, the thyristor conduction angle adjustment unit 23 has two built-in different conduction angle adjustment algorithms. When the power supply side is three-phase AC220V, the conduction angle calculation formula under AC220V is used. When the power supply side is three-phase AC380V, the conduction angle calculation formula under AC380V is used, thus achieving compatibility with AC220V and AC380V power supplies.

[0057] By calibrating the thyristor rectification data under AC220V and AC380 power supplies, the relationship between the conduction angle and the rectified voltage is found, resulting in two sets of rectified output formulas. These formulas are applied to AC220V and AC380 power inputs respectively, and the same output voltage can be obtained. This allows a single system to be compatible with two power inputs without the need for an external transformer.

[0058] Continue to refer to Figure 2 Optionally, the conduction angle of the thyristor can be adjusted from 0° to 150°.

[0059] Specifically, based on the required output current or voltage, the built-in algorithm calculates the corresponding thyristor conduction angle to achieve full coverage of the thyristor conduction angle, enabling smooth transition of output voltage and current. Furthermore, since the conduction angle can be freely adjusted within a 150-degree range, effective control can be achieved regardless of the thyristor current specification, thus achieving compatibility with different current specifications. The same system can realize electromagnetic chuck control for both high and low current output.

[0060] The main controller 20 controls the conduction angle of the thyristor and can freely adjust the conduction angle within a range of 150 degrees. The control of the conduction angle of the thyristor by the main controller 20 is no longer limited to a certain current specification. This realizes the decoupling between the main controller 20 and the thyristor module 40 and can cover the control of electromagnetic chuck 50 with specifications ranging from small current to large current.

[0061] This system implements MODBUS protocol serial communication via software, providing an open interface for inputting control commands and reading equipment operating status. It can also receive instructions from other crane electrical control systems through this open interface, enabling joint control with these systems to form a complete and intelligent crane operation control system, such as achieving automated material handling. The communication format is defined according to the MODBUS protocol, and command reception, parameter reading, and writing operations are implemented in the software. An open bus interface based on RS485 is provided to enable collaborative work with the factory's crane electrical control system. For example, it can receive instructions from the crane motor speed controller to perform material suction and release at specific times, thereby achieving automated material handling.

[0062] Continue to refer to Figure 2 Optionally, the bus communication unit 25 is used to issue action commands and numerical commands; the action commands include at least one of excitation action commands, demagnetization action commands, strong magnetization action commands, and weak magnetization action commands; the numerical commands include at least one of constant voltage working voltage value, constant current working current value, and strong magnetization working voltage value.

[0063] Specifically, the commands issued through the communication bus unit 25 can be action commands such as excitation, demagnetization, strong magnetization, and weak magnetization, or numerical commands such as constant voltage working voltage value, constant current working current value, and strong magnetization working voltage value. At this time, there is no need for external command input hardware, and the operation can be carried out directly through the communication interface. Because the parameter values ​​can be set precisely, precise electromagnetic chuck control can be achieved.

[0064] Continue to refer to Figure 2 Optionally, the processing unit 24 is used to set the delay time for the automatic feeding judgment of the electromagnetic chuck and the trigger time for the automatic demagnetization operation.

[0065] Specifically, the processing unit 24 automatically records the duration of each material suction operation of the current device in the software. It can also calculate the average duration of a single operation within a certain period by selecting parameters. This average is multiplied by different coefficients to determine the delay time for automatic material release by the electromagnetic chuck and the trigger time for automatic demagnetization. This algorithm allows for automatic adjustment of the delay based on actual operating conditions, eliminating the need for manual adjustment and providing greater flexibility.

[0066] During the electromagnetic chuck's material feeding operation, if no external command input is detected within the automatic material release judgment delay time, or if no instruction is issued on the bus communication unit 25, the automatic material release operation will be executed. Two minutes before the automatic material release, an alarm will be triggered to provide a safety reminder. If no command input is still received, the material will be automatically released after the time is up. This operation can effectively prevent the electromagnetic chuck from overheating due to prolonged power supply and extend the service life of the electromagnetic chuck.

[0067] During the electromagnetic chuck's material feeding operation, if the feeding time in a single cycle is too long and exceeds the automatic demagnetization trigger time of the electromagnetic chuck, a demagnetization operation will be automatically performed after the material feeding operation is completed. This effectively prevents the electromagnetic chuck from becoming magnetized and eliminates the need for manual demagnetization, simplifying the operation steps.

[0068] The automatic material release function with timeout can be set. Users can decide whether to enable this function. When the function is enabled, a timeout value needs to be set. Once the electromagnetic chuck picks up the material, the software timer starts counting. If other input commands are received during the timing phase, the count value is reset. If no input commands are received, an alarm signal will be output two minutes before the timeout value is reached. After the timeout is reached, the electromagnetic chuck will automatically demagnetize and release the material.

[0069] The automatic demagnetization function can be set by the user. The software tracks the material suction time of the electromagnetic chuck. If the suction time of the electromagnetic chuck exceeds the trigger time, the demagnetization program will be automatically started after the electromagnetic chuck releases the material, and a demagnetization operation will be performed without manual demagnetization.

[0070] This invention addresses the specific needs of electromagnetic chucks in actual operation, implementing automatic material feeding and demagnetization functions after a timeout. These are features difficult to achieve with existing electromagnetic chuck control methods. The introduction of these specific functions further improves the working efficiency and extends the service life of the electromagnetic chuck. It is applicable to newly installed electromagnetic chuck devices as well as upgrades to existing devices. No replacement of the electromagnetic chuck body is required; only the control system needs to be changed. This allows for upgrades to existing electromagnetic chuck devices with minimal modifications and at the lowest cost, optimizing the control characteristics and maximizing working efficiency.

[0071] This invention also provides a control method for an electromagnetic chuck control device. The electromagnetic chuck control device includes: a command input module, a main controller, a phase-shift trigger, a thyristor module, an electromagnetic chuck, and a sampling feedback module. The command input module is connected to the main controller, the sampling feedback module is connected between the electromagnetic chuck and the main controller, the phase-shift trigger is connected between the main controller and the thyristor module, and the thyristor module is connected to the electromagnetic chuck.

[0072] Figure 3 This is a flowchart of a control method for an electromagnetic chuck control device according to an embodiment of the present invention, with reference to... Figure 3 The control methods of the electromagnetic chuck control device include:

[0073] S110: Obtain external input commands and send them to the main controller.

[0074] S120. Trigger the thyristor module according to the trigger signal sent by the main controller.

[0075] S130: Rectify the externally input AC voltage into DC voltage and control the electromagnetic chuck.

[0076] S140. Sample the current and voltage of the electromagnetic chuck and feed them back to the main controller for closed-loop adjustment.

[0077] Specifically, in combination Figure 1 The electromagnetic chuck control device consists of a main controller and necessary peripheral hardware, including a command input module 10, a sampling feedback module 60, a phase-shift trigger 30, and a thyristor module 40. The command input module 10 inputs external commands to the main controller 20. The sampling feedback module 60 samples the current and voltage of the electromagnetic chuck 12 and feeds them back to the main controller 20. The phase-shift trigger 30 receives the trigger signal from the main controller 20 and triggers the thyristors in the thyristor module 40. The three-phase AC voltage is rectified by the thyristor module 40 into a DC voltage to control the electromagnetic chuck 12. The main controller 20 communicates with the crane's electrical control system via a bus, and it implements all operational control logic functions.

[0078] Since the electromagnetic chuck control device is used to execute the control method of the electromagnetic chuck control device provided in any embodiment of the present invention, the control method of the electromagnetic chuck control device has the same beneficial effects as the electromagnetic chuck control device, and will not be described again here.

[0079] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. An electromagnetic chuck control device, characterized in that, include: Command input module, main controller, phase shift trigger, thyristor module, electromagnetic chuck and sampling feedback module; The command input module is connected to the main controller, and the command input module is used to transmit external commands to the main controller; The sampling feedback module is connected between the electromagnetic chuck and the main controller. The sampling feedback module is used to sample the current and voltage of the electromagnetic chuck and feed them back to the main controller. The phase-shift trigger is connected between the main controller and the thyristor module. The phase-shift trigger is used to trigger the thyristor module according to the trigger signal sent by the main controller. The thyristor module is connected to the electromagnetic chuck, and the thyristor module is used to rectify the AC voltage into DC voltage and control the electromagnetic chuck; The main controller includes a PID calculation unit, a current monitoring unit, a thyristor conduction angle adjustment unit, a processing unit, and a bus communication unit. The sampling feedback module is used to sample the current and voltage of the electromagnetic chuck and feed them back to the PID calculation unit and the current monitoring unit; The phase-shifting trigger is used to receive the trigger signal from the thyristor conduction angle adjustment unit and trigger the thyristor module; The main controller communicates with the crane's electrical control system through the bus communication unit, and the processing unit is used for processing and calculating the electromagnetic chuck's operation control logic. The current monitoring unit and the processing unit are used to identify faults that occur during the operation of the electromagnetic chuck. The processing unit is used to identify erroneous command input faults through logical judgment and to identify overheating faults of the thyristor module through temperature detection. The sampling feedback module is used to identify current faults by sampling and judging the three-phase input current. The thyristor conduction angle adjustment unit is used to calculate the conduction angle of the thyristor in the thyristor module and adjust the conduction angle of the thyristor. The thyristor conduction angle adjustment unit is also used to adjust the conduction angle to change the operating mode of the thyristor, which includes rectification mode and inverter mode. The thyristor conduction angle adjustment unit is used to calculate the conduction angle of the thyristor using a first preset conduction angle calculation formula when the power supply side is a three-phase AC 220V power supply. The thyristor conduction angle adjustment unit is used to calculate the conduction angle of the thyristor using a second preset conduction angle calculation formula when the power supply side is a three-phase AC 380V power supply.

2. The electromagnetic chuck control device according to claim 1, characterized in that, The sampling feedback module is used to sample the DC voltage across the coil and the DC current flowing through it when the electromagnetic chuck is running. The PID calculation unit is used to adjust the voltage at both ends of the electromagnetic chuck or the current flowing through the electromagnetic chuck coil to control and regulate the magnetic force of the electromagnetic chuck.

3. The electromagnetic chuck control device according to claim 1, characterized in that, The conduction angle of the thyristor can be adjusted from 0° to 150°.

4. The electromagnetic chuck control device according to claim 1, characterized in that, The bus communication unit is used to issue action commands and numerical commands; The action command includes at least one of the following: excitation action command, demagnetization action command, strong magnetization action command, and weak magnetization action command; The numerical commands include at least one of constant voltage operating voltage value, constant current operating current value, and strong magnetic operating voltage value.

5. The electromagnetic chuck control device according to claim 1, characterized in that, The processing unit is used to set the delay time for the automatic feeding judgment of the electromagnetic chuck and the trigger time for the automatic demagnetization operation.

6. A control method for an electromagnetic chuck control device, executed using the electromagnetic chuck control device as described in any one of claims 1-5, characterized in that, The electromagnetic chuck control device includes: a command input module, a main controller, a phase-shift trigger, a thyristor module, an electromagnetic chuck, and a sampling feedback module. The command input module is connected to the main controller, the sampling feedback module is connected between the electromagnetic chuck and the main controller, the phase-shift trigger is connected between the main controller and the thyristor module, and the thyristor module is connected to the electromagnetic chuck. The control method of the electromagnetic chuck control device includes: Obtain external input commands and send them to the main controller; The current and voltage of the electromagnetic chuck are sampled and fed back to the main controller; The thyristor module is triggered according to the trigger signal sent by the main controller; The externally input AC voltage is rectified into DC voltage and used to control the electromagnetic chuck.

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