CN104859043A - Intelligent building wallboard making control system and method - Google Patents
Intelligent building wallboard making control system and method Download PDFInfo
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- CN104859043A CN104859043A CN201510273348.2A CN201510273348A CN104859043A CN 104859043 A CN104859043 A CN 104859043A CN 201510273348 A CN201510273348 A CN 201510273348A CN 104859043 A CN104859043 A CN 104859043A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 239000000463 material Substances 0.000 claims abstract description 88
- 230000007246 mechanism Effects 0.000 claims abstract description 58
- 238000010008 shearing Methods 0.000 claims abstract description 38
- 239000002994 raw material Substances 0.000 claims abstract description 28
- 238000007599 discharging Methods 0.000 claims abstract description 17
- 238000000748 compression moulding Methods 0.000 claims description 31
- 230000001360 synchronised effect Effects 0.000 claims description 18
- 230000005693 optoelectronics Effects 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 10
- 230000006835 compression Effects 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000006698 induction Effects 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 238000011084 recovery Methods 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 3
- 238000003892 spreading Methods 0.000 claims description 3
- 230000007480 spreading Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000003825 pressing Methods 0.000 abstract description 9
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000009415 formwork Methods 0.000 abstract 5
- 238000009990 desizing Methods 0.000 abstract 1
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 21
- 229910052742 iron Inorganic materials 0.000 description 10
- 238000005192 partition Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 7
- 230000008859 change Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 6
- 238000010521 absorption reaction Methods 0.000 description 5
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 4
- 230000015572 biosynthetic process Effects 0.000 description 3
- 239000003365 glass fiber Substances 0.000 description 3
- 239000011148 porous material Substances 0.000 description 3
- 230000002787 reinforcement Effects 0.000 description 3
- 239000004568 cement Substances 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- VYZAMTAEIAYCRO-UHFFFAOYSA-N Chromium Chemical compound [Cr] VYZAMTAEIAYCRO-UHFFFAOYSA-N 0.000 description 1
- 241000883990 Flabellum Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011449 brick Substances 0.000 description 1
- 229910052804 chromium Inorganic materials 0.000 description 1
- 239000011651 chromium Substances 0.000 description 1
- 239000004927 clay Substances 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000004035 construction material Substances 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000000704 physical effect Effects 0.000 description 1
- 238000007747 plating Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B15/00—General arrangement or layout of plant ; Industrial outlines or plant installations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
- B28B17/0063—Control arrangements
- B28B17/0081—Process control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B23/00—Arrangements specially adapted for the production of shaped articles with elements wholly or partly embedded in the moulding material; Production of reinforced objects
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Ceramic Engineering (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
- Devices For Post-Treatments, Processing, Supply, Discharge, And Other Processes (AREA)
Abstract
The invention discloses an intelligent building wallboard making control system and method. The system comprises a pressing forming system, an automatic net shearing machine, a net grabbing robot and a palletizing robot to achieve full automatic production such as feeding, discharging formwork pressing, vibrating, demolding and palletizing of building wallboards. The control method of the system comprises the steps that a board feeding mechanism of the pressing forming device automatically feeds a bottom board into a forming platform, and a formwork frame downwards presses the bottom board tightly; the net grabbing robot places mesh-shaped materials fed by the automatic net shearing machine to the formwork frame; a distributing mechanism of the pressing forming device evenly lays the raw materials for board making into the formwork frame, and the net grabbing robot places another mesh-shaped material into the formwork frame; a mold head of the pressing forming device descends and presses the raw materials for board making, a vibrating motor under the forming platform vibrates to conduct desizing and compacting on the raw materials for board making, and the mesh-shaped materials are embedded into the raw materials for board making; after pressing forming, the bottom board is pushed out, the palletizing robot palletizes the bottom board and the wallboards thereof for transportation of a forklift.
Description
Technical field
The present invention relates to the automatic Sheetmaking systems of building wall board, be specifically related to a kind of building wall board making sheet intelligence control system and control method.
Background technology
Partition plate for building refers to the prefabricated batten of body of wall for interior of building partition wall, is the main material of non-load bearing inner partition wall of general industry building, residential architecture, public works.Partition plate mainly comprises glass fiber reinforced cement batten, iron wire refinforced cement batten, lightweight concrete batten, compound sandwich light lath etc.Partition plate for building requires that wallboard has the features such as unit weight is light, body of wall is thin, easy construction, except need possessing above-mentioned material feature, also requires that cost is low, and has good mechanical property and physical property.Building partition plate instead of in building trade the construction material that clay brick becomes novel energy-saving environment-friendly substantially, and its use amount increases year by year.
Existing building partition plate producing process is laid on one piece of base plate by the making sheet raw material prepared, and by extruded, obtains building wall board finished product after destarch of vibrating.The equipment mainly wallboard compression molding device adopted, existing compression molding device generally includes for the material-feeding mechanism of feeding and blanking, for compressing briquetting machine and outfeed platforms, briquetting machine comprises and has the framed of clamping function and the die head for suppressing, and wherein also needs to vibrate in pressing process.
Mainly there is following problem in existing compression molding device: 1. feeding stroke and blanking travel position often there will be deviation, and cause blanking inaccurate, automaticity is low, and production efficiency is low.2. feeding speed and blanking velocity cannot regulate according to actual needs, thus can only produce the wallboard of single thickness, and material-feeding mechanism can only carry single raw material, therefore usually can only produce the building partition plate of immobilization material, poor practicability.3. the framed clamping that presses down adopts pneumatic pinch usually, namely clamping is jointly realized by multiple cylinder, Problems existing is the difference of internal leakage due to each cylinder and friction, cause the uncertainty of drag size suffered by the asymmetry of gas circuit and each cylinder, easily make rigidly connected cylinder occur stuck phenomenon during work, damage cylinder.4. owing to needing to vibrate in pressing process, die head extrudes the making sheet raw material in framed, the motor that vibrates simultaneously needing power larger to vibrate destarch to making sheet raw material, can have an impact to cylinder and complete machine when vibrating like this, cylinder leakage tester and complete machine toner screw time serious, can be caused.
When producing wallboard, in order to strengthen the mechanical property of wallboard, often to place Web materials in wallboard inside, in Sheetmaking systems, adopting and grab Web robot to complete the crawl of above-mentioned Web materials.In prior art, grab that Web robot mainly undertakies capturing by Current Control electromagnet, often there is following problem in aforesaid way: 1. normally used in Sheetmaking systems is chromium plating electric welding iron net, and iron-holder is lower, and absorption affinity is very little.When increasing electromagnet, absorption affinity increases, but due to send in network process can cause iron net to a certain degree bending, stretch and distortion, thus cause electromagnet and iron net contact area to diminish, absorption affinity is still not enough.2. wall board forming reinforcement material, is not limited to iron net, adopts the method for electromagnet not to be suitable for non-ferric net materials and captures.
And in prior art, when wallboard is compressing send the cutting out of plate, Web materials, wallboard compressing after piling mainly adopt manual type, production efficiency is low, wasting manpower and material resources.
Summary of the invention
An object of the present invention is to provide a kind of intelligence system for building wall board making sheet, and to solve existing building wallboard when producing, large multiple operation is all adopt manual operation, and production efficiency is low, the problem of wasting manpower and material resources; Solve the problem easily occurring stuck phenomenon in existing compression molding device for the framed clamping cylinder pressing down clamping simultaneously; It is little that the existing Web robot of grabbing adopts electromagnet to carry out crawl absorption affinity, can only capture the problem of iron net.
Building wall board making sheet intelligence control system of the present invention, comprise compression molding device, grab Web robot, automatic shearing net machine and robot palletizer, automatic shearing net machine is arranged on the side of compression molding device, grab the pick-and-place of Web robot for Web materials, robot palletizer is positioned at the front of compression molding device;
Described compression molding device comprises slab feeding mechanism, material-feeding mechanism, briquetting machine and the equipment that vibrates, slab feeding mechanism is arranged on the rear of briquetting machine, the equipment of vibrating is arranged on briquetting machine, briquetting machine comprises workbench, be provided with for the framed of wall board forming and the die head for suppressing above workbench successively, briquetting machine also comprises the synchronous clamping cylinder group that same control valve controls, clamping cylinder group is framed for driving, clamping cylinder group comprises the clamping cylinder that at least four are symmetricly set on framed corner, material-feeding mechanism comprises the material storing box can walked along framed edge, material storing box bottom is provided with discharging opening,
Described automatic shearing net machine comprises Jian Wang mechanism, and Jian Wang mechanism comprises cuts net workbench, is arranged on and cuts chopper above net workbench and cut net cylinder for what drive chopper;
The described Web robot that grabs comprises base, the side of base is provided with the first bearing, first holder top is provided with rotary cylinder, the top of rotary cylinder is connected with rotating shaft, rotating shaft is fixed with support body, the outside of support body is provided with the second bearing, second holder top is provided with the first telescopic cylinder, the piston rod of the first telescopic cylinder is connected by the cylinder bottom of the first connector with the second telescopic cylinder vertically arranged, the piston rod of the second telescopic cylinder is connected with horizontally disposed bracket by the second connector, described bracket is symmetrically arranged with at least two two-way cylinders, the bottom of two-way cylinder is provided with two-way cylinder and drives the scissors hand opening or close,
Described robot palletizer comprises the clamping device of mechanical arm and the mechanical arm end setting with six degree of freedom, and described clamping device comprises bracing frame and is arranged on the clip of bracing frame both sides, and described clip is driven by gripper cylinder;
Described compression molding device, grab Web robot, automatic shearing net machine and robot palletizer and all adopt same controller to control.
Beneficial effect of the present invention is as follows:
1., by the Automation Design, improve the automaticity of building wall board making sheet.Traditional compression molding device usually needs artificial loading or uses the mode of framed material loading to realize the material loading of making sheet raw material.Also need during lapping manual type iron net or glass fiber net are laid in framed in, after making sheet completes, finally also need manually to carry out piling.Native system adopts moveable material storing box to complete the automatic blanking of making sheet raw material, automatic shearing net machine and grab Web robot's automatic shearing net laying net, robot palletizer automatic stacking, compression molding device, grab Web robot, automatic shearing net machine and robot palletizer and all adopt same controller to control, achieve the full-automatic building wall board making sheet that need not manually participate in, substantially increase production efficiency.
2. in compression molding device of the present invention, it is framed that what press down that clamping adopts is the synchronous clamping cylinder group that same control valve controls, the synchronous operation of each clamping cylinder can be ensured when therefore working, and the clamping cylinder of clamping cylinder group is arranged symmetrically with, the piston rod uniform force of each clamping cylinder can be ensured.By the solution of the present invention, the stuck phenomenon of each clamping cylinder can be avoided, available protecting clamping cylinder.
3. the present invention grabs Web robot and adopts the scissors hand of similar scissors as grabbing device, during work, first scissors hand is inserted in the mesh of Web materials, then open at the drive lower scissors hand of two-way cylinder and block mesh, under the drive of the second telescopic cylinder, propose the crawl that can complete Web materials.This programme grab the Web materials that Web robot can capture any material, practical.And solve because iron net iron-holder is low, iron net bends, to be out of shape the electromagnet absorption affinity that causes inadequate, capture unstable problem.
Further, the equipment that vibrates is set on the top of described die head; Described die head drives by driving cylinder, and die head is flexible coupling with driving the piston rod of cylinder.On die head top, the motor that vibrates is set usually, therefore vibrate motor oscillating time die head is concentrated on substantially to the vibration of complete machine and drives the piston rod junction of cylinder, and the piston rod of die head and driving cylinder adopts the mode be flexible coupling, die head when vibrating can be reduced, to the effect of the side force of piston rod, avoid damaging the piston rod driving cylinder.
The bottom of described workbench arranges the equipment that vibrates, and be provided with multiple support column in the bottom of described workbench, support column periphery is provided with shock-absorbing spring, and described support column and shock-absorbing spring are all arranged in sleeve, and described sleeve is fixed on base.Usually in the bottom of workbench, will the motor that vibrate be set, therefore designs shock-absorbing spring, reduce the vibration effect of motor to whole device of vibrating, avoid all parts in damage device.
Further, described material-feeding mechanism also comprising blanking motor, being arranged on the dismountable unloading rod of discharge outlet and the feeding motor for driving material storing box to move, described feeding motor is connected with frequency converter respectively with blanking motor, blanking motor and described unloading rod transmission; The feeding stroke of described feeding motor adopts optoelectronic switch to respond to, and the blanking stroke of blanking motor adopts optoelectronic switch to respond to.
Feeding motor is connected with frequency converter respectively with blanking motor, therefore, the rotating speed of feeding motor and blanking motor can be controlled by frequency converter, and then control the speed of service and the discharging speed of material storing box, because the speed of service of material storing box and discharging speed determine discharge quantity, therefore the speed of service of material storing box and the difference of discharging speed, can produce the wallboard of different-thickness.Unloading rod removably connects, and when making sheet raw material is different, its humidity, viscosity and granular size also can change, and these all can cause the flow behavior of material to change, the blanking requirement therefore by using unloading rod to carry out satisfied different making sheet raw material.By more than, the present invention can make the wallboard of different-thickness and unlike material, if further change framed and die head, the present invention also can make the wallboard of different length and width size, has higher practicality.
In order to the blanking stroke of the feeding stroke and blanking motor of determining feeding motor more accurately, the feeding stroke of feeding motor adopts optoelectronic switch to respond to, and the blanking stroke of blanking motor adopts optoelectronic switch to respond to.
Further, described slab feeding mechanism comprises the guide rail for support baseboard arranged along base plate throughput direction, described guide rail extends to the edge of described workbench, conveying cylinder and slide unit is provided with on the top of guide rail, the piston rod of conveying cylinder is connected with slide unit, slide unit is fixed with one for pushing the T-shaped frame of base plate.By slab feeding mechanism continuously conveyor mat, realize the continuous seepage of wallboard, enhance productivity.Push base plate by T-shaped frame, the head of T-shaped frame and the contact area of base plate greatly, are carried more stable.
In order to more stablize accurate conveyor mat, the control of conveying cylinder adopts magnetic valve, and the piston position of magnetic switch induction conveying cylinder, the conveying cylinder speed of service adopts barometric damper to control.
Slab feeding mechanism also comprises the synchronous plate cylinder of four of being evenly distributed on base plate surrounding, and the piston rod end of plate cylinder is provided with sphenocephaly, the inclined-plane of sphenocephaly and the contacts side surfaces of base plate.Four synchronous plate cylinders are used for base plate above to insert, so that the conveying of base plate below.
Further, described automatic shearing net machine also comprise with Jian Wang mechanism with the use of straightening mechanism, straightening mechanism comprises at least two guides arranged up and down, wherein has at least a guide to be driven the distance regulated between other guides by motor.Smooth aligning can be carried out to Web materials by straightening mechanism in Web materials transport process, avoid Web materials Texturized, the wallboard quality after impact processing.
Further, the described Web robot that grabs also comprises the linear bearing being arranged on the second rest base, and the piston rod of linear bearing end and the first telescopic cylinder is fixed.By setting up linear bearing in the bottom of the second bearing, when the first telescopic cylinder runs, linear bearing can shrink with the first telescopic cylinder, the first telescopic cylinder is played to the effect of motion guide and reinforcing, avoids the long-time lateral force of the first telescopic cylinder and damage.
Further, the described Web robot that grabs also comprises guider, described guider comprises the first terminal pad being fixed on the second telescopic cylinder cylinder head and the second terminal pad be fixed on described bracket, first terminal pad is provided with pilot hole, be equipped with guide post in pilot hole, the lower end of guide post is fixed on described second terminal pad.Guider prevents the piston rod of the second telescopic cylinder from rotating in telescopic process, causes the deviation of crawl position, and makes scissors hand can not accurately insert mesh.
Another object of the present invention is to provide a kind of control method of building wall board making sheet intelligence control system, comprises the following steps:
1) base plate is delivered on the workbench of briquetting machine by slab feeding mechanism, and by framed compression, automatic shearing net machine completes the shearing of Web materials simultaneously;
2) grab Web robot and capture the Web materials after automatic shearing net machine is sheared, Web materials is put into framed;
3) start material-feeding mechanism, by the material storing box blanking of material-feeding mechanism, making sheet raw material uniform spreading is located at framed in, simultaneously automatic shearing net machine completes the shearing of second Web materials;
4) after blanking completes, grab Web robot by shear second Web materials lay and framed in;
5), after having laid, die head presses down, compress framed in making sheet raw material after, the equipment of vibrating starts to vibrate;
6) after extruding of vibrating completes, die head is return upwards, framed rise, and slab feeding mechanism releases next base plate, is released by the base plate with molded wallboard by this base plate;
7) with after the base plate release of molded wallboard, start the piling that robot palletizer completes wallboard, wait for carrying fork truck.
By the control method of above-mentioned board wall system, the automaticity of building wall board making sheet can be improved.Traditional compression molding device usually needs artificial loading or uses the mode of framed material loading to realize the material loading of making sheet raw material, and the conveying of base plate is also adopt artificial conveyance, and present invention employs automatic sheet feeder structure and automatic storing case achieves the automatic transport of base plate and the automatic blanking of making sheet raw material respectively.Traditional Sheetmaking systems, also need during lapping manual type iron net or glass fiber net are laid in framed in, after making sheet completes, finally also need manually to carry out piling.This method adopts automatic shearing net machine and grabs Web robot's automatic shearing net laying net, robot palletizer automatic stacking, achieves the full-automatic building wall board making sheet that need not manually participate in, substantially increases production efficiency.
Further, the described control method of grabbing Web robot is as follows:
1st step, receives after pickup starts triggering signal, detects rotary cylinder home position sensing, judge whether rotary cylinder is in " original position " state, if current rotary cylinder is not in original position, then wait for that rotary cylinder gets back to original position, if be in original position, then enter the 2nd step;
2nd step, detect the first telescopic cylinder home position sensing, judge whether the first telescopic cylinder is in " original position " state, if in position, do not wait for that telescopic cylinder gets back to home state, if the original position of being in, then open magnetic valve, the first telescopic cylinder stretches out forward, when the first telescopic cylinder stretch out put in place time, enter the 3rd step;
3rd step, detect the second telescopic cylinder home position sensing, judge whether the second telescopic cylinder is in " original position " state, if not state in position, then wait for that the second telescopic cylinder gets back to original position, if the original position of being in, open magnetic valve, second telescopic cylinder stretches out downwards, when cylinder stretch out put in place time, scissors hand extend in the mesh of Web materials, enters the 4th step;
4th step, detect two-way cylinder home position sensing, judge whether two-way cylinder is in " original position " state, if in position, do not wait for that two-way cylinder gets back to original position, if the original position of being in, open magnetic valve, two-way cylinder piston rod stretches out to both sides, is opened by scissors hand, capture Web materials, enter the 5th step;
5th step, close the second telescopic cylinder magnetic valve, the second telescopic cylinder upwards shrinks, and when the second telescopic cylinder is retracted to original position, enters the 6th step;
6th step, closes the first telescopic cylinder magnetic valve, the first telescopic cylinder to recovery contracting, when the first cylinder stretch out be retracted to original position time, enter the 7th step;
7th step, pickup is complete, waits for and send part signal to trigger;
8th step, receives after sending part to start triggering signal, detects pickup and completes buffer status, if pickup does not complete, then waits for that pickup completes, if complete pickup, then enters the 9th step;
9th step, detects rotary cylinder home position sensing, judges whether rotary cylinder is in " original position " state, if current rotary cylinder is not in original position, wait for that rotary cylinder gets back to original position, if be in original position, then open magnetic valve, rotary cylinder is rotated, after putting in place, enter the 10th step;
10th step, detect the first telescopic cylinder home position sensing, judge whether the first telescopic cylinder is in " original position " state, if in position, do not wait for that the first telescopic cylinder gets back to home state, if the original position of being in, then open magnetic valve, the first telescopic cylinder stretches out forward, when the first telescopic cylinder stretch out put in place time, enter the 11st step;
11st step, detect the second telescopic cylinder home position sensing, judge whether telescopic cylinder is in " original position " state, if not state in position, then wait for that the second telescopic cylinder gets back to original position, if the original position of being in, open magnetic valve, the second telescopic cylinder stretches out downwards, when stretch out put in place time, enter the 12nd step;
12nd step, detect two-way cylinder home position sensing, judge whether two-way cylinder is in " original position " state, if not in position, then wait for that two-way cylinder gets back to original position, if the original position of being in, shut electromagnetic valve, two-way cylinder piston steps up to centre, scissors hand is closed up, unclamps Web materials, enter the 13rd step;
13rd step, close the second telescopic cylinder magnetic valve, the second telescopic cylinder upwards shrinks, and when being retracted to original position, enters the 14th step;
14th step, close the first telescopic cylinder magnetic valve, the first telescopic cylinder upwards shrinks, and when being retracted to original position, enters the 15th step;
15th step, send part complete, waits for pickup part triggering signal.
By above-mentioned control method of grabbing Web robot, the automatic capturing of the Web materials of any material can be realized, and adopt scissors hand as grabbing device, capture more firmly stable.
Further, the briquetting process of described compression molding device is as follows:
1) base plate is stacked in base plate limitting casing, starts synchronous plate cylinder and base plate is above inserted, stay below first piece of base plate on guide rail;
2) carry cylinder first piece of base plate to be pushed to the edge of workbench, conveying cylinder gets back to original position, is sent by second piece of base plate, second piece of base plate first piece of base plate is shifted onto framed in;
3) the synchronous clamping cylinder group that same control valve controls is started, base plate is clamped downwards in the drive low mold frame of clamping cylinder group, by feeding motor pushing material storing box to framed top, when discharging opening arrives framed inside edge, blanking driven by motor unloading rod carries out blanking, when discharging opening arrives framed trailing edge, stop blanking, material storing box get back to framed outside;
4) the making sheet raw material of die head in driving downward compression under cylinder drive framed, now, the equipment that vibrates being positioned at die head top and workbench bottom vibrates simultaneously, completes the destarch of vibrating to making sheet raw material;
5) die head rises, framed rising, and conveying cylinder sends next block base plate to framed below, and lastblock base plate is pushed out to outfeed platforms;
6) above-mentioned steps 1 is repeated)-5) until complete the compacting of all wallboards.
Described plate cylinder, conveying cylinder, clamping cylinder group, feeding motor, blanking motor, drive cylinder and the control of the equipment that vibrates all adopts PLC to control, feeding motor and blanking motor all adopt frequency converter to control its rotating speed, the feeding stroke of feeding motor adopts optoelectronic switch to respond to, the blanking stroke of blanking motor adopts optoelectronic switch to respond to, the control of conveying cylinder adopts magnetic valve, the piston position of magnetic switch induction conveying cylinder, the conveying cylinder speed of service adopts barometric damper to control.
The whole compression molding device of the present invention adopts PLC to control, without the need to artificial participation, running parameter such as feeding speed and stroke, blanking velocity and stroke, vibrating time, each cylinder piston movement velocity can carry out arranging and regulating according to the actual requirements, by the Automation Design, the automaticity that building wall board is compressing can be improved.
Accompanying drawing explanation
Fig. 1 is the structural representation of building wall board intelligence control system embodiment of the present invention;
Fig. 2 is the structural representation of compression molding device in Fig. 1;
Fig. 3 is the structural representation of grabbing Web robot in Fig. 1;
Fig. 4 is structural representation when scissors hand opens in Fig. 3;
Fig. 5 is the scissors hand pickup control flow chart of building wall board making sheet intelligence control system and control method in Fig. 3 embodiment;
Fig. 6 is that the scissors hand of building wall board making sheet intelligence control system and control method in Fig. 3 embodiment send part control flow chart.
Detailed description of the invention
Below by detailed description of the invention, the present invention is further detailed explanation:
Reference numeral in Figure of description 1 comprises: compression molding device 1, automatic shearing net machine 3, cut net workbench 301, chopper 302, cut net cylinder 303, guide 304, robot palletizer 4, mechanical arm 401, bracing frame 402, clip 403.
Building wall board making sheet intelligence control system as shown in Figure 1, comprises compression molding device 1, automatic shearing net machine 3, grabs Web robot's (not shown) and robot palletizer 4.Automatic shearing net machine 3 is arranged on the side of compression molding device 1, and for the shearing of Web materials, grab the pick-and-place of Web robot for Web materials, robot palletizer 4 is positioned at the front of compression molding device 1, for the piling of the wallboard after shaping.The side of the said compression molding device 1 of the present embodiment refers to the side direction being positioned at base plate throughput direction, and the front of compression molding device 1 refers to the compressing rear discharging side of wallboard.
The present embodiment automatic shearing net machine 3 comprises Jian Wang mechanism and straightening mechanism.Jian Wang mechanism comprises cuts net workbench 301, is arranged on and cuts chopper 302 above net workbench 301 and cut net cylinder 303 for what drive chopper 302, concrete, chopper 302 is arranged on the bottom of chopper 302 frame, cuts the top that net cylinder 303 is arranged on chopper 302 frame.Straightening mechanism be arranged on the rear of Jian Wang mechanism and Jian Wang mechanism with the use of, straightening mechanism comprises two guides arranged up and down, and two guides 304 are all set on respective back shaft, and the two ends of back shaft are fixed on bracing frame.One of them guide 304 drives the distance regulated between another guide 304 by motor.Smooth aligning can be carried out to Web materials by straightening mechanism in Web materials transport process, avoid Web materials Texturized, the wallboard quality after impact processing.
The present embodiment robot palletizer 4 comprises the clamping device of the mechanical arm 401 and mechanical arm 401 end setting with six degree of freedom, clamping device comprises bracing frame 402 and is arranged on the clip 403 of bracing frame about 402 both sides, the clip 403 of the present embodiment is " E " font folder, clip 403 is driven by gripper cylinder, for capture shaping after the base plate of wallboard.
The present embodiment compression molding device 1, grab Web robot, automatic shearing net machine 3 and robot palletizer 4 and all adopt same controller to control.
The present embodiment provides a kind of control method of building wall board making sheet intelligence control system, comprises the following steps:
1) base plate is delivered on the workbench of briquetting machine by slab feeding mechanism, and by framed compression, automatic shearing net machine 3 completes the shearing of Web materials simultaneously;
2) grab Web robot and capture the Web materials after automatic shearing net machine 3 is sheared, Web materials is put into framed;
3) start material-feeding mechanism, by the material storing box blanking of material-feeding mechanism, making sheet raw material uniform spreading is located at framed in, simultaneously automatic shearing net machine 3 completes the shearing of second Web materials;
4) after blanking completes, grab Web robot by shear second Web materials lay and framed in;
5), after having laid, die head presses down, compress framed in making sheet raw material after, the equipment of vibrating starts to vibrate;
6) after extruding of vibrating completes, die head is return upwards, framed rise, and slab feeding mechanism releases next base plate, is released by the base plate with molded wallboard by this base plate;
7) with after the base plate release of molded wallboard, start the piling that robot palletizer 4 completes wallboard, wait for carrying fork truck.
The Reference numeral of accompanying drawing 2 is as follows: workbench 101, framed 102, clamping cylinder 103, sleeve 104, column 105, top board 106, first guide post 107, die head 108, drive cylinder piston rod via hole 109, steam vent 1010, the motor 1011 that vibrates, discharge pedestal 1012, first guide rail 1013, material storing box 1014, roller 1015, feeding motor 1016, second guide rail 1017, base plate posting 1018, plate cylinder 1019.
Compression molding device 1 as shown in Figure 2, comprises slab feeding mechanism, material-feeding mechanism, briquetting machine and discharge pedestal.Discharge pedestal is arranged on the front of briquetting machine, and slab feeding mechanism and material-feeding mechanism are arranged on the rear of briquetting machine.
Briquetting machine comprises workbench 101, and discharge pedestal 1012 is positioned at the front of above-mentioned workbench 101.The top of workbench 101 is provided be made up of two pieces of flat boards framed 102, for clamping base plate between framed 102 and workbench 101.Two pieces of flat boards are oppositely arranged, the dull and stereotyped clamping cylinder 103 by being symmetricly set on these dull and stereotyped both sides of every block drives clamping base plate, four clamping cylinders 103 form synchronous clamping cylinder group, and this clamping cylinder group is controlled by same control valve, and the pore place of each clamping cylinder 103 is equipped with control valve.Because the pore place of clamping cylinder is provided with control valve, for regulate each clamping cylinder into and out of tolerance, can regulate the synchronism of each clamping cylinder further, reduce synchronism deviation.
Framed 102 press down clamping adopt be same control valve control synchronous clamping cylinder group, the synchronous operation of each clamping cylinder can be ensured when therefore working, and the clamping cylinder of clamping cylinder group is arranged symmetrically with, the piston rod uniform force of each clamping cylinder can be ensured, simultaneously because the pore place of clamping cylinder is provided with control valve, for regulate each clamping cylinder into and out of tolerance, can regulate the synchronism of each clamping cylinder further, reduce synchronism deviation.
The corner of workbench 101 is respectively equipped with four columns 105, lower end and the base of column 105 are fixed, the upper end of column 105 is supported with top board 106, have at the middle part of top board 106 and drive cylinder piston rod via hole 109, the surrounding of cylinder piston rod via hole 109 is driven to be evenly equipped with four pilot holes, four the first guide posts 107 are through above-mentioned pilot hole, lower end and the horizontally disposed die head 108 of the first guide post 107 are fixed, die head 108 is positioned at the top of workbench 101, the projection of die head 108 is positioned at the frame of framed 102 of two pieces of dull and stereotyped formation, on die head, steam vent 1010 is had in the present embodiment.Die head 108 drives by driving cylinder, and die head 108 is flexible coupling with driving the piston rod of cylinder.The motor 1011 that vibrates is provided with on die head 108 top.Vibrate motor oscillating time die head 108 is concentrated on substantially to the vibration of complete machine and drives the piston rod junction of cylinder, and die head 108 adopts with driving the piston rod of cylinder the mode be flexible coupling, the effect of the side force of die head 108 pairs of piston rods when vibrating can be reduced, avoid damaging the piston rod driving cylinder.
The bottom of workbench 101 is provided with motor (not shown) of vibrating, and be provided with two support columns in the bottom of workbench 101, support column periphery is provided with shock-absorbing spring, and support column and shock-absorbing spring are all arranged in sleeve 104, and sleeve 104 is fixed on base by expansion bolt.In the bottom of workbench 101, will the motor that vibrate be set, therefore designs shock-absorbing spring, reduce the vibration effect of motor to whole device of vibrating, avoid all parts in damage device.
The slab feeding mechanism of the present embodiment comprises the edge that the second guide rail 1017, second guide rail 1017 for support baseboard arranged along base plate throughput direction extends to workbench 101.Be provided with conveying cylinder and slide unit (not shown) on the top of the second guide rail, the piston rod of conveying cylinder is connected with slide unit, slide unit is fixed with one for pushing the T-shaped frame of base plate.The present embodiment, by slab feeding mechanism continuously conveyor mat, realizes the continuous seepage of wallboard, enhances productivity.Push base plate by T-shaped frame, the head of T-shaped frame and the contact area of base plate greatly, are carried more stable.The present embodiment is in order to more stablize accurate conveyor mat, and the control of conveying cylinder adopts magnetic valve, and the piston position of magnetic switch induction conveying cylinder, the conveying cylinder speed of service adopts barometric damper to control.
The present embodiment slab feeding mechanism also comprises base plate posting 1018 and is evenly distributed on the synchronous plate cylinder 1019 of four of base plate surrounding, and plate cylinder 1019 is positioned at the corner place of base plate posting.The piston rod end of plate cylinder 1019 is provided with sphenocephaly, the inclined-plane of sphenocephaly and the contacts side surfaces of base plate.Four synchronous plate cylinders are used for base plate above to insert, so that the conveying of base plate below.
The material-feeding mechanism of the present embodiment comprises material storing box 1014, roller, blanking motor, feeding motor 1016 and is arranged on above the second guide rail two the first guide rails 1013 side by side.First guide rail 1013 extends to the edge of workbench 101.Four rolling 1015 is installed in the bottom of material storing box 1014, and roller 1015 is positioned on above-mentioned first guide rail 1013, and roller is driven by above-mentioned feeding motor and material storing box can be driven to walk along feed direction on the first guide rail.In the present embodiment, the feeding stroke of feeding motor adopts optoelectronic switch to respond to.
Certainly, in order to increase the stationarity of feeding, the first guide rail in the present embodiment also can adopt tooth bar, and roller adopts the form of gear to carry out feeding.
The bottom of material storing box 1014 has discharging opening, is provided with the unloading rod of the dismountable band flabellum be bolted in discharge outlet, and blanking motor rotates blanking for driving above-mentioned unloading rod, and the blanking stroke of blanking motor adopts optoelectronic switch to respond to.
The feeding motor of the present embodiment is connected with frequency converter respectively with blanking motor.Therefore, the rotating speed of feeding motor and blanking motor can be controlled by frequency converter, and then control the speed of service and the discharging speed of material storing box, because the speed of service of material storing box and discharging speed determine discharge quantity, therefore the speed of service of material storing box and the difference of discharging speed, can produce the wallboard of different-thickness.Unloading rod removably connects, and when making sheet raw material is different, its humidity, viscosity and granular size also can change, and these all can cause the flow behavior of material to change, the blanking requirement therefore by using unloading rod to carry out satisfied different making sheet raw material.By more than, the present invention can make the wallboard of different-thickness and unlike material, if further change framed 102 and die head 108, the present invention also can make the wallboard of different length and width size.
A kind of method that the present embodiment provides building wall board compressing, comprises the following steps:
1) be stacked in base plate limitting casing by base plate, start synchronous plate cylinder and inserted by base plate above, leave below that first piece of base plate is on guide rail, wherein base plate limitting casing plays position-limiting action to base plate;
2) carry cylinder first piece of base plate to be pushed to the edge of workbench, conveying cylinder gets back to original position, is sent by second piece of base plate, second piece of base plate first piece of base plate is shifted onto framed in;
3) the synchronous clamping cylinder group that same control valve controls is started, base plate is clamped downwards in the drive low mold frame of clamping cylinder group, by feeding motor pushing material storing box to framed top, when discharging opening arrives framed inside edge, blanking driven by motor unloading rod carries out blanking, when discharging opening arrives framed trailing edge, stop blanking, material storing box get back to framed outside;
4) the making sheet raw material of die head 108 in driving downward compression under cylinder drive framed, now, the equipment that vibrates being positioned at die head top and workbench bottom vibrates simultaneously, completes the destarch of vibrating to making sheet raw material;
5) die head rises, framed rising, and conveying cylinder sends next block base plate to framed below, and lastblock base plate is pushed out to outfeed platforms;
6) above-mentioned steps 1 is repeated)-5) until complete the compacting of all wallboards.
The present embodiment, in the method that above-mentioned building wall board is compressing, plate cylinder, conveying cylinder, clamping cylinder group, feeding motor, blanking motor, drives cylinder and the control of the equipment that vibrates all adopts PLC to control; Feeding motor and blanking motor all adopt frequency converter to control its rotating speed, make feeding speed and blanking velocity and discharge quantity, can regulate according to actual conditions with frequency converter; The feeding stroke of feeding motor adopts optoelectronic switch to respond to, and the blanking stroke of blanking motor adopts optoelectronic switch to respond to, and makes feeding stroke and blanking be formed more accurate; The control of conveying cylinder adopts magnetic valve, the piston position of magnetic switch induction conveying cylinder, and the conveying cylinder speed of service adopts barometric damper to control, and makes the conveying of base plate more precisely steadily.
The whole device of the present invention adopts PLC to control, without the need to artificial participation, running parameter such as feeding speed and stroke, blanking velocity and stroke, vibrating time, each cylinder piston movement velocity can carry out arranging and regulating according to the actual requirements, by the Automation Design, the automaticity that building wall board is compressing can be improved.
The Reference numeral of accompanying drawing 3 and accompanying drawing 4 comprises: base 201, first bearing 202, support body 203, gripper shoe 204, rotary cylinder 205, sleeve 206, second bearing 207, first telescopic cylinder 208, linear bearing 209, second telescopic cylinder 2010, second guide post 2011, first terminal pad 2012, second terminal pad 2013, bracket 2014, two-way cylinder 2015, scissors hand 2016.
As shown in Figure 3 grab Web robot for building wall board formation system, during use, base 201 is for being fixed on the column 105 of briquetting machine in compression molding device 1.The side of base 201 is welded with the first bearing 202, first bearing 202 top and is provided with rotary cylinder 205, and the top of rotary cylinder 205 is connected with rotating shaft, and rotary cylinder 205 is for grabbing the rotation of Web robot's horizontal level.Be arranged with sleeve outside rotating shaft, be also provided with gripper shoe in the side of base 201, the end face of gripper shoe 204 has the curved surface identical with excircle of sleeve curvature, and the end face of gripper shoe 204 and the cylindrical of sleeve offset.
Rotating shaft is fixed with support body 203, the outside of support body 203 is welded with the second bearing 207, second bearing 207 top and is provided with the first telescopic cylinder 208, first telescopic cylinder 208 moving forward and backward for robot.Linear bearing 209 is fixed on the bottom of supporting seat by two pieces of fixing iron rings, the end of linear bearing 209 and the piston rod of the first telescopic cylinder 208 are fixed, just can stretch with piston, play the effect strengthening piston rod intensity, prevent the piston rod side of the first telescopic cylinder 208 to stressed for a long time, cause cylinder to damage.
The piston rod of the first telescopic cylinder 208 is connected by the cylinder bottom of the first connector with the second telescopic cylinder 2010 vertically arranged, the piston rod of the second telescopic cylinder 2010 is connected with horizontally disposed bracket 2014 by the second connector, and the middle part of bracket 2014 is provided with " ten " word reinforcement.In the present embodiment, also comprise guider, guider comprises the first terminal pad 2012 being fixed on the second telescopic cylinder cylinder head and the second terminal pad 2013 be fixed on " ten " word reinforcement, first terminal pad 2012 is provided with pilot hole, the lower end being equipped with the second guide post 2011, second guide post 2011 in pilot hole is fixed on the second terminal pad 2013.
Corner on bracket 2014 is symmetrically arranged with four two-way cylinders 2015, installing plate is for installing two-way cylinder 2015, dress plate has vertical bar hole, two-way cylinder is threaded connection to be installed on a mounting board at the screw of bar hole, can be realized the adjustment of two-way cylinder upper-lower position by the link position of adjustment screw.The bottom of two-way cylinder 2015 is provided with two-way cylinder and drives the scissors hand 2016 opening or close.
Two-way cylinder 2015 has two pistons, and after air compressor machine passes into gas from different air admission hole, two pistons can be moved to both sides to intermediary movements with by centre by both sides.Two ends and two-way cylinder two pistons of scissors hand 2016 are flexible coupling by flexible pipe, when piston open or closing motion time, scissors hand can open and closing motion with piston.
Be illustrated in figure 4 structural representation when scissors hand opens under the drive of the piston rod of two-way cylinder.
In the present embodiment, rotary cylinder 205, first telescopic cylinder 208, second telescopic cylinder 2010 and two-way cylinder 2015 are equipped with position sensor, whether are in " original position " or whether each cylinder operationally runs " putting in place " to detect each cylinder.The Web robot that grabs of the present embodiment adopts PLC to control.
As shown in Figure 5 and Figure 6, the control method of grabbing Web robot of the present embodiment building wall board formation system, comprises the following steps:
1st step, receive after pickup starts triggering signal, PLC detects rotary cylinder home position sensing, judge whether rotary cylinder is in " original position " state, if current rotary cylinder is not in original position, then wait for that rotary cylinder gets back to original position, if be in original position, then enter the 2nd step;
2nd step, detect the first telescopic cylinder home position sensing, judge whether the first telescopic cylinder is in " original position " state, if in position, do not wait for that telescopic cylinder gets back to home state, if the original position of being in, then open magnetic valve, the first telescopic cylinder stretches out forward, when the first telescopic cylinder stretch out put in place time, enter the 3rd step;
3rd step, detect the second telescopic cylinder home position sensing, judge whether the second telescopic cylinder is in " original position " state, if not state in position, then wait for that the second telescopic cylinder gets back to original position, if the original position of being in, open magnetic valve, second telescopic cylinder stretches out downwards, when cylinder stretch out put in place time, scissors hand extend in the mesh of Web materials, enters the 4th step;
4th step, detect two-way cylinder home position sensing, judge whether two-way cylinder is in " original position " state, if in position, do not wait for that two-way cylinder gets back to original position, if the original position of being in, open magnetic valve, two-way cylinder piston rod stretches out to both sides, is opened by scissors hand, capture Web materials, enter the 5th step;
5th step, close the second telescopic cylinder magnetic valve, the second telescopic cylinder upwards shrinks, and when the second telescopic cylinder is retracted to original position, enters the 6th step;
6th step, closes the first telescopic cylinder magnetic valve, the first telescopic cylinder to recovery contracting, when the first cylinder stretch out be retracted to original position time, enter the 7th step;
7th step, pickup is complete, and pickup completes register and puts 1, waits for and send part signal to trigger;
8th step, receives after sending part to start triggering signal, detects pickup and completes buffer status, if pickup does not complete, then waits for that pickup completes, if complete pickup, then enters the 9th step;
9th step, detects rotary cylinder home position sensing, judges whether rotary cylinder is in " original position " state, if current rotary cylinder is not in original position, wait for that rotary cylinder gets back to original position, if be in original position, then open magnetic valve, rotary cylinder is rotated, after putting in place, enter the 10th step;
10th step, detect the first telescopic cylinder home position sensing, judge whether the first telescopic cylinder is in " original position " state, if in position, do not wait for that the first telescopic cylinder gets back to home state, if the original position of being in, then open magnetic valve, the first telescopic cylinder stretches out forward, when the first telescopic cylinder stretch out put in place time, enter the 11st step;
11st step, detect the second telescopic cylinder home position sensing, judge whether telescopic cylinder is in " original position " state, if not state in position, then wait for that the second telescopic cylinder gets back to original position, if the original position of being in, open magnetic valve, the second telescopic cylinder stretches out downwards, when stretch out put in place time, enter the 12nd step;
12nd step, detect two-way cylinder home position sensing, judge whether two-way cylinder is in " original position " state, if not in position, then wait for that two-way cylinder gets back to original position, if the original position of being in, shut electromagnetic valve, two-way cylinder piston steps up to centre, scissors hand is closed up, unclamps Web materials, enter the 13rd step;
13rd step, close the second telescopic cylinder magnetic valve, the second telescopic cylinder upwards shrinks, and when being retracted to original position, enters the 14th step;
14th step, close the first telescopic cylinder magnetic valve, the first telescopic cylinder upwards shrinks, and when being retracted to original position, enters the 15th step;
15th step, send part complete, waits for pickup part triggering signal.
Above-described is only embodiments of the invention, and in scheme, the general knowledge such as known concrete structure and characteristic does not do too much description at this.Should be understood that; for a person skilled in the art, under the prerequisite not departing from structure of the present invention, some distortion and improvement can also be made; these also should be considered as protection scope of the present invention, and these all can not affect effect of the invention process and practical applicability.
Claims (10)
1. building wall board making sheet intelligence control system, comprise compression molding device and grab Web robot, it is characterized in that, also comprise automatic shearing net machine and robot palletizer, automatic shearing net machine is arranged on the side of compression molding device, grab the pick-and-place of Web robot for Web materials, robot palletizer is positioned at the front of compression molding device;
Described compression molding device comprises slab feeding mechanism, material-feeding mechanism, briquetting machine and the equipment that vibrates, slab feeding mechanism is arranged on the rear of briquetting machine, the equipment of vibrating is arranged on briquetting machine, briquetting machine comprises workbench, be provided with for the framed of wall board forming and the die head for suppressing above workbench successively, briquetting machine also comprises the synchronous clamping cylinder group that same control valve controls, clamping cylinder group is framed for driving, clamping cylinder group comprises the clamping cylinder that at least four are symmetricly set on framed corner, material-feeding mechanism comprises the material storing box can walked along framed edge, material storing box bottom is provided with discharging opening,
Described automatic shearing net machine comprises Jian Wang mechanism, and Jian Wang mechanism comprises cuts net workbench, is arranged on and cuts chopper above net workbench and cut net cylinder for what drive chopper;
The described Web robot that grabs comprises base, the side of base is provided with the first bearing, first holder top is provided with rotary cylinder, the top of rotary cylinder is connected with rotating shaft, rotating shaft is fixed with support body, the outside of support body is provided with the second bearing, second holder top is provided with the first telescopic cylinder, the piston rod of the first telescopic cylinder is connected by the cylinder bottom of the first connector with the second telescopic cylinder vertically arranged, the piston rod of the second telescopic cylinder is connected with horizontally disposed bracket by the second connector, described bracket is symmetrically arranged with at least two two-way cylinders, the bottom of two-way cylinder is provided with two-way cylinder and drives the scissors hand opening or close,
Described robot palletizer comprises the clamping device of mechanical arm and the mechanical arm end setting with six degree of freedom, and described clamping device comprises bracing frame and is arranged on the clip of bracing frame both sides, and described clip is driven by gripper cylinder;
Described compression molding device, grab Web robot, automatic shearing net machine and robot palletizer and all adopt same controller to control.
2. building wall board making sheet intelligence control system according to claim 1, is characterized in that, arranges on the top of described die head the equipment that vibrates; Described die head drives by driving cylinder, and die head is flexible coupling with driving the piston rod of cylinder; The bottom of described workbench arranges the equipment that vibrates, and be provided with multiple support column in the bottom of described workbench, support column periphery is provided with shock-absorbing spring, and described support column and shock-absorbing spring are all arranged in sleeve, and described sleeve is fixed on base.
3. building wall board making sheet intelligence control system according to claim 1, it is characterized in that, described material-feeding mechanism also comprising blanking motor, being arranged on the dismountable unloading rod of discharge outlet and the feeding motor for driving material storing box to move, described feeding motor is connected with frequency converter respectively with blanking motor, blanking motor and described unloading rod transmission; The feeding stroke of described feeding motor adopts optoelectronic switch to respond to, and the blanking stroke of blanking motor adopts optoelectronic switch to respond to.
4. building wall board making sheet intelligence control system according to claim 1, it is characterized in that, described slab feeding mechanism comprises the guide rail for support baseboard arranged along base plate throughput direction, described guide rail extends to the edge of described workbench, conveying cylinder and slide unit is provided with on the top of guide rail, the piston rod of conveying cylinder is connected with slide unit, slide unit is fixed with one for pushing the T-shaped frame of base plate; The control of conveying cylinder adopts magnetic valve, the piston position of magnetic switch induction conveying cylinder, and the conveying cylinder speed of service adopts barometric damper to control; Described slab feeding mechanism also comprises the synchronous plate cylinder of four of being evenly distributed on base plate surrounding, and the piston rod end of plate cylinder is provided with sphenocephaly, the inclined-plane of sphenocephaly and the contacts side surfaces of base plate.
5. building wall board making sheet intelligence control system according to claim 1, it is characterized in that, described automatic shearing net machine also comprise with Jian Wang mechanism with the use of straightening mechanism, straightening mechanism comprises at least two guides arranged up and down, wherein has at least a guide to be driven the distance regulated between other guides by motor.
6. building wall board making sheet intelligence control system according to claim 1, is characterized in that, the described Web robot that grabs also comprises the linear bearing being arranged on the second rest base, and the piston rod of linear bearing end and the first telescopic cylinder is fixed.
7. building wall board making sheet intelligence control system according to claim 1, it is characterized in that, the described Web robot that grabs also comprises guider, described guider comprises the first terminal pad being fixed on the second telescopic cylinder cylinder head and the second terminal pad be fixed on described bracket, first terminal pad is provided with pilot hole, be equipped with guide post in pilot hole, the lower end of guide post is fixed on described second terminal pad.
8. the control method of the building wall board making sheet intelligence control system according to any one of claim 1-7, is characterized in that, comprise the following steps:
1) base plate is delivered on the workbench of briquetting machine by slab feeding mechanism, and by framed compression, automatic shearing net machine completes the shearing of Web materials simultaneously;
2) grab Web robot and capture the Web materials after automatic shearing net machine is sheared, Web materials is put into framed;
3) start material-feeding mechanism, by the material storing box blanking of material-feeding mechanism, making sheet raw material uniform spreading is located at framed in, simultaneously automatic shearing net machine completes the shearing of second Web materials;
4) after blanking completes, grab Web robot by shear second Web materials lay and framed in;
5), after having laid, die head presses down, compress framed in making sheet raw material after, the equipment of vibrating starts to vibrate;
6) after extruding of vibrating completes, die head is return upwards, framed rise, and slab feeding mechanism releases next base plate, is released by the base plate with molded wallboard by this base plate;
7) with after the base plate release of molded wallboard, start the piling that robot palletizer completes wallboard, wait for carrying fork truck.
9. the control method of building wall board making sheet intelligence control system according to claim 8, is characterized in that, the described control method of grabbing Web robot is as follows:
1st step, receives after pickup starts triggering signal, detects rotary cylinder home position sensing, judge whether rotary cylinder is in " original position " state, if current rotary cylinder is not in original position, then wait for that rotary cylinder gets back to original position, if be in original position, then enter the 2nd step;
2nd step, detect the first telescopic cylinder home position sensing, judge whether the first telescopic cylinder is in " original position " state, if in position, do not wait for that telescopic cylinder gets back to home state, if the original position of being in, then open magnetic valve, the first telescopic cylinder stretches out forward, when the first telescopic cylinder stretch out put in place time, enter the 3rd step;
3rd step, detect the second telescopic cylinder home position sensing, judge whether the second telescopic cylinder is in " original position " state, if not state in position, then wait for that the second telescopic cylinder gets back to original position, if the original position of being in, open magnetic valve, second telescopic cylinder stretches out downwards, when cylinder stretch out put in place time, scissors hand extend in the mesh of Web materials, enters the 4th step;
4th step, detect two-way cylinder home position sensing, judge whether two-way cylinder is in " original position " state, if in position, do not wait for that two-way cylinder gets back to original position, if the original position of being in, open magnetic valve, two-way cylinder piston rod stretches out to both sides, is opened by scissors hand, capture Web materials, enter the 5th step;
5th step, close the second telescopic cylinder magnetic valve, the second telescopic cylinder upwards shrinks, and when the second telescopic cylinder is retracted to original position, enters the 6th step;
6th step, closes the first telescopic cylinder magnetic valve, the first telescopic cylinder to recovery contracting, when the first cylinder stretch out be retracted to original position time, enter the 7th step;
7th step, pickup is complete, waits for and send part signal to trigger;
8th step, receives after sending part to start triggering signal, detects pickup and completes buffer status, if pickup does not complete, then waits for that pickup completes, if complete pickup, then enters the 9th step;
9th step, detects rotary cylinder home position sensing, judges whether rotary cylinder is in " original position " state, if current rotary cylinder is not in original position, wait for that rotary cylinder gets back to original position, if be in original position, then open magnetic valve, rotary cylinder is rotated, after putting in place, enter the 10th step;
10th step, detect the first telescopic cylinder home position sensing, judge whether the first telescopic cylinder is in " original position " state, if in position, do not wait for that the first telescopic cylinder gets back to home state, if the original position of being in, then open magnetic valve, the first telescopic cylinder stretches out forward, when the first telescopic cylinder stretch out put in place time, enter the 11st step;
11st step, detect the second telescopic cylinder home position sensing, judge whether telescopic cylinder is in " original position " state, if not state in position, then wait for that the second telescopic cylinder gets back to original position, if the original position of being in, open magnetic valve, the second telescopic cylinder stretches out downwards, when stretch out put in place time, enter the 12nd step;
12nd step, detect two-way cylinder home position sensing, judge whether two-way cylinder is in " original position " state, if not in position, then wait for that two-way cylinder gets back to original position, if the original position of being in, shut electromagnetic valve, two-way cylinder piston steps up to centre, scissors hand is closed up, unclamps Web materials, enter the 13rd step;
13rd step, close the second telescopic cylinder magnetic valve, the second telescopic cylinder upwards shrinks, and when being retracted to original position, enters the 14th step;
14th step, close the first telescopic cylinder magnetic valve, the first telescopic cylinder upwards shrinks, and when being retracted to original position, enters the 15th step;
15th step, send part complete, waits for pickup part triggering signal.
10. the control method of building wall board making sheet intelligence control system according to claim 8, it is characterized in that, the briquetting process of described compression molding device is as follows:
1) base plate is stacked in base plate limitting casing, starts synchronous plate cylinder and base plate is above inserted, stay below first piece of base plate on guide rail;
2) carry cylinder first piece of base plate to be pushed to the edge of workbench, conveying cylinder gets back to original position, is sent by second piece of base plate, second piece of base plate first piece of base plate is shifted onto framed in;
3) the synchronous clamping cylinder group that same control valve controls is started, base plate is clamped downwards in the drive low mold frame of clamping cylinder group, by feeding motor pushing material storing box to framed top, when discharging opening arrives framed inside edge, blanking driven by motor unloading rod carries out blanking, when discharging opening arrives framed trailing edge, stop blanking, material storing box get back to framed outside;
4) the making sheet raw material of die head in driving downward compression under cylinder drive framed, now, the equipment that vibrates being positioned at die head top and workbench bottom vibrates simultaneously, completes the destarch of vibrating to making sheet raw material;
5) die head rises, framed rising, and conveying cylinder sends next block base plate to framed below, and lastblock base plate is pushed out to outfeed platforms;
6) above-mentioned steps 1 is repeated) to 5) until complete the compacting of all wallboards;
Described plate cylinder, conveying cylinder, clamping cylinder group, feeding motor, blanking motor, drive cylinder and the control of the equipment that vibrates all adopts PLC to control, feeding motor and blanking motor all adopt frequency converter to control its rotating speed, the feeding stroke of feeding motor adopts optoelectronic switch to respond to, the blanking stroke of blanking motor adopts optoelectronic switch to respond to, the control of conveying cylinder adopts magnetic valve, the piston position of magnetic switch induction conveying cylinder, the conveying cylinder speed of service adopts barometric damper to control.
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