Full-closed-loop servo control system of press machine and method of full-closed-loop servo control system
Through the fully closed-loop servo control system, the slider position is calculated using the slider displacement sensor and the feedback signal of the servo motor encoder, which solves the problem of dead point accuracy under the slider, improves the accuracy and efficiency of stamping processing, and protects equipment and personal safety.
Patent Information
- Application Number
- CN202510554889.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-29
- Publication Date
- 2025-07-25
AI Technical Summary
In sheet stamping processing, the accuracy of the dead point under the slider is affected by the stamping speed and temperature, resulting in a reduction in the accuracy of the stamping parts, and even damage to the equipment, and frequent shutdown and adjustments are required, affecting production efficiency and quality.
The fully closed-loop servo control system is adopted, including a servo drive unit, a control unit and a control power unit. The real-time position of the slider is calculated through the slider displacement sensor and the feedback signal of the servo motor encoder to achieve high-precision positioning and automatic adjustment.
It ensures the press stamping accuracy and punching quality, improves stamping processing efficiency, ensures the stable operation of the system and protects equipment and personal safety.
Smart Images
Figure CN120363535A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to a control system and method for a fully closed-loop servo press in the technical field of press control technology. Background Art
[0002] In sheet metal stamping, the accuracy of the workpiece is affected not only by the stamping process and stamping die, but also by the comprehensive performance of the press such as rigidity and thermal stability caused by factors such as the mechanical structure of the press, material properties, slider guidance, cooling lubrication, and control mode. The accuracy of the press slider bottom dead center is a direct manifestation of the comprehensive performance of the press.
[0003] In stamping, it is often affected by the stamping speed and working temperature, resulting in a large drift of the slider bottom dead center, greatly reducing the accuracy of the stamping parts, and even damaging the machine tool equipment and working dies. To ensure the normal progress of stamping, it is necessary to stop the machine from time to time to detect the displacement of the slider bottom dead center and manually adjust the position of the slider bottom dead center, which greatly affects the production efficiency and processing quality. Summary of the Invention
[0004] The object of the present invention is to provide a fully closed-loop servo control system and method for a press, which can ensure the stamping accuracy of the press and the quality of the stamped parts, and improve the stamping efficiency.
[0005] To achieve the above object, the present invention provides a fully closed-loop servo control system for a press, including a servo drive unit, a control unit, and a control power supply unit; the servo drive unit includes a main drive servo controller, a die adjustment servo controller, and a lubrication motor; the output end of the main drive servo controller is connected to a main drive servo motor, the signal input end of the main drive servo controller is connected to a slider bottom dead center displacement grating sensor and the control unit, the output end of the die adjustment servo controller is connected to a die adjustment servo motor, the signal input end of the die adjustment controller is connected to the control unit, and the main drive servo controller and the die adjustment servo controller are also connected to a relay.
[0006] Compared with the prior art, the beneficial effect of the present invention is that the two servo drivers are used as the main drive mechanism controllers. The main task is to respond to the signals of the motion controller, and calculate the real-time position and speed of the slider according to the mechanical transmission ratio of the servo press, the feedback signal of the servo motor encoder, and the signal of the slider displacement sensor; in this way, high-precision positioning control can be completed. Ensure the stamping accuracy of the press and the quality of the stamped parts, and improve the stamping efficiency.
[0007] As a further improvement of the present invention, the control power supply unit includes a control transformer. The front end of the control transformer is connected to a three-phase 380V power supply, and the rear end of the control transformer outputs an AC 220V voltage and serves as an AC 220V power supply. The rear end of the control transformer is connected with the coil of a middle relay, a control valve, an optoelectronic protection device, a 220V socket, a water-cooled motor, a DC converter, a warning light, and a touch screen.
[0008] This can provide a relevant stable voltage for the entire system to ensure the stable operation of the system.
[0009] As a further improvement of the present invention, the control unit includes a PLC controller. The drive power supply terminal of the PLC controller is connected to an AC 220V power supply; the control power supply terminal of the PLC controller is connected to a DC 24V power supply. The PLC controller collects action signals and issues control signals.
[0010] In this way, the PLC controller, as the carrier of the core program, is responsible for the MODBUS-TCP bus communication between the main drive servo controller and the die-setting servo controller, as well as the conversion and circulation of various control signals. Finally, it controls the operation and coordination of each actuator. The PLC program sends signals to the motion controller after running through the internal logic program according to the trigger signal of the touch screen on the control panel.
[0011] As a further improvement of the present invention, the main drive servo controller is connected to a three-phase 380V power supply through a first air switch QF1. The +24V terminal of the CN4 of the main drive servo controller is connected to the positive pole of the DC 24V power supply, and the 0V terminal of the CN4 of the main drive servo controller is connected to the negative pole of the DC 24V power supply. The STO1 terminal of the CN8 of the main drive servo controller is connected in series with a set of normally closed contacts of the middle relay contact KA9, and the STO2 terminal of the CN8 of the main drive servo controller is connected in series with another set of normally closed contacts of the middle relay contact KA9. The DC24 terminal of the CN8 of the main drive servo controller is connected to the positive pole of the 24V power supply of the middle relay KA9; the die-setting servo controller is connected to a three-phase 380V power supply through a second air switch QF2. The lubricating motor is connected in series with the normally open switch KM6 of the sixth contactor and the third circuit breaker QF3 and then connected to the three-phase 380V power supply; the water-cooled motor is connected in series with the normally open switch KM5 of the fifth contactor and the third circuit breaker QF4 and then connected to the three-phase 380V power supply.
[0012] In this way, it ensures the smoothness and rapid response of its own movement during frequent starting and stopping. The servo performance directly reflects the overall performance and quality of this equipment. Since the servo driver has self-protection functions such as overcurrent protection, overvoltage protection, and short-circuit protection, when a fault occurs in the entire servo press control system, or the servo motor is overloaded, or the three-phase power line has overcurrent or overvoltage, the servo driver will immediately alarm and stop the power output to protect the safety of electrical components and mechanical parts, and more humanely protect personal safety to prevent accidental injuries.
[0013] To achieve the above object, the present invention also provides a control method for a crankshaft type servo press, comprising the following steps: Step 1, power-on self-check; Step 2, enable ready; Step 3, calculate the current actual position of the slider; Step 4, adjustment of the slider.
[0014] Compared with the prior art, the beneficial effect of the present invention is that the stamping servo control subsystem and the die adjustment servo control subsystem in the servo press control system are effectively connected through the slider displacement sensor, and the displacement of the press at the bottom dead center can be monitored and automatically adjusted in real time at any time and under any working conditions, ensuring the stamping accuracy of the press and the quality of the stamped parts, and improving the stamping processing efficiency.
[0015] As a further improvement of the present invention, the specific content of Step 1 is as follows: First, turn on the device power supply. After the servo press is powered on, self-check the control signals of various corresponding devices collected by the PLC controller; if an alarm prompt is displayed on the touch screen, the alarm faults need to be eliminated one by one manually.
[0016] In this way, the signal self-check of the system can be realized, and an alarm prompt will appear in case of a fault, so as to facilitate the elimination of the fault before restarting and ensure the normal operation of the system press.
[0017] As a further improvement of the present invention, the specific content of Step 2 is as follows: After the fault is eliminated, the main drive servo controller and the die adjustment servo controller are enabled and ready. The PLC controller communicates through the CAN-Link bus, collects various control signals, performs logical operations and sequential operations, and then controls the operation and coordination of each actuator.
[0018] In this way, the control system can be ready to control the operation of the press.
[0019] As a further improvement of the present invention, the specific content of Step 3 is as follows: The PLC controller, according to the trigger signal of the touch screen, sends digital signals to two servo drivers, namely the main drive servo controller and the die adjustment servo controller, after running through the internal logic program of the PLC. After the internal arithmetic chips of the two servo drivers calculate the mechanical transmission ratio of the servo mechanism, the feedback signal of the servo motor encoder, and the feedback position of the slider encoder, the current actual position of the slider is calculated.
[0020] In this way, the stamping servo control subsystem and the die adjustment servo control subsystem in the servo press control system are effectively connected, and the displacement of the bottom dead center of the press can be monitored in real time at any time and under any working conditions.
[0021] As a further improvement of the present invention, the specific content of step 4 is as follows. Step 4.1: The main drive servo driver drives the main drive servo motor to drive the crankshaft through a pulley, and then drives the eccentric wheel to run at a corresponding speed at a corresponding position through a six-link mechanism. Step 4.2: The die adjustment servo driver drives the die adjustment servo motor to drive the worm and worm gear through a coupling to adjust the ball screw and adjust the closed height of the slider.
[0022] In this way, the slider can be automatically adjusted, ensuring the stamping accuracy of the press and the quality of the stamped parts, and improving the stamping processing efficiency.
[0023] As a further improvement of the present invention, there are three options for the control operation mode, namely: jogging, single stroke, and continuous. If jogging or single stroke is selected, press the two-hand button, and the slider will run. If the continuous mode is selected, press the continuous preset button again, and the slider can be continuously run by pressing the two hands.
[0024] In this way, different operation modes can be selected according to the actual situation to facilitate the adjustment of the slider. Description of the Drawings
[0025] Figure 1 It is the electrical diagram of the servo driver in the present invention.
[0026] Figure 2 It is the electrical diagram of the die adjustment motor.
[0027] Figure 3 It is the electrical Figure 1 .
[0028] Figure 4 It is the electrical Figure 2 .
[0029] Figure 5 It is the electrical principle of the PLC in the present invention Figure 1 .
[0030] Figure 6 It is the electrical principle of the PLC in the present invention Figure 2 .
[0031] Figure 7 It is the electrical principle of the PLC in the present invention Figure 3 .
[0032] Figure 8 It is the electrical principle of the PLC in the present inventionFigure 4 。
[0033] Figure 9 For the electrical principle of the PLC in the present invention Figure 5 。 Specific embodiments
[0034] The present invention will be further described below in conjunction with the accompanying drawings: Such as Figures 1-9 A fully closed-loop servo control system for a press shown in the figure, which includes a servo drive unit, a control unit, and a control power supply unit; the servo drive unit includes a main drive servo controller, a die-setting servo controller, and a lubrication motor; the output end of the main drive servo controller is connected to a main drive servo motor, the signal input end of the main drive servo controller is connected to a slider displacement sensor and the control unit, the output end of the die-setting servo controller is connected to a die-setting servo motor, the signal input end of the die-setting controller is connected to the control unit, and the main drive servo controller and the die-setting servo controller are also connected to an intermediate relay.
[0035] The control power supply unit includes a control transformer. The front end of the control transformer is connected to a three-phase 380V power supply, the rear end of the control transformer outputs an AC 220V voltage and serves as an AC 220V power supply, and the rear end of the control transformer is connected to the coil of an intermediate relay, a control valve, an optoelectronic protection device, a 220V socket, a water-cooled motor, a DC converter, a warning light, and a touch screen.
[0036] The control unit includes a PLC controller. The drive power supply end of the PLC controller is connected to an AC 220V power supply; the control power supply end of the PLC controller is connected to a DC 24V power supply, and the PLC controller collects action signals and issues control signals.
[0037] The main drive servo controller is connected to a three-phase 380V power supply through a first air switch QF1. The +24V of the CN4 terminal of the main drive servo controller is connected to the positive pole of the DC 24V power supply, the 0V of the CN4 terminal of the main drive servo controller is connected to the negative pole of the DC 24V power supply, the STO1 of the CN8 terminal of the main drive servo controller is connected in series with a set of normally closed contacts of the intermediate relay contact KA9, the STO2 of the CN8 terminal of the main drive servo controller is connected in series with another set of normally closed contacts of the intermediate relay contact KA9, and the DC24 of the CN8 terminal of the main drive servo controller is connected to the positive pole of the 24V power supply of the intermediate relay KA9; the die-setting servo controller is connected to a three-phase 380V power supply through a second air switch QF2, and the lubrication motor is connected to the three-phase 380V power supply after being connected in series with the normally open switch KM6 of the sixth contactor and the third circuit breaker QF3; the water-cooled motor is connected to the three-phase 380V power supply after being connected in series with the normally open switch KM5 of the fifth contactor and the third circuit breaker QF4.
[0038] Such as Figures 1-9A full-closed-loop servo control method for a press is as follows: Step 1: Power-on self-check. First, turn on the device power supply. After the servo press is powered on, self-check the control signals of various corresponding devices collected by the PLC controller. If an alarm prompt is displayed on the touch screen, the alarm faults need to be eliminated one by one manually.
[0039] Step 2: Enable ready. After the faults are eliminated, the main drive servo controller and the die-setting servo controller are enabled and ready. The PLC controller communicates through the CAN-Link bus, collects various control signals, performs logical operations and sequential operations, and then controls the operation and coordination of each actuator.
[0040] Step 3: Calculate the current actual position of the slider. The PLC controller sends digital signals to two servo drivers, namely the main drive servo controller and the die-setting servo controller, according to the trigger signal of the touch screen. After running through the internal logic program of the PLC, the mechanical transmission ratio of the servo mechanism, the feedback signal of the servo motor encoder, and the feedback position of the slider encoder are calculated by the internal arithmetic chips of the two servo drivers to calculate the current actual position of the slider.
[0041] Step 4: Adjustment of the slider.
[0042] Step 4.1: The main drive servo driver drives the main drive servo motor to drive the large gear through the pulley to drive the crankshaft, and then drives the eccentric wheel to run at a corresponding speed at a corresponding position through the six-link mechanism. Step 4.2: The die-setting servo driver drives the die-setting servo motor to drive the worm and worm gear through the coupling to adjust the ball screw and adjust the closed height of the slider.
[0043] There are three options for the control operation mode, namely: jog, single stroke, and continuous. If jog or single stroke is selected, press the two-handed button and the slider will run. If the continuous mode is selected, press the continuous preset button again, and the slider can run continuously by pressing the two hands.
[0044] In the present invention, the COM terminal of the PLC input is connected to the negative pole of the DC 24V power supply; the I0.0 and I0.1 terminals of the PLC are connected to the servo start / stop button and then to the positive pole of the DC 24V power supply; the I0.2 terminal of the PLC is connected in series with the continuous stop button and then to the positive pole of the DC 24V power supply; the I0.3 terminal of the PLC is connected in series with the origin button and then to the positive pole of the DC 24V power supply; the I0.4 terminal of the PLC is connected in series with the reset button and then to the positive pole of the DC 24V power supply; the I0.5 terminal of the PLC is connected in series with the normally open contact of the second contactor KM2 for pre-charging signal and then to the positive pole of the DC 24V power supply; the I0.6 terminal of the PLC is connected in series with the normally open contact signal of the main contactor KM1 signal and then to the positive pole of the DC 24V power supply; the I0.7 terminal of the PLC is connected in series with the normally open contact signal of the intermediate relay for drive fault and then to the positive pole of the DC 24V power supply; the I1.0 terminal of the PLC is connected in series with the continuous preset button and then to the positive pole of the DC 24V power supply; the I1.1 terminal of the PLC is connected in series with the two-hand A button and then to the positive pole of the DC 24V power supply; the I1.2 terminal of the PLC is connected in series with the two-hand B button and then to the positive pole of the DC 24V power supply; the I1.3 terminal of the PLC is connected in series with the normally closed contact of the air pressure detection and then to the positive pole of the DC 24V power supply; the I1.4 terminal of the PLC is connected in series with the normally closed contact of the overload detection and then to the positive pole of the DC 24V power supply; The normally open contact of misfeed detection 1 is connected in series to the I1.5 terminal of the PLC and then connected to the positive pole of the DC 24V power supply; the normally open contact of misfeed detection 2 is connected in series to the I1.6 terminal of the PLC and then connected to the positive pole of the DC 24V power supply; the normally open contact of chiller detection is connected in series to the I1.7 terminal of the PLC and then connected to the positive pole of the DC 24V power supply; the normally open contact of the main servo control of its brake signal is connected in series to the I2.0 terminal of the PLC and then connected to the positive pole of the DC 24V power supply; the normally open contact of oil separator detection 1 is connected in series to the I2.1 terminal of the PLC and then connected to the positive pole of the DC 24V power supply; the normally open contact of low oil level detection of the oil pump is connected in series to the I2.2 terminal of the PLC and then connected to the positive pole of the DC 24V power supply; the die setting key switch is connected in series to the I2.3 terminal of the PLC and then connected to the positive pole of the DC 24V power supply; the die setting up button is connected in series to the I2.4 terminal of the PLC and then connected to the positive pole of the DC 24V power supply; the die setting down button is connected in series to the I2.5 terminal of the PLC and then connected to the positive pole of the DC 24V power supply; the die setting upper limit proximity switch is connected in series to the I2.6 terminal of the PLC and then connected to the positive pole of the DC 24V power supply; the die setting lower limit proximity switch is connected in series to the I2.7 terminal of the PLC and then connected to the positive pole of the DC 24V power supply; the upper die clamping in-place signal is connected in series to the I3.0 terminal of the PLC and then connected to the positive pole of the DC 24V power supply; the lower die clamping in-place signal is connected in series to the I3.1 terminal of the PLC and then connected to the positive pole of the DC 24V power supply; the mold lifting up in-place signal is connected in series to the I3.2 terminal of the PLC and then connected to the positive pole of the DC 24V power supply; the mold forward rotation button is connected in series to the I3.3 terminal of the PLC and then connected to the positive pole of the DC 24V power supply; the mold reverse rotation button is connected in series to the I3.4 terminal of the PLC and then connected to the positive pole of the DC 24V power supply; the cylinder forward limit 1 signal is connected in series to the I3.5 terminal of the PLC and then connected to the positive pole of the DC 24V power supply; the cylinder forward limit 2 signal is connected in series to the I3.6 terminal of the PLC and then connected to the positive pole of the DC 24V power supply; the cylinder retraction limit 1 signal is connected in series to the I3.7 terminal of the PLC and then connected to the positive pole of the DC 24V power supply; the cylinder retraction limit 2 signal is connected in series to the I4.0 terminal of the PLC and then connected to the positive pole of the DC 24V power supply; the oil separator 2 signal is connected in series to the I4.1 terminal of the PLC and then connected to the positive pole of the DC 24V power supply; the oil separator 3 signal is connected in series to the I4.2 terminal of the PLC and then connected to the positive pole of the DC 24V power supply; the L+ terminal of the PLC output is connected to the positive pole of the DC 24V power supply, and the M terminal is connected to the negative pole of the DC 24V power supply; the first main contactor coil KA1-1 is connected in series to the Q0.0 terminal of the PLC and then connected to the negative pole of the DC 24V power supply; the pre-charging second contactor coil KA2-1 is connected in series to the Q0.1 terminal of the PLC and then connected to the negative pole of the DC 24V power supply; the air conditioner motor third contactor coil KA3-1 is connected in series to the Q0.2 terminal of the PLC and then connected to the negative pole of the DC 24V power supply; the chiller fifth contactor coil KA5-1 is connected in series to the Q0.4 terminal of the PLC and then connected to the negative pole of the DC 24V power supply; the lubrication motor sixth contactor coil KA6-1 is connected in series to the Q0.5 terminal of the PLC and then connected to the negative pole of the DC 24V power supply; the mold motor forward rotation seventh contactor coil KA7-1 is connected in series to the Q0.6 terminal of the PLC and then connected to the negative pole of the DC 24V power supply; the Q0.The coil of the eighth contactor KA8-1 of the 7-terminal series connection die motor is reversed and then connected to the negative pole of the DC 24V power supply; the Q1.0 terminal of the PLC is connected in series with the first indicator green enable light HL1 and then connected to the negative pole of the DC 24V power supply; the Q1.1 terminal of the PLC is connected in series with the second indicator green continuous preset light HL2 and then connected to the negative pole of the DC 24V power supply; the Q1.2 terminal of the PLC is connected in series with the third indicator red alarm light HL3 and then connected to the negative pole of the DC 24V power supply; the Q1.3 terminal of the PLC is connected in series with the safety torque unit STO intermediate relay coil and then connected to the negative pole of the DC 24V power supply; the Q1.4, Q1.5, Q1.6, and Q1.7 terminals of the PLC are connected in series with an Omron relay and then connected to the negative pole of the DC 24V power supply; the Q2.1 terminal of the PLC is connected in series with the electronic cam 1 intermediate relay KA11 coil and then connected to the negative pole of the DC 24V power supply; the Q2.2 terminal of the PLC is connected in series with the electronic cam 2 intermediate relay KA12 coil and then connected to the negative pole of the DC 24V power supply; the Q2.3 terminal of the PLC is connected in series with the electronic cam 3 intermediate relay KA13 coil and then connected to the negative pole of the DC 24V power supply; the Q2.4 terminal of the PLC is connected in series with the electronic cam 4 intermediate relay KA14 coil and then connected to the negative pole of the DC 24V power supply; the Q2.5 terminal of the PLC is connected in series with the electronic cam 5 intermediate relay KA15 coil and then connected to the negative pole of the DC 24V power supply; the Q2.6 terminal of the PLC is connected in series with the electronic cam 6 intermediate relay KA16 coil and then connected to the negative pole of the DC 24V power supply; the DC converter is a DC 24V switching power supply, and the warning light and the touch screen are connected in series between the positive and negative poles of the DC 24V switching power supply.
[0045] As the carrier of the core program, the PLC is responsible for the MODBUS-TCP bus communication between the main drive servo controller and the die setting servo controller, as well as the conversion and circulation of various control signals. Finally, it controls the operation and coordination of each actuator. The PLC program sends signals to the motion controller after running through the internal logic program according to the trigger signal of the control panel touch screen. The motion controller sends PWM signals to the two servo controllers. After the internal arithmetic chips of the two servo drivers calculate the mechanical transmission ratio of the servo mechanism, the feedback signal of the servo motor encoder, and the feedback position of the slider encoder, the actual current position of the slider is calculated. In this way, the servo driver drives the servo motor to drive the large gear through the pulley to drive the crankshaft and run at the corresponding speed at the corresponding position; the die setting servo motor drives the worm and worm through the coupling to adjust the ball screw, so as to accurately adjust the closed height of the slider. The real-time actual position of the slider can be fed back to the monitoring screen through the die setting servo motor encoder.
[0046] As the main driving mechanism controller, the two servo drives have the main task of responding to the motion controller signal and calculating the real-time position and speed of the slider according to the mechanical transmission ratio of the servo press, the feedback signal of the servo motor encoder and the slider displacement sensor signal; in this way, high-precision positioning control can be achieved. At the same time, the stability and rapid responsiveness of its own movement under frequent starts and stops are guaranteed. The servo performance directly reflects the overall performance and quality of this equipment. Since the servo drive has self-protection functions and functions such as overcurrent, overvoltage, and short circuit, when the entire servo press control system fails, or the servo motor is overloaded, and the three-phase power line has overcurrent and overvoltage, the servo drive will immediately alarm and stop power output to protect the safety of electrical components and mechanical parts, and humanely protect personal safety and prevent accidental injuries.
[0047] When working, first turn on the power of the equipment, and after the servo press is powered on, self-check the control signals of various corresponding devices collected by the PLC. If an alarm prompt is displayed on the touch screen, it is necessary to manually eliminate the alarm fault one by one.
[0048] After troubleshooting, the main drive servo controller and the mold adjustment servo controller are enabled and ready; the PLC communicates through the CAN-Link bus, collects various control signals for logical and sequential operations, and controls the operation and coordination of each actuator; the PLC program sends digital signals to the two servo drivers according to the trigger signal of the control panel touch screen after the logic program in the PLC runs, and the mechanical transmission ratio of the servo mechanism, the feedback signal of the servo motor encoder and the feedback position of the slider encoder are calculated through the internal computing chips of the two servo drivers, and the current actual position of the slider is calculated. In this way, the main drive servo driver drives the main drive servo motor to drive the crankshaft through the pulley, and then drives the eccentric wheel to run at the corresponding position at the corresponding speed after being driven by the six-bar mechanism; the mold adjustment servo motor drives the turbine worm rod to adjust the ball screw through the coupling, so as to accurately adjust the closed height of the slider, and the real-time actual position of the slider can be fed back to the monitoring screen through the encoder of the mold adjustment servo motor; operation mode selection (inch, single, continuous), if inch, single, press the double-hand button, the slider runs; if the continuous mode is selected, press the continuous preset button again, and press both hands to realize the continuous operation of the slider.
[0049] The servo motor directly drives the adjusting screw to rotate after the worm gear is reduced. The height of the slider is changed by changing the relative length between the adjusting screw and the driving rod. With the control system and related detection modules, the automatic adjustment of the bottom dead point accuracy can be achieved. In this way, the functions of the press force and motion transmission mechanism, the die height adjustment mechanism and the bottom dead point accuracy adjustment mechanism can be integrated into one, which has the characteristics of simple and compact structure and low manufacturing cost.
[0050] In the main control loop, the main servo motor rotates the crankshaft at a given angle according to the given slider displacement command through the position adjustment and speed adjustment of the servo driver, and then drives the slider to move up and down along the press guide through the transmission mechanism. In the main control loop, the photoelectric encoder attached to the crankshaft detects the actual rotation angle of the crankshaft and feeds back, constituting the full closed-loop control of the main drive loop.
[0051] The present invention is not limited to the above embodiments. Based on the technical solutions disclosed in the present disclosure, those skilled in the art can make some substitutions and deformations to some of the technical features without creative labor according to the disclosed technical content, and these substitutions and deformations are all within the protection scope of the present invention.
Claims
1. A fully closed-loop servo control system for a press, characterized in that, It includes a servo drive unit, a control unit, a control power supply unit, and a bottom dead center detection grating ruler; The servo drive unit includes a main drive servo controller, a die setting servo controller, and a lubrication motor; the output end of the main drive servo controller is connected to a main drive servo motor, the signal input end of the main drive servo controller is connected to the slider bottom dead center detection displacement grating sensor and the control unit, the output end of the die setting servo controller is connected to a die setting servo motor, the signal input end of the die setting controller is connected to the control unit, and the main drive servo controller and the die setting servo controller are also connected to an intermediate relay.
2. The fully closed-loop servo control system of a press according to claim 1, characterized in that: The control power supply unit includes a control transformer. The front end of the control transformer is connected to a three-phase 380V power supply, the rear end of the control transformer outputs an AC 220V voltage and serves as an AC 220V power supply. The rear end of the control transformer is connected to the coil of an intermediate relay, a control valve, an optoelectronic protection device, a 220V socket, a water-cooled motor, a DC converter, a warning light, and a touch screen.
3. The fully-closed-loop servo control system of a press according to claim 2, wherein: The control unit includes a PLC controller. The drive power supply end of the PLC controller is connected to an AC 220V power supply; the control power supply end of the PLC controller is connected to a DC 24V power supply. The PLC controller collects action signals and issues control signals.
4. The fully-closed-loop servo control system of a press according to claim 3, wherein: The main drive servo controller is connected to a three-phase 380V power supply through a first air switch QF1. The +24V of the CN4 terminal of the main drive servo controller is connected to the positive pole of the DC 24V power supply, the 0V of the CN4 terminal of the main drive servo controller is connected to the negative pole of the DC 24V power supply. The STO1 of the CN8 terminal of the main drive servo controller is connected in series with a set of normally closed contacts of the intermediate relay contact KA9, the STO2 of the CN8 terminal of the main drive servo controller is connected in series with another set of normally closed contacts of the intermediate relay contact KA9, and the DC24 of the CN8 terminal of the main drive servo controller is connected to the positive pole of the 24V power supply of the intermediate relay KA9; The die setting servo controller is connected to a three-phase 380V power supply through a second air switch QF2. The lubrication motor is connected to the three-phase 380V power supply after being connected in series with the normally open switch KM6 of the sixth contactor and the third circuit breaker QF3; the water-cooled motor is connected to the three-phase 380V power supply after being connected in series with the normally open switch KM5 of the fifth contactor and the third circuit breaker QF4.
5. A full-closed-loop control method for a press, characterized in that: It includes the following contents, Step 1, power-on self-check; Step 2, enable ready; Step 3, calculate the current actual position of the slider; Step 4, adjustment of the slider.
6. A full-closed-loop control method for a press according to claim 5, characterized in that: The specific content of Step 1 is as follows, First, turn on the device power supply. After the servo press is powered on, self-check the control signals of various corresponding devices collected by the PLC controller; if an alarm prompt is displayed on the touch screen, it is necessary to manually eliminate the alarm faults one by one.
7. A full-closed-loop control method for a press according to claim 6, characterized in that: The specific content of Step 2 is as follows, After troubleshooting, the main drive servo controller and the die setting servo controller are enabled and ready. The PLC controller communicates through the CAN-Link bus, collects various control signals, performs logical operations and sequential operations, and controls the operation and coordination of each actuator.
8. A full-closed-loop control method for a press according to claim 7, characterized in that: The specific content of Step 3 is as follows, The PLC controller sends digital signals to two servo drivers, namely the main drive servo controller and the die-setting servo controller, according to the trigger signal from the touch screen. After running the logic program in the PLC, the mechanical transmission ratio of the servo mechanism, the feedback signal of the servo motor encoder, and the feedback position of the slider encoder are calculated by the internal arithmetic chips of the two servo drivers, and the actual current position of the slider is calculated.
9. A full-closed-loop control method for a press according to claim 8, characterized in that: The specific content of step 4 is as follows. Step 4.1: The main drive servo driver drives the main drive servo motor to drive the crankshaft through a pulley, and then drives the eccentric wheel to run at a corresponding speed at a corresponding position after transmission through a six-link mechanism. Step 4.2: The die-setting servo driver drives the die-setting servo motor to drive the worm and worm gear through a coupling to adjust the ball screw, adjust the closed height of the slider, and real-time detect the height through the lower dead point displacement grating sensor to fully close-loop control the height of the slider and improve the accuracy.
10. A full closed-loop control method for a press according to claim 9, characterized in that There are three choices for the control operation mode, namely: jogging, single stroke, and continuous. If jogging or single stroke is selected, press the two-hand button and the slider will run. If the continuous mode is selected, press the continuous preset button again, and the slider can be continuously run by pressing both hands.