CN106808463A - Carbide chip automation disk loading system and the method for a kind of integrated manipulator - Google Patents
Carbide chip automation disk loading system and the method for a kind of integrated manipulator Download PDFInfo
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Abstract
A kind of carbide chip the invention discloses integrated manipulator automates disk loading system, including industrial control computer main frame, display, press and press controller, manipulator, Manipulator Controller, in line hairbrush, trash receptacle, electronic scale, extension arm, the first blade pallet, the second blade pallet, the first pallet detection sensor and the second pallet detection sensor, system electrical cabinet.A kind of carbide chip the invention also discloses integrated manipulator automates disc filling method.The present invention is assembled into a complete system by by all parts, simultaneously by the way of manual command, complete manipulator and draws alternately weigh detection, alloy blade blowing of alloy blade, the treatment of alloy blade hairbrush, alloy blade in press to enter the circulation process of blade pallet or trash receptacle, solve during alloy blade production sabot that low production efficiency, the amount of labour are greatly, alloy blade qualification rate is low, system cost is high, efficiency is low, man-machine interaction not enough these problems of close friend.
Description
Technical field
A kind of carbide chip the present invention relates to automatic field, more particularly to integrated manipulator automates disk loading system and method, and the automatic material flow for being mainly used in carbide chip is carried and piled up.
Background technology
China is a manufacture big country, and the demand to alloy blade is very huge every year.Traditional carbide chip production procedure is by press cycle compacting blade, artificial feeding, manual hairbrush cleaning blade face burr, artificial experience visual inspection, detection of weighing, qualified blade finally is put into charging tray again.In above flow, piled up from feeding to alloy blade and be required for artificial participation, not only task is heavy, inefficiency, product percent of pass are low, and there is very big security risk to operator.It is that every carbide cutter tool piece press are equipped with separate machine hand system although there are some enterprises to do technique improvement to this production model, completes partial automation task.But its single-deck is changed, and the disk time is long, interactive interface is not friendly enough, check fee when, high cost, system complex, in being very difficult to apply in actual alloy blade detection, piling up.
And, the blade of above-mentioned automated system is weighed link, is placed using blade, stabilization, the pattern of reading, and a blade of often weighing expends the times for waiting electronic scale data stabilizations more it is necessary to.It is long that another aspect single-deck changes that disc system is huge, single-deck changes disk holding time.Therefore, such mode of production, reduces production efficiency.And the artificial blade sale at reduced prices scheme that main flow is used at present, it is slow manually to pile up speed, puts irregular, or even originally qualified blade is caused to damage during piling up, and causes blade to cancel.It is then desired to propose a kind of method and system using improved manipulator efficient blade automatic Picking/pile up, the requirement that this method and system can be successfully managed to be reduced hand labor intensity, improve production efficiency, improve the blade quality of production and qualification rate.
The content of the invention
Workman's amount of labour in alloy blade production process is big, low production efficiency, the shortcoming that product percent of pass is low, system cost is high and locus is limited in order to overcome for the present invention, carbide chip automation disk loading system and the method for a kind of integrated manipulator are proposed, the system can be with the Aulomatizeted Detect sabot of alloy blade.
The present invention adopts the following technical scheme that realization：
A kind of carbide chip automation disk loading system of integrated manipulator, including industrial control computer main frame, display, press and press controller, manipulator, Manipulator Controller, in line hairbrush, trash receptacle, electronic scale, extension arm, the first blade pallet, the second blade pallet, the first pallet detection sensor and the second pallet detection sensor, system electrical cabinet, wherein：
The manipulator is arranged on the extension pedestal on the right side of press, the extension arm that the manipulator front end dress is rotated around U axles 28, the system electrical cabinet is fixed on the side of press, the Manipulator Controller is fixed on the side of manipulator, the installing plate is arranged on the extension pedestal on front side of press, and the in line hairbrush is installed on a mounting board, and its position is between electronic scale and press, electronic scale is installed on a mounting board, and its position is 345 with a distance from the X-direction of manipulator base central
Mm -355mm, Y-direction distance for 60-65mm at, the trash receptacle is installed on a mounting board, its position is on the left side of electronic scale, the first blade pallet, the second blade pallet are arranged on press extension pedestal, are 340-360 apart from mechanical hand base central Y-direction distance, and X-direction is symmetrical, the first pallet detection sensor and the second pallet detection sensor are separately positioned on the first blade pallet, the second blade pallet, and by sensor signal lines connection system regulator cubicle；
One piece of Phototube Coupling digital I/O card is loaded in industrial control computer main frame on PCI slot, is connected with manipulator I/O signal bus correspondence I/O signal by system I/O signal bus, be connected with press I/O signal bus correspondence I/O signal,
The industrial control computer main frame obtains corresponding input I/O signal or output are specified in system I/O signal bus I/O signal to the corresponding I/O signal of system I/O signal bus by the built-in command function of call number IO cards, display screen connects industrial control computer main frame by video signal cable, for man-machine interaction；
Connected by netting twine between the industrial control computer main frame and Manipulator Controller, the data interaction between industrial control computer main frame and Manipulator Controller is completed by Transmission Control Protocol；
Weight information data by Serial Port Line, industrial control computer main frame are sent to by RS232 agreements by the electronic scale.
Further, the precision of the electronic scale is 0.01g.
Further, electronic scale is also associated between the electronic scale and system electrical cabinet and resets I/O signal line.
Further, the extension arm lengths are 175mm, and when U axial coordinates are 0, extension arm length direction is identical with manipulator X positive directions.
Further, the first blade pallet, the second blade tray shape are square or circle, are detected whether respectively in place by the first pallet detection sensor, the second pallet detection sensor.
A kind of carbide chip automation disc filling method based on the system, including step：
1）After system starts, waiting system is ready first, after system is ready, electricity instruction on waiting system, after system completes upper electricity, whether effectively Start signals are checked, if Start invalidating signals, system enters teaching pattern, and after Start signals are effective, system enters into production model；
2）Into after production model, system has first checked whether that alarm and mistake are produced, if having, then need first to sound all clear and mistake, need manual confirmation alarm and mistake to release after releasing, system is just continued to run with, otherwise have been at waiting acknowledgement state, and if mistake, then system Start invalidating signals, are confirming to release backed off after random production model, now need to re-enter beginning production ordering, make Start signals effectively, be then again introduced into production model；
3）After system is successfully entered production model, press prepares, and manipulator returns normal bit, electronic scale resets, and production sabot task is subsequently entered, during sabot, whether the condition that system first checks for press compacting blade meets, if meeting, controls appropriate alloy powder to enter in press, press compacting, blade shaping, if it is not satisfied, then press always waiting system allow throttle signal, after suppressing successfully, compacting OK signals effectively, and wait manipulator entrance to take blade away and allow throttle signal next time；
4）Manipulator enters during press absorption blade, at most carry out three absorptions, if three absorptions are unsuccessful, manipulator is parked in normal bit, system alarm, if being drawn in three times successfully, hairbrush treatment is then carried out, subsequent system output feeding pass signal, permission throttle signal suppress OK invalidating signals, and starting the compacting blade of a new round, compacting successful subsequent continues output compacting OK signals effectively and waits the throttle signal of next round；
5）After the completion of burr treatment, alloy blade is placed on electronic scale and weighs, manipulator elder generation feeding is put on the position one that the electronic scale scale pan is specified, then feeding is gone again, weight information data is activation is given industrial control computer main frame by electronic scale during this, be placed on current blade on the position two that the electronic scale scale pan is specified by manipulator, take the blade of weighed completion away to previous position one simultaneously, judge whether alloy blade is qualified according to the data that industrial control computer main frame is received, charging tray is put into if qualified, otherwise, it is put into trash receptacle；
6）When systems inspection is equal to periodicity N=T-1 to the quantity that blade has been put apart from the clearing of last time electronic scale, system WgtZero signals are effective, manipulator no longer goes at press to draw the blade of compacting, but whether qualified decide whether to be put into the first blade pallet or the second blade pallet according to weighing by the blade of weighing of remaining on electronic scale, subsequent electronic scale reset signal is effective, electronic scale zeros data, at the same time, press, manipulator continues to produce sabot flow, subsequent manipulator goes feeding at press again, it is put into again on the position one that the electronic scale scale pan is specified, go on previous position two to take the blade of weighed completion away again, so repeatedly；
7）At the end of production, last material on the electronic scale scale pan is directly taken in final step away, and after selecting discharge position according to Qualification of weighing, then manipulator returns normal bit set, and press idle waiting, electronic scale weighing reset, and system production terminates.
Further, the pickup to alloy blade is drawn using sucker.
Further, before drawing alloy blade, removal surface impurity of blowing all is carried out after placement alloy blade.
The present invention uses above-mentioned technical scheme, with following technological merit：
1 amount of labour, the improve production efficiency that can significantly reduce workman using this system, improves product percent of pass, and allow that a workman operates multiple devices.
2 whole systems are detected and replace press feeding all to drastically increase the security of workman with manipulator compared to traditional artificial production sabot, many I/O signals.
3 using an electronic scale set on the scale pan two weigh a little carry out alternately weigh, without using blowing once, the form for claiming electronic scale weight data stabilization to send data is waited again, so that the data stabilization reliability of electronic scale, and without spending the time to wait electronic scale data stabilization, substantially increase system production sabot efficiency.
4 hairbrush are between electronic scale and press, and trash receptacle is in electronic scale side, shortens the robot movement time, improves production efficiency.
5 by the way of two pallets so that can still continue to produce sabot after single dishful, equally improve the production efficiency of system.
Brief description of the drawings
Fig. 1 is the structural representation of present system.
Fig. 2 is the information exchange schematic diagram of present system.
Fig. 3 is the instructions query flow chart of the inventive method.
Fig. 4 is the protocol procedures figure of the inventive method.
It is shown in figure：1- industrial control computer main frames；2- displays；3- press；4- press controllers；5- manipulators；6- Manipulator Controllers；7- extension arms；8- trash receptacles；The in line hairbrush of 9-；10- electronic scales；11- the first blade pallets；12- the second blade pallets；13- the first pallet detection sensors；14- the second pallet detection sensors；15- Serial Port Lines；16- video signal cables；17- netting twines；18- press control signal bus；19- system I/O signal buses；20- electronic scales reset I/O signal line；21- sensor signal lines；22- manipulator I/O signal buses；23- manipulator control signal bus；24- system electrical cabinets；25- extension pedestals；26- installing plates；27- robot bases center；28-U axles；29- press I/O signal buses.
Specific embodiment
In conjunction with the drawings and specific embodiments, the present invention is further described, but embodiments of the present invention not limited to this：
As shown in Figure 1, a kind of carbide chip automation disk loading system of integrated manipulator, including industrial control computer main frame 1, display 2, press 3 and press controller 4, manipulator 5, Manipulator Controller 6, in line hairbrush 9, trash receptacle 8, electronic scale 10, extension arm 7, the first blade pallet 11, the second blade pallet 12, the first pallet detection sensor 13 and the second pallet detection sensor 14, system electrical cabinet 24, wherein：
Manipulator 5 is arranged on the extension pedestal 25 of press 3, one extension arm 7 is housed in the front end of manipulator 5, its length is 175mm, when the coordinate of U axles 28 is 0, it is identical with manipulator X positive directions, this extension arm 7 can guarantee that manipulator smoothly takes out alloy blade into press 3 is interior, while expanding the range of movement of manipulator 5.System electrical cabinet 24 is fixed on the side of press 3, and Manipulator Controller 6 is fixed on the side of manipulator 3, and data interaction and order transmission are carried out by Transmission Control Protocol between Manipulator Controller 6 and industrial control computer main frame 1.
In line hairbrush 9 be arranged on installing plate 26 on, its position make between electronic scale 10 and press 3, so manipulator 5 take out blade after by move left and right blade to remove flash removed in line hairbrush 9 nearby, it is ensured that the reliable in quality of blade, while improve production efficiency.
Electronic scale 10 is arranged on installing plate 26, its position is 345-355mm with a distance from the X-direction of the base central 27 of manipulator 5, Y-direction distance for 60-65mm at, enable manipulator 5 on new U axles 28 along being rotated by 90 ° clockwise or counterclockwise, to ensure that manipulator 5 can go to capture the blade of completion of being weighed on electronic scale 10 according to the specified attitude of extension arm 7.
Trash receptacle 8 is arranged on installing plate 26, and its position is on the left side of electronic scale 10 so that underproof alloy blade of weighing can quickly be put into trash receptacle 8, improve efficiency.
Square the first blade pallet 11, the second blade pallet 12 is on press extension pedestal 25, it is 340-360 apart from robot base center 27Y directions distance, X-direction is symmetrical, the first pallet detection sensor 13 and the second pallet detection sensor 14 are separately positioned on the first blade pallet 11, the second blade pallet 12, and by the connection system regulator cubicle 24 of sensor signal lines 21；After a pallet dishful, system automatically switches to another pallet sabot.
As shown in Fig. 2 loading one piece of Phototube Coupling digital I/O card in industrial control computer main frame 1 on PCI slot, it is connected with the correspondence I/O signal of manipulator I/O signal bus 22 by system I/O signal bus 19, is connected with the correspondence I/O signal of press I/O signal bus 29.
Industrial control computer main frame 1 obtains corresponding input I/O signal or output are specified in system I/O signal bus 19 I/O signal to the corresponding I/O signal of system I/O signal bus 19 by the built-in command function of call number IO cards.
Connected by netting twine 17 between industrial control computer main frame 1 and Manipulator Controller 6, the data interaction between industrial control computer main frame 1 and Manipulator Controller 6 is completed by Transmission Control Protocol.
Weight information data by Serial Port Line 15, industrial control computer main frame 1 are sent to by RS232 agreements by electronic scale 10, and the precision of electronic scale 10 is 0.01g.
Display screen 2 connects industrial control computer main frame 1 by video signal cable 16, for real-time display system operational factor.
The carbide chip assembling control method of whole system is mainly reflected in the instruction flow of Fig. 3, Fig. 4 and system operation flow.
As shown in figure 3, the major instruction flow of whole system is：After activation system, waiting system is ready first, after system is ready, into recursion instruction check process, system according to different conditions of work successively to product edition instruction, teaching instruction, system electrification instruction, start production ordering, suspend production ordering, continue production ordering, stop production ordering, the instruction that log off production ordering and inside automatically generate is circulated inspection, and corresponding system decision and task are made according to different instruction inputs, it is specific as follows：
1st, whether the waiting system of industrial control computer main frame 1 is ready, and the record of production of last time is loaded into after system is ready, then chooses whether to carry out product edition, and wait state is instructed subsequently into system operatio, waits the various operational orders of operator and system generation；
2nd, after systems inspection is instructed to system electrification, PowSys signals are effective, subsequently complete the I/O signal initialization operation of electricity on manipulator, network connection, system data interaction, press controller 4 and Manipulator Controller 6, subsequent manipulator 5 checks whether enabled instruction is effective, if invalid, system enters teaching pattern, can carry out on-line teaching and online product edition；
3rd, to after starting production ordering, effectively, system first checks for mistake and warning to system Start signals for systems inspection, if wrong, Start invalidating signals, and wait operator's treatment mistake, after having processed, wait operator to re-enter startup production ordering.If there is warning, wait operator's treatment warning, after having processed, after waiting operator to confirm that all clear, systems inspection to alarm confirm to release, enable Con signals, continue next step, subsequent Con Signal Fail, if without mistake and warning, now manipulator 3, press 5, electronic scale 10 carry out blade production and the sabot process that the return of manipulator 3, press 5 prepare and electronic scale 10 resets, and are then required respectively；
4th, after systems inspection is to pause instruction, effectively, whole system pause production is checked after continuing production ordering, Pause invalidating signals, the production that continuation has just suspended Pause signals after pause；
5th, when systems inspection to weigh clear command after, effectively, system is completed to the clearing of electronic scale 10 treatment, WgtZero invalidating signals after the completion of clearing the reset signal WgtZero signals of electronic scale 10；
6th, when systems inspection is to sampling instruction, effectively, system completes the sampling to current blade, Sample invalidating signals after the completion of sampling to sampled signal Sample；
7th, when systems inspection is to stopping production ordering, stop preparing StpRdy signals effectively, system prepares the work before stopping production, subsequent system stops production, StpRdy invalidating signals after stopping producing；
8th, when systems inspection is to cut-offing instruction, PowSys invalidating signals, manipulator 5 is powered off, and press 3 enters idle condition, and program enters idle condition；
9th, when systems inspection is instructed to logging off, system preserves data, and program is exited.
Specifically, whole production process speed is adjustable；The method that pickup to alloy blade is drawn using sucker；Before drawing alloy blade, removal surface impurity of blowing all is carried out after placement alloy blade；Production process carries out qualified detection of weighing to each alloy blade；After the alloy blade of some cycles of weighing, electronic scale resets I/O signal 20 effectively to electronic scale 10, so that the zeros data of electronic scale 10, using Single Electron scale 10 reload weighing；Weighed simultaneously reloading, manipulator 5 changes the attitude and alloy blade between.
Specifically, except the instruction that logs off, system electrification instruction is outer, other instructions must could all turn into effective instruction after system electrification instruction is performed and PowSys signals are effective, described other instructions could turn into effective instruction in addition to production ordering is started remaining instruction must be performed production ordering is started and Start signals are effective again after.
As shown in figure 4, according to instruction flow, the carbide chip automation disc filling method includes step：
1st, after system starts, waiting system is ready first, after system is ready, electricity instruction on waiting system, after system completes upper electricity, whether effectively Start signals are checked, if Start invalidating signals, system enters teaching pattern, and after Start signals are effective, system enters into production model；
2nd, into after production model, system has first checked whether that alarm and mistake are produced, if having, then need first to sound all clear and mistake, need manual confirmation alarm and mistake to release after releasing, system is just continued to run with, otherwise have been at waiting acknowledgement state, and if mistake, then system Start invalidating signals, are confirming to release backed off after random production model, now need to re-enter beginning production ordering, make Start signals effectively, be then again introduced into production model；
3rd, after system is successfully entered production model, press 3 prepares, 5 times normal bits of manipulator, electronic scale 10 resets, subsequently enter production sabot task, during sabot, whether the condition that system first checks for the compacting blade of press 3 meets, if meeting, controls appropriate alloy powder to enter in press 3, press 3 is suppressed, blade shaping, if it is not satisfied, then press 3 always waiting system allow throttle signal, after suppressing successfully, compacting OK signals effectively, and wait the entrance of manipulator 5 to take blade away and allow throttle signal next time；
4th, manipulator 5 enters during the absorption blade of press 3, at most carry out three times and draw 48, if three absorptions are unsuccessful, manipulator 5 is parked in normal bit, system alarm, if being drawn in three times successfully, hairbrush treatment is then carried out, subsequent system output feeding pass signal, permission throttle signal suppress OK invalidating signals, and starting the compacting blade of a new round, compacting successful subsequent continues output compacting OK signals effectively and waits the throttle signal of next round；
5th, after the completion of burr treatment, alloy blade is placed on electronic scale 10 and weighs, the first feeding of manipulator 5 is put on the position one that the scale pan of electronic scale 10 is specified, then feeding is gone again, during this electronic scale 10 by weight information data is activation to industrial control computer main frame 1, be placed on current blade on the position two that the scale pan of electronic scale 10 is specified by manipulator 5, take the blade of weighed completion away to previous position one simultaneously, judge whether alloy blade is qualified according to the data that industrial control computer main frame 1 is received, charging tray is put into if qualified, otherwise, it is put into trash receptacle 8；
6, when systems inspection to reset apart from last time electronic scale 10 put blade quantity be equal to periodicity N=T-1 when, system WgtZero signals are effective, manipulator 5 no longer goes at press 3 to draw the blade of compacting, but whether qualified decide whether to be put into the first blade pallet 11 or the second blade pallet 12 according to weighing by the blade of weighing of remaining on electronic scale 10, the subsequent reset signal of electronic scale 10 is effective, the zeros data of electronic scale 10, at the same time, press 3, manipulator 5 continues to produce sabot flow, subsequent manipulator 5 goes feeding 43 at press 3 again, it is put into again on the position 1 that the scale pan of electronic scale 10 is specified, go on previous position two to take the blade of weighed completion away again, so repeatedly；
7th, at the end of producing, last material on the scale pan of electronic scale 10 is directly taken in final step away, according to Qualification selection discharge position of weighing after, then 5 times normal bit set of manipulator, the idle waiting of press 3, electronic scale 10 are weighed clearings, and system is produced and terminated.
Specifically, the pickup to alloy blade is drawn using sucker.
Specifically, before drawing alloy blade, removal surface impurity of blowing all is carried out after placement alloy blade.
The above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.There is no need and unable to be exhaustive to all of implementation method.All any modification, equivalent and improvement made within the spirit and principles in the present invention etc., should be included within the protection domain of the claims in the present invention.
Claims (8)
1. a kind of carbide chip of integrated manipulator automates disk loading system, it is characterised in that：Including industrial control computer main frame (1), display (2), press (3) and press controller (4), manipulator (5), Manipulator Controller (6), in line hairbrush (9), trash receptacle (8), electronic scale (10), extension arm (7), the first blade pallet (11), the second blade pallet (12), the first pallet detection sensor (13) and the second pallet detection sensor (14), system electrical cabinet (24), wherein：
The manipulator (5) is on the extension pedestal (25) on the right side of press (3),The extension arm (7) that manipulator (5) the front end dress is rotated around U axles (28),The system electrical cabinet (24) is fixed on the side of press (3),The Manipulator Controller (6) is fixed on the side of manipulator (3),The installing plate (26) is on the extension pedestal (25) on front side of press (3),The in line hairbrush (9) is on installing plate (26),Its position is between electronic scale (10) and press (3),Electronic scale (10) is on installing plate (26),Its position is 345 mm -355mm with a distance from the X-direction of manipulator base central (27),Y-direction distance for 60-65mm at,The trash receptacle (8) is on installing plate (26),The left side of its position in electronic scale (10),The first blade pallet (11),Second blade pallet (12) is in press extension pedestal (25),It is 340-360 apart from mechanical hand base central (27) Y-direction distance,X-direction is symmetrical,The first pallet detection sensor (13) and the second pallet detection sensor (14) are separately positioned on the first blade pallet (11),On second blade pallet (12),And by the connection system regulator cubicle (24) of sensor signal lines 21；
One piece of Phototube Coupling digital I/O card is loaded on industrial control computer main frame (1) interior PCI slot, it is connected with manipulator I/O signal bus (22) correspondence I/O signal by system I/O signal bus (19), it is connected with press I/O signal bus (18) correspondence I/O signal
The industrial control computer main frame (1) obtains corresponding input I/O signal or output are specified in system I/O signal bus (19) I/O signal to the corresponding I/O signal of system I/O signal bus (19) by the built-in command function of call number IO cards
Connected by netting twine (17) between the industrial control computer main frame (1) and Manipulator Controller (6), data interaction between industrial control computer main frame (1) and Manipulator Controller (6) is completed by Transmission Control Protocol, the electronic scale (10) is by weight information data by Serial Port Line (15), industrial control computer main frame (1) is sent to by RS232 agreements, display screen (2) connects industrial control computer main frame (1) by video signal cable (16).
2. the carbide chip of integrated manipulator according to claim 1 automates disk loading system, it is characterised in that：The precision of the electronic scale (10) is 0.01g.
3. the carbide chip of integrated manipulator according to claim 1 automates disk loading system, it is characterised in that：Electronic scale is also associated between the electronic scale (10) and system electrical cabinet (24) and resets I/O signal line (20).
4. the carbide chip of the integrated manipulator according to right 1 automates disk loading system, it is characterised in that：Extension arm (7) length is 175mm, and when U axles (28) coordinate is 0, extension arm (7) length direction is identical with manipulator X positive directions.
5. the carbide chip of the integrated manipulator according to right 1 automates disk loading system, it is characterised in that：The first blade pallet (11), the second blade pallet (12) are shaped as square or circle, are detected whether respectively in place by the first pallet detection sensor (13), the second pallet detection sensor (14).
6. a kind of carbide chip based on system any one of claim 1 to 5 automates disc filling method, it is characterised in that including step：
1）After system starts, waiting system is ready first, after system is ready, electricity instruction on waiting system, after system completes upper electricity, whether effectively Start signals are checked, if Start invalidating signals, system enters teaching pattern, and after Start signals are effective, system enters into production model；
2）Into after production model, system has first checked whether that alarm and mistake are produced, if having, then need first to sound all clear and mistake, need manual confirmation alarm and mistake to release after releasing, system is just continued to run with, otherwise have been at waiting acknowledgement state, and if mistake, then system Start invalidating signals, are confirming to release backed off after random production model, now need to re-enter beginning production ordering, make Start signals effectively, be then again introduced into production model；
3）After system is successfully entered production model, press (3) prepares, manipulator (5) returns normal bit, electronic scale (10) resets, subsequently enter production sabot task, during sabot, whether the condition that system first checks for press (3) compacting blade meets, if meeting, appropriate alloy powder is then controlled to enter in press (3), press (3) is suppressed, blade is molded, if being unsatisfactory for, then waiting system allows throttle signal to press (3) always, after suppressing successfully, compacting OK signals are effective, and wait manipulator (5) entrance to take blade away and allow throttle signal next time；
4）Manipulator (5) enters during press (3) absorption blade, at most carry out three absorptions, if three absorptions are unsuccessful, manipulator (5) is parked in normal bit, system alarm, if being drawn in three times successfully, hairbrush treatment is then carried out, subsequent system output feeding pass signal, permission throttle signal suppress OK invalidating signals, and starting the compacting blade of a new round, compacting successful subsequent continues output compacting OK signals effectively and waits the throttle signal of next round；
5）After the completion of burr treatment, alloy blade is placed on electronic scale (10) and weighs, manipulator (5) elder generation feeding is put on the position one that electronic scale (10) scale pan is specified, then feeding is gone again, weight information data is activation is given industrial control computer main frame (1) by electronic scale (10) during this, be placed on current blade on the position two that electronic scale (10) scale pan is specified by manipulator (5), take the blade of weighed completion away to previous position one simultaneously, judge whether alloy blade is qualified according to the data that industrial control computer main frame (1) is received, charging tray is put into if qualified, otherwise, it is put into trash receptacle (8)；
6）When systems inspection is equal to periodicity N=T-1 to the quantity that blade has been put apart from last time electronic scale (10) clearing, system WgtZero signals are effective, manipulator (5) no longer goes to press (3) place to draw the blade of compacting, but whether qualified decide whether to be put into the first blade pallet (11) or the second blade pallet (12) according to weighing by the blade of weighing of remaining on electronic scale (10), subsequent electronic scale (10) reset signal is effective, electronic scale (10) zeros data, at the same time, press (3), manipulator (5) continues to produce sabot flow, subsequent manipulator (5) goes press (3) place feeding again, it is put into again on the position 1 that electronic scale (10) scale pan is specified, go on previous position two to take the blade of weighed completion away again, so repeatedly；
7）At the end of production, last material on electronic scale (10) scale pan is directly taken in final step away, after Qualification selection discharge position of weighing, then manipulator (5) returns normal bit set, press (3) idle waiting, electronic scale (10) are weighed clearing, and system production terminates.
7. carbide chip according to claim 6 automates disc filling method, it is characterised in that：Pickup to alloy blade is drawn using sucker.
8. carbide chip according to claim 6 automates disc filling method, it is characterised in that：Before drawing alloy blade, removal surface impurity of blowing all is carried out after placement alloy blade.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110039303A (en) * | 2019-04-23 | 2019-07-23 | 青岛海尔特种制冷电器有限公司 | Refrigerator base assembly system |
| CN110615277A (en) * | 2019-10-29 | 2019-12-27 | 厦门达斯自动化技术有限公司 | Automatic unloading manipulator of press and automatic unloading equipment |
| CN113012083A (en) * | 2021-03-03 | 2021-06-22 | 上海景运信息技术有限公司 | Data processing method for image zero IO in remote sensing ortho image processing process |
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| CN110615277A (en) * | 2019-10-29 | 2019-12-27 | 厦门达斯自动化技术有限公司 | Automatic unloading manipulator of press and automatic unloading equipment |
| CN113012083A (en) * | 2021-03-03 | 2021-06-22 | 上海景运信息技术有限公司 | Data processing method for image zero IO in remote sensing ortho image processing process |
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| CN106808463B (en) | 2019-10-18 |
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