CN109998326B - Working method of automatic hooping device for side rubber strips of screen plate - Google Patents
Working method of automatic hooping device for side rubber strips of screen plate Download PDFInfo
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- CN109998326B CN109998326B CN201910162918.9A CN201910162918A CN109998326B CN 109998326 B CN109998326 B CN 109998326B CN 201910162918 A CN201910162918 A CN 201910162918A CN 109998326 B CN109998326 B CN 109998326B
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- 238000004891 communication Methods 0.000 claims abstract description 7
- 230000001360 synchronised effect Effects 0.000 claims abstract description 6
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 230000007246 mechanism Effects 0.000 claims description 65
- 239000000463 material Substances 0.000 claims description 50
- 239000002390 adhesive tape Substances 0.000 claims description 33
- 238000007667 floating Methods 0.000 claims description 17
- 238000003825 pressing Methods 0.000 claims description 13
- 230000003139 buffering effect Effects 0.000 claims description 11
- 230000006835 compression Effects 0.000 claims description 11
- 238000007906 compression Methods 0.000 claims description 11
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 230000001960 triggered effect Effects 0.000 claims description 8
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- 230000009471 action Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 238000010008 shearing Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 239000004744 fabric Substances 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 238000005034 decoration Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 244000025254 Cannabis sativa Species 0.000 description 1
- 235000012766 Cannabis sativa ssp. sativa var. sativa Nutrition 0.000 description 1
- 235000012765 Cannabis sativa ssp. sativa var. spontanea Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
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- 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
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- 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
Abstract
The invention discloses an automatic hooping device for a side rubber strip of a screen plate and a working method thereof. The control system adopts an embedded control and PC communication regulation mode, and the synchronous transmission of multiple motors adopts a fuzzy PID control algorithm. Compared with the prior art, the invention solves the problem of time and labor consumption of the manual hooping of the side rubber strips of the screen plate, realizes the automatic hooping of the side rubber strips of the screen plate, reduces the labor intensity of workers, lowers the cost and improves the production efficiency.
Description
Belonging to the field of
The invention relates to a technology of an automatic hooping device for a side rubber strip of a screen plate, and belongs to the technical field of nonstandard automation.
Background
The screen desk is an integral body formed by combining a screen and the desk, the outer frame of the screen is an aluminum alloy frame, and the surface decoration material is double-sided manufactured hemp velvet, so that the screen desk has the functions of flame retardance, stain resistance, fastness and the like, the market of office furniture industry in China rapidly develops, the yield value of the screen office furniture industry in China breaks through 300 hundred million yuan in 2007, the yield value of the screen office furniture industry in China reaches 489 hundred million yuan in 2008, and the yield value reaches 780 hundred million yuan in 2010. In addition, in the export of China, the export of office furniture accounts for 6.5% of the export of China in 2015. The Chinese office furniture industry is improved to open for over 20 years of rapid development, and the number of enterprises, the number of practitioners and the yield and benefit are all increased by tens of times, so that the entrance threshold of the office furniture industry is lower, and the Chinese office furniture industry belongs to the labor-intensive industry. However, in recent years, with the disappearance of the population bonus, the labor cost is increased, and the economic benefit is obviously reduced in the office furniture industry. At present, the decoration of cloth on the surface of a screen on a wooden screen desk at home and abroad is carried out by manual cloth covering operation and hooping, namely, the surface of the screen plate is subjected to the manual cloth covering process and then enters the side rubber strip hooping process. A skilled worker works for eight hours a day, only 140 screen plates can be hooped, and the screen plates are easy to fatigue. This is very disadvantageous for improving the production efficiency and reducing the production cost.
Therefore, designing a set of low-cost automatic device capable of rapidly hooping the side rubber strips of the screen plate becomes a technical problem to be solved urgently.
Disclosure of Invention
Aiming at the defects, the invention aims to provide an automatic device which is low in cost and can rapidly hoop the side rubber strips of the screen plate, so as to solve the hooping problem of the screen plate.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
an automatic hooping device for a rubber strip on the side surface of a screen plate comprises a frame, one side of the frame is provided with a positioning and centering clamping mechanism for installing and fixing the screen plate, the other side of the frame is fixedly provided with a power machine with an X axis, a Y axis and a Z axis, the power machine with the X axis, the Y axis and the Z axis comprises a two-axis gantry manipulator linear module and a Z axis rotating mechanism,
the two-axis gantry manipulator linear module is fixed on the frame;
the Z-axis rotating mechanism is connected to the two-axis gantry manipulator linear module through a truss, and a rotating output shaft of the Z-axis rotating mechanism is connected with the pressure head mechanism;
the pressure head mechanism comprises a shell connected with a rotary output shaft of the Z-axis rotary mechanism, and a rubber strip releasing device, a rubber strip buffering and floating device, a material shortage alarm device, a front friction wheel feeding device, a rear friction wheel feeding device, a rubber strip dragging device, a pressing wheel device and a pneumatic scissor mechanism which are arranged on the shell,
the adhesive tape releasing device comprises a first motor, a shaft, a flange sleeve, a bearing bracket and a material disc, wherein one end of the first motor is connected with one end of the shaft through a coupler, the end face of the flange sleeve is connected with the other end of the shaft through a bolt, and the material disc is sleeved on the flange sleeve and fixed through a compression nut;
the adhesive tape buffering floating device comprises a first guiding index wheel, a second guiding index wheel, a pair of vertically arranged first linear slide rails, a connecting rod, a sinking block, an upper limit switch and a lower limit switch, wherein the first guiding index wheel and the second guiding index wheel are arranged on a rack below a material tray, the first linear slide rails are arranged below the first guiding index wheel and the second guiding index wheel, the connecting rod is connected onto the first linear slide rails in a sliding manner, the sinking block is welded and fixed onto the connecting rod, the upper limit switch is arranged at the upper end of the first linear slide rails, and the lower limit switch is arranged at the lower end of the first linear slide rails;
the material shortage alarming device comprises a guide index wheel and an encoder, wherein the encoder is connected to the shaft end of the guide index wheel through a coupler, and the whole material shortage alarming device is parallel to the adhesive tape floating buffer device and fixedly connected to the frame;
the front friction wheel feeding device and the rear friction wheel feeding device have the same structure and comprise a second motor, a first-stage speed reducer, a driving V-shaped groove spur gear, a driven spur gear and a compression block, wherein the second motor amplifies the rear torque through the first-stage speed reducer, the driving V-shaped groove spur gear is connected to an output shaft of the first-stage speed reducer, the driven spur gear is connected to the compression block, and the compression block is in threaded connection with a frame;
the adhesive tape dragging device comprises a linear module, a thrust cylinder, a finger clamping cylinder, a left limit switch and a right limit switch, wherein the left limit switch and the right limit switch are arranged at two ends of the linear module, the thrust cylinder is connected to a sliding block of the linear module, and the finger clamping cylinder is vertically arranged at the tail end of the thrust cylinder;
the pressing wheel device is arranged on one side of the rubber strip dragging device and used for providing certain pre-pressure for the rubber strip, and comprises a pressing wheel, a spring buffer device, a longitudinal thrust cylinder and a transverse thrust cylinder, wherein the pressing wheel comprises two parallel pressing wheels, the two parallel pressing wheels are connected to the spring buffer device, the spring buffer device is connected to the tail end of the longitudinal thrust cylinder, and the transverse thrust cylinder is vertically connected to the longitudinal thrust cylinder;
the pneumatic scissor mechanism is arranged between the rear friction wheel feeding device and the pinch roller device and is used for shearing the rubber strips;
the power machine with X axis, Y axis and Z axis and the pressure head mechanism are connected with a control system through signals, and the control system adopts embedded control plus PC communication to carry out synchronous transmission control of multiple motors.
The positioning centering clamping mechanism comprises:
the device comprises a second linear slide rail arranged along the length direction of the screen plate, a first supporting plate arranged at one end of the second linear slide rail in a sliding manner and used for positioning and supporting one end of the screen plate in the length direction, a second supporting plate arranged at the other end of the second linear slide rail in a sliding manner and used for positioning and supporting the other end of the screen plate in the length direction, a third supporting plate arranged at the middle part of the second linear slide rail in a sliding manner and used for positioning and supporting the width direction of the screen plate, and a threaded rod, wherein the threaded rod is arranged with the linear slide rail, one end of the threaded rod is in threaded connection with a hand wheel, and the hand wheel is used for adjusting the distance between the first supporting plate and the second supporting plate so as to cope with the screen plates with different lengths;
wherein, the edge parts of the first support plate, the second support plate and the third support plate are all provided with a stop block with the height lower than the thickness of the screen plate.
The Z-axis rotating mechanism, the first motor and the second motor are all stepping motors.
The control system comprises an upper computer, an MCU microcontroller and a motion control board card, wherein the upper computer is connected with the MCU microcontroller through RS-485 serial communication, and the MCU microcontroller is connected with the motion control board card through a serial bus.
The shell of the pressure head mechanism is connected with the flange end of the flange shaft, the shaft end of the flange shaft is connected with a rotating shaft through a pin, and the other end of the rotating shaft is connected with a stepping motor with a brake through a coupler.
A working method of an automatic hooping device based on a side rubber strip of a screen plate,
the screen plate is manually conveyed to the positioning centering clamping mechanism for centering, clamping and fixing;
the rubber strip material wire is fed into the pressure head mechanism by a person, specifically, the rubber strip material wire is sequentially fed to a discharge hole of the rear friction wheel feeding device through the rubber strip buffer floating device, the front friction wheel feeding device and the rear friction wheel feeding device, at the moment, the control system controls the rubber strip dragging device to start working, after the rubber strip is straightened and clamped by the rubber strip dragging device, a longitudinal thrust cylinder on the pinch roller device works to push two parallel pinch rollers, the two parallel pinch rollers feed the straightened and clamped rubber strip into a groove on the side surface of the screen plate, the rubber strip dragging device stops working after being pressed in, the finger clamping cylinder is loosened, and the rubber strip dragging device returns to an initial working state;
then the rubber strip is released by the rubber strip releasing device, the tension of the rubber strip is kept by the rubber strip buffering and floating device, when the releasing speed of the rubber strip releasing device is higher than the feeding speed of the front friction wheel feeding device for a certain time, the rubber strip slides up and down on the sliding rail under the action of the gravity of the sinking block, and when the lower limit switch is triggered, the releasing speed of the rubber strip releasing device is readjusted;
when the material release speed of the adhesive tape material release device is lower than the feeding speed of the front friction wheel feeding device for a certain time, the rubber tape slides on the sliding rail, and when the upper limit switch is triggered, the material release speed of the adhesive tape material release device is readjusted; thereby maintaining the tension of the rubber strip;
then, the pressure head mechanism is driven to walk around the screen plate for a circle under the linear module of the two-axis gantry robot and the Z-axis rotating mechanism, so that rubber strip stirrups are arranged in grooves on the peripheral side surfaces of the screen plate;
the length of the rubber strip is calculated by recording the pulse number of the rear friction wheel feeding device, and when the length of the rubber strip required by the stirrup screen plate is reached, the pneumatic scissor mechanism starts to work, so that the rubber strip is sheared.
Stopping working after triggering a left limit switch on the adhesive tape dragging device 3-8, wherein the rubber tape is in a clamping and straightening state; then the rubber strip is fed, clamped and straightened without manual work in the work of the stirrup until the next disc of rubber strip is replaced; the trigger signal of the follow-up adhesive tape dragging device works from the pneumatic scissor mechanism after 2s of work.
When one screen plate completes the hooping device, the control system automatically returns to the zero point and stops working.
A material shortage alarming method based on an automatic hooping device for a side rubber strip of a screen plate is characterized in that the material shortage alarming device detects the pulse number through an encoder, and when a material shortage second guide index wheel stops rotating, the encoder cannot detect the pulse number to trigger an alarm.
The beneficial effects are that: compared with the prior art, the invention has the advantages that: according to the invention, the positioning centering clamping mechanism, the pressure head mechanism and the power machine with an X axis, a Y axis and a Z axis are arranged, so that automatic hooping of the rubber strip on the side surface of the screen plate is realized, the labor intensity of workers is reduced, the cost is reduced, the technical problems of high labor intensity and labor and time consumption of the existing manual hooping rubber strip are solved, meanwhile, the assembly line operation can be realized, and the purposes of improving the production efficiency and the degree of automation are achieved.
Drawings
FIG. 1 is a block diagram of an automatic rubber strip hooping device for a side surface of an office screen plate according to the present invention
Wherein, 1, the frame; 2. positioning, centering and clamping mechanisms; 3. a pressure head mechanism; 4. a power machine having an X-axis, a Y-axis, and a Z-axis; 5. a screen plate; 6. a control cabinet;
FIG. 2 is a block diagram of a positioning, centering and clamping mechanism of the present invention;
wherein, 2-1, a first supporting plate; 2-2, a left-handed threaded rod; 2-3, a third supporting plate; 2-4, right-handed threaded rod; 2-5, a second supporting plate; 2-6 handwheels;
FIG. 3 is a front view of the ram mechanism of the present invention in combination with a power machine having an X-axis, a Y-axis, and a Z-axis;
3, a pressure head mechanism; 4-1, a flange shaft; 4-2, a rotating shaft;
FIG. 4 is a side view of FIG. 3;
wherein, 4-3, truss; 4-4 pins;
FIG. 5 is a schematic diagram of a indenter mechanism of the present invention;
wherein, 3-1, the adhesive tape release device; 3-2, a material shortage alarm device; 3-3, a rubber strip buffering and floating device; 3-4, a front friction wheel feeding device; 3-5, a rear friction wheel feeding device; 3-6, a pneumatic scissors mechanism; 3-7, a pinch roller device; 3-8, a rubber strip dragging device;
FIG. 6 is a block diagram of the adhesive tape release device of the present invention;
wherein, 3-1-1, the first motor; 3-1-2, shaft; 3-1-3, bearing bracket; 3-1-4, a material tray; 3-1-5, compressing the nut; 3-1-6, flange sleeve;
FIG. 7 is a block diagram of the adhesive strip buffering and floating device of the present invention;
wherein, 3-3-1, the second guide index wheel; 3-3-2, sliding rail; 3-3-3, upper limit switch; 3-3-4, lower limit switch; 3-3-5, sinking block; 3-3-6, connecting rod; 3-3-7, rubber strips; 3-3-8, a first guiding index wheel;
FIG. 8 is a block diagram of a starved alarm apparatus of the present invention;
wherein, 3-2-1, encoder; 3-2-2, a coupler; 3-3-3, guiding the index wheel;
FIG. 9 is a block diagram of the adhesive strip dragging device of the present invention;
wherein, 3-8-1, the straight line module; 3-8-2, a thrust cylinder; 3-8-3, a finger clamping cylinder; 3-8-4, left limit switch; 3-8-5, right limit switch; 3-3-7, rubber strips;
FIG. 10 is a block diagram of a friction wheel feed apparatus of the present invention;
wherein, 3-4-1, the second motor; 3-4-2, a first-stage reducer; 3-4-3, a driving V-shaped groove spur gear; 3-4-4, driven spur gears; 3-4-5, compacting blocks;
FIG. 11 is a block diagram of a puck assembly of the present invention;
wherein, 5, the screen plate; 3-3-7, rubber strips; 3-7-1, pinch roller; 3-7-2, a spring buffer device; 3-7-3, a transverse thrust cylinder; 3-7-4 longitudinal thrust cylinders;
FIG. 12 is a technical roadmap of the invention;
FIG. 13 is a block diagram of a control system of the present invention;
FIG. 14 is a schematic diagram of the fuzzy PID control of the present invention.
Detailed Description
As shown in figures 1 and 2, the automatic hooping device for the side rubber strips of the screen plate comprises a positioning and centering clamping mechanism, a pressure head mechanism, a power machine with an X axis, a Y axis and a Z axis and a control system, wherein the positioning and centering clamping mechanism 2 comprises a first supporting plate 2-1, a second supporting plate 2-5, a left-handed threaded rod 2-2, a right-handed threaded rod 2-3, a third supporting plate 2-3 and a hand wheel 2-6.
The positioning centering clamping mechanism 2 is fixed on the frame 1 through mechanical connection, the heights of the first support plate 2-1 and the second support plate 2-5 are 8mm higher than the lower surface of the screen plate 5, one end of the third support plate 2-3 is provided with a stop block with the height of 8mm, and the height of the screen plate 5 is 19mm, so that when the screen plate 5 is just put into the positioning centering clamping mechanism 1, centering in the width direction is realized, and subsequent stirrup work is not interfered.
As shown in fig. 1 and 3, the pressure head mechanism 3 comprises a rubber strip releasing device 3-1, a rubber strip buffering and floating device 3-3, a material shortage alarming device 3-2, a front friction wheel feeding device 3-4, a rear friction wheel feeding device 3-5, a rubber strip dragging device 3-8, a pressing wheel device 3-7 and a pneumatic scissor mechanism 3-6.
As shown in FIG. 4, the adhesive tape releasing device 3-1 comprises a first motor 3-1-1, a shaft 3-1-2, a flange sleeve 3-1-6, a bearing bracket 3-1-3, a material tray 3-1-4 and a compression nut 3-1-5, wherein the first motor 3-1-1 and the shaft 3-1-2 are connected through a coupler, the end face of the flange sleeve 3-1-6 is connected to the tail end of the shaft 3-1-2 through a bolt, and the material tray 3-1-4 is sleeved on the flange sleeve 3-1-6 and fixed through the compression nut 3-1-5, so that the material tray 3-1-4 can rotate along with the shaft 3-1-2.
As shown in fig. 3 and 5, the adhesive tape buffer floating device 3-3 comprises a first guiding index wheel 3-3-8, a second guiding index wheel 3-3-1, a first linear slide rail 3-3-2, a connecting rod 3-3-6, a sinking block 3-3-5, an upper limit switch 3-3-3 and a lower limit switch 3-3-4, wherein the first guiding index wheel 3-3-8 and the second guiding index wheel 3-3-1 are arranged on a frame below a material tray, the first linear slide rail 3-3-2 is arranged below the first guiding index wheel 3-3-8 and the second guiding index wheel 3-3-1, the connecting rod 3-3-6 is fixedly connected to the two first linear slide rails 3-3-2 in a mechanical mode, the sinking block 3-3-5 is welded to the connecting rod 3-3-6, and the upper limit switch 3-3 and the lower limit switch 3-4 are respectively arranged on the two parallel first linear slide rails 3-3-3-2.
As shown in fig. 6, the material shortage alarm device 3-2 comprises a third guiding index wheel 3-2-3, a coupler 3-2-2 and an encoder 3-2-1, wherein the encoder 3-2-1 is connected to the shaft end of the third guiding index wheel 3-2-3 through the coupler 3-2, and the whole material shortage alarm device 3-2 is parallel to the adhesive tape buffering floating device 3-3 and fixedly connected to the frame.
The material shortage alarming device 3-2 detects the pulse number through the encoder 3-2-1, and when the material shortage second and third guiding index wheels 3-2-3 stop rotating, the encoder 3-2-1 cannot detect the pulse number to trigger an alarm;
as shown in FIG. 7, the adhesive tape dragging device 3-8 comprises a linear module 3-8-1, a thrust cylinder 3-8-2 and a finger clamping cylinder 3-8-3, wherein the thrust cylinder is connected to a sliding block of the linear module, and the finger clamping cylinder 3-8-3 is vertically arranged at the tail end of the thrust cylinder 3-8-2;
as shown in FIG. 8, the front friction wheel feeding device 3-4 comprises a second motor 3-4-1, a first-stage reducer 3-4-2, a driving V-shaped groove spur gear 3-4-3, a driven spur gear 3-4-4 and a compacting block 3-4-5, wherein the torque of the second motor 3-4-1 is amplified after passing through the first-stage reducer 3-4-2, the driving V-shaped groove spur gear 3-4-3 is connected to the output shaft of the first-stage reducer 3-4-2, the driven spur gear 3-4-4 is connected to the compacting block 3-4-5, and the compacting block 3-4-5 which can be conveniently detached is connected to the friction wheel feeding device frame through threads; the front friction wheel feeding device 3-4 is arranged right below the material shortage alarming device 3-2, and the structures of the front friction wheel feeding device 3-4 and the rear friction wheel feeding device 3-5 are identical.
As shown in FIG. 9, the pinch roller device 3-7 comprises a pinch roller 3-7-1, a spring buffer device 3-7-2, a longitudinal thrust cylinder 3-7-4 and a transverse thrust cylinder 3-7-3, wherein the pinch roller 3-7-1 is mechanically connected to the spring buffer device 3-7-2, the spring buffer device 3-7-2 is connected to the tail end of the longitudinal thrust cylinder 3-7-4, and the transverse thrust cylinder 3-7-3 is vertically connected to the longitudinal thrust cylinder 3-7-4. The spring buffer device 3-7-2 provides a certain pre-compression force so as to ensure the pressing-in effect of the rubber strip 3-3-7.
As shown in fig. 3, the pneumatic scissor mechanism 3-6 is arranged between the rear friction wheel feeding device 3-5 and the pinch roller device 3-7;
as shown in fig. 1, the power machine with an X axis, a Y axis and a Z axis comprises a two-axis gantry manipulator linear module and a Z axis rotating mechanism;
as shown in fig. 1, the two-axis gantry manipulator linear module is mechanically fixed on the frame;
as shown in fig. 1 and 3, the Z-axis rotating mechanism is connected to the two-axis gantry manipulator linear module through a truss 4-3; the pressure head mechanism 3 is mechanically connected with the end face of the flange shaft 4-1, and the rotating shaft 4-2 is connected with the other end of the flange shaft 4-1 through a pin 4-4; the tail end of the rotating shaft 4-2 is connected with a stepping motor with a brake through a coupler. Because the fillet value of the four corners of the screen plate 5 is R2, a Z-axis rotating mechanism is required to realize stirrups at the fillet of the screen plate 5.
As shown in fig. 10, the working process of the present invention: the screen plates 5 with five sizes are manually conveyed to the positioning, centering and clamping mechanism 1, and hand wheels 2-6 are rocked to position, center and clamp the screen plates 5; then the system performs an initialization operation including the initialization of the data memory in the CPU and the movement of the ram mechanism 3 from the zero point position to the operation origin point position. The material wires of each disc are fed to the discharge port of the rear friction wheel feeding device 3-5 by the manual operation through the adhesive tape buffer floating device 3-3, the front friction wheel feeding device 3-4 and the rear friction wheel feeding device 3-5 under the condition of using the initial material wires, at the moment, an initial dragging working button on a man-machine interface is clicked, the adhesive tape dragging device 3-8 starts to work, and when a limit switch on the adhesive tape dragging device 3-8 is triggered, the operation is stopped, and at the moment, the rubber strip 3-3-7 is in a clamping and straightening state; then feeding, clamping and straightening are carried out on the rubber strips 3-3-7 without manual work in the work of the stirrup until the next disc of rubber strip is replaced; the trigger signal of the subsequent adhesive tape dragging device 3-8 works after the pneumatic scissor mechanism works for 2 s; the rubber strip releasing device 3-1 releases the rubber strip 3-3-7, the tension of the rubber strip 3-3-7 is kept by the rubber strip buffering floating device 3-3,
when the material releasing speed of the adhesive tape releasing device 3-1 is higher than the feeding speed of the front friction wheel feeding device 3-4 for a certain time, the rubber strip 3-3-7 is scratched on the first linear slide rail 3-3-2 under the gravity action of the sinking block 3-3-5; when the lower limit switch 3-3-4 is triggered, the material releasing speed of the adhesive tape material releasing device 3-1 is readjusted;
when the material releasing speed of the adhesive tape releasing device 3-1 is lower than the feeding speed of the front friction wheel feeding device 3-4 for a certain time, the rubber strip 3-3-7 is marked on the first linear sliding rail 3-3-2, and when the upper limit switch 3-3-3 is triggered, the material releasing speed of the adhesive tape releasing device 3-1 is readjusted; thereby maintaining the tension of the rubber strips 3-3-7; then the pinch roller device 3-7 presses the rubber strip 3-3-7 into the groove on the side face of the screen plate 5, and then the pressure head mechanism 3 is driven to walk around the screen plate 5 by the two-axis gantry robot linear module and the Z-axis rotating mechanism for a circle, so that the rubber strip 3-3-7 is safely and correctly hooped in the groove on the side face of the periphery of the screen plate 5. In the process, parameters of the feeding implementation system and the adhesive tape embedding implementation system are required to be adjusted, including the rotating speed of each motor, the working time of each cylinder and the like, so that synchronous transmission of each motor is ensured; finally, the pneumatic scissors mechanism 3-6 cuts the rubber strip 3-3-7. At the moment, one screen plate 5 completes the hooping work, and when one screen plate 5 completes the hooping work, the system automatically returns to the zero point and stops working. When the system material shortage alarm device 3-2 is triggered, the system automatically returns to the zero point and stops working. When the work button is clicked on the man-machine interface, the stirrup work of the second screen plate 5 is started, and the process is repeated.
As shown in fig. 11, the control system employs embedded control. The upper computer is connected with the MCU microcontroller through RS-485 serial communication, and the screen plate size model, the motor rotating speed and the motor acceleration and deceleration type are arranged on the upper computer, so that the MCU is controlled. MCU microcontroller and motion control board card pass through I 2 And C, communication is established, so that the IO port of the moving board card is controlled to output rectangular wave pulses, the driver of the stepping motor is controlled to drive the motor to move, the encoder converts the angular displacement and the linear displacement of the movement of the stepping motor into electric signals, the electric signals are fed back to the MCU after digital-to-analog conversion, and closed-loop control is realized, so that high-precision operation control of the stepping motor is realized.
As shown in FIG. 12, the device adopts seven stepping motors to realize the automatic hooping operation of the rubber strip, two (or more) motors are synchronous, including the requirement of complete synchronization of rotating speed or rotating angle, if the two motors cannot reach complete synchronization according to open loop control, a fuzzy PID control algorithm is adopted to realize the synchronous collaborative operation of multiple motors, the fuzzy PID control takes a rotating speed error e and a rotating speed error change rate ec as input quantity, the input quantity is subjected to fuzzification and fuzzy reasoning to obtain output quantity, and a PID controller adjusts the rotating speed and response time of the motors according to the output value of the fuzzy control. The fuzzy inference is established by observing the deviation between the actual length and the theoretical length of the adhesive tape under different speed and acceleration states, and a fuzzy set is established according to a fuzzy statistics method, so that a membership function is determined.
Claims (8)
1. The working method of the automatic hooping device for the side rubber strips of the screen plate comprises a frame, wherein one side of the frame is provided with a positioning, centering and clamping mechanism for installing and fixing the screen plate, the other side of the frame is fixedly provided with a power machine with an X axis, a Y axis and a Z axis, the power machine with the X axis, the Y axis and the Z axis comprises a two-axis gantry manipulator linear module and a Z axis rotating mechanism,
the two-axis gantry manipulator linear module is fixed on the frame;
the Z-axis rotating mechanism is connected to the two-axis gantry manipulator linear module through a truss, and a rotating output shaft of the Z-axis rotating mechanism is connected with the pressure head mechanism;
the pressure head mechanism comprises a shell connected with a rotary output shaft of the Z-axis rotary mechanism, and a rubber strip releasing device, a rubber strip buffering and floating device, a material shortage alarm device, a front friction wheel feeding device, a rear friction wheel feeding device, a rubber strip dragging device, a pressing wheel device and a pneumatic scissor mechanism which are arranged on the shell,
the adhesive tape releasing device comprises a first motor, a shaft, a flange sleeve, a bearing bracket and a material disc, wherein one end of the first motor is connected with one end of the shaft through a coupler, the end face of the flange sleeve is connected with the other end of the shaft through a bolt, and the material disc is sleeved on the flange sleeve and fixed through a compression nut;
the adhesive tape buffering floating device comprises a first guiding index wheel, a second guiding index wheel, a pair of vertically arranged first linear slide rails, a connecting rod, a sinking block, an upper limit switch and a lower limit switch, wherein the first guiding index wheel and the second guiding index wheel are arranged on a rack below a material tray, the first linear slide rails are arranged below the first guiding index wheel and the second guiding index wheel, the connecting rod is connected onto the first linear slide rails in a sliding manner, the sinking block is welded and fixed onto the connecting rod, the upper limit switch is arranged at the upper end of the first linear slide rails, and the lower limit switch is arranged at the lower end of the first linear slide rails;
the material shortage alarming device comprises a guide index wheel and an encoder, wherein the encoder is connected to the shaft end of the guide index wheel through a coupler, and the whole material shortage alarming device is parallel to the adhesive tape floating buffer device and fixedly connected to the frame;
the front friction wheel feeding device and the rear friction wheel feeding device have the same structure and comprise a second motor, a first-stage speed reducer, a driving V-shaped groove spur gear, a driven spur gear and a compression block, wherein the second motor amplifies the rear torque through the first-stage speed reducer, the driving V-shaped groove spur gear is connected to an output shaft of the first-stage speed reducer, the driven spur gear is connected to the compression block, and the compression block is in threaded connection with a frame;
the adhesive tape dragging device comprises a linear module, a thrust cylinder, a finger clamping cylinder, a left limit switch and a right limit switch, wherein the left limit switch and the right limit switch are arranged at two ends of the linear module, the thrust cylinder is connected to a sliding block of the linear module, and the finger clamping cylinder is vertically arranged at the tail end of the thrust cylinder;
the pressing wheel device is arranged on one side of the rubber strip dragging device and used for providing certain pre-pressure for the rubber strip, and comprises a pressing wheel, a spring buffer device, a longitudinal thrust cylinder and a transverse thrust cylinder, wherein the pressing wheel comprises two parallel pressing wheels, the two parallel pressing wheels are connected to the spring buffer device, the spring buffer device is connected to the tail end of the longitudinal thrust cylinder, and the transverse thrust cylinder is vertically connected to the longitudinal thrust cylinder;
the pneumatic scissor mechanism is arranged between the rear friction wheel feeding device and the pinch roller device and is used for shearing the rubber strips;
the power machine with X axis, Y axis and Z axis and the pressure head mechanism are connected with the control system by signals, the control system adopts embedded control plus PC communication to carry out synchronous transmission control of multiple motors, which is characterized in that,
the screen plate is manually conveyed to the positioning centering clamping mechanism for centering, clamping and fixing;
the rubber strip material wire is fed into the pressure head mechanism by a person, specifically, the rubber strip material wire is sequentially fed to a discharge hole of the rear friction wheel feeding device through the rubber strip buffer floating device, the front friction wheel feeding device and the rear friction wheel feeding device, at the moment, the control system controls the rubber strip dragging device to start working, after the rubber strip is straightened and clamped by the rubber strip dragging device, a longitudinal thrust cylinder on the pinch roller device works to push two parallel pinch rollers, the two parallel pinch rollers feed the straightened and clamped rubber strip into a groove on the side surface of the screen plate, the rubber strip dragging device stops working after being pressed in, the finger clamping cylinder is loosened, and the rubber strip dragging device returns to an initial working state;
then the rubber strip is released by the rubber strip releasing device, the tension of the rubber strip is kept by the rubber strip buffering and floating device, when the releasing speed of the rubber strip releasing device is higher than the feeding speed of the front friction wheel feeding device for a certain time, the rubber strip slides up and down on the sliding rail under the action of the gravity of the sinking block, and when the lower limit switch is triggered, the releasing speed of the rubber strip releasing device is readjusted;
when the material release speed of the adhesive tape material release device is lower than the feeding speed of the front friction wheel feeding device for a certain time, the rubber tape slides on the sliding rail, and when the upper limit switch is triggered, the material release speed of the adhesive tape material release device is readjusted; thereby maintaining the tension of the rubber strip;
then, the pressure head mechanism is driven to walk around the screen plate for a circle under the linear module of the two-axis gantry robot and the Z-axis rotating mechanism, so that rubber strip stirrups are arranged in grooves on the peripheral side surfaces of the screen plate;
the length of the rubber strip is calculated by recording the pulse number of the rear friction wheel feeding device, and when the length of the rubber strip required by the stirrup screen plate is reached, the pneumatic scissor mechanism starts to work, so that the rubber strip is sheared.
2. The method for operating an automatic hooping device for a side rubber strip of a screen plate according to claim 1, characterized in that: the positioning centering clamping mechanism comprises:
the device comprises a second linear slide rail arranged along the length direction of the screen plate, a first supporting plate arranged at one end of the second linear slide rail in a sliding manner and used for positioning and supporting one end of the screen plate in the length direction, a second supporting plate arranged at the other end of the second linear slide rail in a sliding manner and used for positioning and supporting the other end of the screen plate in the length direction, a third supporting plate arranged at the middle part of the second linear slide rail in a sliding manner and used for positioning and supporting the width direction of the screen plate, and a threaded rod, wherein the threaded rod is arranged with the linear slide rail, one end of the threaded rod is in threaded connection with a hand wheel, and the hand wheel is used for adjusting the distance between the first supporting plate and the second supporting plate so as to cope with the screen plates with different lengths;
wherein, the edge parts of the first support plate, the second support plate and the third support plate are all provided with a stop block with the height lower than the thickness of the screen plate.
3. The method for operating an automatic hooping device for a side rubber strip of a screen plate according to claim 1, characterized in that: the Z-axis rotating mechanism, the first motor and the second motor are all stepping motors.
4. The method for operating an automatic hooping device for a side rubber strip of a screen plate according to claim 1, characterized in that: the control system comprises an upper computer, an MCU microcontroller and a motion control board card, wherein the upper computer is connected with the MCU microcontroller through RS-485 serial communication, and the MCU microcontroller is connected with the motion control board card through a serial bus.
5. The method for operating an automatic hooping device for a side rubber strip of a screen plate according to claim 1, characterized in that: the shell of the pressure head mechanism is connected with the flange end of the flange shaft, the shaft end of the flange shaft is connected with a rotating shaft through a pin, and the other end of the rotating shaft is connected with a stepping motor with a brake through a coupler.
6. The method for operating an automatic hooping device for a side rubber strip of a screen plate according to claim 1, characterized in that:
stopping working after triggering a left limit switch on the adhesive tape dragging device, wherein the adhesive tape is in a clamping and straightening state; then the rubber strip is fed, clamped and straightened without manual work in the work of the stirrup until the next disc of rubber strip is replaced; the trigger signal of the follow-up adhesive tape dragging device works from the pneumatic scissor mechanism after 2s of work.
7. The method for operating an automatic hooping device for a side rubber strip of a screen plate according to claim 1, characterized in that:
when one screen plate completes the hooping device, the control system automatically returns to the zero point and stops working.
8. A working method of the automatic hooping device based on the side rubber strip of the screen plate, which is characterized in that: the material shortage alarm device detects the pulse number through the encoder, and when the material shortage second guide index wheel stops rotating, the encoder cannot detect the pulse number at the moment to trigger an alarm.
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| CN201910162918.9A 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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| CN201910162918.9A 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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| US6390173B1 (en) * | 1997-11-26 | 2002-05-21 | Paul J. Story, Jr. | Method of making a screen frame |
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| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100439101C (en) * | 2004-06-01 | 2008-12-03 | 东远精技工业股份有限公司 | Cantilevered crazing machine with double table board |
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| 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 |
| 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 |
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