CN105629944A - Cylindrical cabin section flexible docking device control system and method - Google Patents
Cylindrical cabin section flexible docking device control system and method Download PDFInfo
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- CN105629944A CN105629944A CN201610149873.8A CN201610149873A CN105629944A CN 105629944 A CN105629944 A CN 105629944A CN 201610149873 A CN201610149873 A CN 201610149873A CN 105629944 A CN105629944 A CN 105629944A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a cylindrical cabin section flexible docking device control system and method. The method comprises the following steps: to begin with, determining cylindrical cabin flexible docking assembling process model, configuring assembly parameter, and carrying out self-detection and initialization to enable each assembly mechanism to move to a preset position; placing a first cabin section on a static bench support ring frame; placing a cabin section to be assembled on a movable bench support ring frame; starting an automatic alignment device, and adjusting pose of the cabin section to be assembled on a movable bench to enable the cabin section to be assembled and the assembled cabin section on a static bench to reach a preassembly state; observing whether the cabin sections are convenient to assemble, and if not, carrying out fine tuning manually until the cabin sections are convenient to assemble; carrying out flexible docking assembling; dragging the docking-assembling-finished part by a cabin traction motor to move along the cabin axial direction to the static bench; and judging whether all cabin sections finish assembling. The cylindrical cabin section flexible docking device control system and method solve the problems that in the existing assembling process, labor intensity of workers is large, automation degree of equipment is low and assembly is done fully depending on experience of the workers, and realize flexible tool automation.
Description
Technical field
The invention belongs to automatic control technology field, particularly relate to Controlling System and the method for a kind of Cylindrical cabin section flexible docking device.
Background technology
Industry 4.0 and made in China 2025 etc. are proposed advanced intelligent manufacturing philosophy and the two change degree of depth merge requirement, intelligent plant, intelligence product, intelligence equipment and the intellectuality of production are wherein important steps, by information technology, control techniques, software engineering, analysis technology etc. is fused to hardware device, become an Intelligent assembly unit flexibly, human and computer, machine and machine, machine inside can free communication and exchange of information, information physical system (CPS:CyberPhysicalSystem) is a brand-new equipment, process, the integrated theory of personnel, also it is the developing direction of intelligence manufacture. for meeting high speed, the low cost production of product, required frock need to possess modularization and the function of configuration of can recombinating, and the flexible frock technology of new life can meet this requirement. flexible frock is the coordination system based on product digital quantity size, and it is by reconstitutable modularization, digitizing, automatic jig system, it is possible to reduce the special fastening fixture manufacturing and designing the assembling of various component and using. flexible frock can tackle the changing conditions of workpieces molded dimension in production. nowadays, flexible frock design and develop the new developing direction becoming flexible assembly field. in Cylindrical cabin section flexible assembly field, the domestic theory that mainly concentrates on is with on pilot study, wait people the inverse kinematics of posture adjusting system in the section flexible docking process of cabin, working space, flexible multi-body dynamics modeling and simulation to be conducted in-depth research as candidate, establish many body dynamics model of flexible docking posture adjusting system, Cylindrical cabin section line system has been carried out pilot study by Ma Jianfeng, joint cabin, left and right two section all adopts flexible bandage to be strained and fixed, what cabin section was docked completes to adopt fixing mobile pattern, inboardend cabin, left side section appearance remains unchanged, and the cabin section appearance of mobile terminal, the right is fixed adjustment by 6DOF Stewart platform. surveying instrument and measuring accuracy are required higher by the method, and need forward and inverse solution computing, and algorithm is complicated.
Existing Cylindrical cabin section assembly tooling line, assembly method etc. also also exist a certain distance with the digital factory of modernization, specifically there is following outstanding problem:
1) in assembling process, labor strength is big, and the level of automation of equipment is low, leans on the experience of workman to assemble completely.
2) adjustment of the frock on Cylindrical cabin section frame car and setup time are long, operate loaded down with trivial details and need repeatable operation.
3) in assembling process, Butt Assembling needs repeatedly constantly debugging, alignment, rotates, and spended time is long, repeatedly rocks and causes frame car impaired.
4) existing frock cannot adapt to the assembling of multi-series, different model guided missile.
5) frock lacks digital information perception, exchange, stores, integration capability, with PDM CAPP the information system such as MES disconnect, frock cannot be interconnected with assembling object, cannot the real-time status of equipment and historic state information.
6) frock lack of wisdom alignment, self-inspection, from diagnosis, health evaluating ability, cannot help operator intelligence focusing, the situation of testing equipment and health level.
7) cabin section assembles the information such as completion, man-hour urgently needs to feed back to upper system from bottom, is that production scheduling and plan provide foundation.
8) leader, maintenance personnel, dispatcher cannot make full use of the numerical information of connection device and assembling object, cannot realize the measures of effectiveness to equipment, health maintenance maintenance and production task statistics etc.
Summary of the invention
It is an object of the invention to provide the Controlling System of a kind of Cylindrical cabin section flexible docking device and method, be intended to solve existing Cylindrical cabin section assembly tooling line, to there is labour intensity in assembly method big, level of automation is low, frock adjustment and setup time are long, operate loaded down with trivial details and need repeatable operation, the assembling of multi-series, different model guided missile cannot be adapted to, the problem of the measures of effectiveness to equipment, health maintenance maintenance and production task statistics cannot be realized.
The present invention realizes like this, a kind of control method of Cylindrical cabin section flexible docking device, and the control method of described Cylindrical cabin section flexible docking device comprises the following steps:
Step one: first determining the technique model that Cylindrical cabin section flexible docking assembles, setting process model is kept in upper computer IPC background data base, and assembly parameter is determined, craft type number of not shaping, and assembly parameter can be revised in software interface; Controlling System carries out self-inspection and initialize, makes each assemble mechanism move to predeterminated position; Whether Controlling System self-inspection dominant query PAC running status, each servo-driver working order, each I/O module state be normal, if having abnormal, recording exceptional content also sends guard signal, if without exception, drives each moving parts to run to initial default working position;
Step 2: place on the Duan Yujing platform support ring frame of first joint cabin, treats the dynamic platform of abutting end sensing and estimates and make it with quiet edge of table along substantially aliging;
Step 3: place on the Duan Yudong platform support ring frame of cabin to be assembled, treat abutting end point to Jing Tai and estimate make Cylindrical cabin section its and Jing Tai on treat abutting end apart from be about 50mm;
Step 4: owing to different Cylindrical cabin section diameter, quality, centroid position are all different, cause being positioned on Jing Tai and dynamic platform two to save and treat docking section axle center, cabin not point-blank, cannot direct Butt Assembling, auto-alignment device need to be started, regulating and controlling motor, adjust the cabin to be assembled section appearance being positioned on dynamic platform so that it is reach pre-assembled state with the cabin of the assembling section being on Jing Tai; Auto-alignment setting device is formed primarily of two cover three degree of freedom closed-loop control servosystems on dynamic platform, adopts grating chi as Displacement Feedback sensor, adopts pid algorithm as control algorithm;
Step 5: whether observation is convenient to assembling, if inconvenience assembling, manual fine-tuning, till being convenient to assembling; Manual fine-tuning device is positioned on housing panel, can to the dynamic adjustment of three degree of freedom servosystem open loop point;
Step 6: manually complete flexible docking assembling;
Step 7: cabin section traction electric machine drags Butt Assembling and completes part and axially move to Jing Tai along cabin section, and moving displacement amount is identical with cabin segment length on dynamic platform;
Step 8: judging the whether whole installation of all cabins section, if not completing, placing on the Duan Yudong platform support ring frame of cabin to be assembled, forwarding step 3 to, if completing, terminating the assembling of this flexible docking.
Another object of the present invention is to provide the Controlling System of a kind of control method of described Cylindrical cabin section flexible docking device, described Controlling System is servocontrol system, is used for accurately following or reappearing the feedback control system of certain process. Under many circumstances, servosystem specially refers to it is the feedback control system of mechanical shift or velocity of displacement, acceleration by manipulated variable (work output of system), its effect is the displacement (or corner) making the mechanical shift (or corner) of output accurately follow the tracks of input, and the structure composition of servosystem and other forms of feedback control system do not have difference in principle; Specifically comprise:
CAP planning system, for realizing the process information of Cylindrical cabin section flexible docking, operation instructions, process simulation, technical papers generate;
Upper computer IPC, by internet and CAP planning system communication, process data and the assembling process data feedback of system is planned for receiving computer auxiliary process, and assembling processing requirement data distributing to PAC Controlling System and is received its assembling feedback data, it is achieved the visualized operation of assembling process;
PAC Controlling System, is communicated with upper computer IPC by EthernetTCP/IP, for planning the motion parameter of servosystem in assembling process, it is achieved the leak control and check of Cylindrical cabin section flexible docking;
The intelligent servo-driver of Compax3, by the communication of EtherCAT and PAC Controlling System, for receiving the motion control instruction of PAC, is converted to electrical signal and exports drive-motor running;
EX fire proof motor, for drive transmission part, it is achieved the motion of assembling processing requirement;
FAGOR grating chi, servo-driver intelligent with Compax3 is connected, and for detecting the pose of dynamic platform adjust structure, comprises the height of V-type mechanism folding position and vertical rack, feeds back to PAC controller, it is achieved closed-loop control;
Limit switch, is electrically connected with numeral load module, for safe spacing and the initialize Zero calibration of running gear;
Manual control panel, is electrically connected with numeral load module, for manual regulation adjustment mechanism pose;
Combined aural and visual alarm, is electrically connected with digital output module, for abnormal warning various in flexible assembly process;
Numeral load module, for detecting each key-press status on limit switch state, manual control panel, by EtherCAT bus and PAC interactive information;
Digital output module, for exporting acousto-optic alarm switch amount information, by EtherCAT bus and PAC interactive information.
The Controlling System of Cylindrical cabin section flexible docking device provided by the invention and method, the PAC selected is a kind of dedicated control device with programmable software, it is intended to make the dynamo-electric technique of the high speed of running in assembly line equipment possess automatization; Under the electrical noise of the temperature range that can bear, vibration and industrial environment, various I/O can be provided for quick motion control through the PAC of design improvement; PAC adopts modular design so that it is have the solution of a high flexible; PAC is connected to a series of PACIO modules, and this module can require to select according to concrete application; PAC comprises Ethernet and EtherCAT PORT COM. PAC operating system and operating software are positioned on standard security numeral (SD) storage card, and are inserted in the slot at PAC top. The LED pilot lamp of PAC front panel contributes to monitoring, and the fault of diagnositc system state. PAC provide one independent, have the EtherCAT port of esd protection, and run with the speed of 100Mb/s. EtherCAT be based on Ethernet the soonest, one of the most powerful field bus system; EtherCAT can reach the speed processing 1000 I/O in 30 microseconds; Topological framework and simple configuration flexibly so that it is be suitable for controlling very much process quickly.
The structure composition of the CAPP system of the present invention: basic structure is made up of 5 modules such as the acquisition of part information, process decision, technological data bank/knowledge base, man-machine interface, Process file management/outputs. Management modules such as comprising Manufacturing Data Management, plan scheduling management, Production scheduling management, material requirements planning, quality control, human resource management, work center/equipment management, instrument tool management, buying management, accounting cost control, project kanban system, production process control, bottom data integrated analysis, the integrated decomposition of upper layer data can be provided, for enterprise makes sturdy, reliable, comprehensive, a feasible manufacture coordinated management platform for enterprise.
The invention solves labor strength in existing assembling process big, the level of automation of equipment is low, leans on the experience of workman to carry out the problem assembled completely, it is achieved that flexible working automatization; Servocontrol system adopts PAC controller to realize leak control and check, and system bulk is little, low in energy consumption, integrated level height; Adopt Compax3 servo-driver and PACIO digital module, it is possible to easily with PAC controller by EtherCAT bus communication, it is to increase the reliability of Systematical control with detection transfer; CAPP technology is applied in the section flexible docking device of cabin by the present invention, solves existing assembling process and lacks digital information perception, exchange, storage, integrated ability.
The present invention assembles for the flexible docking of Cylindrical cabin section, and in invention, the flexible structure of innovation, can expand, and is applicable to different bullet footpath, different quantities cabin section; Computer can be realized and control the dynamic accurate adjustment of quick initial adjustment, range finding sensing closed loop accurate adjustment and button drive point, the docking of flexure spring manual fine-tuning; Comprehensive different structure data of information system, state data, controling parameters, physical location information, fault exception etc. carries out data processing statistical study, is that production scheduling, power balance, m of e etc. provide decision-making foundation; A set of possess that digital information is integrated, perception, control and feedback, have the degree of depth to merge the intelligent information physical system of ability, significantly improve the digitizing of cabin section docking, intellectuality, automatization level.
Accompanying drawing explanation
Fig. 1 is the Cylindrical cabin section flexible docking apparatus structure schematic diagram that the embodiment of the present invention provides;
In figure: 1, Jing Tai; 2, dynamic platform; 3, frame platform is stored up; 4, frame platform is transported; 5, supervisory control desk; 6, adjusting pole; 7, Cylindrical cabin section has been assembled; 8, Cylindrical cabin section to be assembled; 9, support ring frame.
Fig. 2 is the Cylindrical cabin section flexible docking apparatus control method schema that the embodiment of the present invention provides.
Fig. 3 is the servocontrol system global structure schematic diagram that the embodiment of the present invention provides.
Embodiment
In order to make the object of the present invention, technical scheme and advantage clearly understand, below in conjunction with embodiment, the present invention is further elaborated. It is to be understood that specific embodiment described herein is only in order to explain the present invention, it is not intended to limit the present invention.
Below in conjunction with accompanying drawing, the application principle of the present invention is explained in detail.
As shown in Figure 1, the Cylindrical cabin section flexible docking device of the embodiment of the present invention mainly comprises: quiet 1, dynamic platform 2, storage frame platform 3, fortune frame platform 4, supervisory control desk 5, adjusting pole 6, assemble Cylindrical cabin section 7, Cylindrical cabin section 8 to be assembled, support ring frame 9.
Quiet 1: for placing first segment cabin section and follow-up installed cabin section, as the benchmark of every joint docking cabin section afterwards.
Dynamic platform 2: height and the level attitude being adjusted two adjustment supports by electric machine control, thus complete the flexible docking process of two adjacent compartment sections.
Storage frame platform 3: store ring frame for subsequent use. Storage frame platform end is equipped with diameter changing mechanism, for the cabin section specified, makes four claws of ring move to specified location by diameter changing mechanism.
Fortune frame platform 4: complete the transport of ring frame between storage frame platform and quiet. It forms primarily of the hoisting appliance of scissor-type, and scissors mechanism can slide along floor rails.
Supervisory control desk 5: form primarily of industrial computer, tangible liquid crystal display, keyboard, mouse etc., complete the monitor in real time of the management to equipment and production task.
Regulate support 6: dynamic platform is equipped with two three degree of freedom and regulates supports, can along cabin section axially, radial and height direction moves. Regulating support to rock mechanism primarily of lifting and parallel moving mechanism, fine setting spring, roller open-and-close mechanism forms. Lifting and parallel moving mechanism comprise lifting motor and translation motor, and lifting motor, by the up-and-down movement of the engaged transmission of worm gear worm screw and vertical leading screw, realizes the adjustment of cabin section height. Translation motor realizes by the tooth bar of gear and bottom surface regulating support axially and to move radially along cabin section.
Assembled Cylindrical cabin section 7: be positioned on Jing Tai completed assembling cabin section part;
Cylindrical cabin section 8 to be assembled: be positioned at cabin section to be assembled on dynamic platform;
Support ring frame 9: installed Cylindrical cabin section and Cylindrical cabin section to be installed for supporting, section flexible automatic butt jointing device in whole cabin has 10 ring framves, comprising 1 active ring frame. Initiatively ring frame moves all the time on Jing Tai, is in before other passive ring framves, in order to drive the rotation having docked cabin section and the movement along cabin section axis. The motor output shaft rotated is provided to be equipped with gear, with the gear grooved engaged transmission of respective rings outer rim; The motor output shaft dragged is provided to be equipped with gear, the tooth bar engaged transmission corresponding on Jing Tai.
As shown in Figure 2, the Cylindrical cabin section flexible docking apparatus control method of the embodiment of the present invention comprises the following steps:
Step one: first determine the technique model that Cylindrical cabin section flexible docking assembles, configuration assembly parameter, system carries out self-inspection and initialize, makes each assemble mechanism move to predeterminated position;
Step 2: place on the Duan Yujing platform support ring frame of first joint cabin;
Step 3: place on the Duan Yudong platform support ring frame of cabin to be assembled;
Step 4: start auto-alignment device, regulating and controlling motor, adjusts the cabin to be assembled section appearance being positioned on dynamic platform so that it is reach pre-assembled state with the cabin of the assembling section being on Jing Tai;
Step 5: whether observation is convenient to assembling, if inconvenience assembling, manual fine-tuning, till being convenient to assembling;
Step 6: flexible docking assembles;
Step 7: cabin section traction electric machine drags Butt Assembling and completes part along the axial total movement of cabin section to Jing Tai;
Step 8: judging the whether whole installation of all cabins section, if not completing, placing on the Duan Yudong platform support ring frame of cabin to be assembled, forwarding step 3 to, if completing, terminating the assembling of this flexible docking.
As shown in Figure 3, the described Cylindrical cabin section flexible docking apparatus control system of the embodiment of the present invention comprises servocontrol system:
Controlling System is primarily of CAP planning (CAPP:ComputerAidedProcessPlanning) system for planning assembling technique, for the upper computer IPC of visualized operation assembling process, for realizing ParkerAutomationController (PAC) the PAC Controlling System of servocontrol and detection and the intelligent servo-driver of Compax3 and EX fire proof motor composition.
CAPP system, for realizing the functions such as the process information of Cylindrical cabin section flexible docking, operation instructions, process simulation, technical papers generation;
Upper computer IPC, for receiving process data and the assembling process data feedback of CAPP, and to PAC Controlling System and receives its assembling feedback data by assembling processing requirement data distributing, it is achieved the visualized operation of assembling process;
PAC Controlling System, for planning the motion parameter of servosystem in assembling process, it is achieved the leak control and check of Cylindrical cabin section flexible docking;
The intelligent servo-driver of Compax3, for receiving the motion control instruction of PAC, is converted to electrical signal and exports drive-motor running;
EX fire proof motor, for drive transmission part, it is achieved the motion of assembling processing requirement;
FAGOR grating chi, for detecting the pose of dynamic platform adjust structure, mainly comprises the height of V-type mechanism folding position and vertical rack, feeds back to PAC controller, it is achieved closed-loop control;
Limit switch, for safe spacing and the initialize Zero calibration of running gear;
Manual control panel, for manual regulation adjustment mechanism pose;
Combined aural and visual alarm, for abnormal warning various in flexible assembly process;
Numeral load module, for detecting each key-press status on limit switch state, manual control panel;
Digital output module, for exporting acousto-optic alarm switch amount information.
Communicated by EthernetTCP/IP between described upper computer IPC with described PAC controller, described PAC controller and described 1#��9#Compax3 servo-driver and described numeral load module, communicated by EtherCAT between digital output module, the described grating chi for measured altitude is connected with described 6#/7#Compax3 servo-driver, described for measure V-type fixture folding level attitude grating chi be connected with described 8#/9#Compax3 servo-driver, described limit switch and described manual regulation push button are electrically connected with described numeral load module, described combined aural and visual alarm is electrically connected with described digital output module.
Upper computer IPC and CAP planning (CAPP:ComputerAidedProcessPlanning) computer pass through internet communication, CAPP utilizes computer to carry out the formulation of production process, finished product subassembly being assembled into engine request, this process is called that CAP is planned. It is by the geological information (shape, size etc.) of computer input part to be assembled and technique information (material, pre-treatment, batch etc.), automatically exporting the process of the technical papers such as operational path and operation content by computer. Upper computer IPC obtains the information realization Cylindrical cabin section flexible docking processes such as process information, operation instructions, process simulation, technical papers from CAPP.
The foregoing is only the better embodiment of the present invention, not in order to limit the present invention, all any amendment, equivalent replacement and improvement etc. done within the spirit and principles in the present invention, all should be included within protection scope of the present invention.
Claims (2)
1. the control method of a Cylindrical cabin section flexible docking device, it is characterised in that, the control method of described Cylindrical cabin section flexible docking device comprises the following steps:
Step one: first determining the technique model that Cylindrical cabin section flexible docking assembles, setting process model is kept in upper computer IPC background data base, and assembly parameter is determined, craft type number of not shaping, and assembly parameter can be revised in software interface; Controlling System carries out self-inspection and initialize, makes each assemble mechanism move to predeterminated position; Whether Controlling System self-inspection dominant query PAC running status, each servo-driver working order, each I/O module state be normal, if having abnormal, recording exceptional content also sends guard signal, if without exception, drives each moving parts to run to initial default working position;
Step 2: place on the Duan Yujing platform support ring frame of first joint cabin, treats the dynamic platform of abutting end sensing and estimates and make it with quiet edge of table along substantially aliging;
Step 3: place on the Duan Yudong platform support ring frame of cabin to be assembled, treat abutting end point to Jing Tai and estimate make Cylindrical cabin section its and Jing Tai on treat abutting end apart from be 50mm;
Step 4: owing to different Cylindrical cabin section diameter, quality, centroid position are all different, start auto-alignment device, regulating and controlling motor, adjust the cabin to be assembled section appearance being positioned on dynamic platform, reach pre-assembled state with the cabin of the assembling section being on Jing Tai; Auto-alignment setting device is made up of the two cover three degree of freedom closed-loop control servosystems moved on platform, adopts grating chi as Displacement Feedback sensor, adopts pid algorithm as control algorithm;
Step 5: whether observation is convenient to assembling, if inconvenience assembling, manual fine-tuning, till being convenient to assembling; Manual fine-tuning device is positioned on housing panel, to the dynamic adjustment of three degree of freedom servosystem open loop point;
Step 6: manually complete flexible docking assembling;
Step 7: cabin section traction electric machine drags Butt Assembling and completes part and axially move to Jing Tai along cabin section, and moving displacement amount is identical with cabin segment length on dynamic platform;
Step 8: judging the whether whole installation of all cabins section, if not completing, placing on the Duan Yudong platform support ring frame of cabin to be assembled, forwarding step 3 to, if completing, terminating the assembling of this flexible docking.
2. the Controlling System of the control method of a Cylindrical cabin section flexible docking device as claimed in claim 1, it is characterised in that, described Controlling System is servocontrol system, specifically comprises:
CAP planning system, for realizing the process information of Cylindrical cabin section flexible docking, operation instructions, process simulation, technical papers generate;
Upper computer IPC, by internet and CAP planning system communication, process data and the assembling process data feedback of system is planned for receiving computer auxiliary process, and assembling processing requirement data distributing to PAC Controlling System and is received its assembling feedback data, it is achieved the visualized operation of assembling process;
PAC Controlling System, is communicated with upper computer IPC by EthernetTCP/IP, for planning the motion parameter of servosystem in assembling process, it is achieved the leak control and check of Cylindrical cabin section flexible docking;
The intelligent servo-driver of Compax3, by the communication of EtherCAT and PAC Controlling System, for receiving the motion control instruction of PAC, is converted to electrical signal and exports drive-motor running;
EX fire proof motor, for drive transmission part, it is achieved the motion of assembling processing requirement;
FAGOR grating chi, servo-driver intelligent with Compax3 is connected, and for detecting the pose of dynamic platform adjust structure, comprises the height of V-type mechanism folding position and vertical rack, feeds back to PAC controller, it is achieved closed-loop control;
Limit switch, is electrically connected with numeral load module, for safe spacing and the initialize Zero calibration of running gear;
Manual control panel, is electrically connected with numeral load module, for manual regulation adjustment mechanism pose;
Combined aural and visual alarm, is electrically connected with digital output module, for abnormal warning various in flexible assembly process;
Numeral load module, for detecting each key-press status on limit switch state, manual control panel, by EtherCAT bus and PAC interactive information;
Digital output module, for exporting acousto-optic alarm switch amount information, by EtherCAT bus and PAC interactive information.
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| CN201610149873.8A CN105629944B (en) | 2016-03-16 | 2016-03-16 | A kind of control system and method for cylindrical bay section flexible docking device |
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| CN201610149873.8A CN105629944B (en) | 2016-03-16 | 2016-03-16 | A kind of control system and method for cylindrical bay section flexible docking device |
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| CN105629944B CN105629944B (en) | 2018-01-23 |
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| CN107161623A (en) * | 2017-05-19 | 2017-09-15 | 西安电子科技大学 | Alternately traction brace type cylindrical parts translate turnover device to one kind |
| CN107932361A (en) * | 2017-11-21 | 2018-04-20 | 上海航天精密机械研究所 | A kind of flexible six-degree-of-freedom posture adjustment platform for the assembling of bay section class product automatic butt |
| CN109696092A (en) * | 2018-11-20 | 2019-04-30 | 北京星航机电装备有限公司 | A kind of quick pose adjustment of bay section based on six shaft platforms and tension device |
| CN110567318A (en) * | 2019-08-02 | 2019-12-13 | 上海航天精密机械研究所 | automatic detection device for launching tube and control method thereof |
| CN111061328A (en) * | 2019-12-24 | 2020-04-24 | 上海智殷自动化科技有限公司 | Low-voltage direct current servo based on Ethernet/IP |
| CN111571171A (en) * | 2020-06-04 | 2020-08-25 | 哈尔滨理工大学 | Automatic flexible assembling device and method for barrel type cabin sections |
| CN111752252A (en) * | 2020-07-18 | 2020-10-09 | 大连交通大学 | Automatic flexible butt joint assembly control system and method |
| CN111745369A (en) * | 2020-07-07 | 2020-10-09 | 上海交通大学 | Large cabin segment butt joint method for real-time monitoring |
| CN112660978A (en) * | 2020-11-27 | 2021-04-16 | 北京星航机电装备有限公司 | Posture adjusting tool and posture adjusting method for large-size special-shaped cabin |
| CN112799326A (en) * | 2020-12-31 | 2021-05-14 | 江苏金陵智造研究院有限公司 | Linkage adjustment control system and control method for automatic butt joint of cabin sections |
| CN115502698A (en) * | 2022-11-22 | 2022-12-23 | 中国科学院沈阳自动化研究所 | Automatic butt joint device |
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