CN107718522B - Automobile composite inner decoration part forming production line safety bus control system - Google Patents
Automobile composite inner decoration part forming production line safety bus control system Download PDFInfo
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- CN107718522B CN107718522B CN201711146171.5A CN201711146171A CN107718522B CN 107718522 B CN107718522 B CN 107718522B CN 201711146171 A CN201711146171 A CN 201711146171A CN 107718522 B CN107718522 B CN 107718522B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C51/00—Shaping by thermoforming, i.e. shaping sheets or sheet like preforms after heating, e.g. shaping sheets in matched moulds or by deep-drawing; Apparatus therefor
- B29C51/26—Component parts, details or accessories; Auxiliary operations
- B29C51/46—Measuring, controlling or regulating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29L—INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
- B29L2031/00—Other particular articles
- B29L2031/58—Upholstery or cushions, e.g. vehicle upholstery or interior padding
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Abstract
The present invention provides a kind of automobile composite inner decoration part forming production line safety bus control system, solve the demoulding of interior gadget process, crawl is difficult, the problems such as cannot achieve self-adapting estimation mold changing and material integration conveying, more particularly to automobile interior trim part forming production line control field, including adaptive feeding work station, multi-freedom robot, self-identifying fast mold change mechanism, unloading station, thermoforming hydraulic press and punching servo hydraulic machine, the feed side of thermoforming hydraulic press is arranged in adaptive feeding work station, the exit side of thermoforming hydraulic press is arranged in multi-freedom robot, the two sides of multi-freedom robot are arranged in unloading station and punching servo hydraulic machine；The present invention can complete independently from 5 critical technological points such as workpiece identification, feeding positioning, hot-forming, workpiece grabbing, reversed blanking splicings, the problems such as the demoulding of the ultralight automotive upholstery process of effective solution and crawl difficulty.
Description
Technical field
The present invention relates to automobile interior trim part forming production line control fields, and in particular to a kind of automobile composite inner decoration part molding
Production line safety bus control system.
Background technique
With the rapid development of national motor-related industries, numerous Chinese-foreign joint venture's projects magnificent and independent brand item
Mesh accelerates independent research speed in succession；In automotive upholstery manufacturing field, automobile composite inner decoration part high frequency forming production line is frequent
Applied to the ultra light composites such as fiber, PVC, diaphragm or similar lightweight, Special-Shaped Surface, large plastometric set multilayer materials
The comprehensive shapings technique such as gluing, hot pressing, slug.
Thermoforming hydraulic press: being the pressure energy using high-temp liquid, so that workpiece is deformed or make material pressure by hydrostatic pressure
Make molding equipment；When thermoforming hydraulic press works, the compression bar of hydraulic cylinder moves straight down, by implementing pressure to workpiece
Complete the compacting of workpiece.
Servo hydraulic machine: refer to and drive main transmission oil pump, the hydraulic press controlled slider of hydraulic press with servo motor.
Servo hydraulic machine substantially loads the control system with feedback device on a hydraulic press, and the signal that can be will test is fed back to
Control system has the characteristics that energy conservation, low noise, flexibility are high, easy to maintenance, high-efficient.
Currently, the processing of domestic automobile inside gadget is mainly the productive temp of usual this inside gadget based on manual operation
About 170 seconds/part, less than 210 seconds/part, You Zhijun has been delivered in " mold manufacture " the 10th phase in 2015 " to close comprehensive production efficiency
In automobile interior trim part forming technical study " paper, this article analyzes different automobile interior trim part forming technique, inquires into
The solution of the defect of common internal decorative handicraft.
However above situation still remains many technical problems: No. 1. lines, communication line and controlling cable lead to overall structure
The continuous stability of complexity, higher cost, system is poor；2. traditional inside gadget process equipment, various techniques and product lack
The scheduling of weary unified collaboration, the flexibility requirements that producing line Alternative cannot be supported parallel；3. removing human factor, the benefit of production equipment
With rate is high, technique beat is lower, the aggregate production rate of production line is low.
Summary of the invention
(1) the technical issues of solving
In view of the deficiencies of the prior art, the present invention provides a kind of automobile interior trim part forming production line bus control system and
Its implementation, solves that the demoulding of interior gadget process in the prior art, crawl is difficult, cannot achieve self-adapting estimation changes
Mould and material integration conveying, inside gadget process equipment, various techniques and the scheduling in the unified collaboration of product shortage, technique beat
It is lower, the low problem of the aggregate production rate of production line.
(2) technical solution
In order to achieve the above object, the present invention is achieved by the following technical programs:
A kind of automobile composite inner decoration part forming production line safety bus control system, including it is adaptive feeding work station, more
Degree of freedom robot, self-identifying fast mold change mechanism, unloading station, thermoforming hydraulic press and punching servo hydraulic machine, it is described
Adaptive feeding work station, multi-freedom robot and unloading station are three material transfer equipments, the adaptive feeding
The feed side of thermoforming hydraulic press is arranged in work station, and the discharging of thermoforming hydraulic press is arranged in the multi-freedom robot
The two sides of multi-freedom robot are arranged in side, the unloading station and punching servo hydraulic machine；The adaptive feeding work
It stands and the labor and materials to be pressed after feeding is sent to position to be pressed and is positioned and is detected, by the fast quick change of the self-identifying
Mold mechanism automatic mold-change match proper mold, then by thermoforming hydraulic press and punching servo hydraulic machine suppressed, it is described mostly from
Feeding, blowing are carried out between thermoforming hydraulic press, punching servo hydraulic machine and unloading station by degree robot, finally by institute
It states unloading station and discharging is completed by control inclined degree.
More preferred, the adaptive feeding work station uses four story frame structure of nested type, including main body base layer,
Adaptive dynamic balance adjustment layer, jacking system layer and level are moved with four layers of fast motion layer, the jacking system layer and level with speed
Layer is referred to as material conveying platform；Wherein, adaptive dynamic balance adjustment layer is four for adjusting the actual displacement value of counter weight device in real time
It is oriented to case structure, is furnished with gravity sensor and angular deviation inductor；Two of jacking system layer are diagonally equipped with displacement sensing
Device, for monitoring the difference that moves forward and backward of material conveying platform, the offset of the adaptive dynamic balance adjustment layer of reed time controll is suspension
Structure, motion control portion drive high-precision screw mechanism by Liang Ge servo speed changing mechanism；Level is horizontally-guided with fast motion layer
Linear guide and roller belt transmission combination structure, horizontal transfer portion are driven to a set of constant speed list and drive four drive system models；
Material movable part be by the clutch of driving jacking system layer servo speed changing mechanism after, chain structure driving roller belt.
More preferred, the adaptive feeding work station further includes spraying for infrared sensor, the coating of security monitoring
Head, double excitation locator and infrared range-measurement system, the infrared sensor and infrared range-measurement system setting in level in fast motion layer,
The paint nozzle comes with laser inductor and is arranged on jacking system layer, and the double excitation locator is separately mounted to
Main body base layer two sides.
More preferred, setting tool has the integral type of double face to vacuumize arm in the multi-freedom robot, thereon
Surface is support face, for accepting the finished product by punching servo hydraulic machine after processed, is set close to the side for vacuumizing arm
There are two hole and vacuum chuck is vacuumized, lower surface is the adsorption plane of rectangular configuration, after absorption is by the hydraulic machining of thermoforming
Semi-finished product.
More preferred, the support face center that the integral type vacuumizes arm is equipped with the multiple spot qualitative perception being circular layout and answers
Device confirms whether support face has workpiece by quality inductor after being punched servo hydraulic machine dnockout, so that control vacuumizes hand
Arm release keeps vacuum state to put down and adsorb the semi-finished product adsorbed by thermoforming hydraulic press.
More preferred, the unloading station is made of stripper and transmission component, and the transmission component controls discharging
Plate tilts different angles.
More preferred, the self-identifying fast mold change mechanism includes mould library transportation system, conveying, mobile mold changing device
And mold positioning and clamping system, when mechanism, which takes orders, to be needed to change the mold, while mold positioning and clamping system is unclamped, conveying is led
Rail jacks up mold, mold is moved to designated position by the Driven by Hydraulic Cylinder of mobile mold changing device, stroke is monitored as built in oil cylinder
Displacement sensor feedback, it is mobile in place after, the unloading of You Moku transportation system and clamping and thermoforming hydraulic press matched mold, again
More new die is moved into position and clamping by mobile mold changing device.
More preferably, the thermoforming hydraulic press and punching servo hydraulic machine and steam heater and waste gas treatment equipment
Formation system is formed, which is 200 DEG C, and waste gas treatment equipment is returned in the exhaust gas centralized after thermoforming
It receives.
Working principle sequentially includes the following steps:
S1, production line starting when, by the ultra light composites such as fiber to be pressed, PVC, diaphragm or similar lightweight material
Material is placed on the material conveying platform of adaptive feeding work station, by the adaptive dynamic balance adjustment of material conveying platform to proper angle position
It sets, by jacking system control material conveying platform displacement, labor and materials to be pressed are sent to position to be pressed by drive system by adjustment height
It sets.
S2, according to the infrared sensor and the equipment such as infrared range-measurement system for being used for security monitoring on adaptive feeding work station,
Pressing component is treated to be positioned and detected；
S3, it is communicated according to self-identifying fast mold change mechanism with main frame PLC, oil cylinder inbuilt displacement sensor monitors feedback letter
Number, mould library transportation system will identify matched mold and carry out mold changing and mold positioning by mobile mold changing device, when mechanism receives
When the order of main frame PLC needs to change the mold state, while mold positioning and clamping system is unclamped, conveying jacks up mold.By moving
Mold is moved to designated position by the Driven by Hydraulic Cylinder for moving mold.After movement in place, the unloading of You Moku transportation system and clamping
With thermoforming hydraulic press matched mold, more new die is moved into position and clamping by moving moulds device again.When thermoforming is hydraulic
When machine mold model fits through, fast mold change mechanism is in locking state；If mismatched, changed the mold, if matching
Mold be in mould library, automatic die changing system can automatic mold-change, without matching mold in Ruo Moku, then automatic die changing system
On alarm mechanism alarm, and mold error signal is shown on main operation screen.
After S4, mold matching, workpiece to be pressed is sent to position to be pressed by adaptive feeding work station, completes material inspection
It surveys and judgement, waiting just after the completion of pressing component is pressed, after press automatically-controlled door is opened, is sent to compacting working position and completes pressure
System, thermoforming hydraulic press and punching servo hydraulic machine and steam heater and waste gas treatment equipment form formation system, treat pressure
Workpiece processed is suppressed, and steam heater heating temperature is 200 DEG C, and waste gas treatment equipment is returned in the exhaust gas centralized after thermoforming
It receives.
S5, had by interior setting tool integral type vacuumize arm multi-freedom robot adsorb by the hydraulic machining of thermoforming after
Blank, realize feeding.After being punched servo hydraulic machine dnockout, host computer is sent a signal to by quality inductor, confirmation is held
Whether support has workpiece, and if the judgment is Yes, then integral type vacuumizes arm release vacuum state, discharges workpiece；If it is determined that
Be it is no, then keep vacuum state, do not discharge the semi-finished product adsorbed by thermoforming hydraulic press.
S6, when press system outgoing signal " casting die is removed ", discharging transmission system control stripper returns to initial position,
When casting die is placed on stripper, discharging transmission system controls stripper and tilts so that operator touches component, completes to unload
Material, work terminate.
(3) beneficial effect
The embodiment of the invention provides a kind of automobile composite inner decoration part forming production line safety bus control systems.Have with
It is lower the utility model has the advantages that
1, the adaptive feeding work station mechanical body part is designed, it is ensured that each portion using 4 story frame structure of nested type
Function separation property between part, is effectively guaranteed the reliability of the work station reciprocal motion.And it be furnished with laser orientation system, base
Expect check device and induction system, realizes the accuracy of workpiece positioning and the reliability of workpiece identification and the safety of operator
Property；
2, integral type vacuumizes arm using two-sided 64 point pressure sensing closed-loop system and self-inducting pumped vacuum systems shape
At Real-time Feedback function, it is ensured that absorption stability of the workpiece in the motion processes such as crawl, nonlinear moving；Wherein adsorption plane is adopted
Real-time Feedback function is formed with bilayer 48 point pressures of circulation sensing control system and self-inducting pumped vacuum systems, it is ensured that workpiece is being grabbed
It takes, the absorption stability in the motion processes such as nonlinear moving, workpiece is effectively guaranteed and falls off is become with workpiece by excessive absorption
A possibility that shape.Support face center is equipped with the 12 point mass inductors that are circular layout, after being punched servo hydraulic machine dnockout, by quality
Inductor sender gives main website PLC, and whether confirmation support face has workpiece；
It 3, is mostly single machine operating mode relative to traditional communication system, this project uses PROFINET system communication, can
After realizing accident investigation, the function that is continued to execute by former workflow.Be further reduced conventional hydraulic machine with from rotation connection
The resetting zero number divided, has saved more quality time for manufacturing enterprise；
4, this programme can complete independently connect from workpiece identification, feeding positioning, hot-forming, workpiece grabbing, reversed blanking
5 critical technological points such as material.Safety bus mode is completely used, adaptive feeding work station, integral type are vacuumized into arm, mostly oneself
By degree robot, unloading station, and the auxiliary being mounted in each equipment adapts to system, mold identifying system, steam heating
Device and waste vapour processing equipment, implementation are uniformly controlled mode.Preferably complete collaborative work and the danger warning machine of each subsystem
System accomplishes 1 point failure, and the qualification rate of workpiece is effectively guaranteed in the initial recovery state of whole line zero, meanwhile, it is also whole line
Safety, reliability provide guarantee；
5, this project is mainly by multi-freedom robot, adaptive feeding work station, self-identifying fast mold change mechanism, discharging
The enclosed production system of work station and two ratio control hydraulic press (400T and 150T) compositions is, it can be achieved that single-piece finished product beat 45
Second/part, compared with manual operation mode (170 seconds/part or so), production efficiency improves about 3.78 times；
6, self-identifying fast mold change mechanism is connect with automation mould library, and self-identifying selects corresponding mould, the peace with host computer
It interactively communicates entirely, it is ensured that the matching of whole line work mold is reduced since mold model mismatches bring loss；
7, servo hydraulic machine is the auxiliary and supplement of thermoforming hydraulic press, solves the problems, such as that energy consumption is high for thermoforming hydraulic press,
Realize energy conservation；(thermoforming hydraulic press belongs to the biggish equipment of energy consumption, but effectively compacting work capacity only accounts for actual consumption energy
2%-10%, remaining energy largely is consumed in the form of thermal energy；
In conclusion the demoulding of the ultralight automotive upholstery process of the project effective solution and crawl difficulty etc. are difficult
Topic, currently, the main processing object of the production line is mostly the ultra light composites such as fiber, PVC, diaphragm or similar light material.
Processing quality no more than 15 kilograms composite material work piece and other aluminums and wooden automobile inside gadget, curstomer's site crawl and
Feeding process accuracy rate is up to 98% or more, and waste recovery rate is also substantially close to 100%.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is schematic diagram of the three-dimensional structure；
Fig. 2 is the system composition block diagram；
Fig. 3 is main working plate block position view；
Fig. 4 is this system workflow schematic diagram；
Fig. 5 is feeding work station structural schematic diagram；
Fig. 6 is self-identifying fast mold change mechanism schematic diagram；
Fig. 7 is that integral type vacuumizes arm structure schematic diagram.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Embodiment 1
The present embodiment solves the problems such as comprehensive and productive temp high speed of production technology, has captured self-adapting estimation
The multinomial key technology such as mold changing systems and material-transporting system.
It is as shown in Figure 1 a kind of automobile composite inner decoration part forming production line safety bus control system, including adaptively send
Expect work station 1, multi-freedom robot 2, self-identifying fast mold change mechanism, unloading station 3, thermoforming hydraulic press 4 and punching
Servo hydraulic machine 5, the adaptive feeding work station 1, multi-freedom robot 2 and unloading station 3 are three material conveyings
The feed side of thermoforming hydraulic press 4 is arranged in equipment, the adaptive feeding work station 1, and the multi-freedom robot 2 is arranged
In the exit side of thermoforming hydraulic press 4, the unloading station 3 and punching servo hydraulic machine 5 are arranged in multi-freedom robot 2
Two sides；The adaptive feeding work station 1 by the labor and materials to be pressed after feeding be sent to position to be pressed and carry out positioning with
Detection matches proper mold by the self-identifying fast mold change mechanism automatic mold-change, then is watched by thermoforming hydraulic press 4 and punching
It takes hydraulic press 5 to be suppressed, the multi-freedom robot 2 is in thermoforming hydraulic press 4, punching servo hydraulic machine 5 and rampman
Make to carry out feeding, blowing between station 3, discharging is finally completed by control inclined degree by the unloading station 3.
As Figure 2-3, this system can be divided into three subsystems again:
One, material-transporting system
1) structure and performance of feeding work station:
The feeding work station mechanical body part is, it can be achieved that six-way moves freely stepless positioning movement, using nested type four
Story frame structure design.Ensure the function separation property between all parts, be effectively guaranteed the work station reciprocal motion can
By property.And it is furnished with laser orientation system, blank check device and induction system, realize the accuracy and workpiece identification of workpiece positioning
Reliability and operator safety.
2) integral type on multi-freedom robot vacuumizes the structure and performance of arm:
The integral type vacuumizes arm using two-sided 64 point pressure sensing closed-loop system and self-inducting pumped vacuum systems shape
At Real-time Feedback function, it is ensured that absorption stability of the workpiece in the motion processes such as crawl, nonlinear moving.Arm itself has
Double effective working faces, while completing to grab function, upper surface may be implemented support and make use, and be furnished with quality inductor, have
The comprehensive performance of the raising of the effect mechanism.
3) structure and performance of unloading station
The unloading station is made of stripper and transmission component, and the transmission component control stripper tilts different
Angle.
Two, Adaptable System
The system mainly includes self-identifying fast mold change mechanism, which includes conveying, mobile mold changing
Device and mold positioning and clamping system.Automatic fast mold change mechanism is connect with automation mould library, self-identifying selection corresponding mould, and upper
The secure interactive communication of position machine, it is ensured that the matching of whole line work mold is reduced since mold model mismatches bring loss.
Three, thermoforming system
The system mainly includes hot-forming hydraulic press, steam-heating system, gas recovery system and punching servo-fluid
Press, shaping speed can realize that 0~20 mm/second is arbitrarily adjustable, and steam heating temperature can reach 200 DEG C.Meanwhile it is all heat at
Exhaust gas centralized recovery after type, whole line meet European Union environmental protection standard.
As shown in figure 4, being this system workflow:
S1, production line starting when, by the ultra light composites such as fiber to be pressed, PVC, diaphragm or similar lightweight material
Material is placed on the material conveying platform of adaptive feeding work station, by the adaptive dynamic balance adjustment of material conveying platform to proper angle position
It sets, by jacking system control material conveying platform displacement, labor and materials to be pressed are sent to position to be pressed by drive system by adjustment height
It sets.
S2, according to the infrared sensor and the equipment such as infrared range-measurement system for being used for security monitoring on adaptive feeding work station,
Pressing component is treated to be positioned and detected；
S3, it is communicated according to self-identifying fast mold change mechanism with main frame PLC, oil cylinder inbuilt displacement sensor monitors feedback letter
Number, mould library transportation system will identify matched mold and carry out mold changing and mold positioning by mobile mold changing device, when mechanism receives
When the order of main frame PLC needs to change the mold state, while mold positioning and clamping system is unclamped, conveying jacks up mold.By moving
Mold is moved to designated position by the Driven by Hydraulic Cylinder for moving mold.After movement in place, the unloading of You Moku transportation system and clamping
With thermoforming hydraulic press matched mold, more new die is moved into position and clamping by moving moulds device again.When thermoforming is hydraulic
When machine mold model fits through, fast mold change mechanism is in locking state；If mismatched, changed the mold, if matching
Mold be in mould library, automatic die changing system can automatic mold-change, without matching mold in Ruo Moku, then automatic die changing system
On alarm mechanism alarm, and mold error signal is shown on main operation screen.
After S4, mold matching, workpiece to be pressed is sent to position to be pressed by feeding work station, material detection is completed and sentences
It is disconnected, it waits just after the completion of pressing component is pressed, after press automatically-controlled door is opened, is sent to compacting working position and completes compacting, heat
Forming hydraulic press and punching servo hydraulic machine and steam heater and waste gas treatment equipment form formation system, treat pressing component
It is suppressed, steam heater heating temperature is 200 DEG C, and waste gas treatment equipment is to the exhaust gas centralized recovery after thermoforming.
S5, had by interior setting tool integral type vacuumize arm multi-freedom robot adsorb by the hydraulic machining of thermoforming after
Blank, realize feeding.After being punched servo hydraulic machine dnockout, host computer is sent a signal to by quality inductor, confirmation is held
Whether support has workpiece, and if the judgment is Yes, then integral type vacuumizes arm release vacuum state, discharges workpiece；If it is determined that
Be it is no, then keep vacuum state, do not discharge the semi-finished product adsorbed by thermoforming hydraulic press.
S6, when press system outgoing signal " casting die is removed ", discharging transmission system control stripper returns to initial position,
When casting die is placed on stripper, discharging transmission system controls stripper and tilts so that operator touches component, completes to unload
Material, work terminate
The demoulding of ultralight automotive upholstery process of the present embodiment effective solution, hot mastication and crawl difficulty etc.
Problem, currently, the main processing object of the production line is mostly the ultra light composites such as fiber, PVC, diaphragm or similar lightweight material
Material.Composite material work piece and other aluminums and wooden automobile inside gadget of the processing quality no more than 15 kilograms.It is grabbed in curstomer's site
It takes with feeding process accuracy rate up to 98% or more, waste recovery rate is also substantially close to 100%.
It is illustrated in figure 5 feeding work station concrete structure schematic diagram in the present embodiment, mechanical body part uses nested type
Four story frame structures design, comprising: main body base layer 6, adaptive dynamic balance adjustment layer 7, jacking system layer 8, level are transported with speed
Dynamic layer 9, wherein jacking system layer 8 and level are referred to as material conveying platform with fast motion layer 9.X, Y, Z coordinate direction can be achieved, back and forth
The stepless positioning of six-way degree of moving freely.
Wherein, adaptive dynamic balance adjustment layer 7 is four guiding case structures, is incuded equipped with gravity sensor and angular deviation
Device.After jacking system 3 sender in place of layer, regulatory function is started to work.According to monitor positioning confirmation specification of workpieces, different works
The difference of the horizontal transmission distance of part adjusts the actual displacement value of counter weight device in real time.When avoiding high-order go up and down, excessive Guide way grinder
Damage and stuck phenomenon.
Jacking system layer 8 is suspension structure, and motion control portion drives high-precision screw rod by Liang Ge servo speed changing mechanism
Mechanism, it is ensured that the synchronous error between 4 points of material conveying platform reaches minimum.Monitoring portion is divided to including diagonal two sets of high precision displacements
Sensor-based system (precision can reach 0.05 millimeter), to monitor the difference that moves forward and backward of material conveying platform, reed time controll adaptively moves flat
The offset of weighing apparatus regulating course 7, it is ensured that the stability of material conveying platform.
Level is horizontally-guided linear guide and roller belt transmission combination structure, horizontal transfer portion with fast motion layer 9
It is driven to a set of constant speed list and drives four drive system models.Material movable part be by driving jacking system layer servo speed changing mechanism from
After conjunction, chain structure driving roller belt, to reach a tractor serves several purposes function.
There are four parts being attached on feeding work station, respectively induction system 10, positioning system in terms of security monitoring
System 11, measuring system 12, paint finishing 13, while paint finishing 13 comes with laser inductor.Induction system is infrared ray sense
It answers；Positioning system 11 is double excitation locator mode, is installed respectively in main body base layer two sides, for measuring workpiece location
Whether default position is met；Measuring system 12 is infrared induction ruler, after positioning system 11 confirms accurate work piece positioning,
Whether the 12 work measurement width of the workpiece of measuring system matches with mold model.Meanwhile measurement fuzzy value is communicated into main website PLC, by
Main website PLC sender monitors spray thrower in real time and opens section position and number in paint finishing 13.Paint finishing 13 carries laser sense
Whether the beginning and end task for answering device to be used to check spray thrower is correct.
For whole displacement of the lines measurement all by respective servo motor sensing control, fixed workpiece, fixed journey system are effective to guarantee
The accuracy of its monitoring position.
It is illustrated in figure 6 self-identifying fast mold change mechanism concrete structure schematic diagram in the present embodiment.The mechanism and main website PLC
Industrial Ethernet PROFINET control system communication, whether judging work according to mold identifying system.When thermoforming hydraulic press
Mold model and punching servo hydraulic machine mold model, when being fitted through by main website PLC, fast mold change mechanism is in locking shape
State.If mismatched, notice punching servo hydraulic machine mold mold changing.Meanwhile the work of thermoforming hydraulic press stops.If matching
Mold be in mould library, system can automatic mold-change.Without matching mold in Ruo Moku, then whole system is alarmed, and in master
Mold error signal is shown in operation display.
Self-identifying fast mold change mechanism mainly includes mould library transportation system 14, conveying 15, mobile mold changing device 16 and mould
Has positioning and clamping system 17.When self-identifying fast mold change mechanism, which takes orders, to be needed to change the mold state, mold positioning and clamping system
While 17 release, conveying 15 jacks up mold.Mold is moved to specific bit by the Driven by Hydraulic Cylinder of mobile mold changing device 16
It sets, stroke monitoring high-precision displacement sensor feedback as built in oil cylinder.After movement in place, the unloading of You Moku transportation system 14 and dress
More new die is moved into position and clamping by mobile mold changing device 16 again by folder and thermoforming hydraulic press matched mold.
It is illustrated in figure 7 integral type in the present embodiment and vacuumizes arm concrete structure schematic diagram, which vacuumizes hand
Arm mechanical body is divided into two working faces, and main working face is that the lower surface of rectangular configuration is adsorption plane 18, function be absorption by
Blank after the hydraulic machining of thermoforming.The other is upper surface is support face 19, function is to accept by punching servo-fluid
Finished product after press is processed, in the side close to robot pivoted arm with there are two vacuumize hole.
In Fig. 7, adsorption plane 18 is using 48 point pressures of double-deck circulation sensing control system and self-inducting pumped vacuum systems
Form Real-time Feedback function, it is ensured that absorption stability of the workpiece in the motion processes such as crawl, nonlinear moving, it is effective to guarantee
A possibility that workpiece falls off with workpiece by excessive absorption deformation.Support face center is equipped with the 12 point mass inductors that are circular layout
20, after being punched servo hydraulic machine dnockout, main website PLC is given by 20 sender of quality inductor, whether confirmation support face 19 has workpiece.
If the judgment is No, then the semi-finished product 21 adsorbed by thermoforming hydraulic press cannot discharge, main screen display punching servo
Hydraulic press workpiece failure.
The advantages of the present embodiment, is as follows:
1, the adaptive feeding work station mechanical body part is designed, it is ensured that each portion using 4 story frame structure of nested type
Function separation property between part, is effectively guaranteed the reliability of the work station reciprocal motion.And it be furnished with laser orientation system, base
Expect check device and induction system, realizes the accuracy of workpiece positioning and the reliability of workpiece identification and the safety of operator
Property；
2, integral type vacuumizes arm using two-sided 64 point pressure sensing closed-loop system and self-inducting pumped vacuum systems shape
At Real-time Feedback function, it is ensured that absorption stability of the workpiece in the motion processes such as crawl, nonlinear moving；Wherein adsorption plane is adopted
Real-time Feedback function is formed with bilayer 48 point pressures of circulation sensing control system and self-inducting pumped vacuum systems, it is ensured that workpiece is being grabbed
It takes, the absorption stability in the motion processes such as nonlinear moving, workpiece is effectively guaranteed and falls off is become with workpiece by excessive absorption
A possibility that shape.Support face center is equipped with the 12 point mass inductors that are circular layout, after being punched servo hydraulic machine dnockout, by quality
Inductor sender gives main website PLC, and whether confirmation support face has workpiece；
It 3, is mostly single machine operating mode relative to traditional communication system, this project uses PROFINET system communication, can
After realizing accident investigation, the function that is continued to execute by former workflow.Be further reduced conventional hydraulic machine with from rotation connection
The resetting zero number divided, has saved more quality time for manufacturing enterprise；
4, this programme can complete independently connect from workpiece identification, feeding positioning, hot-forming, workpiece grabbing, reversed blanking
5 critical technological points such as material.Safety bus mode is completely used, adaptive feeding work station, integral type are vacuumized into arm, mostly oneself
By degree robot, unloading station, and the auxiliary being mounted in each equipment adapts to system, mold identifying system, steam heating
Device and waste vapour processing equipment, implementation are uniformly controlled mode.Preferably complete collaborative work and the danger warning machine of each subsystem
System accomplishes 1 point failure, and the qualification rate of workpiece is effectively guaranteed in the initial recovery state of whole line zero, meanwhile, it is also whole line
Safety, reliability provide guarantee；
5, this project is mainly by multi-freedom robot, adaptive feeding work station, self-identifying fast mold change mechanism, discharging
The enclosed production system of work station and two ratio control hydraulic press (400T and 150T) compositions is, it can be achieved that single-piece finished product beat 45
Second/part, compared with manual operation mode (170 seconds/part or so), production efficiency improves about 3.78 times；
6, self-identifying fast mold change mechanism is connect with automation mould library, and self-identifying selects corresponding mould, the peace with host computer
It interactively communicates entirely, it is ensured that the matching of whole line work mold is reduced since mold model mismatches bring loss；
7, servo hydraulic machine is the auxiliary and supplement of thermoforming hydraulic press, solves the problems, such as that energy consumption is high for thermoforming hydraulic press,
Realize energy conservation；(thermoforming hydraulic press belongs to the biggish equipment of energy consumption, but effectively compacting work capacity only accounts for actual consumption energy
2%-10%, remaining energy largely is consumed in the form of thermal energy；
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification or
Replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (7)
1. a kind of automobile composite inner decoration part forming production line safety bus control system, which is characterized in that including adaptive feeding
Work station, multi-freedom robot, self-identifying fast mold change mechanism, unloading station, thermoforming hydraulic press and punching servo-fluid
Press, the adaptive feeding work station, multi-freedom robot and unloading station be three material transfer equipments, it is described from
The feed side that thermoforming hydraulic press is arranged in feeding work station is adapted to, the multi-freedom robot is arranged in thermoforming hydraulic press
Exit side, the two sides of multi-freedom robot are arranged in the unloading station and punching servo hydraulic machine；It is described adaptive
Labor and materials to be pressed after feeding are sent to position to be pressed and are positioned and detected by feeding work station, by the self-identifying
Fast mold change mechanism automatic mold-change matches proper mold, then is suppressed by thermoforming hydraulic press and punching servo hydraulic machine, institute
It states multi-freedom robot and carries out feeding, blowing between thermoforming hydraulic press, punching servo hydraulic machine and unloading station, most
Discharging is completed by control inclined degree by the unloading station afterwards；
The adaptive feeding work station uses four story frame structure of nested type, including main body base layer, adaptive dynamic balancing tune
Ganglionic layer, jacking system layer and level are referred to as feeding with fast motion layer with four layers of fast motion layer, the jacking system layer and level and put down
Platform；
Wherein, adaptive dynamic balance adjustment layer is oriented to case structures for adjusting the actual displacement value of counter weight device in real time for four,
Equipped with gravity sensor and angular deviation inductor；Two of jacking system layer are diagonally equipped with displacement sensor, send for monitoring
Material platform moves forward and backward difference, and the offset of the adaptive dynamic balance adjustment layer of reed time controll is suspension structure, motion control
Part drives high-precision screw mechanism by Liang Ge servo speed changing mechanism；Level is horizontally-guided linear guide and roller with fast motion layer
Belt transmission combination structure, horizontal transfer portion are driven to a set of constant speed list and drive four drive system models；Material movable part is
After the clutch of driving jacking system layer servo speed changing mechanism, chain structure driving roller belt.
2. automobile composite inner decoration part forming production line safety bus control system according to claim 1, which is characterized in that
The adaptive feeding work station further includes the infrared sensor for security monitoring, paint nozzle, double excitation locator and red
Outer rangefinder, the infrared sensor and infrared range-measurement system are arranged in level in fast motion layer, and the paint nozzle comes with
It laser inductor and is arranged on jacking system layer, the double excitation locator is separately mounted to main body base layer two sides.
3. automobile composite inner decoration part forming production line safety bus control system according to claim 1, which is characterized in that
Setting tool has the integral type of double face to vacuumize arm in the multi-freedom robot, and upper surface is support face, for holding
The finished product by punching servo hydraulic machine after processed is connect, there are two vacuumize hole and vacuum setting close to the side for vacuumizing arm
Sucker, lower surface are the adsorption plane of rectangular configuration, are adsorbed by the semi-finished product after the hydraulic machining of thermoforming.
4. automobile composite inner decoration part forming production line safety bus control system according to claim 3, which is characterized in that
The support face center that the integral type vacuumizes arm is equipped with the multiple spot quality inductor being circular layout, when punching servo hydraulic machine
Confirm whether support face has workpiece by quality inductor after dnockout, vacuumizes arm release to control integral type or keep true
Dummy status puts down and adsorbs the semi-finished product adsorbed by thermoforming hydraulic press.
5. automobile composite inner decoration part forming production line safety bus control system according to claim 1, which is characterized in that
The unloading station is made of stripper and transmission component, and the transmission component control stripper tilts different angles.
6. automobile composite inner decoration part forming production line safety bus control system according to claim 1, which is characterized in that
The self-identifying fast mold change mechanism includes mould library transportation system, conveying, moves mold changing device and mold positioning and clamping system,
When mechanism, which takes orders, to be needed to change the mold state, while mold positioning and clamping system is unclamped, conveying jacks up mold, by moving
Mold is moved to designated position by the Driven by Hydraulic Cylinder for moving mold, and stroke monitoring is fed back by oil cylinder inbuilt displacement sensor,
It is mobile in place after, the unloading of You Moku transportation system and clamping and thermoforming hydraulic press matched mold, again by mobile mold changing device by
More new die is moved into position and clamping.
7. automobile composite inner decoration part forming production line safety bus control system according to claim 1, which is characterized in that
The thermoforming hydraulic press and punching servo hydraulic machine and steam heater and waste gas treatment equipment form formation system, the steam
Heater heating temperature is 200 DEG C, and waste gas treatment equipment is to the exhaust gas centralized recovery after thermoforming.
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| CN201711146171.5A CN107718522B (en) | 2017-11-17 | 2017-11-17 | Automobile composite inner decoration part forming production line safety bus control system |
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| CN201711146171.5A CN107718522B (en) | 2017-11-17 | 2017-11-17 | Automobile composite inner decoration part forming production line safety bus control system |
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| CN108526877A (en) * | 2018-04-10 | 2018-09-14 | 合肥研力电子科技有限公司 | Vehicle-carrying display screen production and assembly line |
| CN109676252A (en) * | 2019-02-02 | 2019-04-26 | 宁波吉利汽车研究开发有限公司 | Laser workstation |
| CN111722602A (en) * | 2020-05-22 | 2020-09-29 | 中建材光芯科技有限公司 | Automatic hot-press molding system of optical fiber panel and working method |
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| CN103071712A (en) * | 2013-03-04 | 2013-05-01 | 重庆江东机械有限责任公司 | Automatic stamping production line for electric appliance casings |
| CN102218814B (en) * | 2011-05-20 | 2013-07-03 | 长春博超汽车零部件股份有限公司 | Automatic thermal forming device for automobile interior parts |
| CN105537391A (en) * | 2016-03-14 | 2016-05-04 | 安徽伟嘉装备技术有限公司 | Production line of water fountain metal plate shells |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102218814B (en) * | 2011-05-20 | 2013-07-03 | 长春博超汽车零部件股份有限公司 | Automatic thermal forming device for automobile interior parts |
| CN103071712A (en) * | 2013-03-04 | 2013-05-01 | 重庆江东机械有限责任公司 | Automatic stamping production line for electric appliance casings |
| CN105537391A (en) * | 2016-03-14 | 2016-05-04 | 安徽伟嘉装备技术有限公司 | Production line of water fountain metal plate shells |
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