1、 实现低能耗环保的全伺服制瓶机器人目前国内外玻璃瓶罐机械制造业生产的行列式制瓶机主要为气动和机械凸轮驱动的机器。制瓶过程是一系列的机构和阀门协调动作完成的，机器的动作主要是通过机械阀门或者电磁阀控制气路的通断，从而驱动机构和机械凸轮的运行，有些机构要使用液压缓冲才能稳定运行，有些机构的机械凸轮需要铰链油箱进行油浴。wWW.11665.coM 制瓶机上的能量转换首先是把电能经过空压机转换成压缩空气的压缩能，经过对压缩空气的净化处理，通过复杂的气管道输送到制瓶机上，再由气来驱动机构的动作。这种控制方式能源利用率太低，能耗高，噪音大，造成了严重的环境污染，动作稳定性差，结构复杂，运行机速低。开发节能
2、型伺服机构制瓶机，是行业技术进步的需求，更是国家绿色环保和低碳经济的要求。Glass bottles at home and abroad machinery manufacturing production of determinant bottle blowing machine mainly for pneumatic and mechanical CAM driven machines. Bottle manufacturing process is a series of institutions and coordinated action to complete the valv
3、e, the machine movement mainly through mechanical or control pneumatic on-off solenoid valve, thereby driving mechanism and the http:/ http:/ http:/ http:/ operation of the mechanical CAM, some institutions to use hydraulic buffer can stable operation, some institutions mechanical CAM need hinge tan
4、k for oil bath. WWW.11665.coM the bottle blowing machine energy conversion is the first converted into electrical energy through the air compressor compressed air compression can, through to compressed air purification processing, through complex gas pipeline to the bottle blowing machine, again by
5、air to drive the actions of the organization. This control way too low energy efficiency, energy consumption is high, noise big, caused serious environmental pollution, poor stability, structure complex, run the machine speed is low. Development of energy-saving servo bottle blowing machine, is the
6、industry technology progress requirements, but also a requirement of national green environmental protection and low carbon economy. 随着电子信息技术的飞速发展和伺服电机的普及应用，国内外的玻璃瓶罐机械行业相继研制出伺服钳瓶、伺服翻转等制瓶机上的部分伺服机构，取代了老式的气动机构和机械凸轮。这些伺服电动机构驱动的制瓶机具有运行稳定、能耗低、噪音小、污染小、机速高等优点，深受用http:/ http:/ http:/ http:/ 户欢迎。With the rapi
7、d development of electronic information technology application and popularization of servo motor, the glass bottles of machinery industry at home and abroad have developed servo clamp and turn the servo system, such as bottles on the part of the servo mechanism, has replaced the old-fashioned pneuma
8、tic and mechanical CAM. These servo electric drive bottle blowing machine has stable operation, low energy consumption, low noise, low pollution and higher machine speed, deeply user welcome. 近几年来，三金公司研制了全伺服制瓶机控制系统，研制了基于该系统控制的单轴拨瓶器、单轴伺服分料器、双轴伺服供料机、双轴电子拨瓶器、伺服运动钳移器、伺服运动翻转器的行列式制瓶机，并大批量推向市场，创新研发了配置双轴伺服供
9、料机、双轴电子拨瓶器、伺服运动钳移器、伺服运动翻转器、初型模及成型模伺服平行开关机构、伺服扑气、伺服正吹气等的全伺服制瓶机的一组样机。本文简介多轴伺服制瓶机控制系统的结构特点及其功能原理。http:/ http:/ http:/ http:/ Was developed in recent years, the sanjin company full servo bottle blowing machine control system, is developed based on the system control of single shaft set bottle opener, si
10、ngle axis servo distributor, biaxial servo feeder, biaxial electronic set bottle opener, servo motion clamp shifter, servo motion to flip the determinant of bottle blowing machine, and mass marketing, innovative research and development of the configuration of biaxial servo feeder, biaxial electroni
11、c set bottle opener, servo motion clamp shifter, servo motor Turner, at the beginning of mold and molding and parallel to the servo switch mechanism, servo robot servo is blowing gas, such as the whole servo bottle blowing machine, a set of prototype. In this article multiaxial servo bottle blowing
12、machine control system, the structure characteristics and the function of principle. 1 技术要求1 technical requirements 根据国内外玻璃瓶罐行业的现状，要使更多的伺服机构应用于行列式制瓶机，简单而可靠的多轴伺服控制是http:/ http:/ http:/ http:/ 关键技术。综合分析瓶罐行业的工艺要求的特殊性和自动化行业多轴运动控制的现状，行列式制瓶机上的伺服控制系统要解决如下一系列问题。According to the present situation of glass bo
13、ttles industry at home and abroad to make more servo mechanism is applied to the determinant bottle blowing machine, simple and reliable multi-axis servo control is the key technology. Comprehensive analysis bottles industry the technological requirements of the particularity of the multi-axis motio
14、n control and automation industry present situation, the determinant bottle blowing machine servo control system to solve the following a series of problems. 11 结构复杂问题1.1 structure of the complex problems 多轴运动控制最直接可选的方案是“plc 主模块”+“ 若干个运动控制模块”十“ 数块 i0 模块”+“ 通讯模块”+“上位工控机”。12 组行列式制瓶机的全伺服控制最少需要135 个轴，这就
15、需要庞大的控制结构，需要 1220 个控制http:/ http:/ http:/ http:/ 柜才能完成。所以设计制瓶机的伺服控制系统，首先是要解决结构复杂的问题。Multi-axis motion control is the most direct option would be for the main module “PLC“ + “several motion control module“ ten “chunks of the I / 0 module“ + “communication module“, “the upper industrial control“. 12 g
16、roups of determinant bottle blowing machine full servo control requires a minimum of 135 a axis, which requires huge control structure, take 12 20 control cabinet. So the design of bottle blowing machine servo control system, the first is to solve the problem of complicated structure. 12 性价比问题1.2 pr
17、ice problem 伺服系统的价格主要决定于伺服控制和伺服电机驱动器，要选用“plc 主模 块”+“若干个运动控制模块”+“数块io 模块”+“通讯模块”+“上位工控机”的结构，制瓶机每个伺服轴的控制和 乳化液泵站伺服电机驱动器要 510万元，每台 8 组带伺服翻转和伺服钳瓶的 2 轴伺服制瓶http:/ http:/ http:/ http:/ 机，单是伺服控制就要增加 80160 万元的成本，用户很难接受，并且结构复杂，维护困难。所以制瓶机伺服控制系统要在中国普及应用，必须解决性价比问题。Servo system price mainly depends on the servo co
18、ntrol and servo motor drive, and should choose “PLC main module“ + “several motion control module“, “number of pieces of I/o module“ + “communication module“, “superior industrial structure, bottle blowing machine for each servo axis control and servo motor drive to 5 100000 yuan, each group with 8
19、servo clamp bottle 2 axis servo servo turn and bottle blowing machine, sheet is the servo control will increase the cost of 80 1.6 million yuan, the user is hard to accept, and complex structure, maintenance difficulties. So the bottle blowing machine servo control system to popularize and apply in
20、China, must solve the problem of price. 13 维护操作方便性问题1.3 maintenance operation convenience 伺服制瓶机控制系统，从每组单轴到每组十几个伺服http:/ http:/ http:/ http:/ 轴的控制，整机 100140 轴，每个轴要调整初始位置、行程、运行曲线，每个轴要在各种状态下安全顺利自动定位启动，这也是应该重点考虑的问题。当前国内外的伺服钳瓶和伺服翻转控制系统，普遍存在操作复杂的问题。有的系统启动不能自动定位，矿车要用手动辅助找位；有的系统停电后再启动，需要用便携终端重新调整定位；调整定位值需要到
21、控制室中进行，给用户带来了诸多不便，这都是需要解决的问题。Servo bottle blowing machine control system, from the single axle of every group to each group of a dozen control servo axis, the machine shaft, 100 140 each shaft to adjust the initial position, stroke and run curve, each axis in various states under the safe automatic
22、positioning start smoothly, it is also should consider the key problem. Current servo pliers, bottle and turn the servo control system at home and abroad, the widespread operation complicated problem. Some cannot automatic positioning system start, want to use manual for support; Start again after t
23、he blackout, some system requires the use of portable terminals to adjust positioning; Setting value shall be carried out into the control room, brought inconvenience to the user, it is need to solve the problem. http:/ http:/ http:/ http:/ 1.4 伺服轴数和功能可扩展性问题1.4 servo axis scalability problem number
24、and function 伺服控制系统的设计要有可扩展性，可以配置到不同轴数的各式制瓶机上，而不是一种配置用一种系统。能控制每组制瓶机 1 个伺服轴，也能控制每组制瓶机十几个伺服轴，实现从单轴到全伺服制瓶机的控制。Design must have the scalability of the servo control system, can be configured to the misalignment of the number of all kinds of bottle blowing machine, rather than a configuration in a system
25、. Can control each group 1 bottle blowing machine servo axis, it can control each group of bottle blowing machine dozen servo axis, from uniaxial to full servo control of bottle blowing machine. 1.5 启动/停机方便迅速1.5 start/stop the convenient and fast http:/ http:/ http:/ http:/ 伺服轴的启动与生产线总启动信号同步从安全位置自动启
26、动，停机时跟随生产线同步停机，停在设定位置，紧急停机停在安全位置，单轴人为停机停在需要位置。Synchronization servo axis of the start and the total production line start signal from the safety position automatically start, production line downtime when synchronized with the downtime, parked at the set position, emergency stop stop in a safe locat
27、ion, single shaft stop stop position in need. 2 解决方案2 solutions 为解决上述问题，三金公司研制了“行列式制瓶机多轴伺服控制系统”的解决方案。Was developed to solve the above problems, sanjin company “determinant bottle blowing machine multi-axis servo control system solutions. http:/ http:/ http:/ http:/ 21 系统的结构2.1 the structure of the s
28、ystem 紧密结合制瓶机特殊工艺要求研发的单板 4 轴伺服运动控制、特殊曲线生成及功能控制于一板(尺寸为150iii1ti200mm)的 mcu 运动控制器，一块小板可以实现4 个轴的可灵活编程定时定位定曲线的运动控制、4 个轴的 i0 工艺功能控制、通讯和数据处理功能，实现在机器旁边用 2 个按钮可以调整每个伺服轴的初位和末位的位置、确定行程、运行中调整行程以及启动一键定位等国内外相近产品所没有的独特功能。Closely tied to the bottle blowing machine research and development of special process requir
29、ements of LVL 4 axis servo motion control, special curve generation and control functions on a plate (size 150 iii1ti x 200 mm) motion controller MCU, a small board can realize four axis flexible programming timing positioning curve movement control, four axis I / 0 process control, communication an
30、d data processing function, achieve beside the machine with two buttons can be adjusted at the beginning of each servo axis http:/ http:/ http:/ http:/ and the position of the bottom, determine the trip, a key to adjust the schedule and start the positioning in the operation of the domestic and fore
31、ign similar products do not have unique functions. 多块 mcu 运动控制器固定到同一块底板上，通过底板连接驱动器、系统同步信号、现场 i0 信号及上位机的通讯线，就形成了几十轴的伺服运动控制和凸轮曲线生成器单元，一个 2000mmx750me750mlll 的控制柜可以安装 3240 个伺服轴控制的伺服电机驱动器和相应的 mcu伺服控制单元，同样的用 34 个控制柜可以扩展成 140多个伺服轴的控制器，实现 12 组大型制瓶机的全伺服驱动和全自动控制(取代国外相近产品的 1220 个控制柜)，制瓶机的工作参数在上位机用户界面上修改，上位机友好
32、的用户界面与生产线上的其它系统公用，修改的数据按照地址和数据分类发送到相应的 mcu 运动控制器板。MCU controller blocks were fixed to the same piece of floor, through the backplane connections, synchronization signal and field drive I / 0 signal and PC communications line, has formed dozens of axis servo motion control and CAM curve of generator
33、unit, a 2000 mmx750me x 750 MLLL control http:/ http:/ http:/ http:/ cabinet can be installed 32 40 servo axis servo control servo motor drives, and the corresponding MCU control unit, the same with 3 4 control cabinet can be extended to more than 140 servo axis controller, to achieve full servo dri
34、ve of 12 groups of large bottle blowing machine and fully automatic control (instead of 12 20 control cabinet) of similar products abroad, bottle blowing machine working parameters on the PC user interface changes, PC and friendly user interface with other systems in the production line utility, mod
35、ify the data according to the address and sent to the corresponding data classification m.c u motion controller board. 此外，本系统按结构简单、操作直观、易懂的设计理念，把机器上每个伺服轴的 2 个按钮 1 个开关定义了复用功能，可以用按钮一键定位、按钮调整初始位、按钮调整行程(并且区分粗调、细调、到位缓冲调整)、运行中微调行程、按钮清报警等便于现场操作的先进功能。无论是停电后还是停机后，位置自动记忆，开关一键定位，或者随生产线系统启动而自动定位启动进入同步运行。所驱动的所有伺
36、服机构采用普通伺服电机和驱动器，实现最佳性价比。程序设计实现伺服机构的运行时间随生产线的速http:/ http:/ http:/ http:/ 度变化而自动变化。全方位达到结构更简单，性价比更优，操作更方便。In addition, this system according to the structure is simple, intuitive operation, simple design concept, the machine on each servo axis 2 button 1 switch defines a reusable function, can adjust
37、 the initial with a key location button, button, button to adjust the itinerary (and distinguish between coarse and fine tuning, in place buffer adjustment), in the operation of the stroke of fine-tuning and clear to facilitate site operation of the advanced functions such as alarm button. After pow
38、er failure or downtime, position automatic memory, the switch is a key position, or automatic positioning according to the production line system boot boot into synchronization operation. All the servo driven using common servo motors and drives, realize the best cost performance. Running time of th
39、e program design to realize servo vary with the speed of production line and automatically change. Full of simpler structure and better performance to price ratio, operation more convenient. http:/ http:/ http:/ http:/ 多轴伺服制瓶机智能控制系统有效实现制瓶机伺服多轴控制的可扩展性、可选配性，适合配置到所有的国产和进口制瓶机上。根据用户对制瓶机配置伺服轴多少的要求，可以控制 11
40、40 个伺服轴，直到全伺服制瓶机“制瓶机器人”的控制，达到大型 12 组制瓶机的全部机构伺服化控制。现在用该系统在单轴拨瓶器、单轴伺服分料器、双轴伺服供料机、伺服运动钳移器、伺服运动翻转器、伺服双轴拨瓶器、双轴伺服初型模开关、双轴伺服成型模开关、伺服扑气头、伺服吹气头、伺服芯子等达到每组制瓶机十几个伺服轴的制瓶机机器人控制。Multiaxial servo system bottle wit can effectively accounting bottle machine servo control system of multi-axis control scalability, opti
41、onal sex, suitable for configuration to all of domestic and imported bottle blowing machine. According to users requirement for bottle blowing machine configuration what servo axis, can control servo axis 1 140, until the entire servo bottle blowing machine - “bottle making robots“ control, reach ma
42、jor 12 groups of bottle blowing http:/ http:/ http:/ http:/ machine all institutions servo control. Now use the system in a single shaft set bottle opener, single axis servo distributor, biaxial servo feeding machine, servo motion clamp shifter, servo motor turning device, servo biaxial dial type bottle opener, biaxial servo initial modulus, biaxial servo injection molding mould switch, servo robot QiTou, servo QiTou blowing bottle blowing machine, servo core per group ten several servo axis of bottle blowing machine robot control.
