CN104859043B - Building wall board making sheet intelligence control system and control method - Google Patents
Building wall board making sheet intelligence control system and control method Download PDFInfo
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- CN104859043B CN104859043B CN201510273348.2A CN201510273348A CN104859043B CN 104859043 B CN104859043 B CN 104859043B CN 201510273348 A CN201510273348 A CN 201510273348A CN 104859043 B CN104859043 B CN 104859043B
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- 239000000463 material Substances 0.000 claims abstract description 88
- 230000007246 mechanism Effects 0.000 claims abstract description 59
- 238000010008 shearing Methods 0.000 claims abstract description 36
- 238000000748 compression moulding Methods 0.000 claims abstract description 32
- 239000002994 raw material Substances 0.000 claims abstract description 28
- 230000006835 compression Effects 0.000 claims abstract description 7
- 238000007906 compression Methods 0.000 claims abstract description 7
- 238000007599 discharging Methods 0.000 claims description 16
- 230000005693 optoelectronics Effects 0.000 claims description 14
- 230000001360 synchronised effect Effects 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 9
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
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- 238000001514 detection method Methods 0.000 claims description 4
- 230000000630 rising effect Effects 0.000 claims description 3
- 238000007493 shaping process Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 10
- 238000003825 pressing Methods 0.000 abstract description 3
- 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
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- 230000008859 change Effects 0.000 description 3
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- 230000002787 reinforcement Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 239000004568 cement Substances 0.000 description 2
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- 230000008602 contraction Effects 0.000 description 2
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- 238000011084 recovery Methods 0.000 description 2
- VYZAMTAEIAYCRO-UHFFFAOYSA-N Chromium Chemical group [Cr] VYZAMTAEIAYCRO-UHFFFAOYSA-N 0.000 description 1
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Classifications
-
- 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
Abstract
The present invention discloses a kind of building wall board making sheet intelligence control system and its control method, the system includes compressing system, automatic shearing net machine, grabs Web robot and robot palletizer, complete the feeding, discharge of structural sheeting, pressing mold, vibrate, the demoulding, the fully-automatic production such as stacking.The control method of the system is：Base plate is automatically fed into workbench by the slab feeding mechanism of compression molding device, makes framed downward compression base plate.Grab Web robot by the Web materials that automatic shearing net machine is sent be put into it is framed in.Making sheet raw material is uniformly laid in framed, grabbing Web robot and puts a Web materials again in framed by the material-feeding mechanism of compression molding device.The die head of compression molding device declines, and making sheet raw material is compressed downwards, now the motor oscillating that vibrates under workbench, by making sheet raw material destarch compacting, and Web materials is embedded into making sheet raw material.After compressing, base plate is released, stacking is carried out to base plate and its wallboard by robot palletizer, wait carrying fork truck.
Description
Technical field
The present invention relates to the automatic Sheetmaking systems of building wall board, and in particular 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 wall for interior of building partition wall, is general industry building, lives
Building, the main material of the non-load bearing inner partition wall of public works.Partition plate mainly include glass fiber reinforced cement batten,
Iron wire enhancing cement batten, lightweight concrete batten, compound sandwich light lath etc..Partition plate requirement wallboard for building has unit weight
Gently, wall is thin, easy construction the features such as, in addition to it need to possess above-mentioned material feature, also require low cost, and with good mechanics
Performance and physical property.Building partition plate instead of building of the clay brick as novel energy-saving environment-friendly substantially in building trade
Material, its usage amount increases year by year.
Existing building partition plate producing process is that the making sheet raw material that will be prepared is laid on one piece of base plate, by being squeezed into
Type, obtains building wall board finished product after destarch of vibrating.The equipment of use is mainly wallboard compression molding device, existing compressing
Device generally includes material-feeding mechanism for feeding and blanking, for compressing briquetting machine and outfeed platforms, press
Structure includes framed and for suppressing the die head with clamping function, wherein also needing to be vibrated in pressing process.
Existing compression molding device is primarily present problems with：1. feeding stroke and blanking travel position often occur partially
Difference, causes blanking inaccurate, and automaticity is low, and production efficiency is low.2. feeding speed and blanking velocity cannot be according to reality
Needs are adjusted, so as to the wallboard of single thickness can only be produced, material-feeding mechanism can only convey single raw material, therefore be typically only capable to
The building partition plate of the fixed material of production, poor practicability.3. the framed clamping that pushes generally uses pneumatic pinch, i.e., by multiple gas
Cylinder is realized clamping jointly, and the problem for existing is the difference of internal leakage due to each cylinder and friction, causes gas circuit
The uncertainty of asymmetry and drag size suffered by each cylinder, occurs easily rigidly connected cylinder stuck existing during work
As damaging cylinder.4., due to needing to be vibrated in pressing process, die head is extruded the making sheet raw material in framed, together
When need power larger the motor that vibrates destarch of vibrating is carried out to making sheet raw material, can produce shadow to cylinder and whole machine when so vibrating
Ring, cylinder leakage tester and whole machine screw can be caused to come off when serious.
When wallboard is produced, in order to strengthen the mechanical property of wallboard, Web materials are often placed inside wallboard, in system
In plate system, the crawl of above-mentioned Web materials is completed using Web robot is grabbed.In the prior art, grab Web robot be mainly it is logical
Come what is captured, often there is problems with aforesaid way to excess current control electromagnet：1. usually used in Sheetmaking systems
It is chromium plating electric welding iron net, iron-holder is relatively low, and absorption affinity is very small.In the case where electromagnet is increased, absorption affinity increase, but by
The a certain degree of bending of iron net, stretching and distortion can be caused in network process is sent, so as to cause electromagnet and iron net contact area
Diminish, absorption affinity is still not enough.2. wall board forming reinforcement material, is not limited to iron net, and the method using electromagnet is not suitable for
Non-ferric net materials are captured.
And when in the prior art, wallboard is compressing send plate, the cutting out of Web materials, wallboard compressing after code
Pile is mainly and uses manual type, low production efficiency, wasting manpower and material resources.
The content of the invention
An object of the present invention is to provide a kind of intelligence system for building wall board making sheet, to solve existing building wall
In production, big multiple operation is all using artificial operation, low production efficiency, the problem of wasting manpower and material resources to plate；Solve simultaneously existing
Easily there is the problem of stuck phenomenon for the framed clamping cylinder for pushing clamping in some compression molding devices；It is existing to grab net machine
Device people using electromagnet carry out crawl absorption affinity it is small, the problem of iron net can only be captured.
Building wall board making sheet intelligence control system of the present invention, including 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, grabs Web robot for the pick-and-place of Web materials,
Robot palletizer is located at the front of compression molding device；
Described compression molding device includes slab feeding mechanism, material-feeding mechanism, briquetting machine and equipment of vibrating, and slab feeding mechanism sets
Put at the rear of briquetting machine, the equipment of vibrating is arranged on briquetting machine, briquetting machine includes workbench, and workbench top is successively
It is provided with for the framed of wall board forming and the die head for suppressing, briquetting machine also includes the synchronous folder of same control valve control
Tight air cylinder group, clamping cylinder group is framed for driving, and clamping cylinder group includes at least four folders for being symmetricly set on framed corner
Tight cylinder, material-feeding mechanism includes the material storing box that can be walked along framed edge, and storing lower box part is provided with discharging opening；
Described automatic shearing net machine includes Jian Wang mechanisms, and Jian Wang mechanisms include cutting net workbench, being arranged on and cut net workbench
The chopper of top and cut net cylinder for drive chopper；
The described Web robot that grabs includes base, and the side of base is provided with the first bearing, and the first holder top is provided with rotation
Rotaring cylinder, the top of rotary cylinder is connected with rotary shaft, and support body is fixed with rotary shaft, and the second bearing is provided with the outside of support body,
Second holder top is provided with the first telescopic cylinder, and the piston rod of the first telescopic cylinder is by the first connector and for being vertically arranged
The cylinder bottom connection of two telescopic cylinders, the piston rod of the second telescopic cylinder is connected by the second connector with horizontally disposed bracket,
At least two two-way cylinders are symmetrically arranged with the bracket, the bottom of two-way cylinder is provided with two-way cylinder and drives opens
The scissors hand opened or close；
Described robot palletizer includes the clamping device of mechanical arm and the setting of mechanical arm end with six degree of freedom, institute
The clamping device stated includes support frame and is arranged on the clip of support 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 use same controller
Control.
Beneficial effects of the present invention are as follows：
1., by the Automation Design, the automaticity of building wall board making sheet is improve.Traditional compression molding device leads to
Often need artificial loading or realize the feeding of making sheet raw material using the mode of framed feeding.Manual type is also required to during lapping by iron
Net or glass fiber net be laid in it is framed in, after the completion of making sheet, be finally also required to manually carry out stacking.The system is using moveable storage
Hopper completes the automatic blanking of making sheet raw material, automatic shearing net machine and grabs Web robot's automatic shearing net laying net, and robot palletizer is automatic
Stacking, compression molding device, grab Web robot, automatic shearing net machine and robot palletizer using same controller control, realize
The full-automatic building wall board making sheet that need not manually participate in, substantially increases production efficiency.
2. in compression molding device of the present invention, framed pushing clamps the synchronous folder for using same control valve control
Tight air cylinder group, therefore the synchronous operation of each clamping cylinder can be ensured during work, and the clamping cylinder of clamping cylinder group is symmetrical
Arrangement, it is ensured that the piston rod uniform force of each clamping cylinder.By the solution of the present invention, each clamping cylinder can be avoided
Stuck phenomenon, effectively protects clamping cylinder.
3. the present invention grabs Web robot using the scissors hand of similar scissors as grabbing device, during work, first by scissors hand
It is inserted into the mesh of Web materials, then the drive lower scissors hand in two-way cylinder opens and blocks mesh, in the second flexible gas
The crawl of Web materials is completed by above being proposed under the drive of cylinder.This programme is grabbed Web robot and can capture the netted material of any material
Material, it is practical.And solve because iron net iron-holder is low, electromagnet absorption affinity not enough, is grabbed caused by iron net bending, deformation
Take the problem of shakiness.
Further, equipment of vibrating is set on the top of the die head；Described die head by drive cylinder drive, die head with
The piston rod of drive cylinder is flexible coupling.Generally set on die head top and vibrated motor, thus vibrate motor oscillating when to whole machine
Vibration concentrates on the piston rod junction of die head and drive cylinder substantially, and die head is used with the piston rod of drive cylinder and is flexible coupling
Mode, effect of the die head to the side force of piston rod when vibrating can be reduced, it is to avoid damage drive cylinder piston rod.
The bottom of the workbench sets equipment of vibrating, and multiple support columns, support column are provided with the bottom of the workbench
Periphery is provided with shock-absorbing spring, and the support column and shock-absorbing spring are arranged in sleeve, and the sleeve is fixed on base.Generally
The motor that vibrates, therefore design shock-absorbing spring are set in the bottom of workbench, vibration shadow of the motor to whole device that vibrate is reduced
Ring, it is to avoid all parts damaged in device.
Further, described material-feeding mechanism also includes blanking motor, is arranged on the dismountable unloading rod of discharge outlet and use
In the feeding motor for driving material storing box motion, described feeding motor and blanking motor is connected with frequency converter respectively, blanking motor
It is driven with the unloading rod；The feeding stroke of the feeding motor is sensed using optoelectronic switch, the blanking row of blanking motor
Cheng Caiyong optoelectronic switches are sensed.
Feeding motor and blanking motor are connected with frequency converter respectively, therefore, by the controllable feeding motor of frequency converter with
The rotating speed of material motor, and then the speed of service and discharging speed of material storing box are controlled, due to the speed of service and discharging speed of material storing box
Degree determines discharge quantity, thus material storing box the speed of service and the difference of discharging speed, the wallboard of different-thickness can be produced.Under
Charge bar is detachably connected, and when making sheet raw material is different, its humidity, viscosity and granular size can also change, and these can all cause material
The flow behavior of material changes, therefore the blanking requirement of different making sheet raw materials can be met by using unloading rod.By the above, this
Invention can make the wallboard of different-thickness and unlike material, if further changing framed and die head, the present invention can also make difference
The wallboard of length and width size, with practicality higher.
In order to more accurately determine the feeding stroke of feeding motor and the blanking stroke of blanking motor, the feeding of feeding motor
Stroke is sensed using optoelectronic switch, and the blanking stroke of blanking motor is sensed using optoelectronic switch.
Further, the slab feeding mechanism includes the guide rail for support baseboard set along base plate conveying direction, described to lead
Rail extends to the edge of the workbench, and conveying cylinder and slide unit are provided with the top of guide rail, conveys the piston rod and cunning of cylinder
Platform is connected, and one is fixed with slide unit is used to push the T-shaped frame of base plate.By slab feeding mechanism continuously conveyor mat, realize
The continuous production of wallboard, improve production efficiency.Base plate is pushed by T-shaped frame, the head of T-shaped frame is big with the contact area of base plate,
Conveying is more stable.
In order to more stablize accurate conveyor mat, the control for conveying cylinder uses magnetic valve, magnetic switch sensing conveying
The piston position of cylinder, the conveying cylinder speed of service is controlled using barometric damper.
Slab feeding mechanism also includes the plate cylinder of four synchronizations for being evenly distributed on base plate surrounding, the piston rod of plate cylinder
End is provided with sphenocephaly, the inclined-plane of sphenocephaly and the contacts side surfaces of base plate.Four plate cylinders of synchronization are used for will be above
Base plate is inserted, in order to the conveying of following base plate.
Further, described automatic shearing net machine also includes the straightening mechanism used cooperatively with Jian Wang mechanisms, straightening mechanism bag
At least two guides arranged up and down are included, wherein at least one guide is adjusted and other guides between by motor driving
Distance.Smooth aligning can be carried out to Web materials in Web materials transmit process by straightening mechanism, it is to avoid Web materials are rolled up
Song deformation, the wallboard quality after influence processing.
Further, the described Web robot that grabs also includes being arranged on the linear bearing of the second rest base, linear axis socket end
Portion is fixed with the piston rod of the first telescopic cylinder.Linear bearing is additionally arranged at the bottom of by the second bearing, in the first telescopic cylinder
During operation, linear bearing can shrink with the first telescopic cylinder, motion guide is played a part of to the first telescopic cylinder and is reinforced, and keep away
Exempt from the first telescopic cylinder long-time lateral force and damage.
Further, the described Web robot that grabs also includes guider, and described guider includes that being fixed on second stretches
First terminal pad of contracting cylinder cylinder head and the second terminal pad being fixed on the bracket, are provided with guiding in the first terminal pad
Hole, is equipped with guide post in pilot hole, the lower end of guide post is fixed in second terminal pad.Guider prevents second to stretch
The piston rod of contracting cylinder rotates in telescopic process, causes the deviation of crawl position, and scissors hand can not accurately be inserted net
Hole.
It is it is a further object of the present invention to provide a kind of control method of building wall board making sheet intelligence control system including following
Step：
1）Be delivered to base plate on the workbench of briquetting machine by slab feeding mechanism, by framed compression, while automatic shearing net machine
Complete the shearing of Web materials；
2）Grab Web robot crawl through automatic shearing net machine shear after Web materials, by Web materials be put into it is framed in；
3）Start material-feeding mechanism, by the material storing box blanking of material-feeding mechanism, by making sheet raw material be uniformly layed in it is framed in, together
When automatic shearing net machine complete second shearing of Web materials；
4）After the completion of blanking, grab Web robot by shear second throw the net shape material placement with it is framed in；
5）After the completion of laying, die head is pushed, and after the making sheet raw material during compression is framed, the equipment of vibrating starts to vibrate；
6）Vibrate after the completion of extruding, the upward return of die head, framed rise, slab feeding mechanism releases next base plate, by this
Base plate releases the base plate with molded wallboard；
7）After base plate with molded wallboard is released, start the stacking that robot palletizer completes wallboard, wait fork truck to remove
Fortune.
By the control method of above-mentioned board wall system, the automaticity of building wall board making sheet can be improved.Traditional compacting
Shaped device generally needs artificial loading or realizes the feeding of making sheet raw material using the mode of framed feeding, and base plate conveying
It is also to use artificial conveyance, and the automatic defeated of base plate is realized respectively present invention employs automatic sheet feeder structure and automatic storing case
Send the automatic blanking with making sheet raw material.Traditional Sheetmaking systems, are also required to manual type and lay iron net or glass fiber net during lapping
In framed, after the completion of making sheet, finally it is also required to manually carry out stacking.This method is using automatic shearing net machine and grabs Web robot certainly
Dynamic to cut net laying net, robot palletizer automatic stacking realizes the full-automatic building wall board making sheet that need not manually participate in, greatly improves
Production efficiency.
Further, the described control method for grabbing Web robot is as follows：
Whether 1st step, is connected to after pickup starts trigger signal, detects rotary cylinder home position sensing, judges rotary cylinder
In " original position " state, if current rotary cylinder is not at original position, rotary cylinder is waited to return to original position, if be in
Original position, then into the 2nd step；
Whether 2nd step, detects the first telescopic cylinder home position sensing, judges the first telescopic cylinder in " original position " state,
If not in the original location if wait telescopic cylinder return to home state, if in original position, open magnetic valve, the first telescopic cylinder
Forward extend out, when the first telescopic cylinder stretches out in place, into the 3rd step；
Whether 3rd step, detects the second telescopic cylinder home position sensing, judges the second telescopic cylinder in " original position " state,
If state in the original location, does not wait the second telescopic cylinder to return to original position, magnetic valve is opened if in original position, second stretches
Cylinder is extended downwardly from, and when cylinder stretches out in place, scissors hand is extend into the mesh of Web materials, into the 4th step；
Whether 4th step, detects two-way cylinder home position sensing, two-way cylinder is judged in " original position " state, if do not existed
It is in situ then wait two-way cylinder to return to original position, magnetic valve is opened if in original position, two-way cylinder piston rod stretches out to both sides,
Scissors hand is opened, Web materials is captured, into the 5th step；
5th step, closes the second telescopic cylinder magnetic valve, and the second telescopic cylinder shrinks upwards, when the second telescopic cylinder shrinks
During to original position, into the 6th step；
6th step, closes the first telescopic cylinder magnetic valve, and the first telescopic cylinder contracts to recovery, when the first cylinder stretches out contraction
During to original position, into the 7th step；
7th step, pickup is finished, and wait send part signal to trigger；
8th step, is connected to after sending part to start trigger signal, and detection pickup completes buffer status, if pickup is not completed,
Pickup is waited to complete, if having completed pickup, into the 9th step；
Whether 9th step, detects rotary cylinder home position sensing, rotary cylinder is judged in " original position " state, if currently
Rotary cylinder is not at original position, waits rotary cylinder to return to original position, if being in original position, opens magnetic valve, makes rotation
Cylinder rotates, and enters the 10th step afterwards in place；
Whether 10th step, detects the first telescopic cylinder home position sensing, judges the first telescopic cylinder in " original position " state,
If not in the original location if wait the first telescopic cylinder to return to home state, if in original position, opening magnetic valve, first stretches
Cylinder is forward extended out, when the first telescopic cylinder stretches out in place, into the 11st step；
Whether 11st step, detects the second telescopic cylinder home position sensing, judges telescopic cylinder in " original position " state, if
State in the original location, then do not wait the second telescopic cylinder to return to original position, and magnetic valve, the second telescopic cylinder are opened if in original position
Extend downwardly from, when stretching out in place, into the 12nd step；
Whether 12nd step, detects two-way cylinder home position sensing, two-way cylinder is judged in " original position " state, if do not existed
Original position, then wait two-way cylinder to return to original position, and magnetic valve is closed if in original position, and two-way cylinder piston steps up to centre,
Scissors hand is closed up, Web materials is unclamped, into the 13rd step；
13rd step, closes the second telescopic cylinder magnetic valve, and the second telescopic cylinder shrinks upwards, when original position is retracted to, enters
Enter the 14th step；
14th step, closes the first telescopic cylinder magnetic valve, and the first telescopic cylinder shrinks upwards, when original position is retracted to, enters
Enter the 15th step；
15th step, send part to finish, and waits pickup part trigger signal.
By the above-mentioned control method for grabbing Web robot, the automatic crawl of the Web materials of any material is capable of achieving, and
Using scissors hand as grabbing device, capture more stable firm.
Further, the briquetting process of the compression molding device is as follows：
1）Base plate is stacked in base plate limitting casing, is started synchronous plate cylinder and is inserted base plate above, left down
First piece of face base plate is on guide rail；
2）First piece of base plate is pushed to conveying cylinder the edge of workbench, and conveying cylinder returns to original position, by second piece of bottom
Plate is sent out, and second piece of base plate shifts in framed first piece of base plate onto；
3）Start the synchronous clamping cylinder group of same control valve control, pressed from both sides downwards in the drive low mold frame of clamping cylinder group
Tight base plate, material storing box to framed top is promoted by feeding motor, and when discharging opening reaches framed inside edge, blanking motor drives
Unloading rod carries out blanking, when discharging opening reaches framed trailing edge, stops blanking, and material storing box returns to framed outer；
4) die head drive cylinder drive under compress downwards it is framed in making sheet raw material, now, positioned at die head top and into
The equipment of vibrating of type platform bottom is vibrated simultaneously, completes the destarch of vibrating to making sheet raw material；
5) die head rises, framed rising, and next piece of base plate is sent into framed lower section by conveying cylinder, and lastblock base plate is pushed away
Go out to outfeed platforms；
6) 1 is repeated the above steps）-5）Until completing the compacting of all wallboards.
Described plate cylinder, conveying cylinder, clamping cylinder group, feeding motor, blanking motor, drive cylinder and vibrating sets
Standby control is controlled using PLC, and feeding motor and blanking motor are controlled using frequency converter to its rotating speed, feeding
The feeding stroke of motor is sensed using optoelectronic switch, and the blanking stroke of blanking motor is sensed using optoelectronic switch, defeated
The control of cylinder of supplying gas uses magnetic valve, and the piston position of magnetic switch sensing conveying cylinder, the conveying cylinder speed of service uses gas
Stream regulating valve is controlled.
Whole compression molding device of the invention is controlled using PLC, without artificial participation, running parameter such as feeding speed
And stroke, blanking velocity and stroke, vibrating time, each cylinder piston movement velocity can according to the actual requirements be configured and adjust
Section, by the Automation Design, can improve the compressing automaticity of building wall board.
Brief description of the drawings
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 that Web robot is grabbed in Fig. 1；
Fig. 4 is structural representation when scissors hand opens in Fig. 3；
Fig. 5 is the scissors hand pickup controlling stream of building wall board making sheet intelligence control system and control method in Fig. 3 embodiments
Cheng Tu；
Fig. 6 is that the scissors hand of building wall board making sheet intelligence control system and control method in Fig. 3 embodiments send part controlling stream
Cheng Tu.
Specific embodiment
Below by specific embodiment, the present invention is further detailed explanation：
Reference in Figure of description 1 includes：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, support frame 402, clip 403.
Building wall board making sheet intelligence control system as shown in Figure 1, including compression molding device 1, automatic shearing net machine 3,
Grab Web robot（Not shown in figure）With robot palletizer 4.Automatic shearing net machine 3 is arranged on the side of compression molding device 1, is used for
The shearing of Web materials, grabs Web robot for the pick-and-place of Web materials, before robot palletizer 4 is located at compression molding device 1
Side, for the stacking of the wallboard after shaping.The side of the compression molding device 1 described in the present embodiment refers to positioned at base plate conveying side
To it is lateral, the front of compression molding device 1 refer to wallboard it is compressing after discharging side.
The present embodiment automatic shearing net machine 3 includes Jian Wang mechanisms and straightening mechanism.Jian Wang mechanisms include cut net workbench 301,
It is arranged on the chopper 302 of cutting the top of net workbench 301 and cuts net cylinder 303 for drive chopper 302, specifically, chopper 302
The bottom of the frame of chopper 302 is arranged on, the top that net cylinder 303 is arranged on the frame of chopper 302 is cut.Straightening mechanism is arranged on Jian Wang mechanisms
Rear used cooperatively with Jian Wang mechanisms, straightening mechanism includes two guides arranging up and down, and two guides 304 are set in respectively
From support shaft on, the two ends of support shaft are fixed on support frame.One of guide 304 adjusted by motor driving with separately
The distance between one guide 304.Can Web materials be carried out with smooth rectifying by straightening mechanism in Web materials transmit process
Directly, it is to avoid Web materials are Texturized, the wallboard quality after influence processing.
The present embodiment robot palletizer 4 includes the folder of mechanical arm 401 and the setting of the end of mechanical arm 401 with six degree of freedom
Mechanism is held, clamping device includes support frame 402 and is arranged on the clip 403 of support frame both sides about 402, the clip of the present embodiment
403 are pressed from both sides for " E " font, and clip 403 is driven by gripper cylinder, the base plate for capturing the wallboard after shaping.
The present embodiment compression molding device 1, grab Web robot, automatic shearing net machine 3 and robot palletizer 4 use same control
Device control processed.
The present embodiment provides a kind of control method of building wall board making sheet intelligence control system, comprises the following steps：
1）Be delivered to base plate on the workbench of briquetting machine by slab feeding mechanism, by framed compression, while automatic shearing net machine 3
Complete the shearing of Web materials；
2）Grab Web robot crawl through automatic shearing net machine 3 shear after Web materials, by Web materials be put into it is framed in；
3）Start material-feeding mechanism, by the material storing box blanking of material-feeding mechanism, by making sheet raw material be uniformly layed in it is framed in, together
When automatic shearing net machine 3 complete second shearing of Web materials；
4）After the completion of blanking, grab Web robot by shear second throw the net shape material placement with it is framed in；
5）After the completion of laying, die head is pushed, and after the making sheet raw material during compression is framed, the equipment of vibrating starts to vibrate；
6）Vibrate after the completion of extruding, the upward return of die head, framed rise, slab feeding mechanism releases next base plate, by this
Base plate releases the base plate with molded wallboard；
7）After base plate with molded wallboard is released, start the stacking that robot palletizer 4 completes wallboard, wait fork truck to remove
Fortune.
The reference of accompanying drawing 2 is as follows：Workbench 101, framed 102, clamping cylinder 103, sleeve 104, column 105, top
Plate 106, the first guide post 107, die head 108, drive cylinder piston rod via 109, steam vent 1010, the motor 1011 that vibrates, go out
Material platform 1012, the first guide rail 1013, material storing box 1014, roller 1015, feeding motor 1016, the second guide rail 1017, base plate positioning
Frame 1018, plate cylinder 1019.
Compression molding device 1 as shown in Figure 2, including slab feeding mechanism, material-feeding mechanism, briquetting machine and discharge pedestal.Go out
Material platform 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 includes workbench 101, and discharge pedestal 1012 is located at the front of above-mentioned workbench 101.Workbench 101 it is upper
Side is provided with framed 102 be made up of two pieces of flat boards, is used to clamp base plate between framed 102 and workbench 101.Two pieces of flat boards are relative
Set, every piece of flat board drives by the clamping cylinder 103 for being symmetricly set on the flat board both sides and clamps base plate, four clamping cylinders
103 constitute synchronous clamping cylinder group, and the clamping cylinder group is controlled by same control valve, at the stomata of each clamping cylinder 103
It is equipped with regulating valve.Due to being provided with regulating valve at the stomata of clamping cylinder, for adjust each clamping cylinder into and out of tolerance,
Synchronism that can be further to each clamping cylinder is adjusted, and reduces synchronism deviation.
Framed 102 clamping that pushes uses the synchronous clamping cylinder group that same control valve is controlled, therefore during work
The synchronous operation of each clamping cylinder can be ensured, and the clamping cylinder of clamping cylinder group is arranged symmetrically, it is ensured that each clamping
The piston rod uniform force of cylinder, simultaneously because regulating valve is provided with the stomata of clamping cylinder, for adjusting each clamping cylinder
Into and out of tolerance, synchronism that can be further to each clamping cylinder is adjusted, reduce synchronism deviation.
The corner of workbench 101 is respectively equipped with four columns 105, and lower end and the base of column 105 are fixed, column 105
Upper end is supported by top board 106, and drive cylinder piston rod via 109, drive cylinder piston rod via are provided with the middle part of top board 106
109 are uniformly distributed on peripheries with four pilot holes, and four the first guide posts 107 pass through above-mentioned pilot hole, the lower end of the first guide post 107
Fixed with horizontally disposed die head 108, die head 108 is located at the top of workbench 101, the projection of die head 108 is located at two pieces of flat boards
The inframe of framed 102 for being formed, is provided with steam vent 1010 on die head in the present embodiment.Die head 108 is driven by drive cylinder,
Die head 108 is flexible coupling with the piston rod of drive cylinder.The motor 1011 that vibrates is provided with the top of die head 108.Vibrate motor oscillating when
Concentrate on the piston rod junction of die head 108 and drive cylinder substantially to the vibration of whole machine, and the work of die head 108 and drive cylinder
Stopper rod can reduce effect of the die head 108 to the side force of piston rod when vibrating by the way of being flexible coupling, it is to avoid damage driving gas
The piston rod of cylinder.
The bottom of workbench 101 is provided with the motor that vibrates（Not shown in figure）, and it is provided with two branch in the bottom of workbench 101
Dagger, support column periphery is provided with shock-absorbing spring, and support column and shock-absorbing spring are arranged in sleeve 104, and sleeve 104 is by expansion
It is bolted on base.The motor that vibrates, therefore design shock-absorbing spring are set in the bottom of workbench 101, the electricity that vibrates is reduced
Vibration effect of the machine to whole device, it is to avoid all parts damaged in device.
The slab feeding mechanism of the present embodiment includes the second guide rail 1017 for support baseboard set along base plate conveying direction,
Second guide rail 1017 extends to the edge of workbench 101.Conveying cylinder and slide unit are provided with the top of the second guide rail（Do not show in figure
Go out）, the piston rod for conveying cylinder is connected with slide unit, and one is fixed with slide unit is used to push the T-shaped frame of base plate.The present embodiment passes through
Slab feeding mechanism continuously conveyor mat, realizes the continuous production of wallboard, improve production efficiency.Base plate is pushed by T-shaped frame,
The head of T-shaped frame is big with the contact area of base plate, conveys more stable.The present embodiment in order to more stablize accurate conveyor mat,
The control for conveying cylinder uses magnetic valve, and the piston position of magnetic switch sensing conveying cylinder, the conveying cylinder speed of service is used
Barometric damper is controlled.
The present embodiment slab feeding mechanism also includes base plate posting 1018 and is evenly distributed on four synchronizations of base plate surrounding
Plate cylinder 1019, plate cylinder 1019 is located at the corner of base plate posting.Install the piston rod end of plate cylinder 1019
There are sphenocephaly, the inclined-plane of sphenocephaly and the contacts side surfaces of base plate.Four plate cylinders of synchronization are used to insert base plate above,
In order to the conveying of following base plate.
The material-feeding mechanism of the present embodiment includes material storing box 1014, roller, blanking motor, feeding motor 1016 and is arranged on the
Two the first guide rails 1013 side by side above two guide rails.First guide rail 1013 extends to the edge of workbench 101.Material storing box
Four rolling 1015 is installed in 1014 bottom, and roller 1015 is located on above-mentioned first guide rail 1013, and roller is by above-mentioned feeding electricity
Machine drives can drive material storing box to be walked along feed direction on the first guide rail.In the present embodiment, the feeding stroke of feeding motor is adopted
Sensed with optoelectronic switch.
Certainly, in order to increase the stationarity of feeding, the first guide rail in the present embodiment can also use tooth bar, roller use tooth
The form of wheel carries out feeding.
The bottom of material storing box 1014 is provided with discharging opening, and the dismountable band flabellum being bolted is provided with discharge outlet
Unloading rod, blanking motor is used to drive above-mentioned unloading rod to rotate blanking, and the blanking stroke of blanking motor is entered using optoelectronic switch
Row sensing.
The feeding motor and blanking motor of the present embodiment are connected with frequency converter respectively.Therefore, sent by the way that frequency converter is controllable
The rotating speed of material motor and blanking motor, and then the speed of service and discharging speed of material storing box are controlled, due to the operation speed of material storing box
Degree and discharging speed determine discharge quantity, thus material storing box the speed of service and the difference of discharging speed, different thickness can be produced
The wallboard of degree.Unloading rod is detachably connected, and when making sheet raw material is different, its humidity, viscosity and granular size can also change, these
The flow behavior of material will be caused to change, therefore the blanking requirement of different making sheet raw materials can be met by using unloading rod.
By the above, the present invention can make the wallboard of different-thickness and unlike material, if further changing framed 102 and die head 108, this
Invention can also make the wallboard of different length and width sizes.
The present embodiment provides a kind of building wall board compressing method, comprises the following steps：
1）Base plate is stacked in base plate limitting casing, is started synchronous plate cylinder and is inserted base plate above, left down
In on guide rail, wherein base plate limitting casing plays position-limiting action to first piece of face base plate to base plate；
2）First piece of base plate is pushed to conveying cylinder the edge of workbench, and conveying cylinder returns to original position, by second piece of bottom
Plate is sent out, and second piece of base plate shifts in framed first piece of base plate onto；
3）Start the synchronous clamping cylinder group of same control valve control, pressed from both sides downwards in the drive low mold frame of clamping cylinder group
Tight base plate, material storing box to framed top is promoted by feeding motor, and when discharging opening reaches framed inside edge, blanking motor drives
Unloading rod carries out blanking, when discharging opening reaches framed trailing edge, stops blanking, and material storing box returns to framed outer；
4) die head 108 compressed downwards under drive cylinder drive it is framed in making sheet raw material, now, positioned at die head top and
The equipment of vibrating of workbench bottom is vibrated simultaneously, completes the destarch of vibrating to making sheet raw material；
5) die head rises, framed rising, and next piece of base plate is sent into framed lower section by conveying cylinder, and lastblock base plate is pushed away
Go out to outfeed platforms；
6) 1 is repeated the above steps）-5）Until completing the compacting of all wallboards.
The present embodiment in the compressing method of above-mentioned building wall board, plate cylinder, conveying cylinder, clamping cylinder group,
The control of feeding motor, blanking motor, drive cylinder and equipment of vibrating is controlled using PLC；Feeding motor and blanking electricity
Machine is controlled using frequency converter to its rotating speed so that feeding speed and blanking velocity are discharge quantity, can be according to actual conditions
It is adjusted with frequency converter；The feeding stroke of feeding motor is sensed using optoelectronic switch, and the blanking stroke of blanking motor is adopted
Sensed with optoelectronic switch so that feeding stroke and blanking form more accurate；The control for conveying cylinder uses magnetic valve, magnetic
Property inductive switching convey cylinder piston position, conveying the cylinder speed of service be controlled using barometric damper so that base plate
Conveying it is more precisely steady.
Whole device of the present invention is controlled using PLC, is participated in without artificial, running parameter such as feeding speed and stroke,
Blanking velocity and stroke, vibrating time, each cylinder piston movement velocity can according to the actual requirements be configured and adjust, by certainly
Dynamicization is designed, and can improve the compressing automaticity of building wall board.
The reference of accompanying drawing 3 and accompanying drawing 4 includes：Base 201, the first bearing 202, support body 203, supporting plate 204, rotation
Cylinder 205, sleeve 206, the second bearing 207, the first telescopic cylinder 208, linear bearing 209, the second telescopic cylinder 2010, second
Guide post 2011, the first terminal pad 2012, the 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, when using, base 201 be used for fix
In the compression molding device 1 on the column 105 of briquetting machine.The side of base 201 is welded with the first bearing 202, the first bearing
202 tops are provided with rotary cylinder 205, and the top of rotary cylinder 205 is connected with rotary shaft, and rotary cylinder 205 is used to grab net machine
The rotation of device people's horizontal level.Rotation outer shaft sleeve is provided with sleeve, and supporting plate is additionally provided with the side of base 201, supporting plate 204
End face have with excircle of sleeve curvature identical curved surface, the end face of supporting plate 204 offsets with the cylindrical of sleeve.
Support body 203 is fixed with rotary shaft, the outside of support body 203 is welded with the second bearing 207, the top of the second bearing 207
The first telescopic cylinder 208 is provided with, the first telescopic cylinder 208 is used for the movable of robot.Linear bearing 209 is by two pieces of fixations
Iron ring is fixed on the bottom of support base, and the end of linear bearing 209 is fixed with the piston rod of the first telescopic cylinder 208, can be with work
Plug is just flexible, plays a part of to strengthen piston rod intensity, prevents the piston rod side of the first telescopic cylinder 208 to long-term stress, leads
Cylinder is caused to damage.
The piston rod of the first telescopic cylinder 208 passes through the cylinder of the first connector and the second telescopic cylinder 2010 being vertically arranged
Bottom is connected, and the piston rod of the second telescopic cylinder 2010 is connected by the second connector with horizontally disposed bracket 2014, bracket
2014 middle part is provided with " ten " word reinforcement.In the present embodiment, also including guider, guider includes that being fixed on second stretches
First terminal pad 2012 of contracting cylinder cylinder head and the second terminal pad 2013 being fixed on " ten " word reinforcement, in the first terminal pad
2012 are provided with pilot hole, and the second guide post 2011 is equipped with pilot hole, and the lower end of the second guide post 2011 is fixed on second
In terminal pad 2013.
Corner on bracket 2014 is symmetrically arranged with four two-way cylinders 2015, and installing plate is used to install two-way cylinder
2015, vertical bar hole is provided with dress plate, the screw that two-way cylinder is threadedly attached in bar hole is installed on a mounting board,
The regulation of two-way cylinder upper-lower position can be realized by the link position of adjusting screw.The bottom of two-way cylinder 2015 is provided with logical
Cross two-way cylinder and drive the scissors hand 2016 for opening or closing.
Two-way cylinder 2015 has two pistons, and after air compressor machine is passed through gas from different air admission holes, two pistons can be by two
While being moved to intermediary movements and from centre to both sides.Two pistons in the two ends of scissors hand 2016 and two-way cylinder pass through the soft company of flexible pipe
Connect, opened when piston or during closing motion, scissors hand can be acted as with piston one and opened and closing motion.
It is 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, in rotary cylinder 205, the first telescopic cylinder 208, the second telescopic cylinder 2010 and two-way cylinder
Position sensor is all provided with 2015, to detect whether whether each cylinder operationally run in " original position " or each cylinder
" in place ".The present embodiment grabs Web robot using PLC controls.
As shown in Figure 5 and Figure 6, the control method for grabbing Web robot of the present embodiment building wall board formation system, including with
Lower step：
1st step, is connected to after pickup starts trigger signal, and PLC detection rotary cylinder home position sensings judge that rotary cylinder is
It is no in " original position " state, if current rotary cylinder is not at original position, wait rotary cylinder to return to original position, if located
In original position, then into the 2nd step；
Whether 2nd step, detects the first telescopic cylinder home position sensing, judges the first telescopic cylinder in " original position " state,
If not in the original location if wait telescopic cylinder return to home state, if in original position, open magnetic valve, the first telescopic cylinder
Forward extend out, when the first telescopic cylinder stretches out in place, into the 3rd step；
Whether 3rd step, detects the second telescopic cylinder home position sensing, judges the second telescopic cylinder in " original position " state,
If state in the original location, does not wait the second telescopic cylinder to return to original position, magnetic valve is opened if in original position, second stretches
Cylinder is extended downwardly from, and when cylinder stretches out in place, scissors hand is extend into the mesh of Web materials, into the 4th step；
Whether 4th step, detects two-way cylinder home position sensing, two-way cylinder is judged in " original position " state, if do not existed
It is in situ then wait two-way cylinder to return to original position, magnetic valve is opened if in original position, two-way cylinder piston rod stretches out to both sides,
Scissors hand is opened, Web materials is captured, into the 5th step；
5th step, closes the second telescopic cylinder magnetic valve, and the second telescopic cylinder shrinks upwards, when the second telescopic cylinder shrinks
During to original position, into the 6th step；
6th step, closes the first telescopic cylinder magnetic valve, and the first telescopic cylinder contracts to recovery, when the first cylinder stretches out contraction
During to original position, into the 7th step；
7th step, pickup is finished, and pickup completes register and puts 1, and wait send part signal to trigger；
8th step, is connected to after sending part to start trigger signal, and detection pickup completes buffer status, if pickup is not completed,
Pickup is waited to complete, if having completed pickup, into the 9th step；
Whether 9th step, detects rotary cylinder home position sensing, rotary cylinder is judged in " original position " state, if currently
Rotary cylinder is not at original position, waits rotary cylinder to return to original position, if being in original position, opens magnetic valve, makes rotation
Cylinder rotates, and enters the 10th step afterwards in place；
Whether 10th step, detects the first telescopic cylinder home position sensing, judges the first telescopic cylinder in " original position " state,
If not in the original location if wait the first telescopic cylinder to return to home state, if in original position, opening magnetic valve, first stretches
Cylinder is forward extended out, when the first telescopic cylinder stretches out in place, into the 11st step；
Whether 11st step, detects the second telescopic cylinder home position sensing, judges telescopic cylinder in " original position " state, if
State in the original location, then do not wait the second telescopic cylinder to return to original position, and magnetic valve, the second telescopic cylinder are opened if in original position
Extend downwardly from, when stretching out in place, into the 12nd step；
Whether 12nd step, detects two-way cylinder home position sensing, two-way cylinder is judged in " original position " state, if do not existed
Original position, then wait two-way cylinder to return to original position, and magnetic valve is closed if in original position, and two-way cylinder piston steps up to centre,
Scissors hand is closed up, Web materials is unclamped, into the 13rd step；
13rd step, closes the second telescopic cylinder magnetic valve, and the second telescopic cylinder shrinks upwards, when original position is retracted to, enters
Enter the 14th step；
14th step, closes the first telescopic cylinder magnetic valve, and the first telescopic cylinder shrinks upwards, when original position is retracted to, enters
Enter the 15th step；
15th step, send part to finish, and waits pickup part trigger signal.
Above-described is only embodiments of the invention, and the general knowledge such as known concrete structure and characteristic is not made herein in scheme
Excessive description.It should be pointed out that for a person skilled in the art, on the premise of structure of the present invention is not departed from, can be with
Some deformations and improvement are made, these should also be considered as protection scope of the present invention, these are implemented all without the influence present invention
Effect and practical applicability.
Claims (10)
1. building wall board making sheet intelligence control system, including compression molding device and Web robot is grabbed, it is characterised in that also include
Automatic shearing net machine and robot palletizer, automatic shearing net machine are arranged on the side of compression molding device, grab Web robot for netted
The pick-and-place of material, robot palletizer is located at the front of compression molding device；
Described compression molding device includes slab feeding mechanism, material-feeding mechanism, briquetting machine and equipment of vibrating, and slab feeding mechanism is arranged on
The rear of briquetting machine, the equipment of vibrating is arranged on briquetting machine, and briquetting machine includes workbench, and workbench top is sequentially provided with
Die head for the framed of wall board forming and for suppressing, briquetting machine also includes the synchronous clamping gas of same control valve control
Cylinder group, clamping cylinder group is framed for driving, and clamping cylinder group includes at least four clamping gas for being symmetricly set on framed corner
Cylinder, material-feeding mechanism includes the material storing box that can be walked along framed edge, and storing lower box part is provided with discharging opening；
Described automatic shearing net machine includes Jian Wang mechanisms, and Jian Wang mechanisms include cutting net workbench, are arranged on and cut net workbench top
Chopper and cut net cylinder for drive chopper；
The described Web robot that grabs includes base, and the side of base is provided with the first bearing, and the first holder top is provided with rotary pneumatic
Cylinder, the top of rotary cylinder is connected with rotary shaft, and support body is fixed with rotary shaft, and the second bearing, second are provided with the outside of support body
Holder top is provided with the first telescopic cylinder, and the piston rod of the first telescopic cylinder is stretched by the first connector with second for being vertically arranged
The cylinder bottom connection of contracting cylinder, the piston rod of the second telescopic cylinder is connected by the second connector with horizontally disposed bracket, in institute
State and be symmetrically arranged with bracket at least two two-way cylinders, the bottom of two-way cylinder be provided with two-way cylinder drive open or
The scissors hand of closure；
Described robot palletizer includes the clamping device of mechanical arm and the setting of mechanical arm end with six degree of freedom, described
Clamping device includes support frame and is arranged on the clip of support 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 controlled using same controller.
2. building wall board making sheet intelligence control system according to claim 1, it is characterised in that on the top of the die head
Setting is vibrated equipment；Described die head is driven by drive cylinder, and die head is flexible coupling with the piston rod of drive cylinder；The shaping
The bottom of platform sets equipment of vibrating, and multiple support columns are provided with the bottom of the workbench, and support column periphery is provided with shock-absorbing spring,
The support column and shock-absorbing spring are arranged in sleeve, and the sleeve is fixed on base.
3. building wall board making sheet intelligence control system according to claim 1, it is characterised in that described material-feeding mechanism is also
Including blanking motor, be arranged on the dismountable unloading rod of discharge outlet and for drive material storing box move feeding motor, it is described
Feeding motor and blanking motor be connected with frequency converter respectively, blanking motor is driven with the unloading rod；The feeding motor
Feeding stroke is sensed using optoelectronic switch, and the blanking stroke of blanking motor is sensed using optoelectronic switch.
4. building wall board making sheet intelligence control system according to claim 1, it is characterised in that the slab feeding mechanism includes
Along the guide rail for support baseboard that base plate conveying direction is set, the guide rail extends to the edge of the workbench, in guide rail
Top be provided with conveying cylinder and slide unit, convey cylinder piston rod be connected with slide unit, be fixed with slide unit one be used for push bottom
The T-shaped frame of plate；The control for conveying cylinder uses magnetic valve, the piston position of magnetic switch sensing conveying cylinder, conveying cylinder fortune
Scanning frequency degree is controlled using barometric damper；The slab feeding mechanism also includes being evenly distributed on four synchronizations of base plate surrounding
Plate cylinder, 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 characterised in that described automatic shearing net machine
Also include the straightening mechanism used cooperatively with Jian Wang mechanisms, straightening mechanism includes at least two guides arranged up and down, wherein extremely
A rare guide the distance between is adjusted with other guides by motor driving.
6. building wall board making sheet intelligence control system according to claim 1, it is characterised in that described grabs Web robot
Also include being arranged on the linear bearing of the second rest base, linear bearing end is fixed with the piston rod of the first telescopic cylinder.
7. building wall board making sheet intelligence control system according to claim 1, it is characterised in that described grabs Web robot
Also include guider, described guider includes being fixed on the first terminal pad of the second telescopic cylinder cylinder head and is fixed on institute
The second terminal pad on bracket is stated, pilot hole is provided with the first terminal pad, guide post is equipped with pilot hole, under guide post
End is fixed in 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, its feature
It is to comprise the following steps：
1）Be delivered to base plate on the workbench of briquetting machine by slab feeding mechanism, by framed compression, while automatic shearing net machine is completed
The shearing of Web materials；
2）Grab Web robot crawl through automatic shearing net machine shear after Web materials, by Web materials be put into it is framed in；
3）Start material-feeding mechanism, by the material storing box blanking of material-feeding mechanism, by making sheet raw material be uniformly layed in it is framed in, while from
Dynamic net machine of cutting completes second shearing of Web materials；
4）After the completion of blanking, grab Web robot by shear second throw the net shape material placement with it is framed in；
5）After the completion of laying, die head is pushed, and after the making sheet raw material during compression is framed, the equipment of vibrating starts to vibrate；
6）Vibrate after the completion of extruding, the upward return of die head, framed rise, slab feeding mechanism releases next base plate, by the base plate
Base plate with molded wallboard is released；
7）After base plate with molded wallboard is released, start the stacking that robot palletizer completes wallboard, wait carrying fork truck.
9. the control method of building wall board making sheet intelligence control system according to claim 8, it is characterised in that described
The control method for grabbing Web robot is as follows：
1st step, is connected to after pickup starts trigger signal, detects rotary cylinder home position sensing, judges whether rotary cylinder is in
" original position " state, if current rotary cylinder is not at original position, waits rotary cylinder to return to original position, if being in original
Position, then into the 2nd step；
Whether 2nd step, detects the first telescopic cylinder home position sensing, judges the first telescopic cylinder in " original position " state, if
Telescopic cylinder is not waited then to return to home state in the original location, if in original position, opening magnetic valve, the first telescopic cylinder is forward
Stretch out, when the first telescopic cylinder stretches out in place, into the 3rd step；
Whether 3rd step, detects the second telescopic cylinder home position sensing, judges the second telescopic cylinder in " original position " state, if
State in the original location, then do not wait the second telescopic cylinder to return to original position, and magnetic valve, the second telescopic cylinder are opened if in original position
Extend downwardly from, when cylinder stretches out in place, scissors hand is extend into the mesh of Web materials, into the 4th step；
Whether 4th step, detects two-way cylinder home position sensing, two-way cylinder is judged in " original position " state, if not in the original location
Then wait two-way cylinder to return to original position, magnetic valve is opened if in original position, two-way cylinder piston rod stretches out to both sides, will cut
Knife hand opens, and Web materials is captured, into the 5th step；
5th step, closes the second telescopic cylinder magnetic valve, and the second telescopic cylinder shrinks upwards, when the second telescopic cylinder is retracted to original
During position, into the 6th step；
6th step, closes the first telescopic cylinder magnetic valve, and the first telescopic cylinder is retracted to original to contracting is reclaimed when the first cylinder stretches out
During position, into the 7th step；
7th step, pickup is finished, and wait send part signal to trigger；
8th step, is connected to after sending part to start trigger signal, and detection pickup completes buffer status, if pickup is not completed, waits
Pickup is completed, if having completed pickup, into the 9th step；
Whether 9th step, detects rotary cylinder home position sensing, rotary cylinder is judged in " original position " state, if current rotation
Cylinder is not at original position, waits rotary cylinder to return to original position, if being in original position, opens magnetic valve, makes rotary cylinder
Rotation, enters the 10th step afterwards in place；
Whether 10th step, detects the first telescopic cylinder home position sensing, judges the first telescopic cylinder in " original position " state, if
The first telescopic cylinder is not waited then to return to home state in the original location, if in original position, opening magnetic valve, the first telescopic cylinder
Forward extend out, when the first telescopic cylinder stretches out in place, into the 11st step；
Whether 11st step, detects the second telescopic cylinder home position sensing, telescopic cylinder is judged in " original position " state, if do not existed
Home state, then wait the second telescopic cylinder to return to original position, and magnetic valve is opened if in original position, and the second telescopic cylinder is downward
Stretch out, when stretching out in place, into the 12nd step；
Whether 12nd step, detects two-way cylinder home position sensing, two-way cylinder is judged in " original position " state, if not in original
Position, then wait two-way cylinder to return to original position, and magnetic valve is closed if in original position, and two-way cylinder piston steps up to centre, will
Scissors hand closes up, and Web materials is unclamped, into the 13rd step；
13rd step, closes the second telescopic cylinder magnetic valve, and the second telescopic cylinder shrinks upwards, when original position is retracted to, into the
14 steps；
14th step, closes the first telescopic cylinder magnetic valve, and the first telescopic cylinder shrinks upwards, when original position is retracted to, into the
15 steps；
15th step, send part to finish, and waits pickup part trigger signal.
10. the control method of building wall board making sheet intelligence control system according to claim 8, it is characterised in that described
The briquetting process of compression molding device is as follows：
1）Base plate is stacked in base plate limitting casing, is started synchronous plate cylinder and is inserted base plate above, leave following the
One piece of base plate is on guide rail；
2）First piece of base plate is pushed to conveying cylinder the edge of workbench, and conveying cylinder returns to original position, second piece of base plate is sent
Go out, second piece of base plate shifts in framed first piece of base plate onto；
3）Start the synchronous clamping cylinder group of same control valve control, bottom is clamped downwards in the drive low mold frame of clamping cylinder group
Plate, material storing box to framed top is promoted by feeding motor, and when discharging opening reaches framed inside edge, blanking motor drives blanking
Rod carries out blanking, when discharging opening reaches framed trailing edge, stops blanking, and material storing box returns to framed outer；
4) die head drive cylinder drive under compress downwards it is framed in making sheet raw material, now, positioned at die head top and workbench
The equipment of vibrating of bottom is vibrated simultaneously, completes the destarch of vibrating to making sheet raw material；
5) die head rises, framed rising, and next piece of base plate is sent into framed lower section by conveying cylinder, and lastblock base plate is pushed out to
Outfeed platforms；
6) 1 is repeated the above steps）To 5）Until completing the compacting of all wallboards；
Described plate cylinder, conveying cylinder, clamping cylinder group, feeding motor, blanking motor, drive cylinder and equipment of vibrating
Control is controlled using PLC, and feeding motor and blanking motor are controlled using frequency converter to its rotating speed, feeding motor
Feeding stroke sensed using optoelectronic switch, the blanking stroke of blanking motor is sensed using optoelectronic switch, convey gas
The control of cylinder uses magnetic valve, and the piston position of magnetic switch sensing conveying cylinder, the conveying cylinder speed of service is adjusted using air-flow
Section valve is controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510273348.2A CN104859043B (en) | 2015-05-26 | 2015-05-26 | Building wall board making sheet intelligence control system and control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510273348.2A CN104859043B (en) | 2015-05-26 | 2015-05-26 | Building wall board making sheet intelligence control system and control method |
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| CN104859043A CN104859043A (en) | 2015-08-26 |
| CN104859043B true CN104859043B (en) | 2017-05-31 |
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| RU2250162C1 (en) * | 2004-07-16 | 2005-04-20 | Лещиков Валерий Андреевич | Line for manufacturing laminate building blocks with decorative front surface |
| CN102416650B (en) * | 2010-09-28 | 2015-07-15 | 北京仁创砂业科技有限公司 | Forming equipment for producing composite water permeable bricks |
| CN202507275U (en) * | 2011-11-29 | 2012-10-31 | 长城汽车股份有限公司 | Automatic transportation device |
| CN203045965U (en) * | 2013-01-28 | 2013-07-10 | 湖南协盛环保设备有限公司 | Full-automatic block forming machine with stacker crane |
| CN203831566U (en) * | 2014-04-01 | 2014-09-17 | 重庆玉材建材有限公司 | Robot intelligent panel making system |
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Effective date of registration: 20151218 Address after: 400700 No. 256 Fangzheng Road, Beibei District, Chongqing Applicant after: CHONGQING DELING TECHNOLOGY CO., LTD. Address before: 400714, 256, fangzheng Road, water and soil Industrial Park, Beibei District, Chongqing Applicant before: Chongqing Co., Ltd of moral new engine people inspection center |
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