CN109998326A - The automatic stirrup device of screen board side rubber strip and its working method - Google Patents
The automatic stirrup device of screen board side rubber strip and its working method Download PDFInfo
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- CN109998326A CN109998326A CN201910162918.9A CN201910162918A CN109998326A CN 109998326 A CN109998326 A CN 109998326A CN 201910162918 A CN201910162918 A CN 201910162918A CN 109998326 A CN109998326 A CN 109998326A
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- rubber strip
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- screen board
- adhesive tape
- stirrup
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 55
- 230000033001 locomotion Effects 0.000 claims abstract description 10
- 238000004891 communication Methods 0.000 claims abstract description 4
- 239000002390 adhesive tape Substances 0.000 claims description 63
- 239000000463 material Substances 0.000 claims description 56
- 238000007667 floating Methods 0.000 claims description 17
- 238000009434 installation Methods 0.000 claims description 15
- 238000003825 pressing Methods 0.000 claims description 14
- 230000008878 coupling Effects 0.000 claims description 11
- 238000010168 coupling process Methods 0.000 claims description 11
- 238000005859 coupling reaction Methods 0.000 claims description 11
- 230000003139 buffering effect Effects 0.000 claims description 10
- 239000000872 buffer Substances 0.000 claims description 7
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 claims description 7
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 239000003292 glue Substances 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 4
- 238000007373 indentation Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 3
- 238000010008 shearing Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 230000006835 compression Effects 0.000 abstract 1
- 238000007906 compression Methods 0.000 abstract 1
- 239000000203 mixture Substances 0.000 description 6
- 229920000742 Cotton Polymers 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 206010016256 fatigue Diseases 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000003063 flame retardant Substances 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47G—HOUSEHOLD OR TABLE EQUIPMENT
- A47G5/00—Screens; Draught-deflectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
- B27M—WORKING OF WOOD NOT PROVIDED FOR IN SUBCLASSES B27B - B27L; MANUFACTURE OF SPECIFIC WOODEN ARTICLES
- B27M3/00—Manufacture or reconditioning of specific semi-finished or finished articles
- B27M3/18—Manufacture or reconditioning of specific semi-finished or finished articles of furniture or of doors
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Manufacturing & Machinery (AREA)
- Wood Science & Technology (AREA)
- Forests & Forestry (AREA)
- Tyre Moulding (AREA)
- Lining Or Joining Of Plastics Or The Like (AREA)
Abstract
The invention discloses a kind of automatic stirrup device of screen board side rubber strip and its working methods, device includes positioning centering clamp system, pressure heads mechanism, with X-axis, the dynamic power machine and control system of Y-axis and Z axis, positioning centering clamp system is used to realize that the positioning centering of screen board clamps, pressure heads mechanism realizes the feeding feeding and compression of rubber strip, with X-axis, the coordinated movement of various economic factors of the dynamic power machine and pressure heads mechanism of Y-axis and Z axis, which realizes pressure heads mechanism, can be fitted fixed screen board flank movement, thus by the safe and punctual stirrup of rubber strip in the lateral grooves of screen board.For control system in such a way that embedded Control adds PC communication adjustment, multi- drive synchronization transmission uses Fuzzy PID.It is compared with the prior art, the present invention solves the problems, such as that artificial stirrup screen board side rubber strip takes time and effort, and realizes the automatic stirrup of screen board side rubber strip, alleviates labor intensity of workers, reduce costs, improve production efficiency.
Description
Technical field
The present invention relates to a kind of automatic stirrup device techniques of screen board side rubber strip, belong to non-standard automatic technology neck
Domain.
Background technique
Screen desk is the entirety combined by screen and desk, and screen outline border is aluminum alloy frame, surface dress
Exterior material is two-sided manufacture fiber crops suede, has the functions such as fire-retardant, resistant, colour-fast, and the office furniture industry market in China rapidly develops,
2007, the screen office furniture industry output value in China broke through 30,000,000,000 yuan, and 2008, China's screen office furniture industry output value
Reach 48,900,000,000 yuan, 2010, the output value reached 78,000,000,000 yuan.In addition in the outlet of China, office furniture outlet accounts for Chinese exports
Specific gravity it is very big, the outlet of office furniture in 2015 accounts for the 6.5% of national export volume.
The decoration of screen surface material distribution on current wooden screen desk both domestic and external it is pure by carry out by hand plain cotton fabric operation and
Stirrup, i.e. screen plate surface are after artificial plain cotton fabric process, subsequently into side rubber stirrup process.One skilled worker is every
Its work eight hours, only can be with 140 pieces of screen boards of stirrup, and fatiguability.This is produced into raising production efficiency and reduction
This is very unfavorable.
Therefore a set of automatic device that is inexpensive, being capable of quickly stirrup screen board side rubber strip is designed to have become urgently
The technical issues of solution.
Summary of the invention
Against the above deficiency, the object of the present invention is to provide a set of low cost, being capable of quick stirrup screen board side rubber
The automatic device of item, for solving the problems, such as the stirrup of screen board.
In order to achieve the above technical purposes, the present invention adopts the following technical scheme that:
The side of a kind of automatic stirrup device of screen board side rubber strip, including rack, the rack is equipped with for installing fixation
The positioning centering clamp system of screen board, the rack other side are fixedly installed with a dynamic power machine with X-axis, Y-axis and Z axis,
The dynamic power machine with X-axis, Y-axis and Z axis includes two axis gantry manipulator linear mould groups and Z axis rotating mechanism,
Two axis gantry manipulator linear mould group is fixed on rack；
The Z axis rotating mechanism is connected in two axis gantry manipulator linear mould groups by truss, and the rotation of Z axis rotating mechanism is defeated
Shaft is connect with pressure heads mechanism；
The pressure heads mechanism includes the shell being connected with the rotating output shaft of Z axis rotating mechanism and is arranged on the housing
Adhesive tape release material device, adhesive tape buffering floating installation, lack material warning device, preceding friction pulley feed device, rear friction pulley feed device,
Adhesive tape towing device, pressing wheel device and pneumatic shear mechanism, wherein
It includes first motor, axis, flange sleeve, the support of bearing and charging tray that the adhesive tape, which releases material device, first motor and axis one end
It is connected by shaft coupling, the end face of flange sleeve is bolted to the other end of axis, and charging tray is placed on flange sleeve and leads to
Clamp nut is crossed to fix；
The adhesive tape buffering floating installation includes the first guide line running wheel, the second guide line running wheel, a pair of first be vertically arranged
Line slide rail, connecting rod, lower sinker, upper limit switch and lower position switch, wherein the first guide line running wheel and the second guide line
Running wheel is mounted in the rack below charging tray, and the first guide line running wheel and the second guide line running wheel is arranged in first straight line sliding rail
Lower section, be slidably connected on first straight line sliding rail the connecting rod, and the lower sinker, first straight line sliding rail are welded and fixed in connecting rod
Upper end be equipped with upper limit switch, the lower end of first straight line sliding rail is equipped with lower position switch；
The scarce material warning device includes guide line running wheel and encoder, wherein encoder is connected to guide line by shaft coupling
The shaft end of running wheel lacks material warning device and is entirely parallel with adhesive tape floating buffer device and is fixed in rack；
The preceding friction pulley feed device is identical with rear friction pulley feeder structure, include the second motor, first stage decelerator,
Active V-groove spur gear, driven spur gear and compact heap, wherein torque amplifies after the second motor passes through first stage decelerator, actively
V-groove spur gear is connected on first stage decelerator output shaft, and driven spur gear is connected on compact heap, and compact heap is threadedly connected to
In rack；
The adhesive tape towing device includes that straight line mould group, thrust cylinder, gripping finger cylinder, left limit switch and right limit switch,
In, left and right limit switch is mounted on the both ends of straight line mould group, and thrust cylinder is connected on the sliding block of straight line mould group, and gripping finger cylinder hangs down
Directly it is placed in the end of thrust cylinder；
Pressing wheel device setting is in adhesive tape towing device side, for providing certain precompression to rubber strip, including pinch roller,
Spring bumper, longitudinal thrust cylinder and lateral thrust cylinder, the pinch roller include two parallel pinch rollers, two parallel pinch rollers
It is connected on spring bumper, spring bumper is connected to the end of longitudinal thrust cylinder, and lateral thrust cylinder vertically connects
It is connected to longitudinal thrust cylinder；
Pneumatic scissors mechanism is placed between rear friction pulley feed device and pressing wheel device, for shearing rubber strip；
It is described that there is X-axis, the dynamic power machine of Y-axis and Z axis and the pressure heads mechanism to be connected with control system signal, the control
System processed adds the synchronous test sequence of the more motors of PC communication progress using embedded Control.
The positioning centering clamp system includes:
Along the setting of screen board length direction second straight line sliding rail, be slidably arranged in second straight line sliding rail one end for screen board
Length direction one end carries out the first support plate of positioning support, is slidably arranged in the second straight line sliding rail other end for screen board
The length direction other end carries out the second support plate of positioning support, is slidably arranged in the middle part of second straight line sliding rail for screen board
Width direction carry out the third support plate and threaded rod of positioning support, the threaded rod and the line slide rail are arranged, spiral shell
The threaded one end of rasp bar connects a handwheel, and the handwheel is used to adjust the spacing between the first support plate and the second support plate, with
Cope with the screen board of different length；
Wherein, the marginal portion of the first support plate, the second support plate and third support plate is equipped with height lower than screen plate thickness
The block of degree.
The Z axis rotating mechanism, first motor and the second motor are stepper motor.
The control system includes host computer, MCU microcontroller and motion control board, wherein host computer and MCU micro-control
Device processed establishes connection by RS-485 serial communication, and MCU microcontroller is connect with motion control board card by universal serial bus.
It is connect on the shell of pressure heads mechanism with the flange end of flange shaft, the shaft end of flange shaft is connected by pin and a rotary shaft
It connects, the other end of rotary shaft is connected with the stepper motor of strap brake by shaft coupling.
A kind of working method based on the automatic stirrup device of screen board side rubber strip,
Screen board in manual handling to positioning centering clamp system in through being fixedly clamped；
Rubber strip silk is by being manually fed into pressure heads mechanism, and specifically rubber strip silk is successively through adhesive tape buffering floating installation, preceding
Friction pulley feed device, rear friction wheel apparatus are sent to the discharge port of rear friction pulley feed device, at this point, control system controls adhesive tape
Towing device is started to work, longitudinal thrust cylinder work after clamping is straightened by adhesive tape towing device in rubber strip, on pressing wheel device
Make, push two parallel pinch rollers, two parallel pinch rollers send the rubber strip that clamping is straightened to the groove of screen board side, glue after indentation
Towing device stops working, and gripping finger cylinder unclamps, and adhesive tape towing device returns to original operating state；
Subsequent adhesive tape releases material device release rubber strip, buffers floating installation by adhesive tape to keep the tensile force of rubber strip, works as glue
The material speed of releasing that item releases material device is greater than preceding friction pulley feed device feeding speed after a certain period of time, and rubber strip is in lower sinker gravity
It glides on the slide rail under effect, when trigger lower position switch after, readjusts adhesive tape and release material device and release material speed；
When adhesive tape release material device release material speed be less than preceding friction pulley feed device feeding speed after a certain period of time, rubber strip
It is upper on sliding rail to slide, after trigger upper limit switch, readjust adhesive tape release expect device release material speed；To maintain rubber strip
Tensile force；
Then pressure heads mechanism is driven to walk one week around screen board under two axis gantry robot straight line mould groups and Z axis rotating mechanism, from
And by rubber strip stirrup in the surrounding lateral grooves of screen board；
By the umber of pulse of friction pulley feed device after record to calculate the length of rubber strip, when reaching needed for stirrup screen board
Rubber strip length after, pneumatic scissors mechanism start to work, so that rubber strip be cut.
It stops working after the left limit switch on triggering adhesive tape towing device 3-8, rubber strip is in clamp and be straightened at this time
State；Hereafter rubber strip progress material feed clamping is straightened until replacing next disk rubber strip again without artificial in stirrup work；Afterwards
The trigger signal of continuous adhesive tape towing device work is after pneumatic scissors mechanism work 2s.
After one piece of screen board completes stirrup device, control system automatic returning to zero point simultaneously stops working.
It is logical to lack material warning device for a kind of scarce material alarm method based on the automatic stirrup device of screen board side rubber strip
It crosses through encoder and detects umber of pulse, stop operating when lacking the second guide line running wheel of material, encoder can't detect pulse at this time
Number triggering alarm.
The utility model has the advantages that compared with prior art, advantages of the present invention are as follows: the present invention passes through setting positioning centering clamping machine
Structure, pressure heads mechanism, the dynamic power machine with X-axis, Y-axis and Z axis realize the automatic stirrup of screen board side rubber strip, mitigate
The labor intensity of worker, reduces costs, and solves the large labor intensity of existing manual stirrup rubber strip, expense of taking a lot of work
When the technical issues of, while pile line operation may be implemented, has reached raising production efficiency, improved the purpose of the degree of automation.
Detailed description of the invention
The overall structure figure of the automatic stirrup device of Fig. 1 office screen plate of the present invention side rubber strip
Wherein, 1, rack；2, centering clamp system is positioned；3, pressure heads mechanism；4, the dynamic power machine with X-axis, Y-axis and Z axis；
5, screen board；6, control cabinet；
Fig. 2 is present invention positioning centering clamp system structure chart；
Wherein, 2-1, the first support plate；2-2, left hand thread bar；2-3, third support plate；2-4, right-handed thread bar；2-5, second
Support plate；2-6 handwheel；
Fig. 3 is pressure heads mechanism of the present invention and the dynamic power machine connection structure main view with X-axis, Y-axis and Z axis；
Wherein, 3, pressure heads mechanism；4-1, flange shaft；4-2, rotary shaft；
Fig. 4 is the side view of Fig. 3；
Wherein, 4-3, truss；4-4 pin；
Fig. 5 is heading machine composition of the present invention；
Wherein, 3-1, adhesive tape release material device；3-2, material warning device is lacked；3-3, adhesive tape buffer floating installation；3-4, preceding friction pulley
Feed device；3-5, rear friction pulley feed device；3-6, pneumatic scissors mechanism；3-7, pressing wheel device；3-8, adhesive tape towing device；
Fig. 6 is the structure chart that adhesive tape of the present invention releases material device；
Wherein, 3-1-1, first motor；3-1-2, axis；3-1-3, the support of bearing；3-1-4, charging tray；3-1-5, clamp nut；3-
1-6, flange sleeve；
Fig. 7 is the structure chart of adhesive tape buffering floating installation of the present invention；
Wherein, 3-3-1, the second guide line running wheel；3-3-2, sliding rail；3-3-3, upper limit switch；3-3-4, lower position switch；3-
3-5, lower sinker；3-3-6, connecting rod；3-3-7, rubber strip；3-3-8, the first guide line running wheel；
Fig. 8 is the structure chart that the present invention lacks material warning device；
Wherein, 3-2-1, encoder；3-2-2, shaft coupling；3-3-3, guide line running wheel；
Fig. 9 is the structure chart of adhesive tape towing device of the present invention；
Wherein, 3-8-1, straight line mould group；3-8-2, thrust cylinder；3-8-3, gripping finger cylinder；3-8-4, left limit switch；3-8-5,
Right limit switch；3-3-7, rubber strip；
Figure 10 is the structure chart of friction pulley feed device of the present invention；
Wherein, 3-4-1, the second motor；3-4-2, first stage decelerator；3-4-3, active V-groove spur gear；3-4-4, driven straight-tooth
Wheel；3-4-5, compact heap；
Figure 11 is the structure chart of pressing wheel device of the present invention；
Wherein, 5, screen board；3-3-7, rubber strip；3-7-1, pinch roller；3-7-2, spring bumper；3-7-3, lateral thrust gas
Cylinder；3-7-4 longitudinal thrust cylinder；
Figure 12 is the technology of the present invention route map；
Figure 13 is control system block diagram of the present invention；
Figure 14 is fuzzy-adaptation PID control schematic diagram of the present invention.
Specific embodiment
As shown in Figure 1 and Figure 2, the automatic stirrup device of screen board side rubber strip, including positioning centering clamp system, pressure head
Mechanism, one have X-axis, the dynamic power machine of Y-axis and Z axis and control system composition, and positioning centering clamp system 2 includes first
Fagging 2-1, the second support plate 2-5, left hand thread bar 2-2, right-handed thread bar 2-3, third support plate 2-3 and handwheel 2-6 composition.
Positioning centering clamp system 2 is fixed in rack 1 by mechanical connection, the first support plate 2-1 and the second support plate
The height of 2-5 is higher by 5 lower surface 8mm of screen board, and one end of third support plate 2-3 is provided with the block of 8mm high, and screen board 5 is high
Degree be 19mm, thus make screen board 5 be just put into positioning to middle clamp system 1 when not only realize in width direction in and
And subsequent stirrup is not interfered to work.
As shown in Figure 1, Figure 3, pressure heads mechanism 3 includes that adhesive tape releases material device 3-1, adhesive tape buffering floating installation 3-3, lacks material report
Alarm device 3-2, preceding friction pulley feed device 3-4, rear friction pulley feed device 3-5, adhesive tape towing device 3-8, pressing wheel device 3-7
With pneumatic shear mechanism 3-6.
As shown in figure 4, it includes first motor 3-1-1, axis 3-1-2, flange sleeve 3-1-6, bearing that adhesive tape, which releases material device 3-1,
Bracket 3-1-3, charging tray 3-1-4 and clamp nut 3-1-5 composition, first motor 3-1-1 are connected with axis 3-1-2 by shaft coupling,
The end face of flange sleeve 3-1-6 is bolted to the end of axis 3-1-2, and charging tray 3-1-4 is placed on flange sleeve 3-1-6 simultaneously
It is fixed by clamp nut 3-1-5, its charging tray 3-1-4 is enable to be rotated with axis 3-1-2.
As shown in Figure 3 and Figure 5, adhesive tape buffering floating installation 3-3 includes the first guide line running wheel 3-3-8, the second guide line
Running wheel 3-3-1, first straight line sliding rail 3-3-2, connecting rod 3-3-6, lower sinker 3-3-5, upper limit switch 3-3-3 and lower limit are opened
3-3-4 composition is closed, the first guide line running wheel 3-3-8 and the second guide line running wheel 3-3-1 are mounted in the rack below charging tray, the
One line slide rail 3-3-2 is placed in the lower section of the first guide line running wheel 3-3-8 and the second guide line running wheel 3-3-1, connecting rod 3-
3-6 is mechanically fixed on two first straight line sliding rail 3-3-2, and lower sinker 3-3-5 is welded on connecting rod 3-3-6, on
Limit switch 3-3-3 is separately mounted on two parallel first straight line sliding rail 3-3-2 with lower position switch 3-3-4.
As shown in fig. 6, lacking material warning device 3-2 includes third guide line running wheel 3-2-3, shaft coupling 3-2-2 and encoder
3-2-1, encoder 3-2-1 are connected to the shaft end of third guide line running wheel 3-2-3 by shaft coupling 3-2-2, lack material warning device
3-2 is entirely parallel with adhesive tape buffering floating installation 3-3 and is fixed in rack.
It lacks material warning device 3-2 and umber of pulse is detected by encoder 3-2-1, expect the second third guide line running wheel 3- when lacking
2-3 stops operating, and encoder 3-2-1 can't detect umber of pulse triggering alarm at this time；
As shown in fig. 7, adhesive tape towing device 3-8 includes straight line mould group 3-8-1, thrust cylinder 3-8-2 and gripping finger cylinder 3-8-3 group
At thrust cylinder is connected on the sliding block of straight line mould group, and gripping finger cylinder 3-8-3 arranged orthogonal is in the end of thrust cylinder 3-8-2；
As shown in figure 8, preceding friction pulley feed device 3-4 includes the second motor 3-4-1, first stage decelerator 3-4-2, active V-groove
Spur gear 3-4-3, driven spur gear 3-4-4 and compact heap 3-4-5 composition, the second motor 3-4-1 pass through first stage decelerator 3-4-2
Torque amplifies afterwards, and active V-groove spur gear 3-4-3 is connected on first stage decelerator 3-4-2 output shaft, driven spur gear 3-4-4
It is connected on compact heap 3-4-5, compact heap 3-4-5 that can be easy to disassemble is threadingly attached to friction pulley feed device rack
On；Preceding friction pulley feed device 3-4, which is mounted on, to be lacked immediately below material warning device 3-2, preceding friction pulley feed device 3-4 and rear friction
It is just the same to take turns feed device 3-5 structure.
As shown in figure 9, pressing wheel device 3-7 includes pinch roller 3-7-1, spring bumper 3-7-2, longitudinal thrust cylinder 3-7-
4 and lateral thrust cylinder 3-7-3, pinch roller 3-7-1 are mechanically connected on spring bumper 3-7-2, and spring is slow
Flushing device 3-7-2 is connected to the end of longitudinal thrust cylinder 3-7-4, and lateral thrust cylinder 3-7-3 is vertically connected at longitudinal thrust
Cylinder 3-7-4.Spring bumper 3-7-2 provides certain precompression to ensure that the indentation effect of rubber strip 3-3-7.
As shown in figure 3, pneumatic scissors mechanism 3-6 is placed among rear friction pulley feed device 3-5 and pressing wheel device 3-7；
As shown in Figure 1, the dynamic power machine with X-axis, Y-axis and Z axis includes that two axis gantry manipulator linear mould groups and Z axis rotate
Mechanism；
As shown in Figure 1, two axis gantry manipulator linear mould groups are mechanically fixed on rack；
As shown in figures 1 and 3, Z axis rotating mechanism is connected in two axis gantry manipulator linear mould groups by truss 4-3；Pressure head
Mechanism 3 is connect with the mechanical end face of flange shaft 4-1, and rotary shaft 4-2 is connect by pin 4-4 with the other end of flange shaft 4-1；Rotation
The end of shaft 4-2 is connected with the stepper motor of strap brake by shaft coupling.Because the fillet value at 5 four angles of screen board is R2,
So needing Z axis rotating mechanism to realize the stirrup at 5 fillet of screen board.
As shown in Figure 10, the course of work of the invention: the screen board 5 of five kinds of sizes is clamped through manual handling to positioning centering
In mechanism 1, shaking handwheel 2-6 clamps the positioning centering of its screen board 5；Then system initializes, including inside CPU
Data storage initialization and pressure heads mechanism 3 are moved to work origin position by dead-center position.The material silk of each disk is both needed to first
Under a service condition of expecting by manually through adhesive tape buffer floating installation 3-3, preceding friction pulley feed device 3-4, after friction pulley feeding
Device 3-5 is sent to the discharge port of rear friction pulley feed device 3-5, clicks the initial dragging play button in man-machine interface at this time,
Adhesive tape towing device 3-8 starts to work, and stops working after the limit switch on triggering adhesive tape towing device 3-8, at this time rubber
3-3-7, which is in, clamps straight condition；Hereafter rubber strip 3-3-7 progress material feed clamping is straightened again without artificial in stirrup work
Until replacing next disk rubber strip；The trigger signal of subsequent adhesive tape towing device 3-8 work is from pneumatic scissors mechanism work 2s
Afterwards；Adhesive tape releases material device 3-1 release rubber strip 3-3-7, buffers floating installation 3-3 by adhesive tape to keep rubber strip 3-3-7's
Tensile force,
Releasing for material device 3-1, which is released, when adhesive tape expects that speed is greater than preceding friction pulley feed device 3-4 feeding speed after a certain period of time, rubber
3-3-7 is drawn under lower sinker 3-3-5 gravity in first straight line sliding rail 3-3-2 above and below；As triggering lower position switch 3-3-
After 4, readjusts adhesive tape and release and expect that device 3-1's releases material speed；
Releasing for material device 3-1, which is released, when adhesive tape expects that speed is less than preceding friction pulley feed device 3-4 feeding speed after a certain period of time, rubber
3-3-7 is drawn upper on first straight line sliding rail 3-3-2, after trigger upper limit switch 3-3-3, is readjusted adhesive tape and is released material and fill
That sets 3-1 releases material speed；To maintain the tensile force of rubber strip 3-3-7；Then by pressing wheel device 3-7 by rubber strip 3-3-7
In indentation to the groove of 5 side of screen board, then with dynamic head under two axis gantry robot straight line mould groups and Z axis rotating mechanism
Mechanism 3 is walked one week around screen board 5, thus by rubber strip 3-3-7 safe and punctual stirrup screen board 5 surrounding lateral grooves
It is interior.It needs to implement feeding system during this and adhesive tape insertion implementation system carries out the adjustment of parameter, turn including each motor
Speed, the working time etc. of each cylinder, to guarantee the Synchronous Transmission of each motor；Rubber is finally cut by pneumatic scissors mechanism 3-6
3-3-7.One piece of screen board 5 completes stirrup work at this time, after one piece of screen board 5 completes stirrup work, system automatic returning
To zero point and stop working.When system lack material warning device 3-2 triggering after, system also can automatic returning to zero point and stop work
Make.After clicking play button in man-machine interface, start the stirrup work of second screen board 5, so in cycles.
As shown in figure 11, control system uses embedded Control.Host computer and MCU microcontroller are logical by RS-485 serial ports
Letter establishes connection, screen board size model number, the revolving speed of motor and the acceleration and deceleration type of motor is arranged on host computer, to control
MCU.MCU microcontroller passes through with motion control board cardConnection setup connection, is exported with this to control motion board I/O port
Square wave pulses control the driver of stepper motor to carry out the movement of driving motor, by encoder stepper motor in turn
The angular displacement and straight-line displacement of movement are converted into electric signal and feed back to MCU after digital-to-analogue conversion, closed-loop control are realized, to realize
The running at high precision control of stepper motor.
As shown in figure 12, the present apparatus realizes that the automatic stirrup of rubber strip works using seven stepper motors, two (or it is more
It is a) motor is synchronous, including requires revolving speed or corner fully synchronized, if two motors are cannot to reach according to opened loop control
Fully synchronized, realize that multi- drive synchronization cooperates using Fuzzy PID about the present apparatus, fuzzy-adaptation PID control
Using speed error e and speed error change rate ec as input quantity, input quantity obtains output after blurring and fuzzy reasoning
Amount, PID controller are adjusted the revolving speed of motor and response time according to the output valve of fuzzy control.The foundation of fuzzy reasoning
By observing under friction speed and acceleration condition, the physical length of adhesive tape and the deviation of theoretical length, according to fuzzy statistics
Method establishes fuzzy set, so that it is determined that membership function.
Claims (9)
1. a kind of automatic stirrup device of screen board side rubber strip, it is characterised in that: including rack, the side of the rack is equipped with
For installing the positioning centering clamp system of fixed screen board, the rack other side, which is fixedly installed with one, has X-axis, Y-axis and Z axis
Dynamic power machine, the dynamic power machine with X-axis, Y-axis and Z axis includes that two axis gantry manipulator linear mould groups and Z axis revolve
Rotation mechanism,
Two axis gantry manipulator linear mould group is fixed on rack；
The Z axis rotating mechanism is connected in two axis gantry manipulator linear mould groups by truss, and the rotation of Z axis rotating mechanism is defeated
Shaft is connect with pressure heads mechanism；
The pressure heads mechanism includes the shell being connected with the rotating output shaft of Z axis rotating mechanism and is arranged on the housing
Adhesive tape release material device, adhesive tape buffering floating installation, lack material warning device, preceding friction pulley feed device, rear friction pulley feed device,
Adhesive tape towing device, pressing wheel device and pneumatic shear mechanism, wherein
It includes first motor, axis, flange sleeve, the support of bearing and charging tray that the adhesive tape, which releases material device, first motor and axis one end
It is connected by shaft coupling, the end face of flange sleeve is bolted to the other end of axis, and charging tray is placed on flange sleeve and leads to
Clamp nut is crossed to fix；
The adhesive tape buffering floating installation includes the first guide line running wheel, the second guide line running wheel, a pair of first be vertically arranged
Line slide rail, connecting rod, lower sinker, upper limit switch and lower position switch, wherein the first guide line running wheel and the second guide line
Running wheel is mounted in the rack below charging tray, and the first guide line running wheel and the second guide line running wheel is arranged in first straight line sliding rail
Lower section, be slidably connected on first straight line sliding rail the connecting rod, and the lower sinker, first straight line sliding rail are welded and fixed in connecting rod
Upper end be equipped with upper limit switch, the lower end of first straight line sliding rail is equipped with lower position switch；
The scarce material warning device includes guide line running wheel and encoder, wherein encoder is connected to guide line by shaft coupling
The shaft end of running wheel lacks material warning device and is entirely parallel with adhesive tape floating buffer device and is fixed in rack；
The preceding friction pulley feed device is identical with rear friction pulley feeder structure, include the second motor, first stage decelerator,
Active V-groove spur gear, driven spur gear and compact heap, wherein torque amplifies after the second motor passes through first stage decelerator, actively
V-groove spur gear is connected on first stage decelerator output shaft, and driven spur gear is connected on compact heap, and compact heap is threadedly connected to
In rack；
The adhesive tape towing device includes that straight line mould group, thrust cylinder, gripping finger cylinder, left limit switch and right limit switch,
In, left and right limit switch is mounted on the both ends of straight line mould group, and thrust cylinder is connected on the sliding block of straight line mould group, and gripping finger cylinder hangs down
Directly it is placed in the end of thrust cylinder；
Pressing wheel device setting is in adhesive tape towing device side, for providing certain precompression to rubber strip, including pinch roller,
Spring bumper, longitudinal thrust cylinder and lateral thrust cylinder, the pinch roller include two parallel pinch rollers, two parallel pinch rollers
It is connected on spring bumper, spring bumper is connected to the end of longitudinal thrust cylinder, and lateral thrust cylinder vertically connects
It is connected to longitudinal thrust cylinder；
Pneumatic scissors mechanism is placed between rear friction pulley feed device and pressing wheel device, for shearing rubber strip；
It is described that there is X-axis, the dynamic power machine of Y-axis and Z axis and the pressure heads mechanism to be connected with control system signal, the control
System processed adds the synchronous test sequence of the more motors of PC communication progress using embedded Control.
2. the automatic stirrup device of screen board side according to claim 1 rubber strip, it is characterised in that: the positioning centering
Clamp system includes:
Along the setting of screen board length direction second straight line sliding rail, be slidably arranged in second straight line sliding rail one end for screen board
Length direction one end carries out the first support plate of positioning support, is slidably arranged in the second straight line sliding rail other end for screen board
The length direction other end carries out the second support plate of positioning support, is slidably arranged in the middle part of second straight line sliding rail for screen board
Width direction carry out the third support plate and threaded rod of positioning support, the threaded rod and the line slide rail are arranged, spiral shell
The threaded one end of rasp bar connects a handwheel, and the handwheel is used to adjust the spacing between the first support plate and the second support plate, with
Cope with the screen board of different length；
Wherein, the marginal portion of the first support plate, the second support plate and third support plate is equipped with height lower than screen plate thickness
The block of degree.
3. the automatic stirrup device of screen board side according to claim 1 rubber strip, it is characterised in that: the Z axis rotation
Mechanism, first motor and the second motor are stepper motor.
4. the automatic stirrup device of screen board side according to claim 1 rubber strip, it is characterised in that: the control system
Including host computer, MCU microcontroller and motion control board, wherein host computer and MCU microcontroller are logical by RS-485 serial ports
Letter establishes connection, and MCU microcontroller is connect with motion control board card by universal serial bus.
5. the automatic stirrup device of screen board side according to claim 1 rubber strip, it is characterised in that: the shell of pressure heads mechanism
Connect on body with the flange end of flange shaft, the shaft end of flange shaft by pin and a rotation axis connection, the other end of rotary shaft and
The stepper motor of strap brake is connected by shaft coupling.
6. working method of the one kind based on any automatic stirrup device of screen board side rubber strip in claim 1 ~ 5,
It is characterized in that:
Screen board in manual handling to positioning centering clamp system in through being fixedly clamped；
Rubber strip silk is by being manually fed into pressure heads mechanism, and specifically rubber strip silk is successively through adhesive tape buffering floating installation, preceding
Friction pulley feed device, rear friction wheel apparatus are sent to the discharge port of rear friction pulley feed device, at this point, control system controls adhesive tape
Towing device is started to work, longitudinal thrust cylinder work after clamping is straightened by adhesive tape towing device in rubber strip, on pressing wheel device
Make, push two parallel pinch rollers, two parallel pinch rollers send the rubber strip that clamping is straightened to the groove of screen board side, glue after indentation
Towing device stops working, and gripping finger cylinder unclamps, and adhesive tape towing device returns to original operating state；
Subsequent adhesive tape releases material device release rubber strip, buffers floating installation by adhesive tape to keep the tensile force of rubber strip, works as glue
The material speed of releasing that item releases material device is greater than preceding friction pulley feed device feeding speed after a certain period of time, and rubber strip is in lower sinker gravity
It glides on the slide rail under effect, when trigger lower position switch after, readjusts adhesive tape and release material device and release material speed；
When adhesive tape release material device release material speed be less than preceding friction pulley feed device feeding speed after a certain period of time, rubber strip
It is upper on sliding rail to slide, after trigger upper limit switch, readjust adhesive tape release expect device release material speed；To maintain rubber strip
Tensile force；
Then pressure heads mechanism is driven to walk one week around screen board under two axis gantry robot straight line mould groups and Z axis rotating mechanism, from
And by rubber strip stirrup in the surrounding lateral grooves of screen board；
By the umber of pulse of friction pulley feed device after record to calculate the length of rubber strip, when reaching needed for stirrup screen board
Rubber strip length after, pneumatic scissors mechanism start to work, so that rubber strip be cut.
7. the working method of the automatic stirrup device of screen board side according to claim 6 rubber strip, it is characterised in that:
It stops working after the left limit switch on triggering adhesive tape towing device 3-8, rubber strip, which is in, at this time clamps straight condition；
Hereafter rubber strip progress material feed clamping is straightened until replacing next disk rubber strip again without artificial in stirrup work；Subsequent adhesive tape
The trigger signal of towing device work is after pneumatic scissors mechanism work 2s.
8. the working method of the automatic stirrup device of screen board side according to claim 6 rubber strip, it is characterised in that:
After one piece of screen board completes stirrup device, control system automatic returning to zero point simultaneously stops working.
9. a kind of scarce material alarm method based on rubber strip automatic stirrup device in screen board side described in claim 6, feature
It is: lacks material warning device by detecting umber of pulse by encoder, stop operating when lacking the second guide line running wheel of material, at this time
Encoder can't detect umber of pulse triggering alarm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910162918.9A CN109998326B (en) | 2019-03-05 | 2019-03-05 | Working method of automatic hooping device for side rubber strips of screen plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910162918.9A CN109998326B (en) | 2019-03-05 | 2019-03-05 | Working method of automatic hooping device for side rubber strips of screen plate |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109998326A true CN109998326A (en) | 2019-07-12 |
| CN109998326B CN109998326B (en) | 2024-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910162918.9A Active CN109998326B (en) | 2019-03-05 | 2019-03-05 | Working method of automatic hooping device for side rubber strips of screen plate |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6390173B1 (en) * | 1997-11-26 | 2002-05-21 | Paul J. Story, Jr. | Method of making a screen frame |
| US20050263017A1 (en) * | 2004-06-01 | 2005-12-01 | Atma Champ Enterprise Corp. | Cantilever type screen-printing machine with double platform |
| CN201182421Y (en) * | 2008-03-18 | 2009-01-21 | 浙江圣奥家具制造有限公司 | Screen clip structure with interchangeable screen on office furniture |
| CN201200203Y (en) * | 2008-02-29 | 2009-03-04 | 陈少生 | Connecting structure of combined screen |
| CN208447104U (en) * | 2018-02-07 | 2019-02-01 | 广东优米勒智能家居有限公司 | Screen |
| CN210169581U (en) * | 2019-03-05 | 2020-03-24 | 科派股份有限公司 | Automatic hooping device for rubber strips on side surfaces of screen plates |
-
2019
- 2019-03-05 CN CN201910162918.9A patent/CN109998326B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6390173B1 (en) * | 1997-11-26 | 2002-05-21 | Paul J. Story, Jr. | Method of making a screen frame |
| US20050263017A1 (en) * | 2004-06-01 | 2005-12-01 | Atma Champ Enterprise Corp. | Cantilever type screen-printing machine with double platform |
| CN201200203Y (en) * | 2008-02-29 | 2009-03-04 | 陈少生 | Connecting structure of combined screen |
| CN201182421Y (en) * | 2008-03-18 | 2009-01-21 | 浙江圣奥家具制造有限公司 | Screen clip structure with interchangeable screen on office furniture |
| CN208447104U (en) * | 2018-02-07 | 2019-02-01 | 广东优米勒智能家居有限公司 | Screen |
| CN210169581U (en) * | 2019-03-05 | 2020-03-24 | 科派股份有限公司 | Automatic hooping device for rubber strips on side surfaces of screen plates |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109998326B (en) | 2024-04-05 |
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