CN106180322A - A kind of evaporation tube is around machine control method, device and system - Google Patents
A kind of evaporation tube is around machine control method, device and system Download PDFInfo
- Publication number
- CN106180322A CN106180322A CN201610580779.8A CN201610580779A CN106180322A CN 106180322 A CN106180322 A CN 106180322A CN 201610580779 A CN201610580779 A CN 201610580779A CN 106180322 A CN106180322 A CN 106180322A
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- China
- Prior art keywords
- turntable
- evaporation tube
- translation
- pinch roller
- drive mechanism
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D11/00—Bending not restricted to forms of material mentioned in only one of groups B21D5/00, B21D7/00, B21D9/00; Bending not provided for in groups B21D5/00 - B21D9/00; Twisting
- B21D11/06—Bending into helical or spiral form; Forming a succession of return bends, e.g. serpentine form
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D11/00—Bending not restricted to forms of material mentioned in only one of groups B21D5/00, B21D7/00, B21D9/00; Bending not provided for in groups B21D5/00 - B21D9/00; Twisting
- B21D11/22—Auxiliary equipment, e.g. positioning devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D53/00—Making other particular articles
- B21D53/02—Making other particular articles heat exchangers or parts thereof, e.g. radiators, condensers fins, headers
- B21D53/06—Making other particular articles heat exchangers or parts thereof, e.g. radiators, condensers fins, headers of metal tubes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physical Vapour Deposition (AREA)
Abstract
The invention discloses a kind of evaporation tube around machine control method, device and system.This system adds a translation mechanism on original turntable, and is arranged at by turntable on this translation mechanism, and translation mechanism is by driven by servomotor.Then the servomotor, the servomotor of evaporation tube pinch roller lifting that the servomotor of translation, turntable are rotated are connected on a controller.Each servomotor is controlled by the way of software by controller again, the rotation making translation mechanism and turntable achieves the rotation of cam mode, so that the swing arm amplitude of fluctuation of evaporation tube pinch roller is few, and the lifting controlling evaporation tube pinch roller by the way of software makes evaporation tube pinch roller walk out straight line in the side of refrigerator ice cabinet inner bag, thus add the evaporation tube degree of being close at refrigerator ice cabinet inner bag.
Description
Technical field
The present invention relates to evaporation tube Wiring apparatus.
Background technology
Patent documentation CN105344770A discloses the evaporation tube of a kind of band lock tube mechanism and is wound around turntable.Patent documentation
CN205110611U discloses the evaporation tube of a kind of band die change and is wound around turntable.Both evaporation tubes are wound around in turntable and all adopt
It is arranged on base with by turntable, and connects rotary drive mechanism, thus drive and be enclosed within the ice in refrigerator ice cabinet die for inner
Case refrigerator-freezer inner bag rotates, it is achieved the winding of evaporation tube.Wherein, refrigerator ice cabinet die for inner is placed on a spinstand, and it is specifically tied
Structure is referred to a kind of refrigerator ice cabinet die for inner being wound around for evaporation tube disclosed in patent documentation CN105291308A.Steam
Send out when pipe is wound around and need to be pressed on refrigerator ice cabinet inner bag evaporation tube.Evaporation tube be pressed on refrigerator ice cabinet inner bag by swing arm and
The evaporation tube pinch roller installed in swing arm realizes.And under the effect of swing arm cylinder, the evaporation tube pinch roller in swing arm is by evaporation tube pressure
On refrigerator ice cabinet inner bag.Swing arm is then in turn mounted in a swing arm lifting mechanism, and the lifting by swing arm lifting mechanism is instant
Control evaporation tube height on refrigerator ice cabinet inner bag, thus evaporation tube is wound in spiral uprising shape.Swing arm, swing arm cylinder, steaming
The evaporation tube sending out a kind of big swing arm structure that the concrete structures such as pipe pinch roller are referred in patent documentation CN205020682U is wound around
Equipment.Above-mentioned evaporation tube is wound around the evaporation tube automatic winding machine of the structure compositions such as turntable, refrigerator ice cabinet die for inner, swing arm
There is a problem is: owing to the cross section of refrigerator ice cabinet inner bag is rectangle, and evaporation tube pinch roller is then positioned at one to be fixed
Direction on, when turntable rotates, rectangle is around central rotation, and evaporation tube pinch roller changes model apart from rectangular centre distance
Enclose the biggest.Such as, the size of the cross section of refrigerator ice cabinet inner bag is 120cm × 50cm, then in evaporation tube pinch roller and refrigerator ice cabinet
The minimum 25cm of distance at gallbladder center, maximum then can reach 65cm.This means that evaporation tube pinch roller must differ 40cm back and forth, and one
As evaporation tube pinch roller distance swing arm arm shaft be generally about 80cm, in other words, the scope that swing arm swings back and forth must exceed
30 degree.It is, refrigerator ice cabinet inner bag often revolves turnback, swing arm swing back and forth at least 30 degree.This for swing arm is one and bears
Load, easily causes swing arm or the loss of swing arm cylinder.It is further of importance that when refrigerator ice cabinet inner bag at the uniform velocity rotates, and swing arm
When at the uniform velocity rising, evaporation tube pinch roller not straight line on the side of refrigerator ice cabinet inner bag, but a curve, this meaning
, evaporation tube can not be close to refrigerator ice cabinet inner bag.Additionally, due to amplitude of fluctuation is excessive, the evaporation tube pinch roller pressure to evaporation tube
The most inadequate.
Summary of the invention
Problem to be solved by this invention: for evaporation tube is pressed in the swing arm on refrigerator ice cabinet inner bag, twine at evaporation tube
Around time amplitude of fluctuation excessive, and cause evaporation tube can not be close to refrigerator ice cabinet inner bag.
For solving the problems referred to above, the scheme that the present invention uses is as follows:
A kind of evaporation tube according to the present invention comprises the following steps around machine control method, the method:
S1: obtain initial angle, the length and width size of refrigerator ice cabinet inner bag, the spacing of evaporation tube winding and turntable and rotate speed
Degree；
Oblique in side of S2: the distance computation evaporation tube being wound around according to the length and width size of refrigerator ice cabinet inner bag and evaporation tube
Rate；
S3: 360 degree rotated a circle by turntable are divided into 360 sub-multiple angles, according to initial angle, refrigerator ice cabinet inner bag
Length and width size and the evaporation tube slope in side calculate the height of evaporation tube pinch roller, thus 360 steamings of composition to each sub-multiple angle
Send out the array of the height of pipe pinch roller；
S4: 360 degree rotated a circle by turntable are divided into 360 sub-multiple angles, according to initial angle and refrigerator ice cabinet inner bag
Length and width size to each sub-multiple angle calculate when evaporation tube pinch roller horizontal level keep constant time turntable center translation position,
The thus array of the translation position at 360 turntable centers of composition；
S5: control turntable according to turntable rotary speed and rotate；
While S6: turntable rotates, the array according to turntable rotary speed and the height of 360 evaporation tube pinch rollers is true
Determining the height of current time evaporation wheel, the lifting further according to this Altitude control swing arm makes evaporation tube pinch roller be positioned on this height；
While S7: turntable rotates, according to the number of the translation position at turntable rotary speed and 360 turntable centers
Group determines the translation position at current time turntable center, and the translation further according to this translation position control translation stage makes turntable
It is centrally located on this translation position.
Further, include around machine control method, described step S6 according to the evaporation tube of the present invention:
S61: calculate 360 evaporation tubes according to the array of turntable rotary speed and the height of 360 evaporation tube pinch rollers
The Instantaneous Vertical Velocity of pinch roller；
S62: be used for according to the Instantaneous Vertical Velocity of 360 evaporation tube pinch rollers and the Altitude control of 360 evaporation tube pinch rollers
Drive the servomotor of evaporation tube pinch roller lifting.
Further, include around machine control method, described step S7 according to the evaporation tube of the present invention:
S71: calculate 360 rotations according to the array of the translation position at turntable rotary speed and 360 turntable centers
The instant point-to-point speed of turntable；
S72: be used for according to the instant point-to-point speed of 360 turntables and the translation position control at 360 turntable centers
Drive the servomotor of turntable translation.
A kind of evaporation tube according to the present invention controls device around machine, and this device includes with lower module:
M1, is used for: obtain initial angle, the length and width size of refrigerator ice cabinet inner bag, the spacing of evaporation tube winding and turntable
Rotary speed；
M2, is used for: the distance computation evaporation tube being wound around according to the length and width size of refrigerator ice cabinet inner bag and evaporation tube is in side
Slope；
M3, is used for: 360 degree rotated a circle by turntable are divided into 360 sub-multiple angles, according to initial angle, refrigerator ice cabinet
Length and width size and the evaporation tube slope in side of inner bag calculate the height of evaporation tube pinch roller to each sub-multiple angle, thus form
The array of the height of 360 evaporation tube pinch rollers；
M4, is used for: 360 degree rotated a circle by turntable are divided into 360 sub-multiple angles, according to initial angle and refrigerator ice cabinet
The length and width size of inner bag calculates the translation at turntable center when evaporation tube pinch roller horizontal level keeps constant to each sub-multiple angle
Position, the thus array of the translation position at 360 turntable centers of composition；
M5, is used for: controls turntable according to turntable rotary speed and rotates；
M6, is used for: while turntable rotates, according to the height of turntable rotary speed and 360 evaporation tube pinch rollers
Array determines the height of current time evaporation wheel, and the lifting further according to this Altitude control swing arm makes evaporation tube pinch roller be positioned at this height
On degree；
M7, is used for: while turntable rotates, according to turntable rotary speed and the translational shifting at 360 turntable centers
The array put determines the translation position at current time turntable center, and the translation further according to this translation position control translation stage makes
Turntable is centrally located on this translation position.
Further, controlling device according to the evaporation tube of the present invention around machine, described module M6 includes:
M61, is used for: calculate 360 steamings according to the array of turntable rotary speed and the height of 360 evaporation tube pinch rollers
Send out the Instantaneous Vertical Velocity of pipe pinch roller；
M62, is used for: according to Instantaneous Vertical Velocity and the Altitude control of 360 evaporation tube pinch rollers of 360 evaporation tube pinch rollers
For the servomotor driving evaporation tube pinch roller to lift.
Further, controlling device according to the evaporation tube of the present invention around machine, described module M7 includes:
M71, is used for: calculate 360 according to the array of the translation position at turntable rotary speed and 360 turntable centers
The instant point-to-point speed of individual turntable；
M72, is used for: according to instant point-to-point speed and the translation position control at 360 turntable centers of 360 turntables
For the servomotor driving turntable to translate.
A kind of evaporation tube according to the present invention around machine control system, this system include translation stage, turntable, oscillating arm mechanisms and
Controller；Described translation stage is arranged on base by translational drive mechanism；Described turntable is installed by rotary drive mechanism
On described translation stage；Described oscillating arm mechanisms includes the swing arm by air cylinder driven and evaporation tube pinch roller；Described evaporation tube pinch roller is pacified
It is contained in described swing arm；Described swing arm is arranged on lifting platform；Described lifting platform is arranged on crane by lift drive mechanism
On；Described translational drive mechanism, rotary drive mechanism and lift drive mechanism all include servomotor, and are driven by servomotor
Dynamic；The servomotor of described translational drive mechanism, rotary drive mechanism and lift drive mechanism connects described controller；Described control
Device processed controls described translational drive mechanism, rotary drive mechanism and elevator drive machine by above-mentioned evaporation tube around machine control method
The servomotor of structure realizes evaporation tube and is wound around.
Further, include around machine control system, described translational drive mechanism according to the evaporation tube of the present invention: translation servo electricity
Machine, screw mandrel, silk braid, slide rail and slide block；Described slide rail has two；Article two, slide rail is arranged on base in parallel to each other；Described flat
Moving stage is arranged on slide rail by described slide block, it is possible to move along slide rail；Described screw mandrel is arranged between two slide rails, and with
Described slide rail is parallel；Described silk braid is arranged on the bottom of described translation stage；Described translation stage is by described silk braid and described screw mandrel
It is connected；Described translation servo-motors connects described screw mandrel, and described screw mandrel can be driven to rotate, by described screw mandrel and silk braid it
Between screw-threaded engagement effect, drive described translation stage sliding translation on described slide rail.
Further, driving cog wheel disc is included according to the evaporation tube of the present invention around machine control system, described rotary drive mechanism
And rotating servo motor；Described rotating servo motor is arranged on the inside of described translation stage, and is connected with described driving cog wheel disc；
The gear arranged below described driving cog wheel disc and described turntable engages each other so that described rotating servo motor can pass through
Described travelling gear dribbling is moved described turntable and is rotated.
The technique effect of the present invention is as follows: the present invention performs the rotation of programme-control turntable by controller, translation stage is put down
Shifting, the lifting of evaporation tube pinch roller, thus make the translation of translation stage and the rotation of turntable achieve convex by the way of software
The rotation of wheel mode, so that the swing arm amplitude of fluctuation of evaporation tube pinch roller is few, and controls evaporation tube pressure by the way of software
The lifting of wheel makes evaporation tube pinch roller walk out straight line in the side of refrigerator ice cabinet inner bag, thus adds evaporation tube at refrigerator ice cabinet
The degree of being close to of inner bag, thus solves the excessive produced variety of problems of prior art lower swing arm amplitude of fluctuation.
Accompanying drawing explanation
Fig. 1 is the structural representation of embodiment of the present invention turntable part.
Fig. 2 is the connecting structure for electrical equipment schematic diagram of controller of the present invention.
Fig. 3 is evaporation tube pinch roller height of the present invention and the schematic diagram of turntable center translation calculating.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is described in further details.
The present invention relates to a kind of evaporation tube automatic winding machine, this equipment includes translation stage, turntable, oscillating arm mechanisms, steaming
Send out pipe unreeling structure, evaporation tube aligning mechanism, evaporation tube shut-off mechanism and controller.Wherein, translation stage, turntable, swing arm machine
Structure and controller constitute the evaporation tube of indication of the present invention around machine control system.Evaporation tube unreeling structure refers to patent documentation
CN105032985A, this specification repeats no more.Evaporation tube aligning mechanism refers to patent documentation CN205020560U, this explanation
Book repeats no more.Evaporation tube shut-off mechanism refers to patent documentation CN105082226A, and this specification repeats no more.Oscillating arm mechanisms
Including swing arm and swing arm cylinder.Swing arm is arranged on lifting platform.Lifting platform is arranged on crane by lift drive mechanism.Rise
Fall drive mechanism is driven by servomotor.Swing arm cylinder connects swing arm.Evaporation tube pinch roller is installed in swing arm.Above-mentioned swing arm machine
Structure can refer to patent documentation CNCN205020682U, and this specification repeats no more.Translation stage and turntable constitute band translation
Evaporation tube is wound around turntable.The evaporation tube of band translation is wound around the structure of turntable as it is shown in figure 1,1 be wherein base, and 2 for translating
Platform, 3 is turntable.Die change guide rail bracket 31 is installed on turntable 3.Die change guide rail bracket 31 is used for fixing refrigerator ice cabinet inner bag mould
Tool, and refrigerator ice cabinet die for inner can be changed very easily, its concrete structure can refer to patent documentation CN205110611U.
Turntable 3 is arranged on translation stage 2 by rotary drive mechanism.Rotary drive mechanism includes driving cog wheel disc 22 and rotating servo
Motor 21.Rotating servo motor 21 is arranged on the inside of translation stage 2, and is connected with driving cog wheel disc 22.Driving cog wheel disc 22 with
The gear arranged below turntable 3 engages each other so that rotating servo motor 21 can be rotated by driving cog wheel disc 22
Platform 3 rotates.The gear arranged below turntable 3 is generally circular dividing table or indexing rotary table.Translation stage 2 is pacified by translational drive mechanism
It is contained on base 1.Translational drive mechanism includes translation servo-motors 14, screw mandrel 15, silk braid 16, slide rail 12 and slide block 13.Slide rail
12 have two.Article two, slide rail 12 is arranged on base 1 by sliding rail frame 11 in parallel to each other.Translation stage 2 is installed by slide block 13
On slide rail 12, and can be along slide rail 12 translation gliding.Screw mandrel 15 is arranged between two slide rails 12, and flat with slide rail 12
OK.Silk braid 16 is arranged on bottom or the lower section of translation stage 2.Translation stage 2 is connected with screw mandrel 15 by silk braid 16.Namely silk braid 16 with
It is threaded engagement between screw mandrel 15.Translation servo-motors 14 connection wire rod 15, and screw mandrel 15 can be driven to rotate, by screw mandrel 15 with
Screw-threaded engagement effect between silk braid 16, and then drive translation stage 2 sliding translation on slide rail 12.
As in figure 2 it is shown, controller 91 connects rotating servo motor 92, translation servo-motors 93 and lift servo motor 94.
Rotating servo motor 92 in Fig. 2 is the rotating servo motor 21 in aforementioned rotary drive mechanism.Translation servo electricity in Fig. 2
Machine 93 is the translation servo-motors 14 in aforementioned translational drive mechanism.Lift servo motor 94 in Fig. 2 is aforementioned swing arm
The servomotor in lift drive mechanism in mechanism.Controller 91 in Fig. 2 is aforementioned evaporation pipe in machine control system
Controller.Controller 91 can be PLC, it is also possible to the computer system being made up of CPU and RAM.Controller 91 is by holding
Line program controls rotating servo motor 92, translation servo-motors 93 and lift servo motor 94.It is, controller 91 is by holding
Line program realizes the evaporation tube of the present invention around machine control method.Evaporation tube specifically comprises the following steps that around machine control method
S1: obtain initial angle, the length and width size of refrigerator ice cabinet inner bag, the spacing of evaporation tube winding and turntable and rotate speed
Degree；
Oblique in side of S2: the distance computation evaporation tube being wound around according to the length and width size of refrigerator ice cabinet inner bag and evaporation tube
Rate；
S3: 360 degree rotated a circle by turntable are divided into 360 sub-multiple angles, according to initial angle, refrigerator ice cabinet inner bag
Length and width size and the evaporation tube slope in side calculate the height of evaporation tube pinch roller, thus 360 steamings of composition to each sub-multiple angle
Send out the array of the height of pipe pinch roller；
S4: 360 degree rotated a circle by turntable are divided into 360 sub-multiple angles, according to initial angle and refrigerator ice cabinet inner bag
Length and width size to each sub-multiple angle calculate when evaporation tube pinch roller horizontal level keep constant time turntable center translation position,
The thus array of the translation position at 360 turntable centers of composition；
S5: control turntable according to turntable rotary speed and rotate；
While S6: turntable rotates, the array according to turntable rotary speed and the height of 360 evaporation tube pinch rollers is true
Determining the height of current time evaporation wheel, the lifting further according to this Altitude control swing arm makes evaporation tube pinch roller be positioned on this height；
While S7: turntable rotates, according to the number of the translation position at turntable rotary speed and 360 turntable centers
Group determines the translation position at current time turntable center, and the translation further according to this translation position control translation stage makes turntable
It is centrally located on this translation position.
" acquisition " in step S1 refers to that user inputs, namely initial angle, the length and width size of refrigerator ice cabinet inner bag, steaming
Spacing and the turntable rotary speed of sending out pipe winding are set by the user input.
Step S2 calculates evaporation tube and must ensure that the slope of four sides is identical when the slope of side.Assume refrigerator ice cabinet
The size of the cross section of inner bag be L × W, L be the length of refrigerator ice cabinet inner bag, W is the width of refrigerator ice cabinet inner bag, evaporation tube be wound around
Spacing is X, then evaporation tube is at the slope A=X/ (2L+2W) of side.
Calculating as it is shown on figure 3,81 is the position of refrigerator ice cabinet inner bag under original state in step S3 and S4, the dotted line of 82
Part have rotated the position after having rotated clockwise B angle for refrigerator ice cabinet inner bag, and 89 is the position of evaporation tube pinch roller, then D
The relative position carrying out translating is needed for turntable center.As seen from the figure, as B, < during C, evaporation wheel pinch roller faces refrigerator ice cabinet
The broad side surface of inner bag；As C < B, < when 180, evaporation wheel pinch roller faces the long side surface of refrigerator ice cabinet inner bag；As 180 < B < 180+C
Time, evaporation wheel pinch roller faces another broad side surface of refrigerator ice cabinet inner bag；As 180+C < B, < when 360, evaporation wheel pinch roller is the most right
Another long side surface of refrigerator ice cabinet inner bag.Wherein C=2*arctan (W/L).Arctan is the anti-letter of trigonometric function tan
Number.W be W be the width of refrigerator ice cabinet inner bag, L is the length of refrigerator ice cabinet inner bag, and has W < L.Thus, when B < during C, evaporation tube pinch roller
Height HB=(W/2-tan (C/2-B) * L/2) * A；It should be evident that as B=C/2, HB=A*W/2；As B=C, HB
=W*A；When C < B < when 180, HB=(W+L/2-tan (90+C/2-B) * W/2) * A；It should be evident that as B=90+C/2, HB
=(W+L/2) * A；As B=180, HB=(W+L) * A；When 180 < B < during 180+C, HB=(W+L) * A+ (W/2-tan (180+
C/2-B)*L/2)*A；When 180+C < B < when 360, HB=(W+L) * A+ (W+L/2-tan (270+C/2-B) * W/2) * A；Aobvious and easy
Insight, as B=180+C, HB=(3*W/2+L) * A；As B=360, HB=(2W+2L) * A.By above-mentioned computing formula structure
Become the height H of evaporation tube pinch rollerBAbout the function of angle B, thus it can be calculated that lower 360 evaporation tubes of 0 to 359 angle
The height H of pinch rollerB。
In like manner, the translation position calculation at the turntable center in step S4 is the simplest.First, as B=0, rotate
Horizontal range between platform center and evaporation tube pinch roller edge isWhen B < during C,As B=C,When C < B < when 180,Work as B=180
Time, When 180 < B < during 180+C,As B=180+C,When 180+C < B < when 360,As B=360,By
Above-mentioned computing formula constitutes horizontal range Y between turntable center and evaporation tube pinch roller edgeBLetter about angle B
Number, thus it can be calculated that horizontal range between lower 360 the turntable centers of 0 to 359 angle and evaporation tube pinch roller edge
YB.By each YBWithGo to subtract and obtain, the translation position at 360 turntable centers
Step S5, S6, S7 are to rotating servo motor, lift servo motor and the control of translation servo-motors respectively.Right
Have only to be mapped on the rotating speed of rotating servo motor the rotating speed of turntable in rotating servo motor, then by rotating servo electricity
The rotating speed of machine is handed down to rotating servo motor.For lift servo motor and translation servo-motors, due to general servo
Motor is in addition to needing the given angle rotated, and the parameter of rotary speed to be given could send instructions under servomotor.
The most typically, step S6 and S7 also need to calculate speed parameter.For step S6, first, revolve according to turntable
Rotary speed can calculate every turn of once required time T, then according to phase in the array of the height of 360 evaporation tube pinch rollers
Adjacent two numerical difference calculate the rising or falling speed of evaporation tube pinch rollerThen rising or falling speed is mapped to lifting to watch
Take on the rotating speed of motor, and after the angle turned over needed for corresponding difference in height is mapped to, angle-data and rotating speed are handed down to
Lift servo motor.For step S7, can be according to adjacent two numerical value in the translation position at 360 turntable centers
Difference calculates the point-to-point speed at turntable centerThen point-to-point speed is mapped to the rotating speed of translation motor
On, and after the angle turned over needed for corresponding displacement difference being mapped to, angle-data and rotating speed are handed down to translation servo-motors
?.
Claims (9)
1. an evaporation tube is around machine control method, it is characterised in that the method comprises the following steps:
S1: obtain initial angle, the length and width size of refrigerator ice cabinet inner bag, the spacing of evaporation tube winding and turntable rotary speed；
S2: the slope in side according to the length and width size of refrigerator ice cabinet inner bag and the distance computation evaporation tube of evaporation tube winding；
S3: 360 degree rotated a circle by turntable are divided into 360 sub-multiple angles, according to initial angle, the length and width of refrigerator ice cabinet inner bag
Size and the evaporation tube slope in side calculate the height of evaporation tube pinch roller, thus 360 evaporation tubes of composition to each sub-multiple angle
The array of the height of pinch roller；
S4: 360 degree rotated a circle by turntable are divided into 360 sub-multiple angles, according to initial angle and the length of refrigerator ice cabinet inner bag
Wide size calculates the translation position at turntable center when evaporation tube pinch roller horizontal level keeps constant to each sub-multiple angle, thus
The array of the translation position at 360 turntable centers of composition；
S5: control turntable according to turntable rotary speed and rotate；
While S6: turntable rotates, determine according to the array of turntable rotary speed and the height of 360 evaporation tube pinch rollers and work as
The height of evaporation of front moment wheel, the lifting further according to this Altitude control swing arm makes evaporation tube pinch roller be positioned on this height；
While S7: turntable rotates, the array according to the translation position at turntable rotary speed and 360 turntable centers is true
Determining the translation position at current time turntable center, the translation further according to this translation position control translation stage makes in turntable
The heart is positioned on this translation position.
2. evaporation tube as claimed in claim 1 is around machine control method, it is characterised in that described step S6 includes:
S61: calculate 360 evaporation tube pinch rollers according to the array of turntable rotary speed and the height of 360 evaporation tube pinch rollers
Instantaneous Vertical Velocity；
S62: be used for driving according to the Instantaneous Vertical Velocity of 360 evaporation tube pinch rollers and the Altitude control of 360 evaporation tube pinch rollers
The servomotor of evaporation tube pinch roller lifting.
3. evaporation tube as claimed in claim 1 is around machine control method, it is characterised in that described step S7 includes:
S71: calculate 360 turntables according to the array of the translation position at turntable rotary speed and 360 turntable centers
Instant point-to-point speed；
S72: be used for driving according to the instant point-to-point speed of 360 turntables and the translation position control at 360 turntable centers
The servomotor of turntable translation.
4. an evaporation tube controls device around machine, it is characterised in that this device includes with lower module:
M1, is used for: obtains initial angle, the length and width size of refrigerator ice cabinet inner bag, the spacing of evaporation tube winding and turntable and rotates
Speed；
M2, is used for: oblique in side of the distance computation evaporation tube being wound around according to the length and width size of refrigerator ice cabinet inner bag and evaporation tube
Rate；
M3, is used for: 360 degree rotated a circle by turntable are divided into 360 sub-multiple angles, according to initial angle, refrigerator ice cabinet inner bag
Length and width size and the evaporation tube slope in side to each sub-multiple angle calculate evaporation tube pinch roller height, thus composition 360
The array of the height of evaporation tube pinch roller；
M4, is used for: 360 degree rotated a circle by turntable are divided into 360 sub-multiple angles, according to initial angle and refrigerator ice cabinet inner bag
Length and width size to each sub-multiple angle calculate when evaporation tube pinch roller horizontal level keep constant time turntable center translation position,
The thus array of the translation position at 360 turntable centers of composition；
M5, is used for: controls turntable according to turntable rotary speed and rotates；
M6, is used for: while turntable rotates, according to turntable rotary speed and the array of the height of 360 evaporation tube pinch rollers
Determining the height of current time evaporation wheel, the lifting further according to this Altitude control swing arm makes evaporation tube pinch roller be positioned at this height
On；
M7, is used for: while turntable rotates, according to the translation position at turntable rotary speed and 360 turntable centers
Array determines the translation position at current time turntable center, and the translation further according to this translation position control translation stage makes to rotate
Platform is centrally located on this translation position.
5. evaporation tube as claimed in claim 4 controls device around machine, it is characterised in that described module M6 includes:
M61, is used for: calculate 360 evaporation tubes according to the array of turntable rotary speed and the height of 360 evaporation tube pinch rollers
The Instantaneous Vertical Velocity of pinch roller；
M62, is used for: be used for according to the Instantaneous Vertical Velocity of 360 evaporation tube pinch rollers and the Altitude control of 360 evaporation tube pinch rollers
Drive the servomotor of evaporation tube pinch roller lifting.
6. evaporation tube as claimed in claim 4 controls device around machine, it is characterised in that described module M7 includes:
M71, is used for: calculate 360 rotations according to the array of the translation position at turntable rotary speed and 360 turntable centers
The instant point-to-point speed of turntable；
M72, is used for: be used for according to the instant point-to-point speed of 360 turntables and the translation position control at 360 turntable centers
Drive the servomotor of turntable translation.
7. an evaporation tube is around machine control system, it is characterised in that this system includes translation stage, turntable, oscillating arm mechanisms and control
Device processed；Described translation stage is arranged on base by translational drive mechanism；Described turntable is arranged on by rotary drive mechanism
On described translation stage；Described oscillating arm mechanisms includes the swing arm by air cylinder driven and evaporation tube pinch roller；Described evaporation tube pinch roller is installed
In described swing arm；Described swing arm is arranged on lifting platform；Described lifting platform is arranged on crane by lift drive mechanism；
Described translational drive mechanism, rotary drive mechanism and lift drive mechanism all include servomotor, and by driven by servomotor；
The servomotor of described translational drive mechanism, rotary drive mechanism and lift drive mechanism connects described controller；Described control
Device is driven around translational drive mechanism, rotation as described in the control of machine control method by the evaporation tube as described in claim 1 or 2 or 3
The servomotor of mechanism and lift drive mechanism realizes evaporation tube and is wound around.
8. evaporation tube as claimed in claim 7 is around machine control system, it is characterised in that described translational drive mechanism includes: flat
Move servomotor, screw mandrel, silk braid, slide rail and slide block；Described slide rail has two；Article two, slide rail is arranged on base in parallel to each other
On；Described translation stage is arranged on slide rail by described slide block, it is possible to move along slide rail；Described screw mandrel is arranged on two slide rails
Between, and parallel with described slide rail；Described silk braid is arranged on the bottom of described translation stage；Described translation stage by described silk braid with
Described screw mandrel is connected；Described translation servo-motors connects described screw mandrel, and described screw mandrel can be driven to rotate, by described screw mandrel
And the screw-threaded engagement effect between silk braid, drives described translation stage sliding translation on described slide rail.
9. evaporation tube as claimed in claim 8 is around machine control system, it is characterised in that described rotary drive mechanism includes transmission
Toothed disc and rotating servo motor；Described rotating servo motor is arranged on the inside of described translation stage, and with described travelling gear
Dish is connected；The gear arranged below described driving cog wheel disc and described turntable engages each other so that described rotating servo motor
Described turntable can be moved by described travelling gear dribbling to rotate.
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| CN201610580779.8A CN106180322B (en) | 2016-07-22 | 2016-07-22 | A kind of evaporation tube is around machine control method, device and system |
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| CN201610580779.8A CN106180322B (en) | 2016-07-22 | 2016-07-22 | A kind of evaporation tube is around machine control method, device and system |
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| CN106180322B CN106180322B (en) | 2018-02-02 |
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| CN110681785A (en) * | 2019-09-20 | 2020-01-14 | 合肥常青机械股份有限公司 | Continuous stamping die for metal stamping |
| CN115446174A (en) * | 2022-11-09 | 2022-12-09 | 江苏新恒基特种装备股份有限公司 | System and method for monitoring abnormity of bent pipe forming process and storage medium |
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| CN115446174B (en) * | 2022-11-09 | 2023-01-17 | 江苏新恒基特种装备股份有限公司 | System and method for monitoring abnormity of bent pipe forming process and storage medium |
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|---|---|
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