CN107282835A - Industrial robot intelligence swage line system and application - Google Patents
Industrial robot intelligence swage line system and application Download PDFInfo
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- CN107282835A CN107282835A CN201710341613.5A CN201710341613A CN107282835A CN 107282835 A CN107282835 A CN 107282835A CN 201710341613 A CN201710341613 A CN 201710341613A CN 107282835 A CN107282835 A CN 107282835A
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- 238000000034 method Methods 0.000 claims abstract description 25
- 230000002159 abnormal effect Effects 0.000 claims abstract description 8
- 238000004092 self-diagnosis Methods 0.000 claims abstract description 7
- 230000033001 locomotion Effects 0.000 claims abstract description 6
- 238000009497 press forging Methods 0.000 claims abstract description 6
- 238000003672 processing method Methods 0.000 claims abstract description 6
- 238000004080 punching Methods 0.000 claims description 37
- 238000012546 transfer Methods 0.000 claims description 28
- 238000005242 forging Methods 0.000 claims description 27
- 238000010438 heat treatment Methods 0.000 claims description 27
- 230000005855 radiation Effects 0.000 claims description 27
- 239000000463 material Substances 0.000 claims description 26
- 238000001816 cooling Methods 0.000 claims description 20
- 238000009826 distribution Methods 0.000 claims description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 11
- 238000004519 manufacturing process Methods 0.000 claims description 8
- 239000010813 municipal solid waste Substances 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 5
- 230000003993 interaction Effects 0.000 claims description 5
- 238000003825 pressing Methods 0.000 claims description 5
- 238000005507 spraying Methods 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 4
- 230000000977 initiatory effect Effects 0.000 claims description 2
- 239000002184 metal Substances 0.000 claims description 2
- 238000004891 communication Methods 0.000 claims 1
- 238000005259 measurement Methods 0.000 claims 1
- 230000032258 transport Effects 0.000 claims 1
- 239000002699 waste material Substances 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000007812 deficiency Effects 0.000 description 3
- 238000007599 discharging Methods 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000013021 overheating Methods 0.000 description 2
- 238000009966 trimming Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 210000000038 chest Anatomy 0.000 description 1
- 235000019628 coolness Nutrition 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004801 process automation Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 230000002040 relaxant effect Effects 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J5/00—Methods for forging, hammering, or pressing; Special equipment or accessories therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J1/00—Preparing metal stock or similar ancillary operations prior, during or post forging, e.g. heating or cooling
- B21J1/06—Heating or cooling methods or arrangements specially adapted for performing forging or pressing operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J13/00—Details of machines for forging, pressing, or hammering
- B21J13/08—Accessories for handling work or tools
- B21J13/10—Manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J5/00—Methods for forging, hammering, or pressing; Special equipment or accessories therefor
- B21J5/02—Die forging; Trimming by making use of special dies ; Punching during forging
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J5/00—Methods for forging, hammering, or pressing; Special equipment or accessories therefor
- B21J5/06—Methods for forging, hammering, or pressing; Special equipment or accessories therefor for performing particular operations
- B21J5/08—Upsetting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21K—MAKING FORGED OR PRESSED METAL PRODUCTS, e.g. HORSE-SHOES, RIVETS, BOLTS OR WHEELS
- B21K29/00—Arrangements for heating or cooling during processing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Forging (AREA)
- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of intelligent swage line system of industrial robot, control system, control method and abnormal self diagnosis and processing method, when the part in system due to reasons such as itself service lifes can not normal work when, the system can be automatically detected, and the operation of halt system；When the tong of the first robot and the second robot normally can not pick up workpiece due to reasons such as generation absent-mindedness, the system can be automatically detected, and the operation of halt system；When the first robot and the second robot are during workpiece is transported, when causing the workpiece to drop due to the reason such as motion and tong absent-mindedness, the system can be automatically detected, and the failure can be handled in time；When workpiece is during jumping-up punch press jumping-up and forcing press forging and stamping, when causing the workpiece to be dropped from the mould of jumping-up punch press and forcing press due to reasons such as vibrations, system can be automatically detected, and the failure can be handled in time.
Description
Technical field
The invention belongs to intelligence forging field, more particularly, to a kind of intelligent swage line system of industrial robot and application.
Background technology
Forging technology is included to production processes such as the heating of material, transfer, jumping-up, forging and stamping, ink-jet and coolings.Due to scene
Bad environments, danger coefficient is high, and the factor such as production time length, intelligent forging line is essential, uses industrial machine
People has become a kind of inexorable trend instead of manual labor.It is to severe first using being advantageous in that for industrial robot
The adaptation of environment, because the Environmental insults at scene have certain damage, human body is not suitable for long-term work in such a case, its
Secondary is that industrial robot can realize non-stop run in 24 hours, substantially increases production efficiency, adds the income of enterprise.
Patent 201510621506.9 discloses a kind of robot forging process automation production line and control method, and it is wrapped
Include the charging of raw material, jumping-up, just forging, finish-forging and trimming, in addition to crawl of the robot between each workbench to workpiece and put
Put, the ink-jet for the thorax chamber that works, the trimming of workpiece and a whole set of control method and flow.
The above method realizes the automated production of hot forging industry to a certain extent, and precision has also basically reached good
Level, still, the program are not enough to unusual service condition adaptability to changes, do not have self diagnosis and processing work(for the unusual service condition of appearance
Can be, it is necessary to which artificial monitoring and maintenance, intelligence degree be high, system fluency has to be strengthened, and stability problem has to be solved,
The application of actual production process is also more weak.
The content of the invention
It is an object of the present invention to intelligently be forged there is provided a kind of industrial robot for the deficiencies in the prior art
Linear system is united.
Therefore, the above-mentioned purpose of the present invention is achieved through the following technical solutions：
A kind of intelligent swage line system of industrial robot, the intelligent swage line system of the industrial robot includes：Intermediate-frequency heating furnace,
Jumping-up punch press, the first robot matched with jumping-up punch press and forcing press, forcing press, the second machine matched with forcing press
Device people and workpiece collecting vessel；The intermediate-frequency heating furnace is used to heat pending workpiece, the heating in medium frequency
The discharge outlet of stove sets conveyer belt, and the near exit of the intermediate-frequency heating furnace sets infrared radiation thermometer and the infrared radiation thermometer
Towards conveyer belt, the infrared radiation thermometer is used for the temperature for detecting the workpiece of the discharge outlet of intermediate-frequency heating furnace, the conveyer belt
Downstream sets blanking groove, and the bottom of the blanking groove sets metallic cylinder, and the metallic cylinder is used to accommodate in blanking groove
Workpiece and rotate into erectility, the first infrared sensor and trash receptacle are set near the metallic cylinder, and described first is red
Outer sensor is used to detect in metallic cylinder whether there is workpiece；First robot is used for the Workpiece transfer in metallic cylinder
Workpiece transfer after being finished on to the jumping-up punching machine mold of jumping-up punch press and by jumping-up punch press jumping-up to forcing press forcing press
On mould, the second infrared sensor is set, second infrared sensor is used to detect jumping-up near the jumping-up punching machine mold
Whether there is workpiece on punching machine mold；3rd infrared sensor, the 3rd infrared sensor are set near the die of press
For detecting on die of press whether there is workpiece；Second robot is used to forging and pressing forcing press into the Workpiece transfer after finishing
To cooling conveyer belt, the cooling conveyer belt is used to workpiece being sent in workpiece collecting vessel.
While using above-mentioned technical proposal, the present invention can also be used or combined using technology further below
Scheme：
The blanking groove is V-type.
First sprinkler is set near the jumping-up punching machine mold, and first sprinkler is finished for jumping-up punch press jumping-up
Afterwards to jumping-up punching machine mold water-spraying control.
Second sprinkler is set near the die of press, and second sprinkler is used for right after forcing press forging and stamping are finished
Die of press water-spraying control.
Ink jet printer is set near the die of press, and the ink jet printer is used for the workpiece ink-jet on die of press.
Set the first tong to switch on the tong of first robot, second is set on the tong of second robot
Tong is switched.
Second object of the present invention is, is intelligently forged there is provided a kind of industrial robot in view of the shortcomings of the prior art
The control system of linear system system.
Therefore, the above-mentioned purpose of the present invention is achieved through the following technical solutions：
A kind of control system of the intelligent swage line system of industrial robot, the control system includes master controller, the master control
Device processed is connected with 5 distribution I/O modules that industry spot is distributed, and the first distribution I/O modules are used to connect heating in medium frequency
Heater block, infrared radiation thermometer and the first infrared sensor of stove；Second distribution I/O modules are used to connect the first robot
Motor and the first tong switch；3rd distribution I/O modules are used to connecting the motor of jumping-up punch press, the first sprinkler and second red
Outer sensor；4th distribution I/O modules are used for motor, the second sprinkler, ink jet printer and the 3rd infrared biography for connecting forcing press
Sensor；5th distribution I/O modules are used for the motor for connecting the second robot and the second tong switch；The master controller is with dividing
Cloth I/O modules are communicated by PROFIBUS-DP agreements.
While using above-mentioned technical proposal, the present invention can also be used or combined using technology further below
Scheme：
The master controller is communicated with human-computer interaction interface by PROFINET agreements, and the human-computer interaction interface is used for intelligence
The running status of energy swage line system is shown and fault alarm prompting.
Third object of the present invention is that there is provided a kind of industrial robot intelligence for the deficiencies in the prior art
The control method of energy swage line system.
Therefore, the above-mentioned purpose of the present invention is achieved through the following technical solutions：
A kind of control method of the intelligent swage line system of industrial robot, the control method includes：In infrared radiation thermometer detection
The temperature of the workpiece of the discharge outlet of frequency heating furnace, when the temperature of workpiece is in acceptability limit, infrared radiation thermometer output is high
Level, when the temperature of workpiece is unqualified, infrared radiation thermometer output low level；When the first infrared sensor detects metallic cylinder
In when having workpiece, then export high level；When master controller detects the output signal of infrared radiation thermometer for low level and first red
When the output signal of outer sensor is high level, then master controller sends to the first robot and gets rid of material signal；First robot
Initiating task signal is set to low level, is expressed as no task, when there is unfinished work in the first robot, task letter
Number be always high level, when the first robot receive master controller transmission get rid of material signal and its task signal is low level
When, the workpiece in metallic cylinder is taken out and abandoned in trash receptacle by the first robot, gets rid of the first machine after the completion of material action
Device people returns to initial position and recovers task signal to low level；When master controller detects infrared radiation thermometer and first infrared
When the output signal of sensor is all high level, then master controller sends feeding signal to the first robot, when the first robot
When the feeding signal and task signal for receiving master controller transmission are low level, then the first robot will be in metallic cylinder
Workpiece take out into jumping-up punching machine mold, feeding action after the completion of the first robot return to initial position and protect task signal
Hold as high level, while master controller sends supplied materials signal to jumping-up punch press；When the second infrared sensor detects jumping-up punch press
Have workpiece in mould, then export high level, when master controller to jumping-up punch press send supplied materials signal after and master controller detect
When the output signal of second infrared sensor is high level, main controller controls jumping-up punch press carries out jumping-up, jumping-up punch press jumping-up
Security bit is returned to after end, and master controller sends jumping-up to the first robot and completes signal, and the first robot receives master
When the output signal that the jumping-up that controller is sent completes signal and the second infrared sensor is high level, then the first robot Jiang Chu
Workpiece transfer in jumping-up punching machine mold is into die of press, and the first robot returns to initial position after the completion of transfer movement
And recover task signal to low level, master controller sends pickup completion signal to jumping-up punch press and sends supplied materials to forcing press
Signal；The pickup that jumping-up punch press receives master controller is completed after signal, and the first sprinkler is sprayed water to jumping-up punching machine mold, is used for
Cool down jumping-up punching machine mold；There is workpiece when the 3rd infrared sensor is detected in die of press, then export high level；Work as pressure
When machine receives the output signal of the supplied materials signal of master controller and the 3rd infrared sensor for high level, main controller controls spray
Black machine is to workpiece ink-jet；After the completion of ink-jet, main controller controls forcing press forging and stamping workpiece；After forcing press forging and stamping terminate, forcing press
Security bit is returned to, master controller sends forging and stamping to the second robot and completes signal；Second robot receives the forging of master controller
When pressure completes the output signal of signal and the 3rd infrared sensor for high level, then the second robot will be in die of press
Workpiece transfer to cooling conveyer belt on, after the completion of transfer movement, the second robot returns to initial position and master controller to pressure
Power machine sends pickup and completes signal；The pickup that forcing press receives master controller is completed after signal, and the second sprinkler is to forcing press
Mould is sprayed water；Main controller controls cooling conveyer belt is transported in workpiece to workpiece collecting vessel.
Another object of the present invention is that there is provided a kind of industrial robot for the deficiencies in the prior art
The abnormal self diagnosis and processing method of intelligent swage line system.
Therefore, the above-mentioned purpose of the present invention is achieved through the following technical solutions：
A kind of abnormal self diagnosis of the intelligent swage line system of industrial robot and processing method, the abnormal self diagnosis and processing side
Method includes：When the first robot removes to take the workpiece in metallic cylinder, if its tong has clamped workpiece, the first tong switch
High level is exported, if do not clamped, the first tong switch output low level, when master controller detects the first tong switch
During the low level of output, then halt system is run；If the first robot has successfully picked up workpiece, but by Workpiece transfer extremely
Drop workpiece during jumping-up punching machine mold, then the first tong switch output low level, when master controller is examined in the process
When measuring the low level of the first tong switch output, then control the first robot to terminate current task, return to initial position, and
The task signal of first robot is set to low level；If the first robot is successfully by Workpiece transfer to jumping-up punch press mould
In tool, but workpiece drops in upsetting process, and the second infrared sensor can't detect the workpiece in jumping-up punching machine mold, then and second
Infrared sensor exports low level, and master controller controls jumping-up punch press knot after receiving the low level of the second infrared sensor output
Beam jumping-up task and jumping-up failure signal is sent to the first robot, the first robot received itself after jumping-up failure signal
Task signal is set to low level；If jumping-up punch press favorably accomplishes jumping-up task, but go to take jumping-up to rush in the first robot
Workpiece can not be clamped in workpiece fabrication in bed mould, then the first tong switch output low level, when master controller detects the
During the low level of one tong switch output, then halt system is run；If the first robot has successfully picked up workpiece, but inciting somebody to action
Drop workpiece during Workpiece transfer to die of press, then the first tong switch output low level, when master controller herein
During when detecting the low level of the first tong switch output, then control the first robot to terminate current task, return to initial
Position, and the task signal of the first robot is set to low level, while master controller is complete to the transmission pickup of jumping-up punch press
Into signal；If the first robot is successfully by Workpiece transfer into die of press, but drop workpiece during forging and stamping, the
Three infrared sensors can't detect the workpiece in die of press, then export low level, and main controller controls forcing press terminates forging
Pressure task and the second robot need not be given to send any signal；If forcing press favorably accomplishes forging and stamping task, the second machine
The workpiece that people goes to take in die of press can not but clamp workpiece, then the second tong switch output low level, when master controller exists
When the low level of the second tong switch output is detected during this, then halt system is run；If the second robot is successfully
Workpiece is picked up, but drop workpiece during by Workpiece transfer to cooling conveyer belt, then the low electricity of the second tong switch output
It is flat, when master controller detects the low level of the second tong switch output in the process, then control the second robot to terminate
Current task, returns to initial position, while sending pickup to forcing press completes signal；In system operation, work as main control
Device detect the first robot, the second robot, jumping-up punch press or forcing press due to faults itself can not normal work, then stop
System operation.
The present invention provides a kind of intelligent swage line system of industrial robot, control system, control method and abnormal autodiagnosis
Disconnected and processing method, when the intermediate-frequency heating furnace in system, infrared radiation thermometer, the first infrared sensor, the first robot, the first folder
Hand switch, jumping-up punch press, the first sprinkler, the second infrared sensor, forcing press, the second sprinkler, ink jet printer, the 3rd infrared biography
Sensor, the second robot and the second tong switch due to reasons such as itself service lifes can not normal work when, the system
It can automatically detect, and the operation of halt system；When the tong of the first robot and the second robot is due to relaxing
When normally can not pick up workpiece etc. reason, the system can be automatically detected, and the operation of halt system；When the first machine
People and the second robot are during workpiece is transported, when causing the workpiece to drop due to the reason such as motion and tong absent-mindedness,
The system can be automatically detected, and the failure can be handled in time；When workpiece is in jumping-up punch press jumping-up and pressure
During power machine is forged and pressed, when causing the workpiece to be dropped from the mould of jumping-up punch press and forcing press due to reasons such as vibrations, it is
System can be automatically detected, and the failure can be handled in time；The system can automatically detect above-mentioned 4 kinds it is different
Normal operating mode, and corresponding troubleshooting is made in time.Whole system is in the process of running, it is not necessary to artificial monitoring and dimension
Shield, system intelligent degree is high.
Brief description of the drawings
Fig. 1 is a kind of schematic diagram of industrial robot intelligence swage line system provided by the present invention；
Fig. 2 is a kind of frame diagram of the control system of industrial robot intelligence swage line system provided by the present invention；
In figure：1- intermediate-frequency heating furnaces；2- charging apertures；3- discharging openings；4- infrared radiation thermometers；5- conveyer belts；6-V type blanking grooves；7-
Metallic cylinder；The infrared sensors of 8- first；9- cylinders；10- trash receptacles；The robots of 11- first；The tongs of 12- first are switched；13-
Jumping-up punch press；The infrared sensors of 14- second；15- jumping-up punching machine molds；The sprinklers of 16- first；The infrared sensors of 17- the 3rd；
18- die of press；The sprinklers of 19- second；20- ink jet printers；21- forcing presses；The robots of 22- second；The tongs of 23- second are opened
Close；24- cooling conveyer belts；25- workpiece collecting vessels.
Embodiment
The present invention is described in further detail with specific embodiment referring to the drawings.
A kind of intelligent swage line system of industrial robot, including：Intermediate-frequency heating furnace 1, jumping-up punch press 13, with jumping-up punch press with
And the first robot 11, forcing press 21, the second robot 22 matched with forcing press and the workpiece receipts that forcing press matches
Collect bucket 25；Intermediate-frequency heating furnace 1 is used to heat pending workpiece, charging of the initial material from intermediate-frequency heating furnace 1
Mouth 2 is put into, and conveyer belt 5 is set at the discharging opening 3 of intermediate-frequency heating furnace 1, and the near exit of intermediate-frequency heating furnace 1 sets infrared radiation thermometer
4 and infrared radiation thermometer 4 towards the workpiece on conveyer belt 5, infrared radiation thermometer 4 is used to detect at the discharging opening 3 of intermediate-frequency heating furnace 1
The temperature of workpiece, the downstream of conveyer belt 5 sets V-type blanking groove 6, and the bottom of V-type blanking groove 6 sets metallic cylinder 7, metallic cylinder 7
For accommodating the workpiece in V-type blanking groove 6 and rotating into erectility by cylinder 9, metallic cylinder 7 nearby sets first
Infrared sensor 8 and trash receptacle 10, the first infrared sensor 8 are used to detect in metallic cylinder 7 whether there is workpiece；First robot
11 are used on the jumping-up punching machine mold 15 of the Workpiece transfer in metallic cylinder 7 to jumping-up punch press 13 and by the upsetting of jumping-up punch press 13
On Workpiece transfer to the die of press 18 of forcing press 21 after slightly finishing, jumping-up punching machine mold 15 nearby sets the second infrared biography
Sensor 14, the second infrared sensor 14 is used to detect on jumping-up punching machine mold 15 whether there is workpiece；Die of press 18 is nearby set
The 3rd infrared sensor 17 is put, the 3rd infrared sensor 17 is used to detect on die of press 18 whether there is workpiece；Second machine
People 22 is used to forcing press 21 forging and pressing the Workpiece transfer after finishing to cooling conveyer belt 24, and cooling conveyer belt 24 is used for workpiece
It is sent in workpiece collecting vessel 25.
Jumping-up punching machine mold 15 nearby sets the first sprinkler 16, and the first sprinkler 16 is finished for the jumping-up of jumping-up punch press 13
Afterwards to the water-spraying control of jumping-up punching machine mold 15.
Die of press 18 nearby sets the second sprinkler 19, and the second sprinkler 19 is used for right after the forging and stamping of forcing press 21 are finished
The water-spraying control of die of press 18.
Die of press 18 nearby sets ink jet printer 20, and ink jet printer 20 is used for the workpiece ink-jet on die of press 18.
Setting the first tong to switch on the tong of first robot 11 sets second to press from both sides on 12, the tong of the second robot 22
Hand switch 23.
The system, as master controller, 5 Siemens is distributed in industry spot using the S7-300 PLC of Siemens
ET200 modules, Siemens's ET200 modules are distributed I/O modules, can be used for the I/O port of expansion technique of PLC, pass through with PLC
PROFIBUS-DP protocols, ET200 modules are connected with the other equipment at scene using common I/O mouths.PLC passes through with HMI
PROFINET agreements are communicated, and HMI is human-computer interaction interface, the running status for system show and system failure report
It is alert.
Normal operation：Initial material is put into from the charging aperture of intermediate-frequency heating furnace, after the heating of intermediate-frequency heating furnace, from going out
Material mouth is released, and is placed on conveyer belt, now, the temperature of workpiece is detected in the infrared radiation thermometer of discharge outlet, at workpiece temperature
When acceptability limit, infrared radiation thermometer output high level, when temperature is unqualified, infrared radiation thermometer output low level.Conveyer belt
Workpiece is transported in V-type blanking groove top, the metallic cylinder that workpiece can slip into bottom along V-type blanking groove, when first red
Outer sensor is detected when having material in metallic cylinder, exports high level, meanwhile, cylinder shrinks, and metallic cylinder is changed into vertical
State.When the controller PLC output signals for detecting infrared radiation thermometer are low level, and the output signal of the first infrared sensor is
During high level, send one to the first robot and get rid of material signal.When the first robot receive this get rid of material signal after, judge from
Whether the task signal of body is low level（The task signal is that low level represents the first robot now without other tasks,
When there is unfinished work in the first robot, the task signal is always high level）If low level will then be in round metal
Workpiece in cylinder takes out, and abandons in trash receptacle, after the completion of action, the first robot returns to initial position, itself task signal
It is changed into low level.When controller PLC detects the output signal of infrared radiation thermometer and the first infrared sensor for high level,
Then a feeding signal is sent to the first robot.After the first robot receives the feeding signal, appointing for itself is judged
Whether business signal is low level, if low level, is then taken the workpiece in metallic cylinder into the mould of jumping-up punch press, is moved
After the completion of work, the first robot returns to initial position, and itself task signal keeps high level, also, sends one to jumping-up punch press
Individual supplied materials signal.Whether workpiece is placed with second infrared sensor detection jumping-up punching machine mold, if workpiece, the second infrared biography
Sensor can export a high level.When jumping-up punch press receives supplied materials signal and the second infrared sensor output high level,
Jumping-up punch press starts jumping-up, after jumping-up terminates, and jumping-up punch press returns to security bit, and sending jumping-up to the first robot completes signal.
First robot is received after the signal, and whether the output for judging the second infrared sensor is high level, if high level, then
Workpiece in jumping-up punching machine mold is taken into the mould of forcing press, after the completion of action, the first robot returns to initial bit
Put, itself task signal is changed into low level, sending a pickup to jumping-up punch press completes signal, and a supplied materials is sent to forcing press
Signal.Jumping-up punch press receives the pickup and completed after signal, and the first sprinkler is sprayed water to jumping-up punching machine mold, and spray water 2 s,
For cooling down jumping-up punching machine mold, prevent mould from overheating and damaging.Whether put in 3rd infrared sensor detection die of press
There is workpiece, if workpiece, the 3rd infrared sensor can export a high level.When forcing press receives supplied materials signal and
When three infrared sensors export high level, ink jet printer starts to workpiece ink-jet, after the s of ink-jet 1, and forcing press starts forging and stamping, forging and stamping knot
Shu Hou, forcing press returns to security bit, and sending forging and stamping to the second robot completes signal.Second robot is received after the signal,
Whether the output for judging the 3rd infrared sensor is high level, if high level, then by the workpiece in die of press
Take to cooling conveyer belt, after the completion of action, the second robot returns to initial position, sending a pickup to forcing press completes to believe
Number.Forcing press receives the pickup and completed after signal, and the second sprinkler is sprayed water to die of press, and spray water 2 s, for cold
But die of press, prevents mould from overheating and damaging.The cooled conveyer belt of workpiece is transported in workpiece collecting vessel, completes workpiece
Processing.
Abnormal self diagnosis and processing：When the first robot removes to take the workpiece in metallic cylinder, if tong has clamped work
Part, the first tong switch can export a high level；If do not clamped, the first tong switch can export a low level, when being
When system detects the low level, show that the first robot breaks down, it is impossible to smoothly pick up workpiece, system can be automatically stopped fortune
OK.If the first robot has smoothly picked up workpiece, during by workpiece clamp to jumping-up punching machine mold, workpiece imprudence
Drop, the first tong switch can export a low level, when system detectio is to the low level, show that workpiece has dropped, the
One robot can terminate current task, return to initial position, and itself task signal is set into low level.If the first machine
People is smoothly by the mould of workpiece clamp to jumping-up punch press, still, in upsetting process, because workpiece imprudence drops, and second
Infrared sensor can't detect the workpiece in jumping-up punching machine mold, and the second infrared sensor can export low level, and jumping-up punch press will
Terminate jumping-up task, and jumping-up failure signal is sent to the first robot, will be certainly after the first robot receives the signal
Body task signal is set to low level.If jumping-up punch press smoothly completes jumping-up task, the first robot goes to take jumping-up punch press mould
During workpiece in tool, if workpiece can not be clamped, the first tong switch can export a low level, when system detectio to the low electricity
Usually, show that the first robot breaks down, it is impossible to smoothly pick up workpiece, system can be automatically stopped operation.If the first machine
People has smoothly picked up workpiece, during by workpiece clamp to die of press, and workpiece imprudence drops, the first tong switch
A low level can be exported, when system detectio is to the low level, shows that workpiece has dropped, the first robot can terminate currently
Task, returns to initial position, and sending a pickup to jumping-up punch press completes signal, and itself task signal is set into low electricity
It is flat.If the first robot is smoothly by the mould of workpiece clamp to forcing press, still, during forging and stamping, due to workpiece not
Do not drop, the 3rd infrared sensor can't detect the workpiece in die of press, the 3rd infrared sensor can export low level,
Forcing press will terminate forging and stamping task, also not send any signal to the second robot.Appoint if forcing press smoothly completes forging and stamping
Business, when the second robot removes to take the workpiece in die of press, if workpiece can not be clamped, the second tong switch can export one
Low level, when system detectio is to the low level, shows that the second robot breaks down, it is impossible to smoothly pick up workpiece, system meeting
It is automatically stopped operation.If the second robot has smoothly picked up workpiece, during by workpiece clamp to cooling conveyer belt, work
Part imprudence drops, and the second tong switch can export a low level, when system detectio is to the low level, show workpiece
Drop, the second robot can terminate current task, return to initial position, sending a pickup to forcing press completes signal.It is being
Unite running in, if the first robot, the second robot, jumping-up punch press or forcing press due to itself fail nothing
During method normal work, system is able to detect that the machine broken down, and is automatically stopped operation.
Display and alarm：HMI is connected with PLC, the running status for system show and system fault alarm.Man-machine boundary
There are two buttons, respectively system start button and system reset pad on face.It can show that intermediate frequency furnace is normal in man-machine interface
Or failure；First robot is normal or failure, if being in being stopped at initial position, get rid of material state, by work normally
Part is pressed from both sides to jumping-up punch press state still by workpiece clamp to forcing press state；Jumping-up punch press is normal or failure, if being place normally
Still sprayed water state in being stopped at security bit state, jumping-up state；Forcing press is normal or failure, if being to be in be stopped at normally
Security bit state, ink ejecting state, as-forged are still sprayed water state；Second robot is normal or failure, if being place normally
In being stopped at security bit state still by workpiece clamp to cooling conveyer belt state.When intermediate frequency furnace breaks down and can not normal work
When, man-machine interface can eject the warning message that intermediate frequency furnace breaks down.When the first robot breaks down and can not normal work
When, man-machine interface can eject the warning message that the first robot breaks down.When the first robot can not be pressed from both sides from metallic cylinder
When playing workpiece, man-machine interface can eject the first robot from the warning message of metallic cylinder feeding failure.When the first robot without
When method picks up workpiece from jumping-up punching machine mold, man-machine interface can eject the first robot from the alarm of jumping-up punch press feeding failure
Information.When jumping-up punch press break down and can not normal work when, man-machine interface can eject the alarm that jumping-up punch press breaks down
Information.When forcing press break down and can not normal work when, man-machine interface can the warning message that breaks down of stripping pressure machine.
When the second robot break down and can not normal work when, man-machine interface can eject the alarm signal that the second robot breaks down
Breath.When the second robot can not pick up workpiece from die of press, man-machine interface can eject the second robot from forcing press
The warning message of feeding failure.
Above-mentioned embodiment is used for illustrating the present invention, only the preferred embodiments of the present invention, rather than to this
Invention is limited, in the protection domain of spirit and claims of the present invention, to any modification of the invention made, is equal
Replace, improve etc., both fall within protection scope of the present invention.
Claims (10)
1. a kind of intelligent swage line system of industrial robot, it is characterised in that the intelligent swage line system bag of the industrial robot
Include：Intermediate-frequency heating furnace, jumping-up punch press, the first robot, forcing press and the forcing press matched with jumping-up punch press and forcing press
The second robot and workpiece collecting vessel matched；The intermediate-frequency heating furnace is used to carry out at heating pending workpiece
Reason, the discharge outlet of the intermediate-frequency heating furnace sets conveyer belt, and the near exit of the intermediate-frequency heating furnace sets infrared radiation thermometer
And the infrared radiation thermometer is towards conveyer belt, the infrared radiation thermometer is used for the workpiece for detecting the discharge outlet of intermediate-frequency heating furnace
Temperature, the conveyer belt downstream sets blanking groove, and the bottom of the blanking groove sets metallic cylinder, and the metallic cylinder is used to hold
Receive and the workpiece in blanking groove and rotate near erectility, the metallic cylinder the first infrared sensor and waste material are set
Bucket, first infrared sensor is used to detect in metallic cylinder whether there is workpiece；First robot is used for round metal
Workpiece transfer after on Workpiece transfer to the jumping-up punching machine mold of jumping-up punch press in cylinder and jumping-up punch press jumping-up is finished is extremely
On the die of press of forcing press, the second infrared sensor, second infrared sensing are set near the jumping-up punching machine mold
Device is used to detect on jumping-up punching machine mold whether there is workpiece；3rd infrared sensor is set near the die of press, it is described
3rd infrared sensor is used to detect on die of press whether there is workpiece；Second robot is used to forge and press on forcing press
On Workpiece transfer to cooling conveyer belt after finishing, the cooling conveyer belt is used to workpiece being sent in workpiece collecting vessel.
2. a kind of intelligent swage line system of industrial robot according to claim 1, it is characterised in that the blanking groove is
V-type.
3. a kind of intelligent swage line system of industrial robot according to claim 1, it is characterised in that the jumping-up punch press
The first sprinkler, first sprinkler is set to be sprayed water after being finished for jumping-up punch press jumping-up to jumping-up punching machine mold near mould
Cooling.
4. a kind of intelligent swage line system of industrial robot according to claim 1, it is characterised in that the pressing machine die
Tool nearby sets the second sprinkler, and second sprinkler is used for after forcing press forging and stamping are finished to die of press water-spraying control.
5. a kind of intelligent swage line system of industrial robot according to claim 1, it is characterised in that the pressing machine die
Tool nearby sets ink jet printer, and the ink jet printer is used for the workpiece ink-jet on die of press.
6. a kind of intelligent swage line system of industrial robot according to claim 1, it is characterised in that first machine
Set the first tong to switch on the tong of people, set the second tong to switch on the tong of second robot.
7. a kind of control system of the intelligent swage line system of industrial robot in 1-6 according to claim described in any one,
Characterized in that, the control system includes master controller, 5 distribution I/O that the master controller is distributed with industry spot
Module is connected, and the first distribution I/O modules are used to connecting the heater block of intermediate-frequency heating furnace, infrared radiation thermometer and first infrared
Sensor；Second distribution I/O modules are used for the motor for connecting the first robot and the first tong switch；3rd distribution I/O
Module is used for the motor, the first sprinkler and the second infrared sensor for connecting jumping-up punch press；4th distribution I/O modules are used to connect
Connect motor, the second sprinkler, ink jet printer and the 3rd infrared sensor of forcing press；5th distribution I/O modules are used to connect the
The motor of two robots and the second tong switch；The master controller is entered with distribution I/O modules by PROFIBUS-DP agreements
Row communication.
8. the control system of the intelligent swage line system of industrial robot according to claim 7, it is characterised in that the master
Controller is communicated with human-computer interaction interface by PROFINET agreements, and the human-computer interaction interface is used for intelligence and forges linear system
The running status of system is shown and fault alarm prompting.
9. a kind of control method of the intelligent swage line system of industrial robot in 1-6 according to claim described in any one,
Characterized in that, the control method includes：The temperature of the workpiece of the discharge outlet of infrared radiation thermometer detection intermediate-frequency heating furnace, when
When the temperature of workpiece is in acceptability limit, infrared radiation thermometer output high level, when the temperature of workpiece is unqualified, infrared measurement of temperature
Instrument exports low level；When the first infrared sensor, which is detected, has workpiece in metallic cylinder, then high level is exported；Work as master controller
When the output signal for detecting infrared radiation thermometer is that the output signal of low level and the first infrared sensor is high level, then master control
Device processed sends to the first robot and gets rid of material signal；The initiating task signal of first robot is set to low level, is expressed as no work
Make task, when there is unfinished work in the first robot, task signal is always high level, when the first robot receives master
Controller send get rid of material signal and its task signal be low level when, the first robot takes the workpiece in metallic cylinder
Go out and abandon in trash receptacle, the first robot returns to initial position and recovers task signal to low electricity after the completion of getting rid of material action
It is flat；When master controller detects the output signal of infrared radiation thermometer and the first infrared sensor all for high level, then main control
Device sends feeding signal to the first robot, when the first robot receives the feeding signal and task signal of master controller transmission
During for low level, then the first robot takes out the workpiece in metallic cylinder into jumping-up punching machine mold, and feeding has been acted
Initial position is returned into rear first robot and task signal is remained into high level, while master controller is sent to jumping-up punch press
Supplied materials signal；There is workpiece in jumping-up punching machine mold when the second infrared sensor is detected, then export high level, when master controller is given
When jumping-up punch press is sent after supplied materials signal and master controller detects the output signal of the second infrared sensor for high level, master control
Device control jumping-up punch press processed carries out jumping-up, and jumping-up punch press jumping-up returns to security bit after terminating, and master controller gives the first machine
People sends jumping-up and completes signal, and the jumping-up that the first robot receives master controller transmission completes signal and the second infrared sensor
Output signal when being high level, then the first robot is by the Workpiece transfer in jumping-up punching machine mold to die of press
In, the first robot returns to initial position and recovers task signal to low level after the completion of transfer movement, and master controller is to upsetting
Thick punch press sends pickup and completes signal and send supplied materials signal to forcing press；The pickup that jumping-up punch press receives master controller is completed
After signal, the first sprinkler is sprayed water to jumping-up punching machine mold, for cooling down jumping-up punching machine mold；When the detection of the 3rd infrared sensor
There is workpiece into die of press, then export high level；When forcing press receives the supplied materials signal of master controller and the 3rd is infrared
When the output signal of sensor is high level, main controller controls ink jet printer is to workpiece ink-jet；After the completion of ink-jet, master controller control
Pressing pressure machine forges and presses workpiece；After forcing press forging and stamping terminate, forcing press returns to security bit, and master controller sends forging to the second robot
Pressure completes signal；The forging and stamping that second robot receives master controller complete signal and the output signal of the 3rd infrared sensor is
During high level, then the second robot is by the Workpiece transfer in die of press to cooling conveyer belt, and transfer movement is completed
Afterwards, the second robot returns to initial position and master controller sends pickup to forcing press and completes signal；Forcing press receives master control
The pickup of device processed is completed after signal, and the second sprinkler is sprayed water to die of press；Main controller controls cooling conveyer belt transports work
In part to workpiece collecting vessel.
10. a kind of abnormal autodiagnosis of the intelligent swage line system of industrial robot in 1-6 according to claim described in any one
Disconnected and processing method, it is characterised in that the abnormal self diagnosis and processing method include：When the first robot goes to take metallic cylinder
During interior workpiece, if its tong has clamped workpiece, the first tong switch output high level, if do not clamped, first
Tong switch output low level, when master controller detects the low level of the first tong switch output, then halt system is run；
If the first robot has successfully picked up workpiece, but drop workpiece during by Workpiece transfer to jumping-up punching machine mold,
Then the first tong switch exports low level, when master controller detects the low level of the first tong switch output in the process
When, then control the first robot to terminate current task, return to initial position, and the task signal of the first robot is set to
Low level；If the first robot is successfully by Workpiece transfer into jumping-up punching machine mold, but workpiece drops in upsetting process,
Second infrared sensor can't detect the workpiece in jumping-up punching machine mold, then the second infrared sensor output low level, main control
Device, which is received, controls jumping-up punch press to terminate jumping-up task and to the first machine human hair after the low level of the second infrared sensor output
Send jumping-up failure signal, the first robot receives after jumping-up failure signal itself task signal being set to low level；If
Jumping-up punch press favorably accomplishes jumping-up task, can not but be pressed from both sides in the workpiece fabrication during the first robot removes to take jumping-up punching machine mold
Firmly workpiece, then the first tong switch output low level, when master controller detects the low level of the first tong switch output, then
Halt system is run；If the first robot has successfully picked up workpiece, but by the process of Workpiece transfer to die of press
In drop workpiece, then the first tong switch output low level, when master controller, that the first tong switch is detected in the process is defeated
During the low level gone out, then control the first robot to terminate current task, return to initial position, and by the task of the first robot
Signal is set to low level, while master controller sends pickup to jumping-up punch press completes signal；If the first robot is successfully
By Workpiece transfer into die of press, but drop workpiece during forging and stamping, and the 3rd infrared sensor can't detect forcing press
Workpiece in mould, then export low level, and main controller controls forcing press terminates forging and stamping task and need not be to the second robot
Send any signal；If forcing press favorably accomplishes forging and stamping task, the workpiece that the second robot is gone to take in die of press is but
Workpiece can not be clamped, then the second tong switch output low level, when master controller detects the second tong switch in the process
During the low level of output, then halt system is run；If the second robot has successfully picked up workpiece, but by Workpiece transfer extremely
Drop workpiece during cooling conveyer belt, then the second tong switch output low level, when master controller is detected in the process
When switching the low level of output to the second tong, then control the second robot to terminate current task, return to initial position, give simultaneously
Forcing press sends pickup and completes signal；In system operation, when master controller detects the first robot, the second machine
People, jumping-up punch press or forcing press can not normal works, then halt system operation due to faults itself.
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