CN110342016A - A kind of the graphite electrode automatic accomodation control system and control method of filler instrument - Google Patents
A kind of the graphite electrode automatic accomodation control system and control method of filler instrument Download PDFInfo
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- CN110342016A CN110342016A CN201910595018.3A CN201910595018A CN110342016A CN 110342016 A CN110342016 A CN 110342016A CN 201910595018 A CN201910595018 A CN 201910595018A CN 110342016 A CN110342016 A CN 110342016A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/08—Packaging groups of articles, the articles being individually gripped or guided for transfer to the containers or receptacles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
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Abstract
The invention discloses a kind of graphite electrode automatic accomodation control system of filler instrument and control methods, including initial placement area, storage box, graphite electrode picks and places module, motion module, signal detection module and output control module, initial placement area is used to place the graphite electrode for needing to store, storage box is equipped with the reception hole of multiple array arrangements, it includes for clamping the Pneumatic clamping jaw of graphite electrode and controlling the rotating device of Pneumatic clamping jaw rotation that graphite electrode, which picks and places module, motion module for realizing Pneumatic clamping jaw movement, signal detection module includes the position sensor for detecting the position of motion module, magnetic switch is used to detect the action state of Pneumatic clamping jaw and rotating device, fibre optical sensor is for detecting whether Pneumatic clamping jaw clamps graphite electrode, output control module includes driver, solenoid valve and controller.The present invention provides the graphite electrode automatic accomodation control system and control method of a kind of filler instrument, realizes automation crawl graphite electrode.
Description
Technical field
The present invention relates to mineral machining experiment fields of automation technology, and in particular to a kind of graphite electrode of filler instrument is automatic
Store control system and control method.
Background technique
With China's rapid economic development, various mineral resources demands are sharply increased, and to economize on resources, are avoided to mineral products
The exploitation of resource extensive style, thus will have to compare to the ingredient of various geology minerals, content and be well understood, Ministry of Geology and Mineral Resources
Door usually reconnoitres geology elementary composition using spectroscopic analysis methods.This method step are as follows: firstly, in field acquisition ground sample,
And laboratory by sample comminution, grinding；Secondly, the buffer that equivalent will be added in sample after grinding, is sufficiently mixed；Then,
Sample powder after mixing is loaded into the graphite electrode of corresponding construction；Finally, by the graphite electricity equipped with sample mixing
Pole carries out spectrum analysis, calculates sample elementary composition.Currently, machined sample storage process mainly passes through manual work, by grasping
Make worker manufactured graphite electrode sample is sequentially placed into corresponding storage box, which large labor intensity, and easily ruins
Bad machined electrode sample, production efficiency are low.
Summary of the invention
Insufficient according to prior art, the object of the present invention is to provide a kind of controls of the graphite electrode automatic accomodation of filler instrument
System and control method can be realized automation crawl graphite electrode, and graphite electrode are inserted into storage box, realize to
The storage of processed sample process automation, improves production efficiency.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention are as follows:
A kind of graphite electrode automatic accomodation control system of filler instrument, including initial placement area, storage box, graphite electrode take
Amplification module, motion module, signal detection module and output control module；
The initial placement area is used to place the graphite electrode for needing to store；
The storage box is equipped with the reception hole of multiple array arrangements；
It includes for clamping the Pneumatic clamping jaw of graphite electrode and control Pneumatic clamping jaw rotation that the graphite electrode, which picks and places module,
Rotating device；
The motion module will clamp the Pneumatic clamping jaw after graphite electrode from initially putting for realizing the movement of Pneumatic clamping jaw
It sets area to be moved to above storage box, and the Pneumatic clamping jaw after relieving graphite electrode is moved to initial placement above storage box
Area；
The signal detection module includes position sensor, magnetic switch and fibre optical sensor, and Position Sensor is used
In the position of detection motion module, magnetic switch is used to detect the action state of Pneumatic clamping jaw and rotating device, fibre optical sensor
For detecting whether Pneumatic clamping jaw clamps graphite electrode；
The output control module includes driver, solenoid valve and controller, and the driver is used to be used as motion module
Power source, the solenoid valve is for changing the open and-shut mode of Pneumatic clamping jaw and the rotation status of rotating device, the controller,
Detection signal based on position sensor, magnetic switch and fibre optical sensor, judges the working condition of entire control system, and adjusts
The pulse of driver and the folding condition of solenoid valve are controlled, entire control system is made further to complete storage work.
Further, the motion module includes X-axis lead screw mould group, Y-axis lead screw mould group and Z axis lead screw mould group, the X-axis
Lead screw mould group includes X-axis lead screw, the driving X-axis lead screw X-axis motor rotated and the X-axis slide block slided on X-axis lead screw, the gas
Dynamic clamping jaw is mounted in the X-axis slide block, and the Y-axis lead screw module includes the y-axis motor of Y-axis lead screw, driving Y-axis lead screw rotation
With the Y-axis sliding block being mounted on Y-axis lead screw, the storage box bottom is fixed on Y-axis sliding block, and the Z axis lead screw mould group includes Z
Axial filament thick stick, the driving Z axis lead screw Z axis motor rotated and the Z axis sliding block being mounted on Z axis lead screw, the X-axis lead screw mould group are fixed
On the Z axis sliding block.
Further, the position sensor includes X-axis position sensor, Y-axis position sensor and Z axis position sensing
Device, the X-axis position sensor include the X-axis photoelectric sensor being sequentially arranged in X-axis lead screw mould group, are set in the X-axis slide block
There is the X-axis baffle that can block X-axis photoelectric sensor light source, the Y-axis position sensor includes being sequentially arranged in Y-axis lead screw mould group
Y-axis photoelectric sensor, the Y-axis sliding block, which is equipped with, can block the Y-axis baffle of Y-axis photoelectric sensor light source, the Z axis position
Sensor includes the Z axis photoelectric sensor being sequentially arranged in Z axis lead screw mould group, and the Z axis sliding block, which is equipped with, can block Z axis photoelectricity
The Z axis baffle of sensor light source.
Further, the Pneumatic clamping jaw includes clamping jaw cylinder, and the Pneumatic clamping jaw passes through clamping jaw cylinder control
It opens or is closed, clamp graphite electrode.
Further, the rotating device includes rotary cylinder and turntable, and the Pneumatic clamping jaw is mounted on the rotation
On platform, the turntable is by rotary cylinder control rotation, so that the Pneumatic clamping jaw is rotated, described in help
Pneumatic clamping jaw rotates graphite electrode.
A kind of graphite electrode automatic accomodation control method of filler instrument, it is characterised in that:
Step 1: enabling the light source position of X-axis photoelectric sensor is the origin position of X-axis lead screw mould group, Y-axis photoelectric sensing is enabled
The light source position of device is the origin position of Y-axis lead screw mould group, and enabling the light source position of Z axis photoelectric sensor is Z axis lead screw mould group
Origin position when beginning, enables X-axis slide block at the origin position of X-axis lead screw mould group, i.e., Pneumatic clamping jaw is in X-axis lead screw mould group
At origin position, first reception hole of storage box is at the origin position of Y-axis lead screw mould group on Y-axis sliding block, and Z axis sliding block is in Z
At the origin position of axial filament thick stick mould group, graphite electrode is placed on initial placement area, feeding is carried out, is placed on initial placement area
Graphite electrode is laid flat, and enabling its axial direction is X-direction, is hung down in the horizontal plane with the axial direction of the graphite electrode in initial placement area
Straight direction is Y-direction, and vertical direction is Z-direction, enables the center of the Pneumatic clamping jaw in initial position area for the original under machine coordinates
Point position, controller control the first solenoid valve obtain it is electric, make Pneumatic clamping jaw by clamping jaw cylinder control Pneumatic clamping jaw open, clamp stone
Electrode ink shows Pneumatic clamping jaw clamping graphite electrode success after fibre optical sensor detects signal；
Step 2: X-axis motor drives the rotation of X-axis lead screw, drive Pneumatic clamping jaw that graphite electrode is pulled out funnel hole, Y-axis
Motor rotation, y-axis motor drives the rotation of Y-axis lead screw, it is mobile to drive storage box, so that first reception hole on storage box is mobile
To the underface of Pneumatic clamping jaw；
It is rotated Step 3: turntable is controlled by rotary cylinder, so that Pneumatic clamping jaw is rotated by 90 °, helps pneumatic clamps
Pawl rotates graphite electrode, places the graphite electrode laid flat vertically；
Step 4: Z axis motor rotates, move downward Z axis sliding block vertical direction, driving Pneumatic clamping jaw puts graphite electrode
Enter in first reception hole；
Step 5: Z axis motor rotates, Z axis sliding block vertical direction is moved upwards, Z axis sliding block is made to return to Z axis lead screw mould group
Origin position at, turntable by the second cylinder control rotation, make Pneumatic clamping jaw is counter to turn 90 degrees, X-axis motor reversal makes X-axis
Sliding block returns at the origin position of X-axis lead screw mould group, even if Pneumatic clamping jaw returns at the origin position of X-axis lead screw mould group, storage
Each moving cell reset in process is worked next time；
Step 6: continuing feeding, X-axis motor drives the rotation of X-axis lead screw, drives Pneumatic clamping jaw that graphite electrode is pulled out leakage
Bucket hole, y-axis motor is motionless at this time, and Pneumatic clamping jaw is made to be moved to second reception hole of the X-direction adjacent with first reception hole
Top repeats the movement of step 3 and step 4, after the completion, stores each moving cell in process and resets progress work next time
Make, and so on, using first reception hole of lower left corner it is that starting point to X-direction stores a line, then with Y-direction be to arrange
To a line a line stores graphite electrode.
Further, the step 2 specifically includes:
Step 201, calculating Pneumatic clamping jaw move to above first reception hole from initial position area, X in X-axis lead screw mould group
Umber of pulse required for spindle motor:
Umber of pulse required for y-axis motor in Y-axis lead screw mould group:
In formula (1) and (2), X and Y respectively indicate Pneumatic clamping jaw and are in X-axis lead screw mould group and Y-axis lead screw mould group origin position
When, at a distance from first reception hole, umber of pulse needed for n represents one circle of motor rotation, s indicates lead screw at Pneumatic clamping jaw center
Lead.
Further, the step 4 specifically includes:
Step 401 calculates umber of pulse required for Z axis motor drives Z axis sliding block vertical direction to move:
In formula (3), Z indicates that Z axis sliding block drives Pneumatic clamping jaw to move downward from Z axis lead screw mould group origin position vertical direction
Distance, n represent motor rotation one circle needed for umber of pulse, s indicate lead screw lead.
Further, the step 6 specifically includes:
Step 601 is that array is arranged due to the reception hole on storage box, with the presence of spacing, X-axis slide block between adjacent reception hole
It drives Pneumatic clamping jaw to move to above remaining reception hole, needs X-axis motor to drive the rotation of X-axis lead screw, so that X-axis slide block be driven to transport
It moves, at this time umber of pulse needed for X-axis motor movement are as follows:
Y-axis motor is needed to drive the rotation of Y-axis lead screw simultaneously, to drive storage box to move, needed for y-axis motor movement at this time
Umber of pulse are as follows:
In formula (4) and (5), PxAnd PyAfter respectively indicating i-th of sample of storage, i+1 sample is stored, controls X-axis lead screw
In mould group in the motion impulse number of X-axis motor and Y-axis lead screw mould group y-axis motor motion impulse number, PXAnd PYRespectively indicate X-axis
Y-axis motor is needed from initial position area to from first reception hole of storage box in X-axis motor and Y-axis lead screw mould group in lead screw mould group
The umber of pulse wanted, x indicate the distance on storage box in X-direction between two adjacent reception holes, two-phase in Y-direction on y expression storage box
Distance between adjacent reception hole, i represent the quantity for the graphite electrode stored, umber of pulse needed for n represents one circle of motor rotation, s
Indicate guide screw lead, (i%nx) indicate remainder, [i/ny] indicate to be rounded；
Step 602 needs to position each reception hole on storage box, enables lower left corner in storage box
Reception hole is first reception hole, and being with X-direction is longitudinal direction with Y-direction laterally, first with first receipts of lower left corner
Receiving hole is that starting point to X-direction stores a line, then with Y-direction is column to a line a line stores graphite electrode, then i+1 storage
The coordinate of hole corresponding X-axis under machine coordinates are as follows:
xi+1=x1+ x (i%nx) (6)
The coordinate of i+1 reception hole corresponding Y-axis under machine coordinates are as follows:
In formula (6) and formula (7), xi+1And yi+1Respectively indicate the seat of i+1 reception hole X-axis and Y-axis under machine coordinates
Cursor position, x1And y1First reception hole is respectively indicated in the coordinate value of X-axis and Y-axis, x indicate on storage box a reception hole with
The distance in the X direction of second reception hole of its adjacent X-direction, y indicate that a reception hole is adjacent thereto on storage box
Y-direction second reception hole distance in the Y direction, i represents the quantity of graphite electrode stored, nxAnd nyRespectively
Indicate the storage box number with reception hole in Y-direction in the X direction.
Compared with prior art, the present invention has the following advantages and beneficial effects:
1. the graphite electrode automatic accomodation control system and control method of a kind of filler instrument of the present invention, pass through control
Device handles internal flag bit signal intensity, is orderly controlled each axis and each pneumatic component, the graphite that can will be processed
In the orderly reception hole being placed on storage box of electrode sample, the degree of automation of spectrographic laboratory's production sample is improved, is got rid of
Abandon artificial, raising serious forgiveness.
2. the graphite electrode automatic accomodation control system and control method of a kind of filler instrument of the present invention, can be by stone
Electrode ink sample is orderly grabbed and is put, and robustness is high, and efficiency is better than artificial.
3. the graphite electrode automatic accomodation control system and control method of a kind of filler instrument of the present invention, using pneumatic
Clamping jaw and the turntable of rotary cylinder control, can reduce the point occupancy of controller, and control process is simple, at low cost
It is honest and clean.
4. the graphite electrode automatic accomodation control system and control method of a kind of filler instrument of the present invention, pass through setting
X-axis lead screw mould group, Y-axis lead screw mould group and Z axis lead screw mould group realize the location requirement in space by the way of three-shaft linkage,
Keep control process more simple.
Detailed description of the invention
Fig. 1 is the overall exemplary construction schematic diagram of the present invention.
Fig. 2 is that sample of the present invention stores exemplary construction schematic diagram.
Fig. 3 is present example control system architecture schematic diagram.
Fig. 4 is X-axis of the present invention and Z axis structural schematic diagram.
Fig. 5 is Y-axis servo modular structure schematic diagram of the present invention.
Fig. 6 is Pneumatic clamping jaw of the present invention and pneumatic rotary display stand structure schematic diagram.
Fig. 7 is the automatic material grasping control system flow chart of sample of the present invention.
Wherein: 100, initial placement area；
200, storage box；201, reception hole；
300, graphite electrode picks and places module；310, Pneumatic clamping jaw；311, clamping jaw cylinder；320, rotating device；321, it rotates
Cylinder；322, turntable；
400, motion module；410, X-axis lead screw mould group；411, X-axis lead screw；412, X-axis motor；413, X-axis slide block；420,
Y-axis lead screw mould group；421, Y-axis lead screw；422, y-axis motor；423, Y-axis sliding block；430, Z axis lead screw mould group；431, Z axis lead screw；
432, Z axis motor；433, Z axis sliding block；
500, signal detection module；510, position sensor；511, X-axis position sensor；5111, the negative limit sensing of X-axis
Device；5112, X-axis photoelectric sensor；5113, the positive limit sensors of X-axis；512, Y-axis position sensor；5121, the negative limit of Y-axis passes
Sensor；5122, Y-axis photoelectric sensor；5123, the positive limit sensors of Y-axis；513, Z axis position sensor；5131, the negative limit of Z axis
Sensor；5132, Z axis photoelectric sensor；5133, the positive limit sensors of Z axis；520, magnetic switch；521, the first magnetic switch；
522, the second magnetic switch；530, fibre optical sensor；
600, output control module；610, driver；620, solenoid valve；630, controller.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In the description of the invention, it is to be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description the invention and simplifies description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For the limitation to the invention.In addition, term " first ", " second " etc. are used for description purposes only, and should not be understood as indicating
Or it implies relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second " etc. are defined as a result,
Feature can explicitly or implicitly include one or more of the features.In the description of the invention, unless separately
It is described, the meaning of " plurality " is two or more.
Referring to Fig.1 shown in-Fig. 7, a kind of graphite electrode automatic accomodation control system of filler instrument, it is characterised in that: including
Initial placement area 100, storage box 200, graphite electrode pick and place module 300, motion module 400, signal detection module 500 and output
Control module 600；
Initial placement area 100 is used to place the graphite electrode for needing to store；
Storage box 200 is equipped with the reception hole 201 of multiple array arrangements,；
It includes for clamping the Pneumatic clamping jaw 310 of graphite electrode and control Pneumatic clamping jaw 310 that graphite electrode, which picks and places module 300,
The rotating device 320 of rotation；
Motion module 400 for realizing Pneumatic clamping jaw 310 movement, by clamp graphite electrode after Pneumatic clamping jaw 310 from
Initial placement area 100 is moved to 200 top of storage box, and by the Pneumatic clamping jaw 310 after relieving graphite electrode from storage box 200
Side is moved to initial placement area 100；
Signal detection module 500 includes position sensor 510, magnetic switch 520 and fibre optical sensor 530, wherein position
Sensor 510 is used to detect the position of motion module 400, and magnetic switch 520 is for detecting Pneumatic clamping jaw 310 and rotating device
320 action state, fibre optical sensor 530 is for detecting whether Pneumatic clamping jaw 310 clamps graphite electrode；
Output control module 600 includes driver 610, solenoid valve 620 and controller 630, and driver 610 is used for as fortune
The power source of dynamic model block 400, solenoid valve 620 for changing Pneumatic clamping jaw 310 open and-shut mode and rotating device 320 it is contorted
State, controller 630, the detection signal based on position sensor 510, magnetic switch 520 and fibre optical sensor 530, judgement are entire
The working condition of control system, and regulate and control the pulse of 610 (not shown) of driver and the folding condition of solenoid valve 620, make
Entire control system further completes storage work.
Referring to shown in Fig. 3, controller 630 controls the X-axis motor in X-axis lead screw mould group, Y-axis by driver 610 respectively
The Z axis motor in y-axis motor and Z axis lead screw mould group in lead screw mould group realizes the movement of Pneumatic clamping jaw 310 and storage box 200.
Referring to Fig.1, shown in Fig. 2, Fig. 4 and Fig. 5, motion module 400 includes X-axis lead screw mould group 410, Y-axis lead screw mould group 420
With Z axis lead screw mould group 430, X-axis lead screw mould group 410 includes the X-axis motor 412 of X-axis lead screw 411, the driving rotation of X-axis lead screw 411
With the X-axis slide block 413 slided on X-axis lead screw 411, X-axis slide block 413 is mounted on X-axis lead screw 411 by feed screw nut, gas
Dynamic clamping jaw 310 is mounted in X-axis slide block 413, the axial direction of X-axis lead screw 411 and initial placement area in X-axis lead screw mould group 410
The axial direction of 100 graphite electrodes laid flat is parallel.Y-axis lead screw module includes Y-axis lead screw 421, the driving rotation of Y-axis lead screw 421
Y-axis motor 422 and the Y-axis sliding block 423 that is mounted on Y-axis lead screw 421, Y-axis sliding block 423 Y-axis is mounted on by feed screw nut
On lead screw 421.200 bottom of storage box is fixed on Y-axis sliding block 423, the axial direction side of Y-axis lead screw 421 in Y-axis lead screw mould group 420
The direction vertical to the axial direction of the graphite electrode laid flat with initial placement area 100 is parallel.Z axis lead screw mould group 430 includes Z axis
Lead screw 431, the driving Z axis lead screw 431 Z axis motor 432 rotated and the Z axis sliding block 433 being mounted on Z axis lead screw 431, Z axis are sliding
Block 433 is mounted on Z axis lead screw 431 by feed screw nut, and X-axis lead screw mould group 410 is fixed on Z axis sliding block 433, Z axis lead screw
The axial direction of Z axis lead screw 431 in mould group 430 is vertical direction.
Referring to Fig.1, shown in Fig. 2, Fig. 4 and Fig. 5, position sensor 510 includes X-axis position sensor 511, Y-axis position biography
Sensor 512 and Z axis position sensor 513, X-axis position sensor 511 include that the X-axis being sequentially arranged in X-axis lead screw mould group 410 is born
Limit sensors 5111, X-axis photoelectric sensor 5112 and the positive limit sensors 5113 of X-axis, the negative limit sensors 5111 of X-axis and X
The positive limit sensors 5113 of axis are separately mounted to the both ends of X-axis lead screw 411, for limiting the position of X-axis slide block 413, X-axis photoelectricity
Sensor 5112 is mounted between the negative limit sensors 5111 of X-axis and the positive limit sensors 5113 of X-axis, enables X-axis photoelectric sensor
5112 light source position is the origin position of X-axis lead screw mould group 410, and X-axis slide block 413, which is equipped with, can block X-axis photoelectric sensor
The X-axis baffle of 5112 light sources.Y-axis position sensor 512 includes the negative limit sensing of Y-axis being sequentially arranged in Y-axis lead screw mould group 420
Device 5121, Y-axis photoelectric sensor 5122 and the positive limit sensors 5123 of Y-axis, the negative limit sensors 5121 of Y-axis and Y-axis just limit
Sensor 5123 is respectively provided at the both ends of Y-axis lead screw 421, for limiting the position of Y-axis sliding block 423, Y-axis photoelectric sensor 5122
It is mounted between the negative limit sensors 5121 of Y-axis and the positive limit sensors 5123 of Y-axis, enables the light source position of Y-axis photoelectric sensor 5122
It is set to the origin position of Y-axis lead screw mould group 420, Y-axis sliding block 423 is equipped with the Y-axis that can block 5122 light source of Y-axis photoelectric sensor
Baffle.Z axis position sensor 513 includes the negative limit sensors 5131 of Z axis, the Z axis light being sequentially arranged in Z axis lead screw mould group 430
Electric transducer 5132 and the positive limit sensors 5133 of Z axis, the negative limit sensors 5131 of Z axis and the positive limit sensors 5133 of Z axis divide
It is not located at the both ends of Z axis lead screw 431, for limiting the position of Z axis sliding block 433, it is negative that Z axis photoelectric sensor 5132 is mounted on Z axis
Between limit sensors 5131 and the positive limit sensors 5133 of Z axis, enabling the light source position of Z axis photoelectric sensor 5132 is Z axis lead screw
The origin position of 431 mould groups 430, Z axis sliding block 433 are equipped with the Z axis baffle that can block 5132 light source of Z axis photoelectric sensor.
Referring to shown in Fig. 6, Pneumatic clamping jaw 310 includes 311 (not shown) of clamping jaw cylinder, and Pneumatic clamping jaw 310 passes through folder
The control of pawl cylinder 311 is opened or closure, clamps graphite electrode.
Referring to shown in Fig. 6, rotating device 320 includes rotary cylinder 321 and turntable 322, and Pneumatic clamping jaw 310 is mounted on rotation
On turntable 322, turntable 322 helps gas so that Pneumatic clamping jaw 310 is rotated by the control rotation of rotary cylinder 321
Dynamic clamping jaw 310 rotates graphite electrode.
Referring to shown in Fig. 6, magnetic switch 520 includes the first magnetic switch 521 and the second magnetic switch 522, and two first
Magnetic switch 521 is used to detect the action state of detection Pneumatic clamping jaw 310, and two the second magnetic switch 522 are for detecting rotation
The action state of device 320.
Referring to Fig.1 shown in-Fig. 7, a kind of graphite electrode automatic accomodation control method of filler instrument, comprising:
Step 1: enabling the light source position of X-axis photoelectric sensor 5112 is the origin position of X-axis lead screw mould group 410, Y-axis is enabled
The light source position of photoelectric sensor 5122 is the origin position of Y-axis lead screw mould group 420, enables the light source of Z axis photoelectric sensor 5132
Position is the origin position of Z axis lead screw mould group 430, when beginning, enables X-axis slide block 413 in the origin position of X-axis lead screw mould group 410
Place, i.e. Pneumatic clamping jaw 310 is at the origin position of 411 mould group 410 of X-axis lead screw, first of storage box 200 on Y-axis sliding block 423
Reception hole 201 at the origin position of Y-axis lead screw mould group 420, Z axis sliding block 433 at the origin position of Z axis lead screw mould group 430,
Graphite electrode is placed on initial placement area 100, carries out feeding, the graphite electrode for being placed on initial placement area 100 is laid flat, and enables it
Axial direction is X-direction, and the direction vertical with the axial direction of the graphite electrode in initial placement area 100 is the side Y in the horizontal plane
To vertical direction is Z-direction, enables the center of the Pneumatic clamping jaw 310 in initial position area for the origin position under machine coordinates, control
Device 630 control the first solenoid valve 620 it is electric, make Pneumatic clamping jaw 310 by clamping jaw cylinder 311 control Pneumatic clamping jaw 310 open, folder
Graphite electrode is taken, shows that Pneumatic clamping jaw 310 clamps graphite electrode success after fibre optical sensor 530 detects signal；
Step 2: X-axis motor 412 drives X-axis lead screw 411 to rotate, drive Pneumatic clamping jaw 310 that graphite electrode is pulled out leakage
Bucket hole, y-axis motor 422 rotate, and y-axis motor 422 drives Y-axis lead screw 421 to rotate, and the movement of storage box 200 are driven, so that storage box
First reception hole 201 on 200 is moved to the underface of Pneumatic clamping jaw 310；
Wherein, step 2 specifically includes step 201, controls X-axis motor in X-axis lead screw mould group 410 by controller 630
412 and Y-axis lead screw mould group 420 in y-axis motor 422 rotate certain umber of pulse, make Pneumatic clamping jaw 310 from initial position area move
To above first reception hole 201,
Umber of pulse required for X-axis motor 412 in X-axis lead screw mould group 410:
Umber of pulse required for y-axis motor 422 in Y-axis lead screw mould group 420:
In formula (1) and (2), X and Y respectively indicate Pneumatic clamping jaw 310 and are in X-axis lead screw mould group 410 and Y-axis lead screw mould group
When 420 origin position, at a distance from first reception hole 201, n is represented needed for one circle of motor rotation at Pneumatic clamping jaw 310 center
Umber of pulse, s indicate the lead of lead screw；
Step 3: turntable 322 is rotated by the control of 322 cylinder of turntable, so that the rotation of Pneumatic clamping jaw 310 90
Degree helps Pneumatic clamping jaw 310 to rotate graphite electrode, places the graphite electrode laid flat vertically；
Step 4: Z axis motor 432 rotates, move downward 433 vertical direction of Z axis sliding block, driving Pneumatic clamping jaw 310 will
Graphite electrode is put into first reception hole 201；
Wherein, step 4 specifically includes step 401, calculates Z axis motor 432 and 433 vertical direction of Z axis sliding block is driven to move institute
The umber of pulse needed:
In formula (3), PzIndicate the umber of pulse that Z axis motor 432 drives the movement of 433 vertical direction of Z axis sliding block to need, Z indicates Z
The distance that axis sliding block 433 drives Pneumatic clamping jaw 310 to move downward from 431 mould group of Z axis lead screw, 430 origin position vertical direction, n generation
Umber of pulse needed for one circle of table motor rotation, s indicate the lead of lead screw；
When Z axis motor 432 drives 433 vertical direction of Z axis sliding block to move downward, Z axis motor 432 rotates forward required arteries and veins
Rushing number is Pz, when Z axis motor 432 drives 433 vertical direction of Z axis sliding block to move upwards, required for Z axis motor 432 rotates forward
Umber of pulse is Pz。
Step 5: Z axis motor 432 rotates, 433 vertical direction of Z axis sliding block is moved upwards, Z axis sliding block 433 is made to return to Z
At the origin position of axial filament thick stick mould group 430, turntable 322 makes Pneumatic clamping jaw 310 invert 90 by the control rotation of the second cylinder
Degree, X-axis motor 412 invert, and return to X-axis slide block 413 at the origin position of X-axis lead screw mould group 410, even if Pneumatic clamping jaw 310
It returns at the origin position of X-axis lead screw mould group 410, each moving cell reset stored in process is worked next time；
Step 6: continuing feeding, X-axis motor 412 drives X-axis lead screw 411 to rotate, and driving Pneumatic clamping jaw 310 is electric by graphite
Pole pulls out funnel hole, and y-axis motor 422 is motionless at this time, and Pneumatic clamping jaw 310 is made to be moved to the X adjacent with first reception hole 201
Second reception hole, 201 top in direction, repeats the movement of step 3 and step 4, after the completion, stores each movement in process
Unit reset is worked next time, and so on, it is starting point to X-direction with first reception hole 201 of lower left corner
A line is stored, then with Y-direction is that column store graphite electrode to, a line a line.
Wherein, step 6 specifically includes:
Step 601 is array arrangement due to the reception hole 201 on storage box 200, has spacing to deposit between adjacent reception hole 201
It drives Pneumatic clamping jaw 310 to move to remaining 201 top of reception hole in, X-axis slide block 413, X-axis motor 412 is needed to drive X-axis lead screw
411 rotations, so that X-axis slide block 413 be driven to move, X-axis motor 412 moves required umber of pulse at this time are as follows:
Need y-axis motor 422 that Y-axis lead screw 421 is driven to rotate simultaneously, so that storage box 200 be driven to move, Y-axis is electric at this time
Machine 422 moves required umber of pulse are as follows:
In formula (4) and (5), pxAnd pyAfter respectively indicating i-th of sample of storage, i+1 sample is stored, controls X-axis lead screw
In mould group 410 in the motion impulse number of X-axis motor 412 and Y-axis lead screw mould group 420 y-axis motor 422 motion impulse number, PXAnd PY
Respectively indicate in X-axis lead screw mould group 410 in X-axis motor 412 and Y-axis lead screw mould group 420 y-axis motor 422 from initial position area to
Umber of pulse required at 200 first reception holes 201 of storage box, x indicate on storage box 200 two adjacent reception holes in X-direction
Distance between 201, y indicate the distance on storage box 200 in Y-direction between two adjacent reception holes 201, and i represents the graphite stored
The quantity of electrode, umber of pulse needed for n represents one circle of motor rotation, s indicate guide screw lead, nxAnd nyRespectively indicate storage box 200
In the X direction with the number of reception hole 201 in Y-direction, (i%nx) indicate remainder, [i/ny] indicate to be rounded.
Step 602 needs to position each reception hole 201 on storage box 200, enables lower-left in storage box 200
The reception hole 201 of square corner is first reception hole 201, and being with X-direction is longitudinal direction with Y-direction, first with lower left laterally
First reception hole 201 of corner is that starting point to X-direction stores a line, then with Y-direction is column to a line a line stores graphite
Electrode, the then coordinate of the corresponding X-axis under machine coordinates of i+1 reception hole 201 are as follows:
xi+1=x1+ x (i%nx) (6)
The coordinate of the corresponding Y-axis under machine coordinates of i+1 reception hole 201 are as follows:
In formula (6) and formula (7), xi+1And yi+1Respectively indicate i+1 reception hole 201 X-axis and Y-axis under machine coordinates
Coordinate position, x1And y1First reception hole 201 is respectively indicated in the coordinate value of X-axis and Y-axis, x indicates on storage box 200 one
The distance in the X direction of second reception hole 201 of the X-direction adjacent thereto of reception hole 201, y are indicated one on storage box 200
The distance in the Y direction of second reception hole 201 of a reception hole 201 Y-direction adjacent thereto, i represent the stone stored
The quantity of electrode ink, nxAnd nyRespectively indicate number of the storage box 200 in the X direction with reception hole 201 in Y-direction, (i%nx)
Indicate remainder, [i/ny] indicate to be rounded.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features,
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (9)
1. a kind of graphite electrode automatic accomodation control system of filler instrument, it is characterised in that: including initial placement area, storage box,
Graphite electrode picks and places module, motion module, signal detection module and output control module；
The initial placement area is used to place the graphite electrode for needing to store；
The storage box is equipped with the reception hole of multiple array arrangements；
It includes for clamping the Pneumatic clamping jaw of graphite electrode and controlling the rotation of Pneumatic clamping jaw rotation that the graphite electrode, which picks and places module,
Rotary device；
The motion module will clamp the Pneumatic clamping jaw after graphite electrode from initial placement area for realizing the movement of Pneumatic clamping jaw
It is moved to above storage box, and the Pneumatic clamping jaw after relieving graphite electrode is moved to initial placement area above storage box；
The signal detection module includes position sensor, magnetic switch and fibre optical sensor, and Position Sensor is for examining
The position of motion module is surveyed, magnetic switch is used to detect the action state of Pneumatic clamping jaw and rotating device, and fibre optical sensor is used for
Whether detection Pneumatic clamping jaw clamps graphite electrode；
The output control module includes driver, solenoid valve and controller, and the driver is used for as the dynamic of motion module
Power source, the solenoid valve are based on for changing the open and-shut mode of Pneumatic clamping jaw and the rotation status of rotating device, the controller
The detection signal of position sensor, magnetic switch and fibre optical sensor judges the working condition of entire control system, and regulates and controls to drive
The pulse of dynamic device and the folding condition of solenoid valve, make entire control system further complete storage work.
2. the graphite electrode automatic accomodation control system of filler instrument according to claim 1, it is characterised in that: the movement
Module includes X-axis lead screw mould group, Y-axis lead screw mould group and Z axis lead screw mould group, and the X-axis lead screw mould group includes X-axis lead screw, driving X
The X-axis motor of axial filament thick stick rotation and the X-axis slide block slided on X-axis lead screw, the Pneumatic clamping jaw are mounted on the X-axis slide block
On, the Y-axis lead screw module includes Y-axis lead screw, the driving Y-axis lead screw y-axis motor rotated and the Y-axis being mounted on Y-axis lead screw
Sliding block, the storage box bottom are fixed on Y-axis sliding block, and the Z axis lead screw mould group includes Z axis lead screw, driving Z axis lead screw rotation
Z axis motor and the Z axis sliding block that is mounted on Z axis lead screw, the X-axis lead screw mould group be fixed on the Z axis sliding block.
3. the graphite electrode automatic accomodation control system of filler instrument according to claim 2, it is characterised in that: the position
Sensor includes X-axis position sensor, Y-axis position sensor and Z axis position sensor, the X-axis position sensor include according to
The secondary X-axis photoelectric sensor being located in X-axis lead screw mould group, the X-axis slide block, which is equipped with, can block X-axis photoelectric sensor light source
X-axis baffle, the Y-axis position sensor include the Y-axis photoelectric sensor being sequentially arranged in Y-axis lead screw mould group, the Y-axis sliding block
It is equipped with the Y-axis baffle that can block Y-axis photoelectric sensor light source, the Z axis position sensor includes being sequentially arranged at Z axis lead screw mould
Z axis photoelectric sensor in group, the Z axis sliding block are equipped with the Z axis baffle that can block Z axis photoelectric sensor light source.
4. the graphite electrode automatic accomodation control system of filler instrument according to claim 3, it is characterised in that: described pneumatic
Clamping jaw includes clamping jaw cylinder, and the Pneumatic clamping jaw is opened by clamping jaw cylinder control or closure, clamps graphite electrode.
5. the graphite electrode automatic accomodation control system of filler instrument according to claim 4, it is characterised in that: the rotation
Device includes rotary cylinder and turntable, and the Pneumatic clamping jaw is mounted on the turntable, and the turntable passes through the rotation
Rotaring cylinder control rotation helps the Pneumatic clamping jaw rotation graphite electrode so that the Pneumatic clamping jaw is rotated.
6. a kind of graphite electrode automatic accomodation control method of filler instrument uses the graphite electricity of the filler instrument described in claim 5
Pole automatic accomodation control system, it is characterised in that:
Step 1: enabling the light source position of X-axis photoelectric sensor is the origin position of X-axis lead screw mould group, Y-axis photoelectric sensor is enabled
Light source position is the origin position of Y-axis lead screw mould group, enables the light source position of Z axis photoelectric sensor for the origin of Z axis lead screw mould group
Position when beginning, enables X-axis slide block at the origin position of X-axis lead screw mould group, i.e. origin of the Pneumatic clamping jaw in X-axis lead screw mould group
At position, first reception hole of storage box is at the origin position of Y-axis lead screw mould group on Y-axis sliding block, and Z axis sliding block is in Z axis silk
At the origin position of thick stick mould group, graphite electrode is placed on initial placement area, feeding is carried out, is placed on the graphite in initial placement area
Electrode is laid flat, and enabling its axial direction is X-direction, vertical with the axial direction of the graphite electrode in initial placement area in the horizontal plane
Direction is Y-direction, and vertical direction is Z-direction, enables the center of the Pneumatic clamping jaw in initial position area for the origin position under machine coordinates
Set, controller control the first solenoid valve obtain it is electric, make Pneumatic clamping jaw by clamping jaw cylinder control Pneumatic clamping jaw open, clamping graphite electricity
Pole shows Pneumatic clamping jaw clamping graphite electrode success after fibre optical sensor detects signal；
Step 2: X-axis motor drives the rotation of X-axis lead screw, drive Pneumatic clamping jaw that graphite electrode is pulled out funnel hole, y-axis motor
Rotation, y-axis motor drive the rotation of Y-axis lead screw, drive storage box mobile, so that first reception hole on storage box is moved to gas
The underface of dynamic clamping jaw；
It is rotated Step 3: turntable is controlled by rotary cylinder, so that Pneumatic clamping jaw is rotated by 90 °, Pneumatic clamping jaw is helped to turn
Dynamic graphite electrode, places the graphite electrode laid flat vertically；
Step 4: Z axis motor rotates, move downward Z axis sliding block vertical direction, graphite electrode is put into the by driving Pneumatic clamping jaw
In one reception hole；
Step 5: Z axis motor rotates, Z axis sliding block vertical direction is moved upwards, Z axis sliding block is made to return to the original of Z axis lead screw mould group
At point position, turntable makes that Pneumatic clamping jaw is counter to be turn 90 degrees, X-axis motor reversal makes X-axis slide block by the control rotation of the second cylinder
It returns at the origin position of X-axis lead screw mould group, even if Pneumatic clamping jaw returns at the origin position of X-axis lead screw mould group, stores process
In each moving cell reset worked next time；
Step 6: continuing feeding, X-axis motor drives the rotation of X-axis lead screw, drives Pneumatic clamping jaw that graphite electrode is pulled out funnel
Hole, y-axis motor is motionless at this time, is moved to Pneumatic clamping jaw on second reception hole of the X-direction adjacent with first reception hole
Side repeats the movement of step 3 and step 4, and after the completion, each moving cell reset stored in process is worked next time,
And so on, a line is stored to X-direction using first reception hole of lower left corner as starting point, then with Y-direction is column to one
Row a line stores graphite electrode.
7. a kind of graphite electrode automatic accomodation control method of filler instrument according to claim 6, which is characterized in that described
Step 2 specifically includes:
Step 201, calculating Pneumatic clamping jaw move to above first reception hole from initial position area, X-axis electricity in X-axis lead screw mould group
Umber of pulse required for machine:
Umber of pulse required for y-axis motor in Y-axis lead screw mould group:
In formula (1) and (2), when X and Y respectively indicate Pneumatic clamping jaw and are in X-axis lead screw mould group and Y-axis lead screw mould group origin position,
At a distance from first reception hole, umber of pulse needed for n represents one circle of motor rotation, s indicates leading for lead screw at Pneumatic clamping jaw center
Journey.
8. a kind of graphite electrode automatic accomodation control method of filler instrument according to claim 6, which is characterized in that described
Step 4 specifically includes:
Step 401 calculates umber of pulse required for Z axis motor drives Z axis sliding block vertical direction to move:
In formula (3), Z indicate Z axis sliding block drive Pneumatic clamping jaw moved downward from Z axis lead screw mould group origin position vertical direction away from
From umber of pulse needed for n represents one circle of motor rotation, s indicates the lead of lead screw.
9. a kind of graphite electrode automatic accomodation control method of filler instrument according to claim 6, which is characterized in that described
Step 6 specifically includes:
Step 601 is that array is arranged due to the reception hole on storage box, and with the presence of spacing between adjacent reception hole, X-axis slide block is driven
Pneumatic clamping jaw moves to above remaining reception hole, and X-axis motor is needed to drive the rotation of X-axis lead screw, so that X-axis slide block is driven to move,
Umber of pulse needed for X-axis motor movement at this time are as follows:
Y-axis motor is needed to drive the rotation of Y-axis lead screw simultaneously, so that storage box is driven to move, arteries and veins needed for y-axis motor movement at this time
Rush number are as follows:
In formula (4) and (5), PxAnd PyAfter respectively indicating i-th of sample of storage, i+1 sample is stored, controls X-axis lead screw mould group
The motion impulse number of y-axis motor, P in the motion impulse number and Y-axis lead screw mould group of middle X-axis motorXAnd PYRespectively indicate X-axis lead screw
In mould group in X-axis motor and Y-axis lead screw mould group y-axis motor required for initial position area is to from first reception hole of storage box
Umber of pulse, x indicate the distance on storage box in X-direction between two adjacent reception holes, two adjacent receipts in Y-direction on y expression storage box
The distance received between hole, i represent the quantity for the graphite electrode stored, umber of pulse needed for n represents one circle of motor rotation, and s is indicated
Guide screw lead；
Step 602 needs to position each reception hole on storage box, enables the storage of lower left corner in storage box
Hole is first reception hole, and a line a line stores graphite electrode, then i+1 reception hole corresponding X-axis under machine coordinates
Coordinate are as follows:
xi+1=x1+ x (i%nx) (6)
The coordinate of i+1 reception hole corresponding Y-axis under machine coordinates are as follows:
yi+1=y1-y·([i/ny]-1) (7)
In formula (6) and formula (7), xi+1And yi+1Respectively indicate the coordinate bit of i+1 reception hole X-axis and Y-axis under machine coordinates
It sets, x1And y1First reception hole is respectively indicated in the coordinate value of X-axis and Y-axis, x indicates a reception hole and its phase on storage box
The distance in the X direction of second reception hole of adjacent X-direction, y indicate a reception hole side Y adjacent thereto on storage box
To second reception hole distance in the Y direction, i represents the quantity of graphite electrode stored, nxAnd nyRespectively indicate receipts
The case number with reception hole in Y-direction in the X direction, (i%nx) indicate remainder, [i/ny] indicate to be rounded.
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Application publication date: 20191018 |