CN109317974A - The processing method and system of bracket - Google Patents
The processing method and system of bracket Download PDFInfo
- Publication number
- CN109317974A CN109317974A CN201811079049.5A CN201811079049A CN109317974A CN 109317974 A CN109317974 A CN 109317974A CN 201811079049 A CN201811079049 A CN 201811079049A CN 109317974 A CN109317974 A CN 109317974A
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- bracket
- pipe
- bracket pipe
- processed
- length
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/04—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P15/00—Making specific metal objects by operations not covered by a single other subclass or a group in this subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
Abstract
The present invention provides a kind of processing method of bracket and systems, the described method includes: the length and bracket that obtain embryonic tube are at sets of data, wherein, the complete data of bracket include the assembly information of the quantity of bracket to be processed, the length of each bracket to be processed and each bracket to be processed, wherein, assembly information includes the workpiece to be assembled, the position of each workpiece and angle；It plans that the bracket pipe of each embryonic tube cuts quantity, bracket pipe Cutting Length according to the length of the length of embryonic tube, the quantity of bracket to be processed and each bracket to be processed, and plans the assembly technology process of each bracket pipe according to the assembly information of each bracket to be processed；The control instruction to multiple executing agencies is generated according to the cutting quantity of planning, Cutting Length and assembly technology process；Corresponding executing agency is controlled according to control instruction to cut embryonic tube, and controls the bracket pipe that corresponding executing agency obtains cutting and assembles, to obtain bracket to be processed.
Description
Technical field
The present invention relates to automatic assembly line technical fields, and in particular to the processing method of bracket a kind of and a kind of bracket plus
Work system.
Background technique
Bracket supports the primary structure of device as contact net, is the important component of contact net.At present for bracket
Although processing also by more process equipment, labor workload is still very big in the process flows such as assembly, automation
It is still to be improved with intelligent level.Also, current bracket processing, is usually cut into required wrist for the longer embryonic tube of length
Arm pipe, and bracket pipe is further processed and is assembled to obtain required bracket, in the process of bracket, as
The embryonic tube of raw material haves the defects that clout is more mostly after being cut into bracket pipe, and waste of raw materials is than more serious.
Summary of the invention
The present invention is the technical issues of solving low current bracket process automation intelligent level, waste of raw materials, to provide
A kind of processing method of bracket and a kind of system of processing of bracket.
The technical solution adopted by the invention is as follows:
A kind of processing method of bracket, comprising: the length and bracket for obtaining embryonic tube are at sets of data, wherein the bracket at
Sets of data includes the quantity of bracket to be processed, the length of each bracket to be processed and each bracket to be processed
Assembly information, wherein the assembly information includes the workpiece to be assembled, the position of each workpiece and angle；According to the embryo
The length of the length of pipe, the quantity of bracket to be processed and each bracket to be processed plans that the bracket pipe of each embryonic tube is cut
Quantity, bracket pipe Cutting Length are cut, and plans the assembly of each bracket pipe according to the assembly information of each bracket to be processed
Process flow；The assembly of quantity, bracket pipe Cutting Length and each bracket pipe is cut according to the bracket pipe of each embryonic tube of planning
Process flow generates the control instruction to multiple executing agencies；Corresponding executing agency is controlled to described according to the control instruction
Embryonic tube is cut, and is controlled the bracket pipe that corresponding executing agency obtains cutting and assembled, to be processed to obtain
Bracket.
It is planned according to the length of the length of the embryonic tube, the quantity of bracket to be processed and each bracket to be processed
The bracket pipe of each embryonic tube cuts quantity, bracket pipe Cutting Length, specifically includes: according to the length of the embryonic tube, to be processed
Bracket quantity and each bracket to be processed length obtain bracket pipe cutting quantity, bracket pipe Cutting Length combination,
And it selects so that the least bracket pipe cutting quantity for combining to determine each embryonic tube of embryonic tube cutting clout, bracket pipe cutting length
Degree.
The executing agency includes: the pusher and feeding motor positioned at embryonic tube charging equipment station；It is cut positioned at embryonic tube
Cutting head, polishing motor, bore motor and the embryonic tube feeding positioning servo of drilled hole polishing equipment station；Positioned at bracket pipe
Convey the ink jet numbering machine and bracket pipe coding positioning chuck of coding station；Accessory feeding positioned at bracket pipe fitting feeding station is mechanical
Hand clamp hand, accessory feeding assembly positioning cylinder and assembly accessory feeding manipulator servo group；Positioned at bracket pipe fitting assembly station
Assembly clamp control mechanism and assembly the turn of the screw servo group；Bracket pipe transport mechanism, the bracket pipe transport mechanism includes wrist
Arm pipe transfer robot clamp hand, bracket pipe transmission truss manipulator servo group 1, bracket pipe transmit 2 and of truss manipulator servo group
Bracket pipe transmits positioning chuck, wherein the bracket pipe fitting assembly station includes multiple sub- stations, the multiple sub- station point
Other places are in different location.
The assembly technology process of each bracket pipe is planned according to the assembly information of each bracket to be processed, it is specific to wrap
It includes: the position of the workpiece, each workpiece to be assembled according to each bracket to be processed, angle and the multiple sub- station
Position determines the sub- station for participating in assembly, and determines the assemble sequence for participating in the sub- station of assembly.
A PLC (Programmable is respectively set in corresponding each functional station and the bracket pipe transport mechanism
Logic Controller, programmable logic controller (PLC)) module, each PLC module led to by communication line and control centre
Letter is to receive the control instruction.
The processing method of the bracket further include: the turn of the screw electricity is obtained by the communication line in real time in assembling process
Machine torque value, with real-time control screw rod or the assembly torque of nut.
The processing method of the bracket further include: obtain the current location of bracket pipe；According to the current location of bracket pipe
Determine the amount of movement of the bracket pipe coding positioning chuck, the bracket pipe transmission positioning chuck and truss.
Wherein, when the pipe tail of bracket pipe is located at the bracket pipe coding positioning chuck rear, the bracket pipe spray is calculated
The amount of movement of code positioning chuck is mobile to control the bracket pipe coding positioning chuck；Tube head and target position when bracket pipe
When distance is greater than 0, the range of truss is calculated according to the tube head position of bracket pipe, the bracket pipe transmits positioning chuck most
Big stroke, and the amount of movement of the biggish truss of range or bracket pipe transmission positioning chuck is calculated to control the truss or wrist
It is mobile that arm pipe transmits positioning chuck；When the tube head of bracket pipe is less than or equal to 0 at a distance from target position, the truss is calculated
Amount of movement is mobile to control the truss, and the bracket pipe transmission positioning chuck rotation is controlled when bracket pipe needs to rotate.
A kind of system of processing of bracket, including control centre and multiple executing agencies, wherein the control centre obtains embryo
The length and bracket of pipe are at sets of data, wherein the complete data of bracket include the quantity of bracket to be processed, each wanted
The assembly information of the length of the bracket of processing and each bracket to be processed, and according to the length of the embryonic tube and the bracket
The bracket pipe of the complete each embryonic tube of data schema cuts the assembly technology stream of quantity, bracket pipe Cutting Length and each bracket pipe
Journey, and according to the bracket pipe cutting quantity of each embryonic tube of planning, the assembler of bracket pipe Cutting Length and each bracket pipe
Skill process generates the control instruction to the multiple executing agency, and controls corresponding executing agency pair according to the control instruction
The embryonic tube is cut, and the bracket pipe that the corresponding executing agency of control obtains cutting assembles, to obtain being wanted
The bracket of processing.
The control centre includes supervisory control desk, live electrical cabinet and each functional station control cabinet.
Beneficial effects of the present invention:
The present invention cuts quantity, wrist by the bracket pipe of each embryonic tube of the complete data schema of length and bracket according to embryonic tube
The assembly technology process of arm pipe Cutting Length and each bracket pipe, and control instruction is accordingly generated, and according to control instruction control
It makes corresponding executing agency to cut embryonic tube, and controls the bracket pipe that corresponding executing agency obtains cutting and fill
Match, to obtain bracket to be processed, thereby, it is possible to conveniently realize the planning and implementation of bracket cutting, assembly, improves bracket
The automation and intelligent level of processing, also, the cutting clout of embryonic tube can be effectively reduced by the planning that bracket is cut, subtract
Few waste of raw materials.
Detailed description of the invention
Fig. 1 is the flow chart of the processing method of the bracket of the embodiment of the present invention；
Fig. 2 is different types of cantilever structure schematic diagram of one embodiment of the invention；
Fig. 3 is the structural schematic diagram of the system of processing of the bracket of one embodiment of the invention；
Fig. 4 is position axis arrangement form and the signal of parameter zero point in the system of processing of the bracket of one embodiment of the invention
Figure；
Fig. 5 is the flow chart of the processing method of the bracket of a specific embodiment of the invention；
Fig. 6 is that the bracket pipe of one specific embodiment of the present invention cuts the flow chart of quantity length planing method；
Fig. 7 is the chuck of one specific embodiment of the present invention and the decision making algorithm flow chart of truss.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, the processing method of bracket of the invention includes:
S1, the length for obtaining embryonic tube and bracket are at sets of data, wherein the complete data of bracket include bracket to be processed
The assembly information of quantity, the length of each bracket to be processed and each bracket to be processed, wherein assembly information includes
The position for the workpiece, each workpiece to be assembled and angle.
It should be understood that different types of bracket, assembly information is different.In the actual implementation process, bracket type can
It is associated with assembly information.In one embodiment of the invention, as shown in Fig. 2, bracket to be processed is there are three types of type.
Wherein, bracket 1 is Horizontal Cantilever, and bracket 2 and bracket 3 are different types of inclined cantilever, and bracket 1 will assemble Messenger Wire base, one
A bushing double eye and a supporting clip, bracket 2 will assemble a bushing double eye and two supporting clips, and bracket 3 will assemble one
A bushing double eye and three supporting clips.Also, each workpiece of every kind of bracket has preset in respective bracket axial direction
Angle all has preset distance between each workpiece of every kind of bracket, between each workpiece and bracket one end.
S2 is planned according to the length of the length of embryonic tube, the quantity of bracket to be processed and each bracket to be processed
The bracket pipe of each embryonic tube cuts quantity, bracket pipe Cutting Length, and is advised according to the assembly information of each bracket to be processed
Draw the assembly technology process of each bracket pipe.
The quantity of above-mentioned bracket to be processed is total cutting quantity of bracket pipe, the length of embryonic tube and each institute
The length of the bracket to be processed then determines the quantity for the bracket pipe that each embryonic tube can be cut and the cutting of bracket pipe
The assembly information of length, each bracket to be processed then determines the assembly technology process of bracket pipe.
In one embodiment of the invention, not only assembly information is not quite similar bracket to be processed, and length is also not to the utmost
It is identical.For example, bracket to be processed may include the Horizontal Cantilever and inclined cantilever of different length and different assembly methods.Therefore, it needs
The assembly technology process of each bracket pipe is planned for different length and the bracket of different assembly methods, and can be cut based on embryonic tube
The number of clout is cut to plan the quantity and length of multiple bracket pipes that embryonic tube is cut.
It in one embodiment of the invention, specifically can be according to the length of embryonic tube, the quantity of bracket to be processed and every
The length of a bracket to be processed obtains bracket pipe cutting quantity, the combination of bracket pipe Cutting Length, and selects so that embryonic tube is cut
The least combination of clout is cut to determine that the bracket pipe of each embryonic tube cuts quantity, bracket pipe Cutting Length.For example, if embryo
The length of pipe be 12m, bracket to be processed be 5, two of them length 6m, three length 4m, then bracket pipe cutting quantity,
The combination of bracket pipe Cutting Length has, and the first combination: embryonic tube a is cut into 2 6m bracket pipes, embryonic tube b is cut into 3 4m bracket pipes；
Second combination: embryonic tube a is cut into 1 6m bracket pipe and 1 4m bracket pipe, embryonic tube b are cut into 1 6m bracket pipe and 1 4m wrist
Arm pipe, embryonic tube c are cut into 1 4m bracket pipe；... and the first above-mentioned combination cutting clout is minimum, is 0m, therefore may be selected
Quantity and length data in above-mentioned first combination cut embryonic tube.
In one embodiment of the invention, bracket pipe fitting assembly station includes multiple sub- stations, multiple sub- stations point
Other places are in different location.It specifically can be according to workpiece that each bracket to be processed to be assembled, the position of each workpiece, angle
The sub- station for participating in assembly is determined with the position of multiple sub- stations, and determines the assemble sequence for participating in the sub- station of assembly.
S3 is generated according to the cutting quantity of the bracket pipe of planning, Cutting Length and assembly technology process to multiple execution machines
The control instruction of structure.
S4 controls corresponding executing agency according to control instruction and cuts to embryonic tube, and controls corresponding executing agency
The bracket pipe obtained to cutting assembles, to obtain bracket to be processed.
The system of processing for also proposing a kind of bracket of the invention, including control centre and multiple executing agencies.Above-mentioned wrist
The processing method of arm can be implemented by the system of processing of the bracket.Wherein, the length and bracket that control centre obtains embryonic tube are at tricks
According to, and quantity, bracket pipe Cutting Length are cut according to the bracket pipe of the length of embryonic tube and each embryonic tube of the complete data schema of bracket
With the assembly technology process of each bracket pipe, and cut according to the bracket pipe cutting quantity of each embryonic tube of planning, bracket pipe
Length and the assembly technology process of each bracket pipe generate the control instruction to multiple executing agencies, and are controlled according to control instruction
Embryonic tube cuts in corresponding executing agency, and the bracket pipe that the corresponding executing agency of control obtains cutting fills
Match, to obtain bracket to be processed.
In one particular embodiment of the present invention, as shown in figure 3, control centre may include total in Pipe Cutting planning layer
Console and live electrical cabinet in field control layer, control centre may also include each functional station in equipment execution level
Control cabinet.Supervisory control desk includes touch screen, industrial personal computer and ethernet gateway, and supervisory control desk also passes through Ethernet respectively and holds
Device, long-range 3D monitoring PC are communicated.Live Electric Appliance Cabinet includes bus type motion controller and voltage changer.Supervisory control desk and
Live electrical cabinet is communicated also by Ethernet.As shown in figure 3, corresponding each functional station and bracket pipe transport mechanism difference
One PLC module is set, i.e. to PLC6 module, PLC module may be disposed in each functional station control cabinet PLC1.Each PLC mould
Block is communicated by communication line with control centre to receive control instruction.In one particular embodiment of the present invention, it communicates
Line is MIII bus.In other embodiments of the invention, communication line can also be other kinds of bus.The length and wrist of embryonic tube
Arm can input the industrial personal computer of supervisory control desk at sets of data, and industrial personal computer plans that the bracket pipe cutting quantity of each embryonic tube, bracket pipe are cut
The assembly technology process of length and each bracket pipe is cut, and generates control instruction, and control instruction is transmitted by Ethernet
To bus type motion controller, control instruction can be transmitted to each PLC module by MIII bus by bus type motion controller.
As shown in figure 3, executing agency is in field control layer, executing agency includes: positioned at embryonic tube charging equipment station
Pusher and feeding motor；Positioned at the cutting head of embryonic tube cutting drilling grinding apparatus station, polishing motor, bore motor and embryo
Pipe feeding positioning servo；Positioned at the ink jet numbering machine and bracket pipe coding positioning chuck of bracket pipe conveying coding station；Positioned at wrist
Accessory feeding manipulator clamp hand, accessory feeding assembly positioning cylinder and the assembly accessory feeding manipulator of arm pipe fitting feeding station
Servo group；Assembly positioned at bracket pipe fitting assembly station clamps control mechanism and assembly the turn of the screw servo group；The transmission of bracket pipe
Mechanism, bracket pipe transport mechanism include bracket pipe transfer robot clamp hand, bracket pipe transmission truss manipulator servo group 1, bracket
Pipe transmits truss manipulator servo group 2 and bracket pipe transmits positioning chuck.
In one particular embodiment of the present invention, as shown in figure 3, bracket pipe fitting feeding station and bracket pipe fitting dress
It include sub- station 1#, 2#, 3# and 4# station with station, 1#, 2#, 3# and 4# station are respectively to assemble different workpiece.
In one particular embodiment of the present invention, as shown in figure 4, the saw blade of cutting head can be located at zero point, drilling
Motor and the drill bit of driving, motor-driven disk, the spray gun of ink jet numbering machine, 1#, 2#, 3# and 4# station repaired of polishing can be respectively away from zero points
L1, L2, L3, L4, L5, L6, L7 sequentially arrange at place.It as a result, can be according to saw blade position and the current bracket pipe to be cut
Length drives embryonic tube reach suitable position to be cut.It, can be according to bit location and current after cutting obtains bracket pipe
The position driving bracket pipe to drill on canalis carpi to be processed reaches suitable position to drill, then by repairing disk to cutting
Face is polished, and reaches suitable position further according to the position driving bracket pipe of coding on Burners Positions and current canalis carpi to be processed
It sets to carry out coding.Next enter assembly technology process, wherein between can be according to 1#, 2#, 3# and 4# station and zero point
The position of size, the workpiece that each bracket to be processed to be assembled, each workpiece, i.e., with preset such as bracket one end it
Between size selection participate in assembly sub- station.For example, the bracket 1 in above-mentioned Fig. 3 can be filled by 1#, 2#, 3# station
Match, bracket 2 can be assembled by 2#, 3#, 4# station.It, can be further according to above-mentioned after determining the sub- station for participating in assembly
Station size and workpiece size selection participate in the assemble sequence of the sub- station of assembly, and it is most short to meet mobile accessible and moving distance
Equal restrictive conditions.
In one embodiment of the invention, the torsion of the turn of the screw motor can be also obtained in real time by communication line in assembling process
Square value, with real-time control screw rod or the assembly torque of nut.Can real-time measurement the turn of the screw motor torque value, and pass through communication
Line is uploaded to bus type motion controller in real time, and is uploaded to industrial personal computer by Ethernet, and industrial personal computer can be twisted according to current
The torque value of screw motor generates adjustment instruction, and instruction is finally transmitted to assembly the turn of the screw servo group to the turn of the screw motor
Torque value adjusted in real time.Thereby, it is possible to accurately control assembly torque, assembling quality is improved.
In one particular embodiment of the present invention, as shown in figure 5, the processing method of bracket can comprise the following steps that by
Bracket is imported into industrial personal computer at sets of data by excel table；According to embryonic tube length and the planning bracket pipe cutting of complete tables of data
Quantity and bracket length of tube (meeting embryonic tube minimal waste)；According to bracket pipe and complete tables of data assembly information planning bracket pipe dress
With process flow (meeting position axis planning principles)；Servo is positioned by embryonic tube feeding after confirmation planning, embryonic tube is sent to finger
Measured length position；Control cutting head carries out cutting operation up and down；Servo is positioned by bracket pipe coding to navigate to bracket pipe
Specified coding initial position, wherein coding position can be it is multiple, can multipass bracket pipe coding positioning servo by bracket pipe
Navigate to corresponding specified coding initial position；It controls ink jet numbering machine and coding positions servo uniform motion, execute coding operation；Spray
Bracket pipe is sent to bracket pipe fitting assembly station by code positioning servo；Carry out assembly or the 2#3#4# station of 1#2#3# station
Assembly can assemble every time the workpiece of three positions by the grouping to 1# to 4# station；In the assembly for carrying out every group of station
When, assembly accessory feeding manipulator servo group work, accessory feeding manipulator clamp hand grabs on accessory to assembly station；Bracket pipe
Bracket pipe is passed through this group of station by transfer robot；Judge whether to reach each assembly position of the group；The group is each if reaching
It assembles the turn of the screw servo group and carries out assembling work, carry out moment of torsion control；Judge whether the assembly of bracket pipe finishes；The wrist if finishing
Arm pipe transmits truss manipulator and carries out blanking operation by servo group 2；Judge into sets of data whether completion of processing；If undressed
It finishes, the step before returning to above-mentioned confirmation planning, feeding continues to process；Terminate process if completion of processing.
In one particular embodiment of the present invention, as shown in fig. 6, bracket pipe cutting quantity, bracket pipe Cutting Length rule
Drawing can comprise the following steps that imported into bracket in industrial personal computer at sets of data by excel table；User setting first section embryonic tube adds
Section chief's degree, and set normal process pipe range parameter；When calling most material-saving planning algorithm, complete data combination is traversed, and calculate
Each bracket pipe plans length combination, so that embryonic tube cutting clout is minimum；When the flat skew paired planning algorithm of calling most material-saving, traversal
Complete data combination, and flat tiltedly combination bracket pipe is found out, calculating is each to equal oblique two brackets pipe planning length combination, so that embryonic tube is cut
Clout is minimum；Bracket pipe data are graphically finally shown into program results.
In addition, bracket processing method of the invention, further includes the decision making algorithm of chuck and truss, to determine which work selected
Tool executes walking range.Specifically, after being cut into bracket pipe, the current location of bracket pipe can be obtained, and according to bracket
The current location of pipe determines the amount of movement of bracket pipe coding positioning chuck, bracket pipe transmission positioning chuck and truss.Wherein, work as wrist
When the pipe tail of arm pipe is located at bracket pipe coding positioning chuck rear, the amount of movement of bracket pipe coding positioning chuck is calculated to control wrist
Arm pipe coding positioning chuck is mobile；When the tube head of bracket pipe is greater than 0 at a distance from target position, according to the tube head position of bracket pipe
Set calculate truss range, bracket pipe transmission positioning chuck range, and calculate the biggish truss of range or
The amount of movement of bracket pipe transmission positioning chuck is mobile to control truss or bracket pipe transmission positioning chuck；When bracket pipe tube head with
When the distance of target position is less than or equal to 0, it is mobile to control truss to calculate the amount of movement of truss, and when bracket pipe needs to rotate
Control the transmission positioning chuck rotation of bracket pipe.
In one particular embodiment of the present invention, as shown in fig. 7, the decision making algorithm of chuck and truss includes following step
It is rapid: to judge whether bracket pipe coding positioning chuck is greater than 0 in the pipe tail surplus of the positive limit；If it is, calculating the spray of bracket pipe
The amount of movement of code positioning chuck；If it is not, then obtaining tube head at a distance from target position, pipe tail position；Judge tube head and target
Whether the distance of position is greater than 0；If distance is less than or equal to 0, the amount of movement of truss is calculated, then judges whether to need to revolve
Turn, bracket pipe transmission positioning chuck is calculated when needing to rotate and clamps pipe tail amount of movement, and the transmission positioning chuck rotation of bracket pipe；
If distance is greater than 0, tube head present position, the present lifting status of station 1234# are calculated；This purlin is calculated according to tube head position
The range of frame；The range of this bracket pipe transmission positioning chuck is calculated according to tube head position, while determining bracket pipe
Whether there is obstacle between transmission positioning chuck and station, if having catcher etc.；Whose stroke maximum of the two compared, who is able to satisfy row
Journey；It determines the maximum tool of stroke, and calculates the amount of movement of the tool, when truss and bracket pipe transmission positioning chuck meet simultaneously
When condition, bracket pipe, which transmits positioning chuck, has higher priority.
In conclusion the present invention is cut by the bracket pipe of each embryonic tube of the complete data schema of length and bracket according to embryonic tube
The assembly technology process of quantity, bracket pipe Cutting Length and each bracket pipe is cut, and accordingly generates control instruction, and according to control
System instruction controls corresponding executing agency and cuts to embryonic tube, and controls the bracket pipe that corresponding executing agency obtains cutting
It is assembled, to obtain bracket to be processed, thereby, it is possible to conveniently realize the planning and implementation of bracket cutting, assembly, is mentioned
The automation and intelligent level of high bracket processing, also, the cutting of embryonic tube can be effectively reduced by the planning that bracket is cut
Clout reduces waste of raw materials.
In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. a kind of processing method of bracket characterized by comprising
The length and bracket for obtaining embryonic tube are at sets of data, wherein the complete data of bracket include the number of bracket to be processed
The assembly information of amount, the length of each bracket to be processed and each bracket to be processed, wherein the assembly information packet
Include the workpiece to be assembled, the position of each workpiece and angle；
It is each according to the planning of the length of the length of the embryonic tube, the quantity of bracket to be processed and each bracket to be processed
The bracket pipe of embryonic tube cuts quantity, bracket pipe Cutting Length, and is planned often according to the assembly information of each bracket to be processed
The assembly technology process of a bracket pipe；
The assembly technology stream of quantity, bracket pipe Cutting Length and each bracket pipe is cut according to the bracket pipe of each embryonic tube of planning
Control instruction of the Cheng Shengcheng to multiple executing agencies；
Corresponding executing agency is controlled according to the control instruction to cut the embryonic tube, and controls corresponding executing agency
The bracket pipe obtained to cutting assembles, to obtain bracket to be processed.
2. the processing method of bracket according to claim 1, which is characterized in that according to the length of the embryonic tube, to be added
The quantity of the bracket of work and the length of each bracket to be processed plan that the bracket pipe cutting quantity of each embryonic tube, bracket pipe are cut
Length is cut, is specifically included:
Bracket is obtained according to the length of the length of the embryonic tube, the quantity of bracket to be processed and each bracket to be processed
Pipe cuts quantity, the combination of bracket pipe Cutting Length, and selects so that the least combination of embryonic tube cutting clout is to determine each embryonic tube
Bracket pipe cut quantity, bracket pipe Cutting Length.
3. the processing method of bracket according to claim 1 or 2, which is characterized in that the executing agency includes:
Positioned at the pusher and feeding motor of embryonic tube charging equipment station；
It is watched positioned at the cutting head of embryonic tube cutting drilling grinding apparatus station, polishing motor, bore motor and embryonic tube feeding positioning
Take mechanism；
Positioned at the ink jet numbering machine and bracket pipe coding positioning chuck of bracket pipe conveying coding station；
Accessory feeding manipulator clamp hand, accessory feeding positioned at bracket pipe fitting feeding station assemble positioning cylinder and assembly accessory
Feeding manipulator servo group；
Assembly positioned at bracket pipe fitting assembly station clamps control mechanism and assembly the turn of the screw servo group；
Bracket pipe transport mechanism, the bracket pipe transport mechanism include bracket pipe transfer robot clamp hand, bracket pipe transmission truss
Manipulator servo group 1, bracket pipe transmission truss manipulator servo group 2 and bracket pipe transmit positioning chuck,
Wherein, the bracket pipe fitting assembly station includes multiple sub- stations, and the multiple sub- station is respectively at different location.
4. the processing method of bracket according to claim 3, which is characterized in that according to the dress of each bracket to be processed
Assembly technology process with each bracket pipe of information planning, specifically includes:
Position, angle and the multiple sub- station of the workpiece, each workpiece to be assembled according to each bracket to be processed
Position determine participate in assembly sub- station, and determine participate in assembly sub- station assemble sequence.
5. the processing method of bracket according to claim 4, which is characterized in that corresponding each functional station and the bracket
A PLC module is respectively set in pipe transport mechanism, and each PLC module is communicated by communication line with control centre to receive
State control instruction.
6. the processing method of bracket according to claim 5, which is characterized in that further include:
The turn of the screw motor torque values are obtained by the communication line in real time in assembling process, with real-time control screw rod or nut
Assemble torque.
7. the processing method of bracket according to claim 4, which is characterized in that further include:
Obtain the current location of bracket pipe；
The bracket pipe coding positioning chuck, bracket pipe transmission positioning chuck and purlin are determined according to the current location of bracket pipe
The amount of movement of frame.
8. the processing method of bracket according to claim 7, which is characterized in that wherein,
When the pipe tail of bracket pipe is located at the bracket pipe coding positioning chuck rear, the bracket pipe coding positioning chuck is calculated
Amount of movement it is mobile to control the bracket pipe coding positioning chuck；
When the tube head of bracket pipe is greater than 0 at a distance from target position, the maximum of truss is calculated according to the tube head position of bracket pipe
The range of stroke, bracket pipe transmission positioning chuck, and calculate the biggish truss of range or the transmission of bracket pipe calmly
The amount of movement of position chuck is mobile to control the truss or bracket pipe transmission positioning chuck；
When the tube head of bracket pipe is less than or equal to 0 at a distance from target position, it is described to control to calculate the amount of movement of the truss
Truss is mobile, and the bracket pipe transmission positioning chuck rotation is controlled when bracket pipe needs to rotate.
9. a kind of system of processing of bracket, which is characterized in that including control centre and multiple executing agencies, wherein the control
The length and bracket that center obtains embryonic tube are at sets of data, wherein the complete data of bracket include the number of bracket to be processed
The assembly information of amount, the length of each bracket to be processed and each bracket to be processed, and according to the length of the embryonic tube
The bracket pipe of degree and each embryonic tube of the complete data schema of the bracket cuts quantity, bracket pipe Cutting Length and each bracket pipe
Assembly technology process, and bracket pipe cutting quantity, bracket pipe Cutting Length and each bracket of each embryonic tube according to planning
The assembly technology process of pipe generates the control instruction to the multiple executing agency, and is controlled accordingly according to the control instruction
The embryonic tube cuts in executing agency, and the bracket pipe that the corresponding executing agency of control obtains cutting assembles,
To obtain bracket to be processed.
10. the system of processing of bracket according to claim 9, which is characterized in that the control centre include supervisory control desk,
Live electrical cabinet and each functional station control cabinet.
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| CN110524191A (en) * | 2019-08-20 | 2019-12-03 | 哈尔滨创博智能装备有限公司 | A kind of railway bracket component production method |
| CN111754036A (en) * | 2020-06-17 | 2020-10-09 | 中铁第四勘察设计院集团有限公司 | Cantilever pre-batching nesting method, processing device and terminal equipment |
| CN111774869A (en) * | 2020-07-31 | 2020-10-16 | 中铁建电气化局集团第一工程有限公司 | Simplified positioning tube and positioning upright column pre-assembly system for cantilever pre-assembly |
| CN112200338A (en) * | 2019-07-08 | 2021-01-08 | 常州数控技术研究所 | Pipe cutting planning method and device, and pipe production method and system |
| CN112192967A (en) * | 2019-07-08 | 2021-01-08 | 常州数控技术研究所 | Spray code method and device for cantilever |
| CN112775674A (en) * | 2020-12-25 | 2021-05-11 | 常州数控技术研究所 | Multi-station parallel execution machining method and system for machining wrist arm |
| CN113732718A (en) * | 2021-09-29 | 2021-12-03 | 中铁建电气化局集团第一工程有限公司 | Flat and inclined cantilever machining device |
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| CN112192967A (en) * | 2019-07-08 | 2021-01-08 | 常州数控技术研究所 | Spray code method and device for cantilever |
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| CN112775674A (en) * | 2020-12-25 | 2021-05-11 | 常州数控技术研究所 | Multi-station parallel execution machining method and system for machining wrist arm |
| CN113732718A (en) * | 2021-09-29 | 2021-12-03 | 中铁建电气化局集团第一工程有限公司 | Flat and inclined cantilever machining device |
| WO2023082488A1 (en) * | 2021-11-15 | 2023-05-19 | 中铁电气化局集团有限公司 | Horizontal cantilever production device |
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