CN109317974B - Method and system for machining wrist arm - Google Patents
Method and system for machining wrist arm Download PDFInfo
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- CN109317974B CN109317974B CN201811079049.5A CN201811079049A CN109317974B CN 109317974 B CN109317974 B CN 109317974B CN 201811079049 A CN201811079049 A CN 201811079049A CN 109317974 B CN109317974 B CN 109317974B
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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
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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
- B23P15/00—Making specific metal objects by operations not covered by a single other subclass or a group in this subclass
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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
- 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 invention provides a method and a system for processing a wrist arm, wherein the method comprises the following steps: acquiring the length of a embryonic tube and complete data of wrists, wherein the complete data of wrists comprises the number of wrists to be processed, the length of each of wrists to be processed and assembly information of each of wrists to be processed, and the assembly information comprises workpieces to be assembled, and the position and the angle of each workpiece; planning the cutting number and the cutting length of the wrist arm tube of each embryonic tube according to the length of the embryonic tube, the number of the wrists to be processed and the length of each wrist to be processed, and planning the assembly process flow of each wrist arm tube according to the assembly information of each wrist to be processed; generating control instructions for the plurality of execution mechanisms according to the planned cutting number, cutting length and assembly process flow; and controlling the corresponding executing mechanism to cut the embryonic tube according to the control instruction, and controlling the corresponding executing mechanism to assemble the cut cantilever tube so as to obtain the cantilever to be processed.
Description
Technical Field
The invention relates to the technical field of automatic production lines, in particular to a processing method and a processing system of a wrist arm.
Background
The cantilever is used as a main structure of a contact net supporting device and is an important component of the contact net. At present, the processing of the wrist arm is carried out by more processing equipment, but the manual workload in the process flows of assembly and the like is still large, and the automation and intellectualization level still needs to be improved. In addition, in the current wrist arm processing, a blank tube with a longer length is generally cut into a required wrist arm tube, and the required wrist arm is obtained by further processing and assembling the wrist arm tube.
Disclosure of Invention
The invention provides a processing method and a processing system of a cantilever, aiming at solving the technical problems of low automation and intelligentization level and raw material waste of the existing cantilever processing.
The technical scheme adopted by the invention is as follows:
a processing method of a wrist arm comprises the following steps: acquiring the length of a embryonic tube and complete data of wrists, wherein the complete data of wrists comprises the number of wrists to be processed, the length of each of wrists to be processed and assembly information of each of wrists to be processed, and the assembly information comprises workpieces to be assembled, and the position and the angle of each workpiece; planning the cutting number and the cutting length of the wrist arm tube of each embryonic tube according to the length of the embryonic tube, the number of the wrists to be processed and the length of each wrist to be processed, and planning the assembly process flow of each wrist arm tube according to the assembly information of each wrist to be processed; generating control instructions for a plurality of execution mechanisms according to the planned cutting number of the carpal arm tubes of each embryonic tube, the planned cutting length of the carpal arm tubes and the planned assembly process flow of each carpal arm tube; and controlling a corresponding executing mechanism to cut the embryonic tube according to the control instruction, and controlling the corresponding executing mechanism to assemble the cut cantilever tube so as to obtain the cantilever to be processed.
Planning the cutting number and the cutting length of the cantilever tube of each embryonic tube according to the length of the embryonic tube, the number of the wrists to be processed and the length of each wrist to be processed, and specifically comprises the following steps: and acquiring the combinations of the number of the carpal tunnel cuts and the length of the carpal tunnel cut according to the length of the embryonic tube, the number of the wrists to be processed and the length of each carpal tunnel to be processed, and selecting the combination which minimizes the cutting excess of the embryonic tube to determine the number of the carpal tunnel cuts and the length of the carpal tunnel cut of each embryonic tube.
The actuator includes: the pushing machine and the feeding motor are positioned on a station of the billet tube feeding equipment; the cutting machine head, the polishing motor, the drilling motor and the billet feeding and positioning servo mechanism are positioned at the station of the billet cutting, drilling and polishing equipment; the ink-jet printer and the cantilever pipe ink-jet positioning chuck are positioned at the cantilever pipe conveying ink-jet station; the accessory feeding manipulator clamping hand, the accessory feeding assembly positioning cylinder and the assembly accessory feeding manipulator servo group are positioned at a feeding station of the cantilever pipe accessory; the assembling and clamping control mechanism and the assembling and screwing servo group are positioned at the assembling station of the cantilever pipe fitting; the wrist arm pipe conveying mechanism comprises a wrist arm pipe conveying manipulator clamping hand, a wrist arm pipe conveying truss manipulator servo group 1, a wrist arm pipe conveying truss manipulator servo group 2 and a wrist arm pipe conveying positioning chuck, wherein the wrist arm pipe fitting assembling station comprises a plurality of sub-stations which are respectively located at different positions.
Planning the assembly process flow of each wrist arm tube according to the assembly information of each wrist arm to be processed, which specifically comprises the following steps: and determining the sub-stations participating in assembly according to the workpieces to be assembled of each wrist arm to be machined, the position and the angle of each workpiece and the positions of the plurality of sub-stations, and determining the assembly sequence of the sub-stations participating in assembly.
And a Programmable Logic Controller (PLC) module is respectively arranged corresponding to each functional station and the cantilever pipe conveying mechanism, and each PLC module is communicated with a control center through a communication line to receive the control instruction.
The processing method of the wrist arm further comprises the following steps: and in the assembling process, the torque value of the screwing motor is acquired in real time through the communication line so as to control the assembling torque of the screw or the nut in real time.
The processing method of the wrist arm further comprises the following steps: acquiring the current position of the wrist arm tube; and determining the movement amount of the code spraying positioning chuck of the wrist arm tube, the conveying positioning chuck of the wrist arm tube and the truss according to the current position of the wrist arm tube.
When the tube tail of the wrist arm tube is positioned behind the code spraying positioning chuck of the wrist arm tube, calculating the movement amount of the code spraying positioning chuck of the wrist arm tube so as to control the code spraying positioning chuck of the wrist arm tube to move; when the distance between the tube head of the wrist arm tube and the target position is larger than 0, calculating the maximum stroke of the truss and the maximum stroke of the wrist arm tube conveying positioning chuck according to the tube head position of the wrist arm tube, and calculating the movement amount of the truss or wrist arm tube conveying positioning chuck with the larger maximum stroke to control the truss or wrist arm tube conveying positioning chuck to move; when the distance between the pipe head of the wrist arm pipe and the target position is smaller than or equal to 0, calculating the movement amount of the truss to control the truss to move, and controlling the wrist arm pipe to transmit the positioning chuck to rotate when the wrist arm pipe needs to rotate.
A processing system of a wrist arm comprises a control center and a plurality of execution mechanisms, wherein the control center acquires the length of a embryonic tube and complete data of the wrist arm, the complete data of the wrist arm comprises the number of the wrist arms to be processed, the length of each wrist arm to be processed and assembling information of each wrist arm to be processed, the cutting number of the wrist arm tube, the cutting length of the wrist arm tube and the assembling process flow of each wrist arm tube of each embryonic tube are planned according to the length of the embryonic tube and the complete data of the wrist arm, control instructions for the plurality of execution mechanisms are generated according to the planned cutting number of the wrist arm tube of each embryonic tube, the cutting length of the wrist arm tube and the assembling process flow of each wrist arm tube, the corresponding execution mechanisms are controlled to cut the embryonic tube according to the control instructions, and the corresponding execution mechanisms are controlled to assemble the cut wrist arm tube, to obtain the wrist arm to be machined.
The control center comprises a master control platform, a field electrical cabinet and functional station control cabinets.
The invention has the beneficial effects that:
according to the invention, the cutting quantity of the carpal arm tubes, the cutting length of the carpal arm tubes and the assembly process flow of each carpal arm tube are planned according to the length of the embryonic tubes and the complete set data of the carpal arm, the control instruction is generated according to the cutting quantity, the corresponding execution mechanism is controlled to cut the embryonic tubes according to the control instruction, and the corresponding execution mechanism is controlled to assemble the cut carpal arm tubes to obtain the carpal arm to be processed.
Drawings
FIG. 1 is a flow chart of a method of manufacturing a wrist arm according to an embodiment of the present invention;
FIG. 2 is a schematic view of various wrist arm configurations according to an embodiment of the present invention;
FIG. 3 is a schematic view of a wrist processing system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the arrangement of the position axes and the zero point of the parameters in the processing system of the wrist arm according to one embodiment of the present invention;
FIG. 5 is a flow chart of a method of manufacturing a wrist according to an embodiment of the present invention;
FIG. 6 is a flowchart of a method for planning the number and length of carpal tunnel cuts in accordance with an embodiment of the present invention;
FIG. 7 is a flowchart of a chuck and truss decision algorithm according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the method for processing a wrist arm of the present invention includes:
and S1, acquiring the length of the embryonic tube and complete data of the wrists, wherein the complete data of the wrists comprises the number of wrists to be processed, the length of each of the wrists to be processed and the assembly information of each of the wrists to be processed, and the assembly information comprises the workpieces to be assembled, the position and the angle of each workpiece.
It should be understood that the setup information differs for different kinds of wrists. In actual practice, the wrist arm category may be correlated with the fitting information. In one embodiment of the present invention, as shown in fig. 2, there are three types of wrists to be processed. The cantilever 1 is a flat cantilever, the cantilever 2 and the cantilever 3 are different types of inclined cantilevers, the cantilever 1 is provided with a force bearing cable seat, a sleeve double lug and a supporting clamp, the cantilever 2 is provided with a sleeve double lug and two supporting clamps, and the cantilever 3 is provided with a sleeve double lug and three supporting clamps. And each workpiece of each type of wrist arm has a preset angle in the axial direction of the respective wrist arm, and preset distances are reserved between the workpieces of each type of wrist arm and between each workpiece and one end of the wrist arm.
S2, planning the cutting number and length of the wrist-arm tube of each embryo tube according to the length of the embryo tube, the number of the wrists to be processed and the length of each wrist to be processed, and planning the assembly process flow of each wrist-arm tube according to the assembly information of each wrist to be processed.
The number of the wrists to be processed is the total cutting number of the wrists, the length of the embryo tube and the length of each of the wrists to be processed determine the number of the wrists which can be obtained by cutting each embryo tube and the cutting length of the wrists, and the assembling process flow of each of the wrists to be processed is determined by the assembling information of each of the wrists to be processed.
In one embodiment of the invention, the wrist arms to be machined are not only different in assembly information but also different in length. For example, the wrist to be machined may include a flat wrist and a sloped wrist of different lengths and different configurations. Therefore, the assembly process flow of each wrist arm tube needs to be planned for wrists with different lengths and different assembly modes, and the number and the length of a plurality of wrist arm tubes obtained by cutting the embryonic tube can be planned based on the cutting excess material of the embryonic tube.
In an embodiment of the present invention, the combinations of the number of carpal tunnel cuts and the length of the carpal tunnel cut can be obtained according to the length of the embryonic tube, the number of the carpal tunnels to be processed and the length of each carpal tunnel to be processed, and the combination that minimizes the cutting residue of the embryonic tube is selected to determine the number of the carpal tunnel cuts and the length of the carpal tunnel cut for each embryonic tube. For example, if the length of the embryonic tube is 12m and the number of wrists to be processed is 5, two of them are 6m and three are 4m, the number of the wrists and the cutting length of the wrists are combined as follows, the first combination: 2 wrist arm tubes with the length of 6m are cut out from the blank tube a, and 3 wrist arm tubes with the length of 4m are cut out from the blank tube b; and a second combination: cutting 1 6m wrist arm tube and 1 4m wrist arm tube from the blank tube a, cutting 1 6m wrist arm tube and 1 4m wrist arm tube from the blank tube b, and cutting 1 4m wrist arm tube from the blank tube c; … … the above-mentioned first combination cutting remainder is 0m as the least, so the number and length data in the above-mentioned first combination can be selected to cut the tube.
In one embodiment of the invention, the wrist tube fitting assembly station comprises a plurality of sub-stations, each at a different location. The sub-stations participating in assembly can be determined according to the workpiece to be assembled of each wrist arm to be machined, the position and the angle of each workpiece and the positions of the plurality of sub-stations, and the assembly sequence of the sub-stations participating in assembly is determined.
And S3, generating control instructions for a plurality of execution mechanisms according to the planned cutting number, cutting length and assembly process flow of the wrist arm tube.
And S4, controlling the corresponding executing mechanism to cut the embryonic tube according to the control instruction, and controlling the corresponding executing mechanism to assemble the cut cantilever tube to obtain the cantilever to be processed.
The invention also provides a system for processing the wrist arm, which comprises a control center and a plurality of actuating mechanisms. The processing method of the wrist arm can be implemented by the processing system of the wrist arm. The control center acquires the length of the embryonic tubes and the complete data of the wrists, plans the cutting number of the wrists and the cutting length of the wrists of each embryonic tube and the assembly process flow of each wrists according to the length of the embryonic tubes and the complete data of the wrists, generates control instructions for a plurality of execution mechanisms according to the planned cutting number of the wrists and the cutting length of the wrists and the assembly process flow of each wrists, controls the corresponding execution mechanisms to cut the embryonic tubes according to the control instructions, and controls the corresponding execution mechanisms to assemble the wrists and the wrists obtained by cutting so as to obtain the wrists to be processed.
In an embodiment of the present invention, as shown in fig. 3, the control center may include a main control console at a pipe cutting planning layer and a field electrical cabinet at a field control layer, and the control center may further include function station control cabinets at an equipment execution layer. The master control platform comprises a touch screen, an industrial personal computer and an Ethernet gateway, and the master control platform is further communicated with the handheld device and the remote 3D monitoring PC through the Ethernet respectively. The field electric appliance cabinet comprises a bus type motion controller and a voltage converter. The main control desk and the field electrical cabinet are communicated through the Ethernet. As shown in fig. 3, a PLC module, i.e., PLC1 to PLC6 modules, is respectively disposed corresponding to each functional station and the wrist tube transfer mechanism, and the PLC modules may be disposed in each functional station control cabinet. Each PLC module communicates with the control center through a communication line to receive control instructions. In one embodiment of the invention, the communication line is a MIII bus. The communication lines may also be other types of buses in other embodiments of the invention. The length of the embryonic tubes and the complete data of the wrists can be input into an industrial personal computer of a master control console, the industrial personal computer plans the cutting quantity of the wrists and the cutting length of the wrists of each embryonic tube and the assembly process flow of each wrists and generates a control command, the control command is transmitted to a bus type motion controller through the Ethernet, and the bus type motion controller can transmit the control command to each PLC module through an MIII bus.
As shown in fig. 3, the actuator is at the field control layer, and the actuator includes: the pushing machine and the feeding motor are positioned on a station of the billet tube feeding equipment; the cutting machine head, the polishing motor, the drilling motor and the billet feeding and positioning servo mechanism are positioned at the station of the billet cutting, drilling and polishing equipment; the ink-jet printer and the cantilever pipe ink-jet positioning chuck are positioned at the cantilever pipe conveying ink-jet station; the accessory feeding manipulator clamping hand, the accessory feeding assembly positioning cylinder and the assembly accessory feeding manipulator servo group are positioned at a feeding station of the cantilever pipe accessory; the assembling and clamping control mechanism and the assembling and screwing servo group are positioned at the assembling station of the cantilever pipe fitting; the cantilever tube conveying mechanism comprises a cantilever tube conveying manipulator clamping hand, a cantilever tube conveying truss manipulator servo group 1, a cantilever tube conveying truss manipulator servo group 2 and a cantilever tube conveying positioning chuck.
In an embodiment of the present invention, as shown in fig. 3, the feeding station and the assembling station of the wrist tube fitting each include sub-stations 1#, 2#, 3# and 4# and the sub-stations 1#, 2#, 3# and 4# are respectively used for assembling different workpieces.
In one embodiment of the present invention, as shown in fig. 4, the saw blade of the cutting head may be located at a zero point, and the drilling motor and the driven drill bit, the dressing plate driven by the grinding motor, the spray gun of the inkjet printer, and the 1#, 2#, 3# and 4# stations may be sequentially spaced from the zero point by L1, L2, L3, L4, L5, L6, and L7, respectively. Therefore, the embryonic tube can be driven to the proper position to cut according to the position of the saw blade and the length of the currently cut cantilever tube. After the cantilever pipe is obtained by cutting, the cantilever pipe can be driven to reach a proper position to drill according to the position of the drill bit and the position of the drill hole in the cantilever to be machined currently, then the cutting surface is polished through the trimming disc, and then the cantilever pipe is driven to reach the proper position to spray codes according to the position of the spray gun and the position of the code spraying on the cantilever to be machined currently. The assembly process is then entered, wherein the sub-stations participating in the assembly can be selected according to the dimensions between the stations # 1#, #2#, #3# and #4 and the zero point, the workpiece to be assembled for each of the wrists to be machined, the position of each workpiece, i.e. the dimension between a pre-set point, for example, one end of the wrists. For example, the arm 1 of fig. 3 can be assembled by 1#, 2#, 3# stations, and the arm 2 can be assembled by 2#, 3#, 4# stations. After the sub-stations participating in assembly are determined, the assembly sequence of the sub-stations participating in assembly can be further selected according to the station size and the workpiece size, and the limit conditions of no obstacle in movement, shortest moving distance and the like are met.
In one embodiment of the invention, the torque value of the screwing motor can be acquired in real time through the communication line during the assembly process so as to control the assembly torque of the screw or the nut in real time. The industrial personal computer can generate an adjusting instruction according to the current torque value of the screwing motor and finally transmit the adjusting instruction to the assembling screwing servo group to adjust the torque value of the screwing motor in real time. Therefore, the assembling torque can be accurately controlled, and the assembling quality is improved.
In one embodiment of the present invention, as shown in fig. 5, the method for processing the wrist arm may include the following steps: importing the complete data of the wrist arm into an industrial personal computer through an excel meter; planning the cutting number of the wrist arm tubes and the length of the wrist arm tubes according to the length of the embryo tubes and the complete data sheet (the requirement of minimum waste of the embryo tubes is met); planning the assembly process flow of the wrist arm tube according to the assembly information of the wrist arm tube and the complete data table (meeting the position axis planning principle); after the planning is confirmed, the blank tube is sent to a position with a specified length through a blank tube feeding positioning servo; controlling the cutting machine head to perform cutting operation up and down; positioning the cantilever tube to a specified code spraying starting position through a cantilever tube code spraying positioning servo, wherein the number of code spraying positions can be multiple, and the cantilever tube can be positioned to the corresponding specified code spraying starting position through the cantilever tube code spraying positioning servo for multiple times; controlling the code spraying machine and the code spraying positioning servo to move at a constant speed, and executing code spraying operation; the code spraying positioning servo sends the cantilever pipe to a cantilever pipe fitting assembly station; assembling the 1#2#3# station or the 2#3#4# station, namely assembling the workpieces at three positions each time by grouping the 1# to 4# stations; when assembling of each group of stations is carried out, the assembly accessory feeding manipulator servo group works, and the accessory feeding manipulator gripper grips the accessory to the assembly stations; the cantilever pipe conveying manipulator penetrates the cantilever pipe through the group of stations; judging whether each assembling position of the group is reached; if the set of the servo groups reaches the preset time, each assembling screw-screwing servo group of the set carries out assembling operation and carries out torque control; judging whether the assembly of the cantilever pipe is finished or not; if the operation is finished, the cantilever pipe conveying truss manipulator carries out blanking operation through the servo group 2; judging whether the complete set of data is processed; if not, returning to the steps before the confirmation planning and the feeding for continuous processing; and if the processing is finished, ending the flow.
In one embodiment of the present invention, as shown in fig. 6, the cutting number and cutting length planning of the carpal tunnel may comprise the following steps: importing the complete data of the wrist arm into an industrial personal computer through an excel meter; a user sets the processing length of the first section of the embryonic tube and sets the length parameter of the normal processing tube; when a most material-saving planning algorithm is called, traversing the complete data combination, and calculating the planned length combination of each cantilever tube to minimize the cutting excess material of the embryonic tube; when a most material-saving parallel-diagonal pairing planning algorithm is called, traversing the complete data combination, finding out parallel-diagonal combined wrist arm tubes, and calculating the planned length combination of the parallel-diagonal two wrist arm tubes to minimize the cutting excess of the embryonic tube; and finally, displaying the planning result of the carpal tunnel data in a chart mode.
In addition, the processing method of the wrist arm further comprises a decision algorithm of the chuck and the truss so as to determine which tool is selected to execute the maximum walking stroke. Specifically, after the wrist arm tube is cut out, the current position of the wrist arm tube can be obtained, and the movement amount of the code spraying positioning chuck of the wrist arm tube, the conveying positioning chuck of the wrist arm tube and the truss is determined according to the current position of the wrist arm tube. When the tube tail of the wrist arm tube is positioned behind the code spraying positioning chuck of the wrist arm tube, calculating the movement amount of the code spraying positioning chuck of the wrist arm tube so as to control the code spraying positioning chuck of the wrist arm tube to move; when the distance between the tube head of the wrist arm tube and the target position is larger than 0, calculating the maximum stroke of the truss and the maximum stroke of the wrist arm tube conveying positioning chuck according to the tube head position of the wrist arm tube, and calculating the movement amount of the truss or wrist arm tube conveying positioning chuck with the larger maximum stroke to control the truss or wrist arm tube conveying positioning chuck to move; when the distance between the pipe head of the wrist arm pipe and the target position is smaller than or equal to 0, the movement amount of the truss is calculated to control the truss to move, and the wrist arm pipe is controlled to transmit the positioning chuck to rotate when the wrist arm pipe needs to rotate.
In one embodiment of the present invention, as shown in fig. 7, the chuck and truss decision algorithm includes the following steps: judging whether the pipe tail residual quantity of the wrist arm pipe code-spraying positioning chuck at the positive limit is greater than 0; if so, calculating the movement amount of the code spraying positioning chuck of the cantilever pipe; if not, acquiring the distance between the pipe head and the target position and the position of the pipe tail; judging whether the distance between the pipe head and the target position is greater than 0; if the distance is less than or equal to 0, calculating the movement amount of the truss, judging whether the truss needs to rotate, calculating the movement amount of the clamping tail of the wrist tube conveying positioning chuck when the truss needs to rotate, and rotating the wrist tube conveying positioning chuck; if the distance is larger than 0, the position of the pipe head is calculated, and the station 1234# is in a lifting state; calculating the maximum stroke of the truss according to the position of the pipe head; calculating the maximum stroke of the wrist arm tube conveying and positioning chuck according to the position of the tube head, and simultaneously determining whether an obstacle exists between the wrist arm tube conveying and positioning chuck and the station, whether a connecting hand exists, and the like; comparing the two with the largest journey and the person who can meet the journey; the tool with the largest stroke is determined and the amount of movement of the tool is calculated, and the wrist tube transfer pucks have a higher priority when the truss and wrist tube transfer pucks simultaneously satisfy the condition.
In summary, the present invention plans the number of cutting the carpal arm tubes, the cutting length of the carpal arm tubes, and the assembly process flow of each carpal arm tube according to the length of the embryonic tubes and the complete data of the carpal arm, generates the control instruction according to the number of cutting the embryonic tubes, controls the corresponding executing mechanism to cut the embryonic tubes according to the control instruction, and controls the corresponding executing mechanism to assemble the cut embryonic tubes to obtain the carpal arm to be processed, thereby conveniently realizing the planning and implementation of the cutting and assembly of the carpal arm, improving the automation and intelligence level of the carpal arm processing, and effectively reducing the cutting excess of the embryonic tubes and reducing the waste of raw materials through the planning of the carpal arm cutting.
In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A method for processing a wrist arm is characterized by comprising the following steps:
acquiring the length of a embryonic tube and complete data of wrists, wherein the complete data of wrists comprises the number of wrists to be processed, the length of each of wrists to be processed and assembly information of each of wrists to be processed, and the assembly information comprises workpieces to be assembled, and the position and the angle of each workpiece;
planning the cutting number and the cutting length of the wrist arm tube of each embryonic tube according to the length of the embryonic tube, the number of the wrists to be processed and the length of each wrist to be processed, and planning the assembly process flow of each wrist arm tube according to the assembly information of each wrist to be processed;
generating control instructions for a plurality of execution mechanisms according to the planned cutting number of the carpal arm tubes of each embryonic tube, the planned cutting length of the carpal arm tubes and the planned assembly process flow of each carpal arm tube;
and controlling a corresponding executing mechanism to cut the embryonic tube according to the control instruction, and controlling the corresponding executing mechanism to assemble the cut cantilever tube so as to obtain the cantilever to be processed.
2. The method for processing the wrist arm according to claim 1, wherein the step of planning the number of the carpal tunnel cuts and the length of the carpal tunnel cuts for each embryo tube according to the length of the embryo tube, the number of the wrists to be processed and the length of each of the wrists to be processed comprises the steps of:
and acquiring the combinations of the number of the carpal tunnel cuts and the length of the carpal tunnel cut according to the length of the embryonic tube, the number of the wrists to be processed and the length of each carpal tunnel to be processed, and selecting the combination which minimizes the cutting excess of the embryonic tube to determine the number of the carpal tunnel cuts and the length of the carpal tunnel cut of each embryonic tube.
3. The method of claim 1 or 2, wherein the actuator comprises:
the pushing machine and the feeding motor are positioned on a station of the billet tube feeding equipment;
the cutting machine head, the polishing motor, the drilling motor and the billet feeding and positioning servo mechanism are positioned at the station of the billet cutting, drilling and polishing equipment;
the ink-jet printer and the cantilever pipe ink-jet positioning chuck are positioned at the cantilever pipe conveying ink-jet station;
the accessory feeding manipulator clamping hand, the accessory feeding assembly positioning cylinder and the assembly accessory feeding manipulator servo group are positioned at a feeding station of the cantilever pipe accessory;
the assembling and clamping control mechanism and the assembling and screwing servo group are positioned at the assembling station of the cantilever pipe fitting;
the wrist arm tube conveying mechanism comprises a wrist arm tube conveying manipulator clamping hand, a wrist arm tube conveying truss manipulator servo group 1, a wrist arm tube conveying truss manipulator servo group 2 and a wrist arm tube conveying positioning chuck,
the wrist arm pipe fitting assembling station comprises a plurality of sub-stations, and the sub-stations are located at different positions respectively.
4. The method for processing the wrist arm according to claim 3, wherein the step of planning the assembly process flow of each wrist arm tube according to the assembly information of each wrist arm to be processed comprises:
and determining the sub-stations participating in assembly according to the workpieces to be assembled of each wrist arm to be machined, the position and the angle of each workpiece and the positions of the plurality of sub-stations, and determining the assembly sequence of the sub-stations participating in assembly.
5. The method as claimed in claim 4, wherein a PLC module is provided for each of the functional stations and the arm tube transfer mechanism, and each PLC module communicates with a control center through a communication line to receive the control command.
6. The method of claim 5, further comprising:
and in the assembling process, the torque value of the screwing motor is acquired in real time through the communication line so as to control the assembling torque of the screw or the nut in real time.
7. The method of claim 4, further comprising:
acquiring the current position of the wrist arm tube;
and determining the movement amount of the code spraying positioning chuck of the wrist arm tube, the conveying positioning chuck of the wrist arm tube and the truss according to the current position of the wrist arm tube.
8. The method of claim 7, wherein,
when the tube tail of the wrist arm tube is positioned behind the code spraying positioning chuck of the wrist arm tube, calculating the movement amount of the code spraying positioning chuck of the wrist arm tube so as to control the code spraying positioning chuck of the wrist arm tube to move;
when the distance between the tube head of the wrist arm tube and the target position is larger than 0, calculating the maximum stroke of the truss and the maximum stroke of the wrist arm tube conveying positioning chuck according to the tube head position of the wrist arm tube, and calculating the movement amount of the truss or wrist arm tube conveying positioning chuck with the larger maximum stroke to control the truss or wrist arm tube conveying positioning chuck to move;
when the distance between the pipe head of the wrist arm pipe and the target position is smaller than or equal to 0, calculating the movement amount of the truss to control the truss to move, and controlling the wrist arm pipe to transmit the positioning chuck to rotate when the wrist arm pipe needs to rotate.
9. A system for processing a wrist arm is characterized by comprising a control center and a plurality of execution mechanisms, wherein the control center acquires the length of a tubular billet and complete data of the wrist arm, the complete data of the wrist arm comprises the number of the wrist arms to be processed, the length of each wrist arm to be processed and assembling information of each wrist arm to be processed, the cutting number of the wrist arm tube, the cutting length of the wrist arm tube and the assembling process flow of each wrist arm tube of each tubular billet are planned according to the length of the tubular billet and the complete data of the wrist arm, control instructions for the plurality of execution mechanisms are generated according to the planned cutting number of the wrist arm tube of each tubular billet, the cutting length of the wrist arm tube and the assembling process flow of each wrist arm tube, the corresponding execution mechanisms are controlled according to the control instructions to cut the tubular billet, and the corresponding execution mechanisms are controlled to assemble the cut tubular billet, to obtain the wrist arm to be machined.
10. The wrist arm processing system according to claim 9, wherein the control center comprises a main control console, an on-site electrical cabinet and a station control cabinet for each function.
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| 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 |
| CN112192967B (en) * | 2019-07-08 | 2022-04-12 | 中铁建电气化局集团轨道交通器材有限公司 | Spray code method and device for cantilever |
| CN110524191B (en) * | 2019-08-20 | 2020-12-22 | 哈尔滨创博智能装备有限公司 | Production method of railway cantilever assembly |
| CN110480159B (en) * | 2019-09-18 | 2020-07-07 | 济南邦德激光股份有限公司 | Laser pipe cutting machine and pipe clamping control method thereof |
| CN111754036B (en) * | 2020-06-17 | 2022-03-29 | 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 |
| CN112775674B (en) * | 2020-12-25 | 2022-05-17 | 常州数控技术研究所 | Multi-station parallel execution machining method 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 |
| CN114147527B (en) * | 2021-11-15 | 2023-03-14 | 中铁电气化局集团有限公司 | Flat cantilever apparatus for producing |
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| CN101357687B (en) * | 2008-09-26 | 2010-06-02 | 浙江大学 | Multitask aircraft auxiliary assembly system based on industrial robot |
| CN103171456B (en) * | 2013-03-21 | 2015-03-18 | 中铁电气化局集团有限公司 | Catenary cantilever numerical control preassembly platform |
| CN204195998U (en) * | 2014-10-21 | 2015-03-11 | 巨轮股份有限公司 | A kind of automatic flexible production line towards graphite electrode processing |
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| CN108161247B (en) * | 2017-12-30 | 2020-07-10 | 大族激光科技产业集团股份有限公司 | Cutting method for cutting a web |
| CN108527458B (en) * | 2018-06-26 | 2023-11-10 | 中铁十一局集团电务工程有限公司 | Wrist arm pre-allocation system and wrist arm pre-allocation method |
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