CN101630823B - Bus multi-riveter synchronous coordination operating system and control method thereof - Google Patents
Bus multi-riveter synchronous coordination operating system and control method thereof Download PDFInfo
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- CN101630823B CN101630823B CN2009100324300A CN200910032430A CN101630823B CN 101630823 B CN101630823 B CN 101630823B CN 2009100324300 A CN2009100324300 A CN 2009100324300A CN 200910032430 A CN200910032430 A CN 200910032430A CN 101630823 B CN101630823 B CN 101630823B
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Abstract
The invention discloses a bus multi-riveter synchronous coordination operating system and a control method thereof; a main body frame is provided with at least two riveters which are independent and connected with a PLC controller, two horizontal servos, a plurality of vertical servos and a portal frame servo arranged on a workpiece conveying belt; wherein the riveters are respectively connected with the horizontal servos in the same side and the uniquely corresponding vertical servo, the PLC controller receives a bus specification signal sent by the upper computer and sends coordinated multiple point synchronous riveting control signals to each servo, a cylinder and each riveter after extraction and calculation. After the design scheme of the invention is applied, more than one riveter carries out synchronous riveting assembling operation on different positions of the bus in the assembling process of the bus, thus improving the riveting efficiency and riveting precision of a bus assembling machine.
Description
Technical field
The present invention relates to a kind of bus riveted joint assembly system, relate in particular to and a kind ofly receive and calculate the bus specification parameter by the PLC controller, synchronous coordination operating system and control method thereof to bus carries out many riveting guns riveted joints belong to the electrical control field.
Background technology
Bus duct is widely used as the controller switching equipment between the transmission facility between transformer and the power distribution cabinet and power distribution cabinet and the load.But because the different user difference of electric loading size and each opposite sex of position at electricity consumption scene, the bus product all has very big changeability on size and length, and its specification has diversity.Traditional bus assembling is all finished riveted joint by artificial hand-held riveting gun and is finished, and has the deficiency that operating efficiency is low and riveting quality is difficult to guarantee.
In order to improve the industrialization assembling of electric power system, the especially operating efficiency of bus assembling, each manufacturer is conceived on the equipment development of automation bus riveted joint one after another.But in existing automation bus riveting production line, still in the face of big, the multifarious problem of specification kind of bus product changeability on size and length.Outstanding behaviours exists: the user of design department designs each model bus according to order, but these bus product categories are various, bring no small difficulty to production information management, this makes the operating personnel be positioned at production division and riveted joint board when all types of buses of coupling carry out the automatic riveting operation, the specification that riveted joint assembling board usually can't accurately mate bus, and carry out high-precision riveted joint operation, and causing the on the low side of bus riveting quality on the one hand, yields is difficult to be guaranteed; On the other hand, more difficult and realization is carried out the controlled operation of multi-riveter synchronous coordination to bus, makes the lifting of bus riveted joint efficient be in bottleneck for a long time.This unfavorable situation is having a deep effect on the industrialized fast development of electric power system.
Summary of the invention
At above the deficiencies in the prior art, purpose of the present invention aims to provide a kind of bus multi-riveter synchronous coordination operating system and control method thereof, make in the assembling process of bus, can realize that more than one riveting gun carries out the assembling work of synchronous coordination riveted joint to the bus diverse location, thereby improve the riveted joint efficient and the riveted joint precision of bus assembling board.
Purpose of the present invention will be achieved through the following technical solutions:
Bus multi-riveter synchronous coordination operating system, be suspended in the different both sides of workpiece conveyor on the main body frame and be equiped with at least two riveting guns, it is characterized in that: be assembled with a horizontal servo respectively with respect to the workpiece conveyor both sides on the described main body frame, and in main body frame, be equiped with a plurality of vertically servo, and it is servo to be equiped with gantry folder on the bus assembly area of workpiece conveyor, PLC controller that picks out from host computer respectively with all servo being connected; Described arbitrary riveting gun all by mechanical arm respectively with the horizontal servo and unique corresponding vertical servo linking to each other of homonymy.
Further, aforesaid bus multi-riveter synchronous coordination operating system, wherein this horizontal servo, the vertical servo and servo cylinder driving-type servomechanism installation that is of gantry folder.Wherein this vertical servo quantity is four, is erected at periphery four sides of main body frame Up Highway UHW assembly area respectively, and each vertical servo all with PLC controller separate connection.
Further, aforesaid bus multi-riveter synchronous coordination operating system, wherein workpiece conveyor is provided with jacking cylinder and the following air cylinder that links to each other with the PLC controller in the bottom of bus assembly area.
Further, aforesaid bus multi-riveter synchronous coordination operating system wherein is provided with at least one photoelectric sensor in the bus assembly area on the main body frame.
Above-mentioned bus multi-riveter synchronous coordination operating system, its technical solution that realizes purpose is:
The control method of bus multi-riveter synchronous coordination operating system, be installed at least two riveting guns of the different both sides of main body frame workpiece conveyor by suspension, press from both sides the servo controlled displacement of three classes in conjunction with level, vertical, gantry, bus is carried out multiple spot riveted joint operation, its characterization step comprises:
I, PLC controller receive the bus type information that host computer is sent, extract relative position, riveting gun action flag bit, the relative position of window checkpoint and the data such as limit at checkpoint place of bus length, width, line system, riveting point, and verification current data validity;
II, PLC controller calculate the travel distance of horizontal servo according to the bus width data that extracts, and move to the relevant position in riveted joint front wheel driving horizontal servo, simultaneously verification current riveted joint bus width and with the consistency of bus bar code data;
III, go out each vertically servo travel distance according to the bus line system data computation of extracting; Calculate the servo travel distance of gantry folder according to the relative position of riveting point and corresponding riveting gun action flag bit;
IV, PLC controller drive gantry servo bus that transports of folder to correspondence position according to the distance results that calculates; Rivet according to the riveting gun of riveting gun action flag bit data-driven current location needs riveted joint again;
The PLC of V, repeating step III and step IV periodically controls, till all riveting point rivetings are intact.
Further, in each control cycle, this PLC drives and detects the bus verification holes that runs to the relevant position according to the relative position of window checkpoint and the limit at check point place.
And in each PLC control cycle, this photoelectric sensor detects the sweep at bus two ends, after the bus head passes through riveting gun, and PLC controller drives jacking cylinder and the action of following air cylinder, and two cylinders that when the bus afterbody is about to arrive, reset.
In addition, folder servo range ability in this gantry is much smaller than the length of bus, and its to be subjected to the PLC controller drives be reciprocating.
Use bus multi-riveter synchronous coordination operating system of the present invention and control method thereof, its beneficial effect is:
By the bus specification data of PLC controller reception from host computer, and these data based riveted joints are required to calculate, thereby output has coordination, controlled many riveting guns synchronous control signal, drive each servomechanism installation, jacking cylinder and following air cylinder and riveting gun carry out synchronous multiple spot riveted joint, can realize bus automation riveting assembling efficiently, simultaneously by a plurality of levels, the adjustable servo regulating action in position on the vertical direction, also improved the compatibility of bus assembly system to bus specification difference, compare to workman's manual rivet and stiff machine pointwise riveted joint, the present invention has outstanding superior function.
For making architectural feature of the present invention and beneficial effect be easier to understand, the some instantiations of the present invention are elaborated below in conjunction with accompanying drawing.
Description of drawings
Fig. 1 is the structural representation of bus multi-riveter synchronous coordination operating system one preferred embodiment of the present invention;
Fig. 2 is the schematic flow sheet of the control method of bus multi-riveter synchronous coordination operating system of the present invention;
Fig. 3 is the structural representation that the present invention rivets another specification bus of object;
Fig. 4 is another implementing procedure figure of bus multi-riveter synchronous coordination operating system control method of the present invention.
Embodiment
Embodiment one
As shown in Figure 1, be the structural representation of bus multi-riveter synchronous coordination operating system one preferred embodiment of the present invention.Can be clear that by this accompanying drawing, the structure of this bus multi-riveter synchronous coordination operating system is formed and is mainly comprised main body frame 1 and workpiece conveyor thereof 11, first riveting gun 21, second riveting gun 22, the 3rd riveting gun 23, the 4th riveting gun 24, two horizontal servo 31,32, plural number vertical servo 41,42 ..., gantry press from both sides servo 5, jacking and following air cylinder 6, and the strong muscle line 7 that connects each servo action.In addition, rivet regional front end, also be provided with at least one photoelectric sensor 9 at the bus of workpiece conveyor 11.In the present embodiment, the riveted joint object of this multi-riveter synchronous coordination operating system is the four-wire system bus 81 of no window, and parallel is shown four busbars 811 in the space that its H section bar and U section bar are wrapped.In the composition member of this system configuration:
This main body frame 1 is a large-scale hollow out formula frame structure, runs through being provided with workpiece conveyor 11 therebetween, and is equiped with PLC controller 12 at its headroom internal fixation.In main body frame 1 inside, also be respectively equipped with some supports that are used to locate;
This horizontal servo 31,32 is installed on the main body frame 1, and divides and to be located on the workpiece conveyor 11 and the perpendicular both sides of bus direction of transfer.It mainly acts on is the homonymy riveting gun to be carried out horizontal level accurately locate;
This vertical servo quantity can be mated one by one according to the quantity of riveting gun, each vertical servo main body frame 1 inside that is installed in respectively, and quantitatively be symmetrically distributed in the both sides of workpiece conveyor 11, the vertical servo quantity of viewable portion is two among the figure, be respectively first vertical servo 41 vertical with second servo 42, it mainly acts on is the accurate location of the homonymy riveting gun being carried out vertical direction;
This gantry presss from both sides servo 5 in the bus riveted joint zone that is installed in workpiece conveyor 11, and move the accurate location that the clamping bus carries out front and back position when being mainly used in bus pointwise riveted joint.
These first riveting gun, 21 to the 4th riveting guns 24 are relative in twos, also are separately positioned on workpiece conveyor 11 both sides, and each riveting gun is horizontal servo and unique corresponding vertical servo being connected of the mechanical arm by separately and homonymy all.
Above-mentioned each servoly be the cylinder driving-type servomechanism installation, and the bus by separately is linked into PLC controller 12 respectively, accepts the action command and the operation of PLC controller 12.Wherein the arithmetic element of this PLC controller can be CPU315-2DP °; Communication between the servo and riveting gun of this PLC controller and each realizes by the RS-232 bus interface.
In addition, this jacking and following air cylinder 6 are installed in the downside of workpiece conveyor 11, are mainly used in riveting the lifting and the decline in zone, and it connects and be controlled by PLC controller 12 by bus equally.
As shown in Figure 2, be the schematic flow sheet of bus multi-riveter synchronous coordination operating system control method of the present invention.This shows that above-mentioned each member is to realize the multi-riveter synchronous coordination operation as follows when the bus 81 riveted joint operations of reality:
At first, receive the bus information that host computer is sent, extract relative position, riveting gun action flag bit, the relative position of window checkpoint and the data such as limit at checkpoint place of bus length, width, line system, riveting point by the PLC controller.These data can be produced the line temporary detecting and be obtained, and also can be to call precompiler bus specification database by the coupling bar code to obtain.This PLC controller carries out verification current data validity after receiving these data;
Then, the PLC controller calculates the travel distance of horizontal servo according to the bus width data that extracts, and moves to the relevant position in riveted joint front wheel driving horizontal servo, simultaneously verification current riveted joint bus width and with the consistency of bus bar code data;
Follow again, go out each vertical servo travel distance according to the bus line system data computation of extracting; Calculate the servo travel distance of gantry folder according to the relative position of riveting point and corresponding riveting gun action flag bit.The PLC controller drives the servo bus that transports of gantry folder to corresponding riveted joint position according to the distance results that calculates; Rivet according to the riveting gun of riveting gun action flag bit data-driven current location needs riveted joint again.Wherein the position of this needs riveted joint refers to the riveting point group that first riveting gun, second riveting gun, the 3rd riveting gun, the pairing separately riveting point of the 4th riveting gun and wherein any several combinations constitute;
At last, by PLC controller executive program, repeat that folder servo controlled in above gantry transported and the periodicity of vertical servo location is controlled, till all riveting point rivetings finish.
It should be noted that: it is limited that gantry presss from both sides servo 5 range ability, is reciprocating so it is subjected to the PLC controller drives, the whole piece bus could be carried and finish.This just needs PLC to coordinate control: drive gantry gas enclosure cylinder and open, drive servo the retreating of gantry folder, drive gantry gas enclosure cylinder and clamp, drive servo the advancing of gantry folder, drive the tension of riveting gun cylinder, the riveted joint of driving riveting gun, drive the riveting gun cylinder and unclamp, drive servo the advancing of gantry folder, drive the tension of riveting gun cylinder, the riveted joint of driving riveting gun drives the riveting gun cylinder and unclamps.Circulation at this time drives gantry gas enclosure cylinder and opens up to the next riveting point position that can't walk on like this, drives servo the retreating of gantry folder, drives gantry gas enclosure cylinder and clamps, and drives servo the advancing of gantry folder, continues circulation.Circulation is up to intact last the riveting point of riveting like this.
Embodiment two
As shown in Figure 3, be the structural representation that the present invention rivets another specification bus of object.By this accompanying drawing as seen: such bus 82 has window 822, and according to client's specification requirement, position of window can not be riveted, need be at four some M1～M4 of the both sides of window fixed range riveted joint.And the busbar two ends of the head of this five-wire system bus and afterbody all are formed with sweep 821.So in the multi-riveter synchronous coordination operating system that adopts embodiment one to be introduced, also need it is improved design further, but this does not disagree with innovation essence of the present invention.Because the board equipment integral that adopts is identical with embodiment one, and introduces in this embodiment in detail, so locate do not given unnecessary details.Only outstanding this synchronous coordination operating system is for bus window and the bus corrective measure of portion's sweep end to end.
In conjunction with another implementing procedure figure of Fig. 4 bus multi-riveter synchronous coordination operating system control method of the present invention as seen: on the one hand, the PLC controller is according to the relative position of window checkpoint and the limit at checkpoint place, meeting detection check hole when bus runs to corresponding checkpoint, thus whether the window's position of the bus of the current riveted joint of verification conforms to bar code data.On the other hand, block by cylinder and riveting gun the time, rivet regional front end, also be provided with at least one photoelectric sensor at the bus of workpiece conveyor for fear of bus head and afterbody.Its following two aspects are handled.At first, by cooperating photoelectric sensor,, make all jacking cylinders and following air cylinder pass through later on just action, and when the bus afterbody will arrive, reset at the bus head in conjunction with routine processes.Secondly, by cooperating photoelectric sensor, in conjunction with routine processes, make four riveting gun vertical axises the bus head by after just begin to drive after first riveting point position arrives separately and move, and after last the riveting point riveting before the bus afterbody arrives is intact, just begin to reset.
Description by above two specific embodiments, bus multi-riveter synchronous coordination operating system of the present invention and control method thereof have practical practicality: by the bus specification data of PLC controller reception from host computer, and these data based riveted joints are required to calculate, thereby output has coordination, controlled many riveting guns synchronous control signal, drive each servomechanism installation, the jacking cylinder, following air cylinder and riveting gun carry out synchronous multiple spot riveted joint, realized bus automation riveting assembling efficiently, simultaneously by a plurality of levels, the adjustable servo regulating action in position on the vertical direction, also improved the compatibility of bus assembly system to bus specification difference, compare to workman's manual rivet and stiff machine pointwise riveted joint, the present invention has outstanding superior function.
In sum, be to bus multi-riveter synchronous coordination operating system of the present invention and control method thereof detailed description, but be not the claim protection range that limits multifarious execution mode of the present invention and requirement with these embodiment by specific embodiment.Therefore, understand the present invention in every case, and change or the member replacement, can realize the design of identical purpose and effect, all should be considered as infringement present patent application protection content according to the equivalent structure that the foregoing description carries out.
Claims (8)
1. bus multi-riveter synchronous coordination operating system, be equiped with at least two riveting guns on the main body frame, these at least two riveting guns are suspended in the different both sides of workpiece conveyor, it is characterized in that: be assembled with a horizontal servo respectively with respect to the workpiece conveyor both sides on the described main body frame, and in main body frame, be equiped with a plurality of vertically servo, and it is servo to be equiped with gantry folder on the bus assembly area of workpiece conveyor, PLC controller that picks out from host computer respectively with all servo being connected; Described arbitrary riveting gun all by mechanical arm respectively with the horizontal servo and unique corresponding vertical servo linking to each other of homonymy.
2. bus multi-riveter synchronous coordination operating system according to claim 1 is characterized in that: described horizontal servo, the vertical servo and servo cylinder driving-type servomechanism installation that is of gantry folder.
3. bus multi-riveter synchronous coordination operating system according to claim 1, it is characterized in that: described vertical servo quantity is four, be erected at periphery four sides of main body frame Up Highway UHW assembly area respectively, and each vertical servo all with PLC controller separate connection.
4. bus multi-riveter synchronous coordination operating system according to claim 1 is characterized in that: described workpiece conveyor is provided with jacking cylinder and the following air cylinder that links to each other with the PLC controller in the bottom of bus assembly area.
5. bus multi-riveter synchronous coordination operating system according to claim 1 is characterized in that: be provided with at least one photoelectric sensor on the described main body frame in the bus assembly area.
6. the control method of the described bus multi-riveter synchronous coordination operating system of claim 1, be installed at least two riveting guns of the different both sides of main body frame workpiece conveyor by suspension, press from both sides the servo controlled displacement of three classes in conjunction with level, vertical, gantry, bus is carried out multiple spot riveted joint operation, and its characterization step comprises:
I, PLC controller receive the bus information that host computer is sent, extract relative position, riveting gun action flag bit, the relative position of window checkpoint and the limit data at checkpoint place of bus length, width, line system, riveting point, and verification current data validity;
II, PLC controller calculate the travel distance of horizontal servo according to the bus width data that extracts, and move to the relevant position in riveted joint front wheel driving horizontal servo, simultaneously verification current riveted joint bus width and with the consistency of bus bar code data;
III, go out each vertically servo travel distance according to the bus line system data computation of extracting; Calculate the servo travel distance of gantry folder according to the relative position of riveting point and corresponding riveting gun action flag bit;
IV, PLC controller drive gantry servo bus that transports of folder to correspondence position according to the distance results that calculates; Rivet according to the riveting gun of riveting gun action flag bit data-driven current location needs riveted joint again;
The PLC of V, repeating step III and step IV periodically controls, till all riveting point rivetings are intact.
7. the control method of bus multi-riveter synchronous coordination operating system according to claim 6: it is characterized in that: described PLC controller is according to the relative position of window checkpoint and the limit at checkpoint place, detection check hole when bus runs to corresponding checkpoint, thus whether the window's position of the bus of the current riveted joint of verification conforms to bar code data.
8. the control method of bus multi-riveter synchronous coordination operating system according to claim 6 is characterized in that: folder servo range ability in described gantry is much smaller than the length of bus, and its to be subjected to the PLC controller drives be reciprocating.
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102354573B (en) * | 2011-07-20 | 2013-03-27 | 成方泳 | Self-piecing riveting bus bar production machine, self-piecing riveting bus bar production method and monitoring system |
| CN102360641B (en) * | 2011-10-21 | 2013-06-26 | 成方泳 | Bus self-piercing riveting device and support device for same |
| CN102717022B (en) * | 2012-07-04 | 2016-06-08 | 成方泳 | Bus self-punching riveted joint manufacturing device and bus self-punching riveted joint manufacture method |
| CN102751052B (en) * | 2012-07-04 | 2014-06-18 | 成方泳 | Bus self-piercing riveting equipment |
| CN104014707A (en) * | 2014-05-13 | 2014-09-03 | 苏州欧誉自动化科技有限公司 | Technique of self-piercing riveting asynchronous flexible manufacturing system |
| CN104361951B (en) * | 2014-11-03 | 2016-07-27 | 苏州铂电自动化科技有限公司 | The self-piercing riveting equipment of a kind of bus and two-step method riveted joint manufacture method thereof |
| CN104550500A (en) * | 2014-11-20 | 2015-04-29 | 江苏华鹏智能电气股份有限公司 | Numerical control riveting production method |
| CN105957651B (en) * | 2016-07-13 | 2018-06-26 | 成方泳 | The generation method of busbar riveting point distribution |
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Address after: 213031 Building 6, No. 6, Information Avenue, Xinbei District, Changzhou City, Jiangsu Province Patentee after: Changzhou Platinum Electric Robot Co.,Ltd. Patentee after: Zhenjiang Siemens Busbar Group Co.,Ltd. Address before: 215127 No. 6, 1st lane, Shengpu Wupu Road, Suzhou Industrial Park, Suzhou area, China (Jiangsu) pilot Free Trade Zone, Suzhou, Jiangsu Patentee before: Suzhou Baidian robot Co.,Ltd. Patentee before: Zhenjiang Siemens Busbar Group Co.,Ltd. |
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