Pull plate control system, method and terminal based on PLC bus communication control

Abstract

The invention provides a pull plate control system and method based on PLC bus communication control and a terminal, and the system comprises the steps: employing a logic algorithm through a PLC controller, according to a control parameter inputted by a touch display screen, respectively sending an accurate instruction to a servo driver in a torque control mode and a position control mode through a bus communication mode, driving a servo motor to move, and enabling the servo motor to drive a servo motor to move; and after the speed is reduced by the speed reducer, the power is transmitted to the chain transmission mechanism, so that the plate pulling manipulator is driven to perform reciprocating plate pulling operation of advancing and retreating for one time or multiple times. By means of the design, the plate pulling and discharging requirements of a single filter plate can be easily met, rapid and continuous plate pulling and discharging of multiple sets of filter plates can be achieved by flexibly adjusting the torque and the speed of the servo motor, the plate pulling time is effectively shortened, and the overall plate pulling efficiency is remarkably improved.

Description

Technical Field

[0001] The invention relates to the technical field of control of a plate pulling mechanism for unloading a filter press, and in particular to a plate pulling control system, method and terminal based on PLC bus communication control. Background Art

[0002] In the application of medium and large filter presses, the size of the filter plates is not only significantly increased, but the number is also far beyond the conventional configuration. This feature directly leads to a significant increase in the labor intensity during the filter plate unloading process, and also makes the stability of the plate pulling mechanism face severe challenges. In view of this situation, the plate pulling control methods of traditional filter presses are mainly divided into two categories:

[0003] One is hydraulic control. Although it has shown certain applicability in some aspects, its inherent defects cannot be ignored. Specifically, the hydraulic drive system has a complex control component structure, which leads to frequent failures and greatly increases the difficulty of maintenance and troubleshooting. In addition, hydraulic oil is easily contaminated, which not only affects the operating efficiency of the system, but also further weakens its reliability.

[0004] The other type is the variable frequency motor control method. Compared with the hydraulic pull plate control method, it has achieved a significant improvement in speed regulation performance, marking the progress of technology. However, the variable frequency motor control method has limited torque regulation capability, insufficient precision, and a large impact force on the operating handle. These problems have affected its reliability to a certain extent. More importantly, when faced with complex and changeable working conditions, the variable frequency motor control method often seems to be unable to meet the actual needs. Summary of the invention

[0005] In view of the shortcomings of the prior art mentioned above, the purpose of the present invention is to provide a plate pulling control system, method and terminal based on PLC bus communication control, which is used to solve the technical problems of high failure rate of existing filter plate pulling control method, easy contamination of hydraulic oil, low motor torque adjustment accuracy, insufficient reliability, etc.

[0006] To achieve the above-mentioned purpose and other related purposes, the present invention provides a plate pulling control system based on PLC bus communication control, the system comprising: a touch screen, a PLC controller, a servo drive, a servo motor, a reducer, a chain transmission mechanism and a plate pulling robot; wherein the PLC controller is connected to the servo drive via a bus; the touch screen is connected to the PLC controller; the servo drive is connected to the servo motor; the servo motor is connected to the reducer, and the reducer is connected to the chain transmission mechanism; the plate pulling robot is installed on the chain transmission mechanism; the PLC controller is used to send control instructions to the servo drive by bus communication in torque control mode and position control mode based on the input control parameters from the touch screen, so as to control the servo motor to perform corresponding movements, and transmit the movement after being reduced by the reducer to the chain transmission mechanism to drive the plate pulling robot to perform one or more forward and backward reciprocating plate pulling operations.

[0007] In one embodiment of the present invention, the PLC controller includes: a mode switching module, which is used to switch between the position control mode and the torque control mode after entering the torque and position control mode; a position control module, which is connected to the mode switching module, and is used to generate corresponding position control instructions based on input position parameters in the position control mode, and write the position control instructions in the form of control words to the servo driver through the bus; a torque control module, which is connected to the mode switching module, and is used to generate corresponding torque control instructions based on input torque parameters in the torque control mode, and send the torque control instructions to the servo driver in the form of pulse signals through the bus.

[0008] In one embodiment of the present invention, the mode switching module is used to switch to the position control mode when the initial movement starts or when it is detected that the plate pulling robot reaches the end point of each forward and backward movement; when it is detected that the plate pulling robot has completed the corresponding position control distance during each forward and backward movement, it is used to switch to the torque control mode.

[0009] In one embodiment of the present invention, the position control module is used to generate the pull plate forward position control parameters and the pull plate backward position control parameters respectively based on the input pull plate forward and backward position and speed parameters, and write the corresponding control word to the servo driver through the bus, and end the position control operation when receiving the position in place feedback signal fed back by the servo driver after the pull plate manipulator moves forward or backward to complete the corresponding position control distance; wherein, the pull plate forward position control parameters include: the pull plate forward torque and forward speed; the pull plate backward position control parameters include: the pull plate reverse torque and backward speed.

[0010] In one embodiment of the present invention, the torque control module is used to determine the pulse number, frequency and direction corresponding to the forward and backward movement of the pull plate based on the input torque and speed parameters of the pull plate, send the corresponding pulse signal and direction signal to the servo driver through the bus, and end the torque control operation when receiving the zero-speed feedback signal fed back by the servo driver after the pull plate robot moves forward or backward to the end point each time.

[0011] In one embodiment of the present invention, the mode switching module switches between the position control mode and the torque control mode by controlling and changing the state of the DI1 terminal of the servo driver.

[0012] In one embodiment of the present invention, the torque control module controls sending a pulse signal with a corresponding pulse quantity and frequency through an output point Q0.0, and controls sending a corresponding direction signal through an output point Q0.1.

[0013] In one embodiment of the present invention, the PLC controller is also used to receive one or more of the current state, voltage, current, speed, torque and alarm signal of the servo motor, and send it to the touch screen for display and monitoring; it is also used to set the H0C group communication parameters of the servo drive.

[0014] To achieve the above-mentioned purpose and other related purposes, the present invention provides a plate pulling control method based on PLC bus communication control, and the PLC controller in the plate pulling control system based on PLC bus communication control, the method comprises: obtaining input control parameters from the touch display screen; based on the input control parameters, using bus communication to send control instructions to the servo driver in torque control mode and position control mode respectively, so as to control the servo motor to perform corresponding movement, and transmit the movement after being slowed down by the reducer to the plate pulling robot through the chain transmission mechanism to perform one or more forward and backward reciprocating plate pulling operations.

[0015] To achieve the above-mentioned purpose and other related purposes, the present invention provides an electronic terminal, comprising: one or more memories and one or more processors; the one or more memories are used to store computer programs; the one or more processors are connected to the memories and are used to run the computer program to execute the pull plate control system based on PLC bus communication control.

[0016] As described above, the present invention is a plate pulling control system, method and terminal based on PLC bus communication control, which has the following beneficial effects: the present invention uses a logic algorithm through a PLC controller according to the parameters input by the touch screen, and sends precise instructions to the servo driver through bus communication in torque control and position control modes, drives the servo motor to move, and after deceleration by a reducer, transmits power to the chain transmission mechanism, thereby driving the plate pulling manipulator to perform a single or multiple forward and backward reciprocating plate pulling operation. This design not only easily copes with the plate pulling and unloading needs of a single filter plate, but also can realize the rapid and continuous plate pulling and unloading of multiple groups of filter plates by flexibly adjusting the torque and speed of the servo motor, effectively shortening the plate pulling time and significantly improving the overall plate pulling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Shown is a schematic structural diagram of a pull plate control system based on PLC bus communication control in one embodiment of the present invention.

[0018] Figure 2 Shown is a schematic diagram of the structure of a PLC controller in an embodiment of the present invention.

[0019] Figure 3 Shown is a schematic structural diagram of a pull plate control system based on PLC bus communication control in one embodiment of the present invention.

[0020] Figure 4 It is a schematic diagram showing the forward movement process of the pulling plate in one embodiment of the present invention.

[0021] Figure 5 It is a schematic diagram showing the backward movement process of the pulling plate in one embodiment of the present invention.

[0022] Figure 6 Shown is a schematic diagram of the electrical principle of a servo driver in an embodiment of the present invention.

[0023] Figure 7 Shown is a flow chart of a pull plate control method based on PLC bus communication control in one embodiment of the present invention.

[0024] Figure 8 FIG. 4 is a schematic diagram showing the structure of an electronic terminal in an embodiment of the present invention. DETAILED DESCRIPTION

[0025] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0026] It should be noted that in the following description, reference is made to the accompanying drawings, which describe several embodiments of the present invention. It should be understood that other embodiments may also be used, and that mechanical composition, structural, electrical and operational changes may be made without departing from the spirit and scope of the present invention. The following detailed description should not be considered restrictive, and the scope of the embodiments of the present invention is limited only by the claims of the published patents. The terms used herein are only for describing specific embodiments and are not intended to limit the present invention. Spatially related terms, such as "upper", "lower", "left", "right", "below", "below", "lower", "above", "upper", etc., may be used in the text to facilitate the description of the relationship between an element or feature shown in the figure and another element or feature.

[0027] Throughout the specification, when a part is said to be "connected" to another part, this includes not only the case of "direct connection" but also the case of "indirect connection" by placing other elements therebetween. In addition, when a part is said to "include" a certain constituent element, unless otherwise stated, it does not exclude other constituent elements, but means that other constituent elements may be included.

[0028] The terms first, second and third mentioned herein are used to describe various parts, components, regions, layers and / or segments, but are not limited thereto. These terms are only used to distinguish a certain part, component, region, layer or segment from other parts, components, regions, layers or segments. Therefore, the first part, component, region, layer or segment described below may refer to the second part, component, region, layer or segment within the scope of the present invention.

[0029] Furthermore, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless there is an indication to the contrary in the context. It should be further understood that the terms "comprise", "include" indicate the presence of the described features, operations, elements, components, items, kinds, and / or groups, but do not exclude the presence, occurrence or addition of one or more other features, operations, elements, components, items, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". Exceptions to this definition will only occur when the combination of elements, functions or operations is inherently mutually exclusive in some way.

[0030] The present invention provides a plate pulling control system based on PLC bus communication control. The PLC controller uses a logic algorithm according to the parameters input by the touch screen, and sends precise instructions to the servo driver through bus communication in torque control and position control modes, respectively, to drive the servo motor to move, and after deceleration by the reducer, the power is transmitted to the chain transmission mechanism, thereby driving the plate pulling manipulator to perform a single or multiple forward and backward reciprocating plate pulling operation. This design not only easily copes with the plate pulling and unloading needs of a single filter plate, but also can realize the rapid and continuous plate pulling and unloading of multiple groups of filter plates by flexibly adjusting the torque and speed of the servo motor, effectively shortening the plate pulling time and significantly improving the overall plate pulling efficiency.

[0031] The following is a detailed description of the embodiments of the present invention with reference to the accompanying drawings so that those skilled in the art can easily implement the present invention. The present invention can be embodied in many different forms and is not limited to the embodiments described herein.

[0032] like Figure 1 A structural schematic diagram of a pull plate control system based on PLC bus communication control in an embodiment of the present invention is shown.

[0033] The system comprises:

[0034] Touch screen 1, PLC controller 2, servo driver 3, servo motor 4, reducer 5, chain transmission mechanism 6 and plate pulling manipulator 7;

[0035] The touch display screen 1 may be a HIM (Human-Machine Interface) touch screen; the touch display screen 1 provides an intuitive user interface, allowing operators to directly input and adjust control parameters through a graphical interface without the need for complex programming knowledge. The touch display screen 1 can be used to formulate parameters, combining commonly used control parameters into a formula, so that in different usage scenarios, the corresponding parameter formula can be quickly selected or adjusted according to the load, thereby improving the flexibility and efficiency of the operation. The touch display screen 1 is connected to the PLC controller 2;

[0036] The PLC controller 2 is connected to the servo driver 3 through a bus, and the servo motor pull plate is controlled through data transmission and communication on the bus. The PLC controller 2 sends control instructions to the servo driver 3 through the bus, and these instructions control the operating state of the servo motor 4, including key parameters such as torque, speed position, etc. The bus protocol used can be Profibus, EtherCAT, CANopen, Modbus, TCP, which can be set according to demand and actual conditions. Preferably, the communication protocol adopts the MODBUS_RTU protocol, which has high reliability and real-time performance, and defines the data transmission format and communication specifications between servo motors.

[0037] The servo driver 3, after receiving the instruction, converts it into a control signal recognizable by the servo motor through the built-in controller algorithm and the built-in encoder to achieve precise control of the servo motor 4, and feeds back the execution result to the PLC controller 2 through the bus. The servo driver is connected to the servo motor 4 through cables (including communication cables and power cables). The output instructions of the PLC controller 2 and the receiving logic of the servo driver need to be configured according to the specific model and parameter settings of the servo driver to ensure their compatibility and correctness.

[0038] The servo motor 4 receives control signals from the servo driver 3 , and adjusts its torque and speed position according to the control signals from the servo driver 3 to meet the operation requirements.

[0039] The reducer 5 is used to reduce the movement speed of the servo motor and transmit the reduced power to the chain transmission mechanism 6.

[0040] The chain transmission mechanism 6 is used to transmit the power output by the reducer to the plate pulling manipulator 7 to perform the plate pulling operation.

[0041] The plate pulling manipulator 7 is the actuator of the system and is responsible for executing the specific plate pulling task. The plate pulling manipulator 7 is installed on the chain transmission mechanism 6 and realizes its movement through the precise control of the chain transmission mechanism.

[0042] The specific control process includes: first, the operator inputs control parameters through the touch screen 1, and these parameters may include key information such as the position, speed, acceleration, torque, etc. that the plate pulling manipulator 1 needs to move. The touch screen 1 transmits these parameters to the PLC controller 2 in real time. According to the input control parameters, the PLC controller 2 sends control instructions to the servo driver 3 through bus communication in the torque control mode and the position control mode respectively. These instructions include the speed, direction, torque, etc. that the servo motor 4 needs to reach, as well as the movement position and speed. After receiving the instructions from the PLC controller 2, the servo driver 3 immediately controls the servo motor 4 accurately so that it moves according to the instructions. The output power of the servo motor 4 is decelerated by the reducer 5 and transmitted to the chain transmission mechanism 6. After receiving the power output by the reducer 5, the chain transmission mechanism 6 drives the plate pulling manipulator 7 to move forward and backward. According to the instructions of the PLC controller 2, the plate pulling manipulator 7 can perform one or more plate pulling operations until the entire task is completed. When the plate pulling robot 7 completes all plate pulling operations, the PLC controller 2 will send an instruction to stop the servo motor 4 and reset the system to the initial state to carry out the next task.

[0043] In one embodiment, if Figure 2 , the PLC controller 2 comprises:

[0044] The mode switching module is used to switch the position control mode or torque control mode after entering the torque and position control mode; specifically, the PLC controller is initially set to the torque and position control mode, and then the torque and position control mode is directly defaulted when used. The torque and position control mode can be set by setting parameters. For example, for the Inovance drive, H02-00 = 5 is set to the torque and position control mode. Next, during the pull plate control process, the position control mode or torque control mode is switched according to different mode switching conditions.

[0045] A position control module, connected to the mode switching module, for generating corresponding position control instructions based on input position parameters in the position control mode, and writing the position control instructions into the servo driver 3 in the form of control words through the bus;

[0046] The torque control module is connected to the mode switching module and is used to generate a corresponding torque control instruction based on the input torque parameter in the torque control mode, and send the torque control instruction to the servo driver 3 in the form of a pulse signal through the bus.

[0047] In one embodiment, the mode switching module is used to switch to the position control mode when the initial movement starts or it is detected that the plate pulling manipulator 7 reaches the end point of each forward and backward movement; specifically, when the initial movement of the plate pulling manipulator 7 starts, the mode switching module will immediately switch the PLC controller to the position control mode for high-speed movement. Whenever the plate pulling manipulator completes a forward or backward movement and reaches the predetermined end point, the mode switching module will also switch to the position control mode for high-speed movement. When it is detected that the plate pulling manipulator 7 has completed the corresponding position control distance during each forward and backward movement, it is switched to the torque control mode. Specifically, during the forward or backward movement of the plate pulling manipulator 7, when it is detected that it has completed the preset position control distance in the position control mode, the mode switching module will switch to the torque control mode for low-speed movement. This is because at this stage, the plate pulling manipulator 7 needs to control its output torque to maintain a stable state of motion.

[0048] In order to implement the above switching logic, the PLC controller 2 usually determines whether the initial movement has started, the state of the pulling robot 7 reaching the end point of each forward and backward movement, and the state of completing the corresponding position control distance during each forward and backward movement through the signal fed back by the servo driver 3.

[0049] In a specific embodiment, the mode switching module switches the position control mode and the torque control mode by controlling the state of the DI1 terminal. By outputting the DO signal to control the DI1=1 of the servo driver 3, the servo motor control mode is switched to the torque control mode; by controlling the DI1=0 of the servo driver, the servo motor control mode is switched to the position control mode.

[0050] In one embodiment, the position control module is used to generate the pull plate forward position control parameters and the pull plate backward position control parameters respectively based on the input pull plate forward and pull plate backward position and speed parameters, and write the corresponding control words to the servo driver 3 through the bus; when the servo driver 3 drives the pull plate manipulator 7 to complete the forward or backward movement and reaches the specified position control distance, it will send a position in place feedback signal to the position control module. After receiving this signal, the position control module will end the current position control operation, and the mode switching module will prepare to switch to the torque control mode.

[0051] Among them, the pull plate forward position control parameters include: pull plate forward torque and forward speed; the pull plate backward position control parameters include: pull plate reverse torque and backward speed. It is necessary to generate the pull plate forward position control parameters and pull plate backward position control parameters according to the specific model and parameter settings of the servo driver. For example, in the torque mode, the control word is written to the servo driver through the MODBUS communication protocol, and the parameter H0702 is set to 4, which means that the servo driver will receive the control instruction through communication, rather than other input methods such as analog or pulse quantity; then set the parameter H0709 to control the forward torque, set the parameter H0710 to control the reverse torque, set the parameter H0719 to control the forward speed, and set the parameter H0720 to control the backward speed. For example, the specific values ​​are: H0709 = 85, H0710 = 85, H0719 = 60, H0720 = 60.

[0052] In one embodiment, the torque control module is used to determine the number, frequency and direction of pulses corresponding to the forward and backward movement of the pull plate based on the input torque and speed parameters of the pull plate; the number of pulses is usually related to the movement distance or position, and the pulse frequency directly determines the movement speed. The direction of movement is represented by an additional direction signal. The corresponding pulse signal and direction signal are sent to the servo driver 3 through the bus; when the pull plate manipulator 7 completes the forward or backward movement and reaches the predetermined end point, the servo driver 3 will send a zero-speed feedback signal to the torque control module. After receiving this signal, the torque control module will determine that the current movement has ended and end the torque control operation accordingly.

[0053] In a specific embodiment, the torque control module controls the sending of a pulse signal of corresponding pulse quantity and frequency through output point Q0.0, and this pulse signal is then sent to the servo driver 3 to control the rotation speed and position of the servo motor 4. The corresponding direction signal is controlled to be sent through output point Q0.1. The direction signal is used to indicate the direction of rotation of the servo motor 4 and control the pull plate to move forward and backward.

[0054] In one embodiment, the PLC controller 2 is also used to receive one or more of the current state, voltage, current, speed, torque and alarm signal of the servo motor 4 transmitted by the servo driver 3, and send it to the touch screen 1 for display and monitoring. The operator can intuitively understand the operating status of the servo motor through the touch screen and take corresponding measures when necessary.

[0055] The PLC controller 2 is also used to set the H0C group communication parameters of the servo driver 3, setting the address, baud rate, and parity format of the servo driver.

[0056] In order to better describe the above-mentioned pull plate control system based on PLC bus communication control, it is now explained in conjunction with a specific embodiment.

[0057] Example 1

[0058] Figure 3 This is a structural diagram of a plate pulling control system based on PLC bus communication control. The control system integrates HMI touch screen, PLC controller, servo drive, servo motor, reducer, chain transmission mechanism, plate pulling manipulator, communication cables and power cables.

[0059] Now let's explain the control process of the pull plate by the system. The distance that the pull plate moves forward or backward each time, that is, the distance between the two plates is S0. First, the pull plate moves forward, such as Figure 4 At the beginning of the initial movement, the position control mode is first performed. The controller outputs a pulse signal to control the pull plate manipulator to move forward at high speed. When the servo motor completes the S1 distance, the servo driver transmits the position feedback signal to the PLC controller through the MODBUS communication method. The PLC controller receives the feedback signal and outputs a DO signal to control DI1 of the servo driver, so that DI1=1, and the servo motor control mode is switched to the torque control mode. At this time, the speed control word is written through the MODBUS communication method, and the pull plate is switched to the torque control mode, controlling the servo motor to move forward at a low speed of S2 distance. When the servo motor completes the S2 distance and reaches the B position, the pull plate trolley collides with the filter plate, and a zero-speed feedback signal is output to the PLC controller, completing a forward movement. Then, a backward movement is performed, such as Figure 5 As shown, in S1 section, the position mode is used, and in S2 section, the torque mode is used. The process is the same as the plate pulling forward, but in the opposite direction. The plate pulling trolley continuously moves forward and backward in a cycle. When the last filter plate is pulled, the trolley hook is reset, and the trolley moves backward until it reaches the initial position. When the initial proximity switch is sensed, the trolley stops moving, and the plate pulling ends.

[0060] Example 2

[0061] like Figure 6The electrical principle diagram of the pull-plate servo driver. DO1 of the pull-plate servo driver is connected to I1.4 of the PLC controller. When the driver detects that the servo motor reaches 0 speed (or close to 0 speed), the DO1 signal will be activated. The PLC determines whether the servo motor is in the 0 speed state by reading the state of input point I1.4. DO2 of the servo driver is connected to I1.5 of the PLC controller. If the driver detects any fault (such as overcurrent, overheating, encoder error, etc.), the DO2 signal will be activated. This signal is connected to the input point I1.5 of the PLC. The PLC determines whether the driver has a fault by reading the state of this input point and gives an alarm feedback; CN3 of the servo driver is connected to the MODBUS communication port of the PLC controller. Through MODBUS communication, the PLC can read various status information of the driver (such as motor speed, position, current, etc.) and send control instructions to the driver. Terminals 37 and 41 of the servo driver are connected to the pulse output and direction output points Q0.0 and Q0 of the PLC controller respectively, which are used to receive the pulse output signal and direction output signal of the PLC. The 39, 41, and 11 terminals of the servo drive are connected to OVDC; the 9th terminal of the servo drive is connected to the KA11 contact of the PLC controller as the enable control of the servo drive. When the KA11 contact of the PLC is closed, it provides an enable signal to the drive, allowing the drive to start working. If the KA11 contact is disconnected, the drive is disabled and cannot receive control instructions or drive the motor. Therefore, the hard wiring of the servo DI and DO points and the signal detection of the proximity switch are reduced through bus communication, and the wiring is simpler, more economical and efficient.

[0062] Similar to the principle of the above embodiment, the present invention provides a pull plate control method based on PLC bus communication control.

[0063] The following provides specific embodiments in conjunction with the accompanying drawings:

[0064] like Figure 7 A flow chart showing a method for controlling a plate pull based on PLC bus communication control in an embodiment of the present invention is shown.

[0065] A PLC controller applied to the plate pulling control system based on PLC bus communication control; specifically, the plate pulling control system based on PLC bus communication control includes: a touch screen, a PLC controller, a servo drive, a servo motor, a reducer, a chain transmission mechanism and a plate pulling manipulator; wherein, the PLC controller is connected to the servo drive through a bus; the touch screen is connected to the PLC controller; the servo drive is connected to the servo motor; the servo motor is connected to the reducer, and the reducer is connected to the chain transmission mechanism; the plate pulling manipulator is installed on the chain transmission mechanism;

[0066] The method comprises:

[0067] Step S1: Acquire input control parameters from the touch display screen.

[0068] Step S2: Based on the input control parameters, control instructions are sent to the servo driver using bus communication in the torque control mode and the position control mode to control the servo motor to perform corresponding movements, and the movement decelerated by the reducer is transmitted to the plate pulling robot through the chain transmission mechanism to perform one or more forward and backward reciprocating plate pulling operations.

[0069] In one embodiment, step 2 includes:

[0070] After entering the torque and position control mode, switch to position control mode or torque control mode;

[0071] In the position control mode, the corresponding position control instruction is generated based on the input position parameter, and the position control instruction is written to the servo driver in the form of a control word through the bus;

[0072] In the torque control mode, a corresponding torque control instruction is generated based on the input torque parameter, and the torque control instruction is sent to the servo driver in the form of a pulse signal through the bus.

[0073] In one embodiment, when the initial movement starts or the plate pulling manipulator is detected to reach the end point of each forward and backward movement, it switches to the position control mode; when it is detected that the plate pulling manipulator has completed the corresponding position control distance during each forward and backward movement, it switches to the torque control mode;

[0074] In one embodiment, in the position control mode, based on the input position and speed parameters of the pull plate moving forward and backward, the pull plate moving forward position control parameters and the pull plate moving backward position control parameters are generated respectively, and the corresponding control words are written to the servo driver through the bus, and the position control operation is terminated when the position in place feedback signal fed back by the servo driver when the pull plate manipulator moves forward or backward to complete the corresponding position control distance; wherein, the pull plate moving forward position control parameters include: the pull plate forward torque and forward speed; the pull plate moving backward position control parameters include: the pull plate reverse torque and backward speed.

[0075] In one embodiment, in the torque control mode, based on the input torque and speed parameters of the pull plate forward and backward, the pulse number, frequency and direction corresponding to the pull plate forward and backward are determined, and the corresponding pulse signal and direction signal are sent to the servo driver through the bus, and the torque control operation is terminated when the zero-speed feedback signal fed back by the servo driver each time the pull plate robot moves forward or backward to the end point is received.

[0076] In one embodiment, the position control mode and the torque control mode are switched by controlling and changing the state of the DI1 terminal of the servo driver.

[0077] In one embodiment, the output point Q0.0 controls the sending of a pulse signal with a corresponding pulse quantity and frequency, and the output point Q0.1 controls the sending of a corresponding direction signal.

[0078] In one embodiment, one or more of the current state of the servo motor, motor voltage, current, speed, torque and alarm signal are received and sent to the touch screen for display and monitoring; the H0C group communication parameters of the servo drive are also set.

[0079] Since the implementation principle of the pull plate control method based on PLC bus communication control has been described in the above-mentioned embodiment, it will not be repeated here.

[0080] The pull board control method based on PLC bus communication control provided in the embodiment of the present invention can be implemented on the terminal side or the server side. As for the hardware structure of the electronic terminal, please refer to Figure 8 , is an optional hardware structure diagram of an electronic terminal 1000 provided in an embodiment of the present invention. The terminal 1000 may be a mobile phone, a computer device, a tablet device, a personal digital processing device, a factory background processing device, etc. The terminal 1000 includes: at least one processor 1001, a memory 1002, at least one network interface 10010 and a user interface 1009. The various components in the device are coupled together through a bus system 1005. It can be understood that the bus system 1005 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 1005 also includes a power bus, a control bus and a status signal bus. However, for the sake of clarity, in Figure 8 In the specification, various buses are labeled as bus systems.

[0081] The user interface 1009 may include a display, a keyboard, a mouse, a trackball, a click gun, keys, buttons, a touch pad or a touch screen.

[0082] It is understood that the memory 1002 can be a volatile memory or a non-volatile memory, and can also include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), which is used as an external cache. By way of exemplary but not limiting explanation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM). The memory described in the embodiments of the present invention is intended to include but is not limited to these and any other suitable categories of memory.

[0083] The memory 1002 in the embodiment of the present invention is used to store various categories of data to support the operation of the terminal 1000. Examples of these data include: any executable program used to operate on the terminal 1000, such as an operating system 10021 and an application 10022; the operating system 10021 includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., for implementing various basic services and processing hardware-based tasks. The application 10022 can include various applications, such as a media player (MediaPlayer), a browser (Browser), etc., for implementing various application services. The pull plate control system based on PLC bus communication control provided in the embodiment of the present invention can be included in the application 10022.

[0084] The method disclosed in the above embodiment of the present invention can be applied to the processor 1001, or implemented by the processor 1001. The processor 1001 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit in the processor 1001 or the instruction in the form of software. The above processor 1001 may be a general processor, a digital signal processor (DSP, Digital Signal Processor), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The processor 1001 can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiment of the present invention. The general processor 1001 can be a microprocessor or any conventional processor, etc. In combination with the steps of the accessory optimization method provided in the embodiment of the present invention, it can be directly embodied as a hardware decoding processor to execute, or it can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium, which is located in a memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0085] In an exemplary embodiment, the terminal 1000 may be implemented by one or more application specific integrated circuits (ASIC), DSP, programmable logic device (PLD), complex programmable logic device (CPLD) to execute the aforementioned method.

[0086] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to the computer program. The aforementioned computer program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other media that can store program codes.

[0087] In the embodiments provided in the present application, the computer readable and writable storage medium may include a read-only memory, a random access memory, an EEPROM, a CD-ROM or other optical disk storage device, a disk storage device or other magnetic storage device, a flash memory, a USB flash drive, a mobile hard disk, or any other medium that can be used to store a desired program code in the form of an instruction or data structure and can be accessed by a computer. In addition, any connection can be appropriately referred to as a computer-readable medium. For example, if the instruction is sent from a website, a server or other remote source using a coaxial cable, an optical fiber cable, a twisted pair, a digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwaves, the coaxial cable, optical fiber cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwaves are included in the definition of the medium. However, it should be understood that computer readable and writable storage media and data storage media do not include connections, carriers, signals, or other temporary media, but are intended to be non-temporary, tangible storage media. Disk and disc, as used in this application, includes compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers.

[0088] Compared with the prior art, the present invention has the following advantages:

[0089] 1. The HIM human-machine interface is used to formulate parameters, which makes it easier to adjust parameters. Different loads and different parameter formulas can be flexibly set according to different usage scenarios. At the same time, the bus control method can monitor the servo motor torque, speed, current and voltage in real time, which is more intuitive and convenient for debugging and observation.

[0090] 2. Through the adjustment of torque and speed, more refined and flexible control can be achieved than variable frequency motor control; through the adjustment of torque and speed, the impact of the manipulator on the filter plate handle is reduced, the filter plate handle is protected, and it is safer and more reliable.

[0091] 3. The applicable environment and scenarios are wider, which can not only meet the requirements of pulling and unloading a single filter plate, but also realize the rapid pulling and unloading of a group of filter plates by adjusting the torque and speed, saving the pulling time and improving the pulling efficiency.

[0092] 4. High positioning accuracy. The servo driver has a built-in encoder, which reads the position of each action through pulse control and communication to achieve high-precision control.

[0093] 5. The torque mode and speed mode can be flexibly switched to meet different working requirements. Compared with hydraulic control and variable frequency motor control, the present invention can flexibly adjust the torque and speed of the servo motor according to the actual load to achieve a more optimized control effect.

[0094] 6. The bus communication method reduces the hard wiring of the servo DI and DO points and the signal detection of the proximity switch, making the wiring simpler, more economical and efficient.

[0095] In summary, the plate pulling control system, method and terminal based on PLC bus communication control of the present invention, through the PLC controller using logic algorithms according to the parameters input by the touch screen, sends precise instructions to the servo driver through bus communication in torque control and position control modes, drives the servo motor to move, and after deceleration by the reducer, transmits power to the chain transmission mechanism, thereby driving the plate pulling manipulator to perform a single or multiple forward and backward reciprocating plate pulling operations. This design not only easily copes with the plate pulling and unloading needs of a single filter plate, but also can realize the rapid and continuous plate pulling and unloading of multiple groups of filter plates by flexibly adjusting the torque and speed of the servo motor, effectively shortening the plate pulling time and significantly improving the overall plate pulling efficiency. Therefore, the present invention effectively overcomes the various shortcomings in the prior art and has a high industrial utilization value.

[0096] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A pull plate control system based on PLC bus communication control, characterized in that: The system includes: a touch screen, a PLC controller, a servo driver, a servo motor, a reducer, a chain transmission mechanism and a plate pulling manipulator; The PLC controller is connected to the servo driver via a bus; the touch screen is connected to the PLC controller; the servo driver is connected to the servo motor; the servo motor is connected to the reducer, and the reducer is connected to the chain transmission mechanism; the plate pulling manipulator is installed on the chain transmission mechanism; The PLC controller is used to send control instructions to the servo driver using bus communication in torque control mode and position control mode based on the input control parameters from the touch screen, so as to control the servo motor to perform corresponding movements, and transmit the movement decelerated by the reducer to the chain transmission mechanism to drive the plate pulling robot to perform one or more forward and backward reciprocating plate pulling operations.

2. According to the PLC bus communication control system described in claim 1, it is characterized in that: The PLC controller comprises: A mode switching module, used for switching between position control mode and torque control mode after entering the torque and position control mode; A position control module, connected to the mode switching module, is used to generate corresponding position control instructions based on input position parameters in the position control mode, and write the position control instructions into the servo driver in the form of control words through the bus; The torque control module is connected to the mode switching module and is used to generate a corresponding torque control instruction based on the input torque parameter in the torque control mode, and send the torque control instruction to the servo driver in the form of a pulse signal through the bus.

3. According to the PLC bus communication control system described in claim 2, it is characterized in that: The mode switching module is used to switch to the position control mode when the initial movement starts or when the plate pulling robot is detected to reach the end point of each forward and backward movement; when it is detected that the plate pulling robot has completed the corresponding position control distance during each forward and backward movement, it is used to switch to the torque control mode.

4. According to the PLC bus communication control-based pull plate control system described in claim 3, it is characterized in that: The position control module is used to generate corresponding forward position control parameters and backward position control parameters of the pull plate based on the input forward and backward position and speed parameters of the pull plate, and write the corresponding control word to the servo driver through the bus, and end the position control operation when receiving the position in place feedback signal fed back by the servo driver after the pull plate manipulator moves forward or backward to complete the corresponding position control distance; wherein, the forward position control parameters of the pull plate include: the forward torque and forward speed of the pull plate; the backward position control parameters of the pull plate include: the reverse torque and backward speed of the pull plate.

5. According to the PLC bus communication control-based pull plate control system described in claim 3, it is characterized in that: The torque control module is used to determine the pulse number, frequency and direction corresponding to the forward and backward movement of the pull plate based on the input torque and speed parameters of the pull plate, send the corresponding pulse signal and direction signal to the servo driver through the bus, and end the torque control operation when receiving the zero-speed feedback signal fed back by the servo driver after the pull plate robot moves forward or backward to the end point each time.

6. According to the PLC bus communication control-based pull plate control system described in claim 2, it is characterized in that: The mode switching module switches between the position control mode and the torque control mode by controlling and changing the state of the DI1 terminal of the servo driver.

7. According to the PLC bus communication control system of claim 5, it is characterized in that: The torque control module controls the sending of a pulse signal with a corresponding pulse quantity and frequency through the output point Q0.0, and controls the sending of a corresponding direction signal through the output point Q0.

1.

8. According to the PLC bus communication control-based pull plate control system described in claim 2, it is characterized in that: The PLC controller is also used to receive one or more of the current state, voltage, current, speed, torque and alarm signal of the servo motor, and send it to the touch screen for display and monitoring; it is also used to set the H0C group communication parameters of the servo drive.

9. A pull plate control method based on PLC bus communication control, characterized in that: A PLC controller applied to a pull plate control system based on PLC bus communication control as claimed in any one of claims 1 to 8, the method comprising: Get input control parameters from the touch display screen; Based on the input control parameters, control instructions are sent to the servo driver using bus communication in the torque control mode and the position control mode to control the servo motor to perform corresponding movements, and the movement decelerated by the reducer is transmitted to the plate pulling robot through the chain transmission mechanism to perform one or more forward and backward reciprocating plate pulling operations.

10. An electronic terminal, characterized in that: include: one or more memories and one or more processors; The one or more memories are used to store computer programs; The one or more processors, connected to the memory, are configured to run the computer program to perform the method as claimed in claim 9.

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