CN106808463B - A kind of carbide chip automation disc filling method of integrated manipulator - Google Patents
A kind of carbide chip automation disc filling method of integrated manipulator Download PDFInfo
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- CN106808463B CN106808463B CN201510854579.2A CN201510854579A CN106808463B CN 106808463 B CN106808463 B CN 106808463B CN 201510854579 A CN201510854579 A CN 201510854579A CN 106808463 B CN106808463 B CN 106808463B
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Abstract
The invention discloses a kind of carbide chips of integrated manipulator to automate disk loading system, including industrial control computer host, 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.The invention also discloses a kind of carbide chips of integrated manipulator to automate disc filling method.The present invention is by being assembled into a complete system for all parts, simultaneously by the way of manual command, it completes manipulator to draw alloy blade, the processing of alloy blade hairbrush, alloy blade in press alternately weighing detection, alloy blade blowing enter the circulation process of blade pallet or trash receptacle, solves during alloy blade production sabot that production efficiency is low, the amount of labour is big, alloy blade qualification rate is low, system cost is high, low efficiency, human-computer interaction not enough close friend's these problems.
Description
Technical field
The present invention relates to the carbide chips of automatic field more particularly to a kind of integrated manipulator to automate sabot side
Method, the automatic material flow for being mainly used in carbide chip are carried and are piled up.
Background technique
China is a manufacture big country, very huge to the demand of alloy blade every year.Traditional carbide chip
Production procedure is by press cycle compacting blade, artificial feeding, manual hairbrush cleaning blade face burr, artificial experience mesh
Qualified blade, is finally put into charging tray again at weighing detection by inspection.In the above process, piles up and require from feeding to alloy blade
Artificial to participate in, not only task is heavy, inefficiency, product qualification rate are low, but also there is very big security risk to operator.
Although there are some enterprises to do technique improvement to this production model, separate machine is equipped with for every carbide cutter tool piece press
Hand system completes partial automation task.But its single-deck removable disk time is long, interactive interface is not friendly enough, check fee when, cost
High, system complex is very difficult to apply in actual alloy blade and detects, in stacking.
The link moreover, blade of above-mentioned automated system is weighed is placed using blade, is stablized, the mode of reading, every weighing
One blade waits the time of electronic scale data stabilization it is necessary to expend more.Another aspect single-deck removable disk system is huge, single-deck removable disk
Holding time is long.Therefore, such production method, reduces production efficiency.And the artificial blade sale at reduced prices side that mainstream uses at present
Case, artificial speed of piling up is slow, puts irregular, or even causes to damage to originally qualified blade during piling up, causes blade
Cancel.It is then desired to propose a kind of method and system using the efficient blade automatic Picking/stacking of improved manipulator, this
Kind method and system, which can successfully manage, to be reduced labor intensity, improves production efficiency, improves the blade quality of production and qualification
The requirement of rate.
Summary of the invention
Worker's amount of labour in alloy blade production process is big, production efficiency is low, product qualification rate in order to overcome by the present invention
Disadvantage low, system cost is high and spatial position is limited proposes a kind of carbide chip automation sabot of integrated manipulator
System and method for, the system can be in the automatic detection sabots of alloy blade.
The present invention adopts the following technical scheme that realization:
A kind of carbide chip of integrated manipulator automates disk loading system, including industrial control computer host, aobvious
Show device, press and press controller, manipulator, Manipulator Controller, in line hairbrush, trash receptacle, electronic scale, extension arm, first
Blade pallet, the second blade pallet, the first pallet detection sensor and the second pallet detection sensor, system electrical cabinet, in which:
The manipulator is mounted on the extension pedestal on the right side of press, and the manipulator front end dress prolongs around what U axis 28 rotated
Long-armed, the system electrical cabinet is fixed on the side of press, and the Manipulator Controller is fixed on the side of manipulator, the peace
Loading board is mounted on the extension pedestal on front side of press, and on a mounting board, position is in electronic scale and pressure for the in line hairbrush installation
Between machine, electronic scale is installed on a mounting board, is 345 mm-with a distance from X-direction of the position from manipulator base central
355mm, Y-direction distance are that 60-65mm locates, and the trash receptacle is installed on a mounting board, and position is described on the left side of electronic scale
First blade pallet, the second blade pallet are mounted on press extension pedestal, are apart from mechanical hand base central Y-direction distance
340-360, X-direction is symmetrical, and the first pallet detection sensor and the second pallet detection sensor are separately positioned on
On one blade pallet, the second blade pallet, and system electrical cabinet is connected by sensor signal lines；
One piece of Phototube Coupling digital I/O card is loaded in industrial control computer host on PCI slot, passes through system I/O signal
Bus and manipulator I/O signal bus, which correspond to I/O signal and be connected, to be corresponded to I/O signal with press I/O signal bus and is connected,
The industrial control computer host is total by the built-in command function acquisition system I/O signal of call number IO card
Corresponding on line to input I/O signal or export specified I/O signal to the corresponding I/O signal of system I/O signal bus, display is logical
Video signal cable connection industrial control computer host is crossed, human-computer interaction is used for；
It is connected between the industrial control computer host and Manipulator Controller by cable, work is completed by Transmission Control Protocol
Industry controls the data interaction between main frame and Manipulator Controller；
Weight information data by Serial Port Line, are sent to industrial control computer master by RS232 agreement by the electronic scale
Machine.
Further, the precision of the electronic scale is 0.01g.
Further, it is also connected with electronic scale 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 coordinate is 0, extension arm length direction and manipulator X are just
Direction is identical.
Further, the first blade pallet, the second blade tray shape are rectangular or round, are detected by the first pallet
Sensor, the second pallet detection sensor detect whether in place respectively.
A kind of carbide chip automation disc filling method based on the system, comprising steps of
1) after system starting, waiting system is ready first, and after system is ready, waiting system powers on instruction, in system completion
After electricity, check whether Start signal is effective, if Start invalidating signal, system enters teaching mode, until Start signal is effective
Afterwards, system enters production model；
2) after entering production model, system has first checked whether that alarm and mistake generate, if so, then needing first to release police
Report and mistake need manual confirmation alarm and mistake to release after releasing, system just continues to run, and otherwise have been at etc. to be confirmed
State, and if it is mistake, then system Start invalidating signal, releases backed off after random production model in confirmation, needs at this time again defeated
Enter to start production ordering, keeps Start signal effective, be then again introduced into production model；
3) after system is successfully entered production model, press prepares, and manipulator returns normal bit, and electronic scale is reset, with laggard
Enter to produce sabot task, during sabot, whether the condition that system first checks for press compacting blade meets, if satisfied, then controlling
It makes suitable alloy powder to enter in press, press compacting, blade molding, if not satisfied, then waiting system allows press always
Throttle signal, after suppressing successfully, compacting OK signal is effective, and waits manipulator to enter and take blade away and allow to suppress letter next time
Number；
4) manipulator enters during press absorption blade, is at most drawn three times, if drawing unsuccessful, machinery three times
Hand is parked in normal bit, system alarm, if drawing successfully in three times, carries out hairbrush processing, subsequent system output feeding is successfully believed
Number, allow throttle signal, suppress OK invalidating signal, and start the compacting blade of a new round, the continuous output compacting of compacting successful subsequent
OK signal is effective and waits the throttle signal of next round；
5) after the completion of burr processing, alloy blade is placed on electronic scale and weighs, and manipulator elder generation feeding is put into electronic scale scale
On the specified position one of disk, feeding is then gone again, weight information data are sent to industrial control computer by electronic scale during this
Host, current blade is placed on the specified position two of the electronic scale scale pan by manipulator, while being taken away to previous position one
The blade that weighing is completed, judges whether alloy blade is qualified according to the received data of industrial control computer host, if qualified
It is put into charging tray, otherwise, is put into trash receptacle；
6) when systems inspection is equal to periodicity N=T-1 to the quantity for having put blade apart from the clearing of last time electronic scale, system
WgtZero signal is effective, and manipulator no longer goes at press to draw the blade of compacting, but remaining one on electronic scale is claimed
According to weighing, whether qualification decides whether to be put into the first blade pallet or the second blade pallet weight blade, and subsequent electronic scale resets letter
Number effectively, electronic scale zeros data, at the same time, press, manipulator continue to produce sabot process, and subsequent manipulator removes press again
Locate feeding, then is put on the specified position one of the electronic scale scale pan, then remove on previous position two to take away the knife of weighed completion
Piece, repeatedly；
7) at the end of producing, the last one material on the electronic scale scale pan is directly taken in final step away, according to weighing Qualification
After selecting discharge position, then manipulator returns normal bit set, and press idle waiting, electronic scale weighing are reset, system production knot
Beam.
Further, the pickup of 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 solution, has following technological merit:
1 can be reduced the amount of labour of worker significantly using this system, improve production efficiency, and product qualification rate is improved, and
A worker is allowed to operate multiple devices.
Compared to traditional artificial production sabot, various I/O signals detect and replace pressure with manipulator 2 whole systems
Machine feeding all greatly improves the safety of worker.
3 are arranged two weighing points using an electronic scale on the scale pan carries out alternately weighing, without using blowing primary, then
The form for claiming electronic scale weight data stabilization to send data is waited, so that the data stabilization of electronic scale is reliable, and does not have to spend the time
Electronic scale data stabilization is waited, system production sabot efficiency is substantially increased.
4 hairbrush are between electronic scale and press, and trash receptacle is in beside electronic scale, shorten the robot movement time,
Improve production efficiency.
5 by the way of two pallets, so that can still continue to produce sabot after single dishful, equally improve system
Production efficiency.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of present system.
Fig. 2 is the information exchange schematic diagram of present system.
Fig. 3 is the instructions query flow chart of the method for the present invention.
Fig. 4 is the program flow chart of the method for the present invention.
As shown in the figure are as follows: 1- industrial control computer host；2- display；3- press；4- press controller；5- machine
Tool hand；6- Manipulator Controller；7- extension arm；8- trash receptacle；The in line hairbrush of 9-；10- electronic scale；11- the first blade pallet；
12- the second blade pallet；13- the first pallet detection sensor；14- the second pallet detection sensor；15- Serial Port Line；16- video
Signal wire；17- cable；18- press control signal bus；19- system I/O signal bus；20- electronic scale resets I/O signal line；
21- sensor signal lines；22- manipulator I/O signal bus；23- manipulator control signal bus；24- system electrical cabinet；25-
Extension pedestal；26- mounting plate；27- robot base center；28-U axis；29- press I/O signal bus.
Specific embodiment
Now in conjunction with the drawings and specific embodiments, the present invention is further described, but embodiments of the present invention are not limited to
This:
As shown in Figure 1, a kind of carbide chip of integrated manipulator automates disk loading system, including Industry Control calculates
Machine host 1, display 2, press 3 and press controller 4, manipulator 5, Manipulator Controller 6, in line hairbrush 9, trash receptacle 8, electricity
Sub- scale 10, extension arm 7, the first blade pallet 11, the second blade pallet 12, the first pallet detection sensor 13 and the inspection of the second pallet
Survey sensor 14, system electrical cabinet 24, in which:
Manipulator 5 is mounted on 3 extension pedestal 25 of press, and one extension arm 7 is housed in 5 front end of manipulator, the length is
When 28 coordinate of 175mm, U axis is 0, identical as manipulator X positive direction, this extension arm 7 can guarantee that manipulator can smoothly enter into press 3
It is interior to take out alloy blade, while expanding the motion range of manipulator 5.System electrical cabinet 24 is fixed on the side of press 3, machine
Tool hand controls 6 is fixed on the side of manipulator 5, passes through TCP between Manipulator Controller 6 and industrial control computer host 1
Agreement carries out data interaction and order transmission.
In line hairbrush 9 is mounted on mounting plate 26, and position takes manipulator 5 in this way between electronic scale 10 and press 3
Blade can be moved left and right to remove flash removed in line hairbrush 9 nearby after blade out, guarantee the reliable in quality of blade, mention simultaneously
High production efficiency.
Electronic scale 10 is mounted on mounting plate 26, is 345- with a distance from X-direction of the position from 5 base central 27 of manipulator
355mm, Y-direction distance are to enable manipulator 5 on new U axis 28 along revolving clockwise or counterclockwise at 60-65mm
It turn 90 degrees, to guarantee that manipulator 5 can remove to grab according to specified 7 posture of extension arm on electronic scale 10 blade for completion of weighing.
Trash receptacle 8 is mounted on mounting plate 26, and position is on the left side of electronic scale 10, so that underproof alloy knife of weighing
Piece can quickly be put into trash receptacle 8, improve efficiency.
Rectangular the first blade pallet 11, the second blade pallet 12 are mounted on press extension pedestal 25, apart from manipulator
The direction base central 27Y distance is 340-360, and X-direction is symmetrical, the first pallet detection sensor 13 and the second pallet
Detection sensor 14 is separately positioned on the first blade pallet 11, on the second blade pallet 12, and is connected by sensor signal lines 21
Welding system electrical cabinet 24；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 host 1 on PCI slot, pass through
System I/O signal bus 19 is connected with the corresponding I/O signal of manipulator I/O signal bus 22 and the corresponding IO of press I/O signal bus 29
Signal is connected.
Industrial control computer host 1 obtains system I/O signal bus 19 by the built-in command function of call number IO card
Upper corresponding input I/O signal exports specified I/O signal to the corresponding I/O signal of system I/O signal bus 19.
It is connected between industrial control computer host 1 and Manipulator Controller 6 by cable 17, work is completed by Transmission Control Protocol
Industry controls the data interaction between main frame 1 and Manipulator Controller 6.
Weight information data by Serial Port Line 15, are sent to industrial control computer master by RS232 agreement by electronic scale 10
Machine 1, the precision of electronic scale 10 are 0.01g.
Display 2 connects industrial control computer host 1 by video signal cable 16, runs for real-time display system
Parameter.
The carbide chip assembly control method of whole system is mainly reflected in the instruction flow of Fig. 3, Fig. 4 and system is transported
In row process.
As shown in figure 3, the major instruction process of whole system are as follows: after activation system, waiting system is ready first, is
Unite it is ready after, into recursion instruction check process, system according to different operating conditions successively to product edition instruction, teaching refers to
It enables, system electrification instruction, starting production ordering, pause production ordering, continues production ordering, stop production ordering, log off
Production ordering and the internal instruction automatically generated carry out circular test, and make corresponding system according to different instruction inputs
Decision and task, specific as follows:
1, whether 1 waiting system of industrial control computer host is ready, and the record of production of last time is loaded into after system is ready, with
After choose whether to carry out product edition, instruct wait state subsequently into system operatio, wait operator and system to generate each
Kind operational order；
2, systems inspection to system electrification instruction after, PowSys signal is effective, subsequently complete manipulator power on, network connect
It connects, system data is interactive, press controller 4 and Manipulator Controller 6 I/O signal initialization operation, the subsequent inspection of manipulator 5
Whether enabled instruction is effective, if in vain, system enters teaching mode, can carry out on-line teaching and online product edition；
3, after systems inspection to starting production ordering, system Start signal is effective, and system first checks for mistake and warning,
If wrong, Start invalidating signal, and operator is waited to handle mistake, after having handled, operator is waited to re-enter starting
Production ordering.If there is warning, operator is waited to handle warning, after having handled, operator is waited to confirm all clear, systems inspection
After releasing to alarm confirmation, Con signal is enabled, is continued in next step, subsequent Con Signal Fail, if without mistake and warning, at this time
Manipulator 5, press 3, electronic scale 10 carry out 5 return of manipulator respectively, press 3 prepares and electronic scale 10 is reset, and are then wanted
Blade production and the sabot process asked；
4, when systems inspection is to after pause instruction, Pause signal is effective, and whole system pause production checks after pause
After continuing production ordering, Pause invalidating signal continues the production just suspended；
5, when systems inspection to weighing clear command after, 10 reset signal WgtZero signal of electronic scale is effective, system complete
Clearing processing to electronic scale 10, WgtZero invalidating signal after the completion of clearing；
6, when systems inspection is to when sampling instruction, sampled signal Sample is effective, and system completes the sampling to current blade,
Sample invalidating signal after the completion of sampling；
7, systems inspection is effective to preparation StpRdy signal when stopping production ordering, is stopped, and system prepares before stopping production
Work, subsequent system stops production, stops StpRdy invalidating signal after production；
8, when systems inspection is to cut-offing instruction, PowSys invalidating signal, manipulator 5 is powered off, and press 3 enters idle state,
Program enters idle state；
9, systems inspection to log off instruct when, system saves data, and program exits.
Specifically, entire production process speed is adjustable；The method that the pickup of alloy blade is drawn using sucker；It draws
Before alloy blade, removal surface impurity of blowing all is carried out after placement alloy blade；Production process to each alloy blade into
The qualified detection of row weighing；For electronic scale 10 after the alloy blade of weighing some cycles, electronic scale resets I/O signal 20 effectively, thus
10 zeros data of electronic scale carries out weighing of reloading using Single Electron scale 10；Weighing reloading simultaneously, manipulator 5 changes and closes
Posture between golden blade.
Specifically, system electrification instruction is outer except the instruction that logs off, other instructions must all be instructed in system electrification and be held
Effective instruction could be become after capable and PowSys signal is effective, other instructions are in addition to starting production ordering, remaining finger
Enable again must starting production ordering execute and Start signal it is effective after could become effectively instruct.
As shown in figure 4, according to instruction flow, the carbide chip automation disc filling method comprising steps of
1, after system starting, waiting system is ready first, and after system is ready, waiting system powers on instruction, in system completion
After electricity, check whether Start signal is effective, if Start invalidating signal, system enters teaching mode, until Start signal is effective
Afterwards, system enters production model；
2, into after production model, system has first checked whether that alarm and mistake generate, if so, then needing first to release police
Report and mistake need manual confirmation alarm and mistake to release after releasing, system just continues to run, and otherwise have been at etc. to be confirmed
State, and if it is mistake, then system Start invalidating signal, releases backed off after random production model in confirmation, needs at this time again defeated
Enter to start production ordering, keeps Start signal effective, be then again introduced into production model；
3, after system is successfully entered production model, press 3 prepares, and manipulator 5 returns normal bit, and electronic scale 10 is reset, with
Entering production sabot task afterwards, during sabot, whether the condition that system first checks for the compacting blade of press 3 meets, if satisfied,
It then controls suitable alloy powder to enter in press 3, the compacting of press 3, blade molding, if not satisfied, then press 3 waits always system
System allows throttle signal, and after suppressing successfully, compacting OK signal is effective, and waits manipulator 5 to enter and take blade away and permit next time
Perhaps throttle signal；
4, manipulator 5 enter press 3 draw blade during, at most drawn 48 three times, if draw three times it is unsuccessful,
Manipulator 5 is parked in normal bit, system alarm, if drawing successfully in three times, carries out hairbrush processing, subsequent system export feeding at
Function signal allows throttle signal, suppresses OK invalidating signal, and start the compacting blade of a new round, the continuous output of compacting successful subsequent
Compacting OK signal is effective and waits the throttle signal of next round；
5, after the completion of burr processing, alloy blade is placed on electronic scale 10 and weighs, and the first feeding of manipulator 5 is put into electronic scale
On the specified position one of 10 scales pan, feeding is then gone again, weight information data are sent to Industry Control by electronic scale 10 during this
Main frame 1, current blade is placed on the specified position two of 10 scale pan of electronic scale by manipulator 5, while arriving previous position
One takes the blade of weighed completion away, judges whether alloy blade closes according to the received data of industrial control computer host 1
Lattice are put into charging tray if qualified, otherwise, are put into trash receptacle 8；
6, when systems inspection is equal to periodicity N=T-1 to the quantity for having put blade apart from the clearing of last time electronic scale 10, it is
WgtZero signal of uniting is effective, and manipulator 5 no longer goes at press 3 to draw the blade of compacting, but will be remaining on electronic scale 10
According to weighing, whether qualification decides whether to be put into the first blade pallet 11 or the second blade pallet 12 one weighing blade, then electricity
Sub- 10 reset signal of scale is effective, 10 zeros data of electronic scale, and at the same time, press 3, manipulator 5 continue to produce sabot process, with
Manipulator 5 goes feeding 43 at press 3 again afterwards, then is put on the specified position one of 10 scale pan of electronic scale, then go to previous position two
On take the blade of weighed completion away, repeatedly；
7, at the end of producing, the last one material on 10 scale pan of electronic scale is directly taken in final step away, according to qualified feelings of weighing
After condition selects discharge position, then manipulator 5 returns normal bit set, and 3 idle waiting of press, the weighing of electronic scale 10 are reset, system
Production terminates.
Specifically, the pickup to alloy blade is drawn using sucker.
Specifically, before drawing alloy blade, all carrying out removal surface impurity of blowing after placement alloy blade.
The above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be to the present invention
Embodiment restriction.For those of ordinary skill in the art, it can also make on the basis of the above description
Other various forms of variations or variation.There is no necessity and possibility to exhaust all the enbodiments.It is all of the invention
Made any modifications, equivalent replacements, and improvements etc., should be included in the protection of the claims in the present invention within spirit and principle
Within the scope of.
Claims (3)
1. a kind of carbide chip of integrated manipulator automates disc filling method, the carbide chip based on integrated manipulator
Disk loading system is automated, the carbide chip automation disk loading system of the integrated manipulator includes industrial control computer master
Machine (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 detection of the first pallet
Sensor (13) and the second pallet detection sensor (14), system electrical cabinet (24), in which: the manipulator (5) is mounted on pressure
On extension pedestal (25) on the right side of machine (3), manipulator (5) front end fills the extension arm (7) rotated around U axis (28), the system
System electrical cabinet (24) is fixed on the side of press (3), and the Manipulator Controller (6) is fixed on the side of manipulator (5), installs
Plate (26) is mounted on the extension pedestal (25) on front side of press (3), and the in line hairbrush (9) is mounted on mounting plate (26),
Position is between electronic scale (10) and press (3), and electronic scale (10) is mounted on mounting plate (26), and position is from manipulator base
The X-direction distance at seat center (27) is 345 mm -355mm, and Y-direction distance is at 60-65mm, and the trash receptacle (8) is mounted on
On mounting plate (26), position is in the left side of electronic scale (10), the first blade pallet (11), the second blade pallet (12) peace
It is 340-360 apart from mechanical hand base central (27) Y-direction distance, X-direction is symmetrically divided on press extension pedestal (25)
Cloth, the first pallet detection sensor (13) and the second pallet detection sensor (14) are separately positioned on the first blade pallet
(11), on the second blade pallet (12), and system electrical cabinet (24) are connected by sensor signal lines 21；Industrial control computer
One piece of Phototube Coupling digital I/O card is loaded on host (1) interior PCI slot, is believed by system I/O signal bus (19) and manipulator IO
The corresponding I/O signal of number bus (22) is connected to be connected with the corresponding I/O signal of press I/O signal bus (18), the Industry Control
Main frame (1) obtains corresponding input on system I/O signal bus (19) by the built-in command function of call number IO card
I/O signal exports specified I/O signal to the corresponding I/O signal of system I/O signal bus (19), the industrial control computer
It is connected between host (1) and Manipulator Controller (6) by cable (17), industrial control computer host is completed by Transmission Control Protocol
(1) data interaction between Manipulator Controller (6), the electronic scale (10) by weight information data by Serial Port Line (15),
It is sent to industrial control computer host (1) by RS232 agreement, display (2) passes through video signal cable (16) connection industry
It controls main frame (1)；The precision of the electronic scale (10) is 0.01g；The electronic scale (10) and system electrical cabinet (24)
Between be also connected with electronic scale reset I/O signal line (20)；Extension arm (7) length is 175mm, when U axis (28) coordinate is 0,
Extension arm (7) length direction is identical as manipulator X positive direction；The first blade pallet (11), second blade pallet (12) shape
Shape be it is rectangular or round, detected whether respectively by the first pallet detection sensor (13), the second pallet detection sensor (14)
Position；It is characterized in that, the method includes the steps:
1) after system starting, waiting system is ready first, and after system is ready, waiting system powers on instruction, after system completion powers on,
Check whether Start signal is effective, if Start invalidating signal, system enters teaching mode, after Start signal is effective, is
System enters production model；
2) enter production model after, system first checked whether alarm and mistake generate, if so, then need first to sound all clear and
Mistake needs manual confirmation alarm and mistake to release after releasing, system just continues to run, and the shape to be confirmed such as otherwise has been at
State, and if it is mistake, then system Start invalidating signal, releases backed off after random production model in confirmation, needs to re-enter at this time
Start production ordering, keeps Start signal effective, be then again introduced into production model；
3) after system is successfully entered production model, press (3) prepares, and manipulator (5) returns normal bit, and electronic scale (10) is reset,
Production sabot task is subsequently entered, during sabot, whether the condition that system first checks for press (3) compacting blade meets, if
Meet, then controls suitable alloy powder and enter in press (3), press (3) compacting, blade molding, if not satisfied, then press
(3) waiting system allows throttle signal always, and after suppressing successfully, compacting OK signal is effective, and waits manipulator (5) to enter and take away
Blade and allow throttle signal next time；
4) manipulator (5) enters during press (3) absorption blade, is at most drawn three times, if drawing unsuccessful, machine three times
Tool hand (5) is parked in normal bit, system alarm, if drawing successfully in three times, carries out hairbrush processing, subsequent system export feeding at
Function signal allows throttle signal, suppresses OK invalidating signal, and start the compacting blade of a new round, the continuous output of compacting successful subsequent
Compacting OK signal is effective and waits the throttle signal of next round；
5) after the completion of burr processing, alloy blade is placed on electronic scale (10) and weighs, and manipulator (5) elder generation feeding is put into electronic scale
(10) on the specified position one of the scale pan, feeding is then gone again, weight information data are sent to industry by electronic scale (10) during this
It controls main frame (1), current blade is placed on the specified position two of electronic scale (10) scale pan by manipulator (5), is arrived simultaneously
Previous position one takes the blade of weighed completion away, is closed according to the received data judgement of industrial control computer host (1)
Whether golden blade is qualified, is put into charging tray if qualified, otherwise, is put into trash receptacle (8)；
6) when systems inspection is to when resetting the quantity for having put blade apart from last time electronic scale (10) equal to periodicity N=T-1, T is indicated
Electronic scale resets periodicity, and system WgtZero signal is effective, and manipulator (5) no longer goes at press (3) to draw the blade of compacting,
But according to weighing, whether qualification decides whether to be put into the first blade support by the remaining weighing blade on electronic scale (10)
Disk (11) or the second blade pallet (12), subsequent electronic scale (10) reset signal is effective, electronic scale (10) zeros data, same with this
When, press (3), manipulator (5) continue to produce sabot process, and subsequent manipulator (5) goes feeding at press (3) again, then is put into electricity
On the specified position one of sub- scale (10) scale pan, then remove on previous position two to take away the blade of weighed completion, repeatedly；
7) at the end of producing, the last one material on electronic scale (10) scale pan is directly taken in final step away, according to weighing Qualification
After selecting discharge position, then manipulator (5) returns normal bit set, and press (3) idle waiting, electronic scale (10) weighing are reset,
System production terminates.
2. carbide chip according to claim 1 automates disc filling method, it is characterised in that: picked up to alloy blade
It takes and is drawn using sucker.
3. carbide chip according to claim 1 automates disc filling method, it is characterised in that: draw alloy blade it
Before, place alloy blade after all carry out blow removal surface impurity.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510854579.2A CN106808463B (en) | 2015-11-28 | 2015-11-28 | A kind of carbide chip automation disc filling method of integrated manipulator |
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| CN201510854579.2A CN106808463B (en) | 2015-11-28 | 2015-11-28 | A kind of carbide chip automation disc filling method of integrated manipulator |
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