CN109719844A - Cloth mould machine and its cloth mould method - Google Patents
Cloth mould machine and its cloth mould method Download PDFInfo
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- CN109719844A CN109719844A CN201910003676.9A CN201910003676A CN109719844A CN 109719844 A CN109719844 A CN 109719844A CN 201910003676 A CN201910003676 A CN 201910003676A CN 109719844 A CN109719844 A CN 109719844A
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- side mode
- cloth mould
- die station
- cloth
- manipulator
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Abstract
It includes: control module, servo-driven module, truss, manipulator, at least one pigeonholes, at least one die station, at least one material library that the present invention, which provides a kind of cloth mould machine and its cloth mould method, cloth mould machine,；Servo-driven module driving truss, manipulator and die station movement；Pigeonholes is provided with the side mode sensor of identification side mode information, and control module receives side mode signal and judges that side mode type, data-base recording side mode type and the first side mode coordinate, manipulator grab side mode according to the first side mode coordinate and be placed in die station；Sensor is provided in die station, the location information of sensor acquisition die station feeds back to control module, and control module control die station moves to the lower section of truss；Record material library coordinate, the second side mode coordinate and manipulator real-time coordinates and side mode quantity and side mode type, manipulator grab side mode according to the second side mode coordinate and are placed in die station in database.The present invention can carry out automatic cloth mould according to the requirement of prefabricated components, time saving and energy saving, improve working efficiency.
Description
Technical field
The invention belongs to numerical control machine tool technique fields, are related to a kind of numerical control cloth mould machine, more particularly to a kind of cloth mould machine control
System processed and its cloth mould method.
Background technique
With the continuous development of building trade, prefabricated components are widely used in building trade.Laminated floor slab has specification
And simple shape, the features such as muscle is unified out, and process is less, it is very suitable to flow line production.When producing laminated floor slab, basis is needed
Laminated floor slab shape, arranges mold in advance；After placing mold, release agent is sprayed；After ready, pouring reinforcement concrete；To
After the molding of laminated floor slab product, dismantles mold and cleared up.The production of traditional prefabricated components needs manually to be schemed according to production
Paper size measures and determines cloth mould region, then according to drawing and measures size placement mold, artificial mark spraying is needed to spill release agent, to
After prefabricated components form in a mold, need mutual disassembly's side mode tool, entire production process need to consume a large amount of manpower with
And production time, efficiency are lower.
Summary of the invention
In view of the foregoing deficiencies of prior art, the purpose of the present invention is to provide a kind of cloth mould machine and its cloth mould sides
Method, for solving present in present technology using manual measurement cloth mould, the time-consuming and laborious problem of artificial cloth mould.
In order to achieve the above objects and other related objects, the present invention provides a kind of cloth mould machine, and the cloth mould machine includes: control
Module, servo-driven module, truss, manipulator, at least one pigeonholes, at least one die station, at least one material library；It is described to watch
It takes drive module the control instruction and feedback information that the control module issues are compared and are adjusted, drives servo motor band
Move the truss, the manipulator and die station movement；The pigeonholes keeps in side mode and is provided with identification side mode information
Side mode sensor, the control module receive the side mode signal and judges side mode type, side mode type described in data-base recording with
First side mode coordinate, the control module call the information in database, control the manipulator and sat according to first side mode
Mark crawl side mode is simultaneously placed in the die station；Sensor is provided in the die station, the sensor acquires the die station
Location information feeds back to the control module, and the control module compared with the information of predetermined position, controls the location information
The die station moves to the lower section of the truss；The material library is for storing side mode, record material library coordinate, the second side in database
Mould coordinate and manipulator real-time coordinates and side mode quantity and side mode type, the control module call the information in database,
The manipulator is controlled to grab side mode according to the second side mode coordinate and be placed in the die station.
Optionally, the control module includes: controller, the controller for receive and under send instructions, described in control
The movement of cloth mould machine component；Communication bus unit communicates to connect the control module and the servo-driven module, for receiving
And/or output control signal；Display unit is communicated to connect with the controller, for showing the operation interface of the cloth mould machine；
Input unit is communicated to connect with the controller, input instruction and setting parameter.Selection of land, the control module further include: speed
Control unit, when side mode is placed in the die station by the manipulator, when side mode is close to the die station, the speed control
Unit processed controls three X-axis of the cloth mould machine, Y-axis, Z axis directions while slowing down, and side mode is placed into institute with non-vertical direction
It states in die station.
Optionally, the control module includes: resolution unit；The control module requests processing program or software to software
Processing program is issued to the control module；The resolution unit parses the processing program, obtains containing coordinate information and moves
Make the instruction repertorie of information.
Optionally, the slot position coordinate that side mode is placed on the pigeonholes is arranged in input module, records in database.
Optionally, the performance parameter of the manipulator C axis, the X-axis of the truss, Y-axis, Z axis performance parameter, safety zone
Range parameter and the range parameter of working region can be arranged in the input unit and the display unit.
Optionally, the cloth mold process of the cloth mould machine includes: the controller according to instruction repertorie, generates cloth mould information,
The cloth mould information includes side mode type and Bu Mo step sequence；The controller judges that whether there is or not required side modes on the pigeonholes, if
Have, the controller controls the manipulator crawl side mode and place according to the side mode type and the first side mode coordinate
In the die station predetermined position；If nothing, the controller controls the manipulator and the material library is gone to take required side mode；Described
Material library take side mode when, the controller judge material library whether there is or not required side mode side mode with the presence or absence of extremely, if having side mode and
State without exception, the crawl of controller manipulator according to the side mode type and the second side mode coordinate control are corresponding
Side mode, and it is placed on the die station predetermined position；If there are abnormality, the cloth mould machine warning notes for no side mode or side mode
And enter halted state；Whether the controller goes to last of the cloth mould step sequence according to described instruction programmed decision
Step, if not being to return to the controller to judge whether there is or not required side mode step on the pigeonholes, circulation goes to cloth mould step sequence
Final step；If so, the controller judges whether there is side mode to be sorted on the pigeonholes；If so, the manipulator is taken
Side mode is put into the material library；If nothing, the cloth mould machine stops working.
The present invention also provides a kind of cloth mould method of cloth mould machine, the cloth mould machine is cloth mould machine as described above, the cloth mould
Method includes: to generate cloth mould information according to instruction repertorie, and the cloth mould information includes side mode type and Bu Mo step sequence；Judge institute
State on pigeonholes that whether there is or not required side modes, if so, crawl side mode is simultaneously placed according to the side mode type and the first side mode coordinate
It is locked in the die station predetermined position；If nothing, the material library is gone to take required side mode；When side mode is taken in the material library, judgement
Whether there is or not required side modes and side mode in the material library with the presence or absence of exception, if having side mode and state without exception, according to the side mode type
Corresponding side mode is grabbed with the second side mode coordinate and is placed on the die station predetermined position locking；If no side mode or side mode are deposited
In abnormality, the cloth mould machine warning note simultaneously enters halted state；Institute whether is gone to according to described instruction programmed decision
The final step for stating cloth mould step sequence, if not being, return judges that, whether there is or not required side mode step on the pigeonholes, circulation is gone to most
Latter step；If so, judging whether there is side mode to be sorted on the pigeonholes；If so, side mode of taking is put into the material library；If nothing,
Stop working/request new procedures.
Optionally, in the corresponding side mode of the crawl and when being placed on the die station predetermined position and locking, side mode is close to described
When die station, three X-axis of the cloth mould machine, Y-axis, Z axis directions are slowed down simultaneously, and side mode is placed into the mould with non-vertical direction
On platform.
Optionally, the cloth mould method further include: four-axle linked.
Optionally, described according to instruction repertorie, comprising steps of requesting processing program to software before generating cloth mould information
Or software issues processing program；The processing program is parsed, the instruction repertorie containing coordinate information and action message is obtained.
Optionally, the cloth mould method further include: described instruction program further includes scribing line information, described in the judgement point
Pick on platform that whether there is or not before required side mode step, further include crossing according to the scribing line information.
Optionally, described according to instruction repertorie, when generating cloth mould information, further includes: generation step sequence is shown and graphic simulation.
Optionally, it when the side mode has abnormality, needs to be manually operated in display unit and input unit, lock
The side mode of corresponding position, prevents it from being selected.
Optionally, in the cloth mould machine warning note and after entering halted state, corresponding step sequence is chosen at interface, is skipped
Process；Or stop present procedure, start new processing program.
Compared with prior art, the technical solution of cloth mould machine of the invention and its cloth mould method has the advantages that
In order to improve the production model of prefabricated components, production efficiency is improved, product quality enhances homogeneity of product, saves
Manpower and production time, cloth mould machine control truss and manipulator can replace traditional manual operation, automatic according to cloth mold process sequence
Place side mode, the operation such as sprinkling release agent.
Detailed description of the invention
Fig. 1 is cloth mould machine structural schematic diagram described in the embodiment of the present invention；
Fig. 2 is that control module described in the embodiment of the present invention realizes structural schematic diagram；
Fig. 3 is the cloth mould method implementation flow diagram of cloth mould machine described in the embodiment of the present invention；
Fig. 4 is the cloth mould method implementation flow diagram of cloth mould machine described in another embodiment of the present invention；
Component label instructions
100 cloth mould machines
110 control modules
120 servo-driven modules
130 truss
140 manipulators
150 die station
160 pigeonholes
170 material libraries
111 controllers
112 communication bus units
113 display units
114 input units
115 speed control units
116 resolution units
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from
Various modifications or alterations are carried out under spirit of the invention.It should be noted that in the absence of conflict, following embodiment and implementation
Feature in example can be combined with each other.
It should be noted that illustrating the basic structure that only the invention is illustrated in a schematic way provided in following embodiment
Think, only shown in schema then with related component in the present invention rather than component count, shape and size when according to actual implementation
Draw, when actual implementation kenel, quantity and the ratio of each component can arbitrarily change for one kind, and its assembly layout kenel
It is likely more complexity.
Embodiment one
Referring to Fig. 1, cloth mould machine includes control module 110, servo-drive mould the present embodiment provides a kind of cloth mould machine 100
Block 120, truss 130, manipulator 140, pigeonholes 160, die station 150 expect library 170；Servo-driven module 120 is by control module
110 control instructions issued and feedback information are compared and adjust, and drive servo motor driving truss 130,140 and of manipulator
Die station 150 moves；Pigeonholes 160 keeps in side mode and is provided with the side mode sensor of identification side mode information, and control module 110 receives
Side mode signal judges side mode type, data-base recording side mode type and the first side mode coordinate, and control module 110 is called in database
Information, control manipulator 140 grabs according to the first side mode coordinate and side mode and is placed in die station 150；It is provided in die station 150
Sensor, the location information of sensor acquisition die station 150 feed back to control module 110, and control module 110 is by location information and in advance
Determine location information to compare, control die station 150 moves to the lower section of truss 130；Remember in database for storing side mode in material library 170
Record material library coordinate, the second side mode coordinate and 140 real-time coordinates of manipulator and side mode quantity and side mode type, control module 110
The information in database is called, control manipulator 140 grabs side mode according to side mode coordinate and is placed in die station 150.
Specifically, cloth mould machine 100 can also have recycling material path, and recycling has material path sensor in material path, material path sensing
The information that whether has side mode, and will test is sent to control module 110 in device detection recycling material path, and control module 110 is to returning
The motor in rewinding road sends start stop signal, and side mode is transported to pigeonholes 160 by recycling material path movement.Pigeonholes 160 is in cloth mould machine
There is coordinate, position of the temporary side mode of each on pigeonholes 160 has a coordinate, on pigeonholes 160 in lathe coordinate system
Side mode sensor identify side mode information, control module 110 receives side mode signal and judges side mode type, and on data-base recording side
Mould type and the first side mode coordinate, control module 110 control the actuator movement of pigeonholes 160, touch side into next
Slot position.Die station 150 can be used for crossing, oil spout, place work side mode, and sensor is provided in die station 150, and sensor acquires die station
150 location information feeds back to control module 110, control module 110 by location information compared with the information of predetermined position after, control
Molding block 110 determines whether to send movement instruction to the servo motor of die station 150, does not such as arrive predetermined position, then sends movement
Instruction stops sending movement instruction if arrived predetermined position, and servo motor drives die station 150 to move until the lower section of truss 130,
Facilitate cloth mould, after the completion of cloth mould, control module 110 controls die station 150 and transports well laid side mode along die station track, under
A die station 150 is prepared to enter into cloth mould position.Expect that library 170 has coordinate in 100 lathe coordinate system of cloth mould machine, expects in library 170
The position of each storage side mode has coordinate, and record material library coordinate, the second side mode coordinate and manipulator 140 are real in database
When coordinate, and material library 170 in the quantity of side mode and the type of side mode, control module 110 call database in information, control
Manipulator 140 grabs side mode according to the second side mode coordinate.
In addition, cloth mould machine 100 can also have magnetic holder recyclable device.Magnetic holder reclaimer is connect with recycling material path, is used for
Side mode removal process.Control module 110 records the position coordinates of magnetic holder, and manipulator 140 from magnetic holder recyclable device or returns every time
Rewinding road, which grabs a magnetic holder, can guarantee that the resetting position of magnetic holder is more acurrate compared to multiple magnetic holders are once grabbed.
Referring to Fig. 2, in this present embodiment, control module 110 includes: controller 111, controller 111 for receiving and
Under send instructions, control 100 component of cloth mould machine movement；Communication bus unit 112, communicates to connect control module 110 and servo is driven
Dynamic model block 120, for receiving and/or exporting control signal；Display unit 113 is communicated to connect with controller 111, for showing
The operation interface of cloth mould machine；Input unit 114 is communicated to connect with controller 111, input instruction and setting parameter.
Specifically, controller 111 sends movement instruction and position command to truss 130, manipulator 140 simultaneously, realizes machine
Tool hand 140 links with truss 130, realizes X-axis, Y-axis, the linear motion of Z axis, the rotation of manipulator 140C axis.Preferably, lead to
Ethercat bus can be used in news bus unit 112.Display unit 113 can have step sequence interface, 160 interface of pigeonholes, material
Library interface, robot interface, alert interface, pigeonholes device status monitoring interface, magnetic holder reclaimer condition monitoring interface；Dish
Single column can carry out changing interface by clicking the interface button of menu bar, while menu bar further includes alarm lamp, when being
When system is alarmed, indicator light reddens, and the print prompt relative alarm information above interface；Wherein, control module 110 exists
Generation step sequence in step sequence interface is shown and graphic simulation.
Referring to Fig. 2, in this present embodiment, control module 110 further include: speed control unit 115, speed control unit
115 connect with controller 111, when side mode is placed in die station 150 by manipulator 140, when side mode is close to die station 150, and speed
Three X-axis, Y-axis, Z axis directions that degree control unit 115 controls cloth mould machine are slowed down simultaneously, are placed into side mode with non-vertical direction
In die station 150.According to the mode being disposed vertically, the edge for the side mode that will be placed can be produced with the edge of the side mode placed
Raw friction makes side mode cause to damage, or generates interference with the edge of the side mode placed, can not correct placement side mode position.
Side mode is placed by this mode in die station using non-vertical direction, the friction that can be effectively prevented between side mode and dry
It relates to.
In this present embodiment, control module 110 includes: resolution unit 116, and control module 110 requests processing journey to software
Sequence or software issue processing program to control module 110；Resolution unit 116 parse processing program, obtain containing coordinate information with
The instruction repertorie of action message is sent to controller 111.
In this present embodiment, the slot position coordinate that side mode is placed on pigeonholes 160 can be arranged in input module 114, number
According to the slot position coordinate for recording pigeonholes 160 in library.Specifically, the slot position coordinate on pigeonholes 160 is fixed, and the first side mode is sat
In mark, wherein the first axial coordinate of an axis is slot position coordinate, the second axial coordinate of another axis is that side mode sensor detects side
The position of mould is to the second axial coordinate of data-base recording.
In this present embodiment, the performance parameter of manipulator 140C axis, the X-axis of truss 130, Y-axis, Z axis performance parameter, safety
The range parameter in region and the range parameter of working region can be arranged in input unit 114 and display unit 113.Its
In, safety zone are as follows: after manipulator 140 grabs side mode, manipulator 140 can be worked with the range parameter in the region of rotary motion
Region: the range that manipulator 140 can grab.Preferably, the slewing area of C axis is -120 ° to 160 °；
Further, control module 110 can also include PLC board and DAC board.PLC board is adopted for Digital I/O
Collection and control, the movement of manipulator 140, if claw unclamps, claw clamps, move upwards in place, to move downward in place etc. be logical
Cross what I/O signal was controlled and monitored.I/O signal is acquired and monitored between control module 110 and manipulator 140 by PLC board.
DAC board is the bus interface equipment for servo-driven module 120.In addition, control module 110 can also control manipulator
140 cross, and atomizer is equipped on manipulator 140, and atomizer carries out oil spout to side mode.
In this present embodiment, the cloth mold process of cloth mould machine includes: controller 111 according to instruction repertorie, generates cloth mould information,
Cloth mould information includes side mode type and Bu Mo step sequence；Controller 111 judges that whether there is or not required side modes on pigeonholes 160, if so, control
Device 111 controls manipulator 140 and grabs side mode and be placed on 150 predetermined position of die station according to side mode type and the first side mode coordinate
Locking；If nothing, controller 111 controls manipulator 140 and material library 170 is gone to take required side mode；When side mode is taken in material library 170, control
Whether there is or not required side modes in the judgement of device 111 material library 170 processed, if so, controller 111 is according to side mode type and the second side mode coordinate control machine
Tool hand 140 grabs corresponding side mode, and is placed on the locking of 150 predetermined position of die station；If nothing, 100 warning note of cloth mould machine simultaneously enters
Halted state；Controller 111 determines whether to go to the final step of cloth mould step sequence according to instruction repertorie, if not being, returns to control
Device 111 processed judges that, whether there is or not required side mode step on pigeonholes 160, circulation goes to the final step of cloth mould step sequence；If so, control
Device 111 judges whether there is side mode to be sorted on pigeonholes 160；If so, manipulator 140 is taken, side mode is put into material library；If nothing, cloth mould
Machine stops working.
Embodiment two
Referring to Fig. 3, cloth mould machine is the cloth in above-described embodiment one the present embodiment provides a kind of cloth mould method of cloth mould machine
Mould machine 100, step S101-S110 are the cloth mould method of cloth mould machine 100, and cloth mould method includes:
S101 generates cloth mould information according to instruction repertorie, and cloth mould information includes side mode type and Bu Mo step sequence；
S102 judges on pigeonholes 160 whether there is or not required side mode,
If so, execute S106, according to side mode type and the first side mode coordinate, grabs side mode and to be placed on die station 150 predetermined
Position locking；
If nothing, S103 is executed, material library 170 is gone to take required side mode；
S104 judges to expect that whether there is or not required side modes and side mode with the presence or absence of abnormal in library 170 when side mode is taken in material library 170；
If having side mode and state without exception, S106 is executed, corresponding side mode is grabbed according to side mode type and the second side mode coordinate
And it is placed on the locking of 150 predetermined position of die station；
If there are abnormalities for no side mode or side mode, S105 is executed, 100 warning note of cloth mould machine simultaneously enters pause shape
State；
S107 determines whether to go to the final step of cloth mould step sequence according to instruction repertorie；
It if not being, returns and executes S102, judge that, whether there is or not required side mode step on pigeonholes 160, circulation goes to last
Step；
If so, executing S108, judge whether there is side mode to be sorted on pigeonholes 160；
If any execution S109, side mode of taking is put into material library 170；
Such as nothing, S110 is executed, stop working/request new procedures.
Specifically, cloth mould information includes the position coordinates of side mode and the position coordinates and angle of angle and small magnetic holder.
Embodiment three
Refering to Fig. 4, in another embodiment, a kind of cloth mould method of cloth mould machine is provided.Cloth mould machine is above-described embodiment one
In cloth mould machine, step S201-S213 is another cloth mould method of cloth mould machine 100, and cloth mould method includes:
Wherein, S205-S213 is identical as the step S102-S110 in embodiment two, and this will not be repeated here.
S203 generates cloth mould information according to instruction repertorie, and cloth mould information includes side mode type and Bu Mo step sequence；
S205 judges that whether there is or not required side modes on pigeonholes 160；
If so, execute S209, according to side mode type and the first side mode coordinate, grabs side mode and to be placed on die station 150 predetermined
Position locking；
If nothing, S206 is executed, material library 170 is gone to take required side mode；
S207 judges to expect that whether there is or not required side modes and side mode with the presence or absence of abnormal in library when side mode is taken in material library 170；
If having side mode and state without exception, S209 is executed, corresponding side mode is grabbed according to side mode type and the second side mode coordinate
And it is placed on the locking of 150 predetermined position of die station；
If there are abnormalities for no side mode or side mode, S208 is executed, 100 warning note of cloth mould machine simultaneously enters pause shape
State；
S210 determines whether to go to the final step of cloth mould step sequence according to instruction repertorie,；
If not being, S205 is returned, judges that, whether there is or not required side mode step on pigeonholes 160, circulation goes to final step；
If so, executing S211, judge whether there is side mode to be sorted on pigeonholes 160；
If any execution S212, side mode of taking is put into material library 170；
Such as nothing, S213 is executed, stop working/request new procedures.
Specifically, cloth mould information includes the position coordinates of side mode and the position coordinates and angle of angle and small magnetic holder.
In this present embodiment, when grabbing corresponding side mode and being placed on the locking of 150 predetermined position of die station, side mode is close to die station
When 150, three X-axis of cloth mould machine, Y-axis, Z axis directions are slowed down simultaneously, and side mode is placed into die station 150 with non-vertical direction.
According to the mode being disposed vertically, the edge for the side mode that will be placed, which can generate friction with the edge of the side mode placed, makes side
Be molded as damaging, or generate interference with the edge of side mode placed, can not correct placement side mode position.Using non-perpendicular
Side mode is placed into this mode in die station 150 by direction, the friction and interference that can be effectively prevented between side mode.
In this present embodiment, in step S03, according to instruction repertorie, before generating cloth mould information, comprising steps of
S201 requests processing program or software to issue processing program to software；
S202 parses processing program, obtains the instruction repertorie containing coordinate information and action message.
Preferably, processing program or CAM software can be requested to issue processing program to CAM software.Alternatively, it is also possible to logical
It crosses input unit 114 and is manually entered processing program, be parsed into instruction repertorie by resolution unit 116.
In this present embodiment, cloth mould method further include: instruction repertorie further includes scribing line information, in step S205, judgement point
Pick on platform 160 that whether there is or not before required side mode step, further includes:
S204 crosses according to the scribing line information of instruction repertorie.
Specifically, the controller 111 of cloth mould machine controls manipulator 140 and instructs progress dashing work according to scribing line.Scribing line letter
It ceases to draw the starting point of the terminal point coordinate of the starting point of coordinate or/and institute's marking-off segment a little or/and drawn circular arc, terminal and radius letter
Breath.
In this present embodiment, step S203, according to instruction repertorie, when generating cloth mould information, further includes: generate step sequence and show
And graphic simulation.What the step of step sequence is shown and graphic simulation can be visually observed that cloth mould was put with side mode when practical cloth mould
Pattern.
In this present embodiment, it when side mode has abnormality, needs in display unit 113 and input unit 114 manually
Operation, locks the side mode of corresponding position, prevents it from being selected.When the side mode stored in material library 170 has abnormality, such as work
People has found that side mode is not cleaned up or damaged, and needs to be manually operated at material 170 interface of library, locks the side mode of corresponding position, make
It cannot be selected, and after latching, interface corresponding position is shown in red.
In this present embodiment, in 100 warning note of cloth mould machine and after entering halted state, corresponding step is chosen at interface
Sequence skips process；Or stop present procedure, start new processing program.Into after halted state, operative employee can be in step sequence
Corresponding step sequence is chosen at interface, and clicks " skipping process " button, carries out skip operations；It can also stop present procedure, to CAM
The processing program that software please look for novelty.
In addition, can also include: in cloth mould method further including oil spout information according to instruction repertorie, oil spout information is oil spout
The beginning and end information in path.Specifically, the atomizer on manipulator 140 carries out oil spout.
The cloth mould method of cloth mould machine can also be realized and write program function manually, by input side mode model, position, move
Make information, realizes manual programming；This function is equally applicable to scribing line and oil spout；System can check the matter for writing program manually
Amount checks the interference situation in movement.
Automation cloth mould may be implemented by the cloth mould machine and Bu Mo method, eliminate artificial cloth mould.
In conclusion the present invention effectively overcomes various shortcoming in the prior art and has high industrial utilization value.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (15)
1. a kind of cloth mould machine, which is characterized in that the cloth mould machine includes:
Control module, servo-driven module, truss, manipulator, at least one pigeonholes, at least one die station, at least one material
Library；
The control instruction that the control module issues and feedback information are compared and are adjusted by the servo-driven module, driving
Servo motor drives the truss, the manipulator and die station movement；
The pigeonholes keeps in side mode and is provided with the side mode sensor of identification side mode information, and the control module receives the side
Mould signal judges side mode type, side mode type described in data-base recording and the first side mode coordinate, and the control module calls data
Information in library controls the manipulator and grabs side mode according to the first side mode coordinate and be placed in the die station；
Sensor is provided in the die station, the location information that the sensor acquires the die station feeds back to the control mould
The location information compared with the information of predetermined position, is controlled the die station and moves to the truss by block, the control module
Lower section；
The material library is for storing side mode, record material library coordinate, the second side mode coordinate and manipulator real-time coordinates in database, with
And side mode quantity and side mode type, the control module call the information in database, control the manipulator according to described the
Two side mode coordinates crawl side mode is simultaneously placed in the die station.
2. cloth mould machine according to claim 1, the control module include:
Controller, the controller for receive and under send instructions, control the movement of the cloth mould machine component；
Communication bus unit communicates to connect the control module and the servo-driven module, for receiving and/or exporting control
Signal；
Display unit is communicated to connect with the controller, for showing the operation interface of the cloth mould machine；
Input unit is communicated to connect with the controller, input instruction and setting parameter.
3. cloth mould machine according to claim 2, which is characterized in that the control module further include: speed control unit, institute
It states speed control unit to connect with the controller, when side mode is placed in the die station by the manipulator, when side mode is leaned on
When the nearly die station, the speed control unit controls three X-axis of the cloth mould machine, Y-axis, Z axis directions while slowing down, with non-
Side mode is placed into the die station by vertical direction.
4. cloth mould machine according to claim 2, the control module include: resolution unit；
The controller requests processing program or software to issue processing program to the controller to software；
The resolution unit parses the processing program, obtains being sent to institute containing the instruction repertorie of coordinate information and action message
State controller.
5. cloth mould machine according to claim 2, which is characterized in that place the slot position coordinate of side mode on the pigeonholes defeated
Enter in module and be arranged, is recorded in database.
6. cloth mould machine according to claim 2, which is characterized in that the performance parameter of the manipulator C axis, the truss
The range parameter of X-axis, Y-axis, Z axis performance parameter, the range parameter of safety zone and working region can be in the input unit
It is being arranged in the display unit.
7. cloth mould machine according to claim 2, which is characterized in that the cloth mold process of the cloth mould machine includes:
The controller generates cloth mould information according to instruction repertorie, and the cloth mould information includes side mode type and Bu Mo step sequence；
The controller judges on the pigeonholes whether there is or not required side mode, if so, the controller according to the side mode type and
The first side mode coordinate controls the manipulator crawl side mode and is placed on the die station predetermined position locking；It is described if nothing
Controller controls the manipulator and the material library is gone to take required side mode；
When side mode is taken in the material library, the controller judges that whether there is or not required side modes and side mode with the presence or absence of different in the material library
Often, if having side mode and state without exception, the controller is according to the side mode type and the second side mode coordinate control
Manipulator grabs corresponding side mode, and is placed on the die station predetermined position locking；If no side mode or side mode there are abnormality,
The cloth mould machine warning note simultaneously enters halted state
Whether the controller goes to the final step of the cloth mould step sequence according to described instruction programmed decision, if not being to return
It returns the controller and judges that, whether there is or not required side mode step on the pigeonholes, circulation goes to the final step of cloth mould step sequence；Such as
It is that the controller judges whether there is side mode to be sorted on the pigeonholes；If so, the manipulator is taken, side mode is put into described
Expect library；If nothing, the cloth mould machine stops working.
8. a kind of cloth mould method of cloth mould machine, which is characterized in that the cloth mould machine is the cloth mould such as any one of claim 1-7
Machine, the cloth mould method include:
According to instruction repertorie, cloth mould information is generated, the cloth mould information includes side mode type and Bu Mo step sequence；
Judge that whether there is or not required side modes on the pigeonholes, if so, according to the side mode type and the first side mode coordinate, crawl
Side mode is simultaneously placed on the die station predetermined position locking；If nothing, the material library is gone to take required side mode；
When side mode is taken in the material library, judge that whether there is or not required side modes and side mode whether there is exception in the material library, if there is side mode
And state without exception, corresponding side mode is grabbed according to the side mode type and the second side mode coordinate and to be placed on the die station pre-
Locking is set in positioning；If no side mode or side mode are there are abnormality, the cloth mould machine warning note simultaneously enters halted state；
It is returned described in judgement according to the final step whether described instruction programmed decision goes to the cloth mould step sequence if not being
Whether there is or not required side mode step on pigeonholes, circulation goes to the final step of cloth mould step sequence；If so, judge be on the pigeonholes
It is no to have side mode to be sorted；If so, side mode of taking is put into the material library；If nothing, stop working/request new procedures.
9. the working method of cloth mould machine according to claim 8, which is characterized in that in the corresponding side mode of the crawl and place
When the die station predetermined position is locked, when side mode is close to the die station, three X-axis of the cloth mould machine, Y-axis, Z axis directions are same
When slow down, side mode is placed into the die station with non-vertical direction.
10. the working method of cloth mould machine according to claim 8, which is characterized in that the cloth mould method further include: four axis
Linkage.
11. the working method of cloth mould machine according to claim 8, which is characterized in that described according to instruction repertorie, generate
Before cloth mould information comprising steps of
Processing program or software is requested to issue processing program to software；
The processing program is parsed, the instruction repertorie containing coordinate information and action message is obtained.
12. the working method of cloth mould machine according to claim 8, which is characterized in that the cloth mould method further include: described
Instruction repertorie further includes scribing line information, further includes basis whether there is or not before required side mode step on the judgement pigeonholes
The scribing line information is crossed.
13. the working method of cloth mould machine according to claim 8, which is characterized in that it is described according to instruction repertorie, generate cloth
When mould information, further includes: generation step sequence is shown and graphic simulation.
14. the working method of cloth mould machine according to claim 8, which is characterized in that when the side mode has abnormality,
It needs to be manually operated in display unit and input unit, locks the side mode of corresponding position, prevent it from being selected.
15. the working method of cloth mould machine according to claim 8, which is characterized in that the cloth mould machine warning note simultaneously
Into after halted state, corresponding step sequence is chosen at interface, skips process；Or stop present procedure, start new processing journey
Sequence.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910003676.9A CN109719844A (en) | 2019-01-03 | 2019-01-03 | Cloth mould machine and its cloth mould method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910003676.9A CN109719844A (en) | 2019-01-03 | 2019-01-03 | Cloth mould machine and its cloth mould method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103329A (en) * | 2019-06-05 | 2019-08-09 | 山东骊久建筑机器人有限公司 | The method of automatic identification side mode enclosed space and exact distributing on concrete component production line |
| CN114261735A (en) * | 2021-12-27 | 2022-04-01 | 合肥中宝机械制造有限公司 | Side die sorting mechanism applying die distributing robot and die distributing method |
| CN114290506A (en) * | 2021-12-27 | 2022-04-08 | 合肥中宝机械制造有限公司 | Side die sorting mechanism applying die distributing robot and die distributing method |
-
2019
- 2019-01-03 CN CN201910003676.9A patent/CN109719844A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103329A (en) * | 2019-06-05 | 2019-08-09 | 山东骊久建筑机器人有限公司 | The method of automatic identification side mode enclosed space and exact distributing on concrete component production line |
| CN114261735A (en) * | 2021-12-27 | 2022-04-01 | 合肥中宝机械制造有限公司 | Side die sorting mechanism applying die distributing robot and die distributing method |
| CN114290506A (en) * | 2021-12-27 | 2022-04-08 | 合肥中宝机械制造有限公司 | Side die sorting mechanism applying die distributing robot and die distributing method |
| CN114290506B (en) * | 2021-12-27 | 2022-12-02 | 合肥中宝机械制造有限公司 | Side die sorting mechanism applying die distributing robot and die distributing method |
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Application publication date: 20190507 |