CN110695234B - Synchronous intermittent control method for stamping production line - Google Patents
Synchronous intermittent control method for stamping production line Download PDFInfo
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- CN110695234B CN110695234B CN201810750921.8A CN201810750921A CN110695234B CN 110695234 B CN110695234 B CN 110695234B CN 201810750921 A CN201810750921 A CN 201810750921A CN 110695234 B CN110695234 B CN 110695234B
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- press
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/11—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers for feeding sheet or strip material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/027—Combined feeding and ejecting devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/05—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work specially adapted for multi-stage presses
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Presses (AREA)
Abstract
The invention relates to a process for improving the production efficiency of high-speed stamping equipment by adopting a synchronous intermittent control method. The invention accumulates the technology of synchronous continuous and intermittent use of the same platform of the press, widens the use requirements of the existing equipment on the parameters of the die, improves the use efficiency of the equipment and reduces the research and development cost of the die.
Description
Technical Field
The invention belongs to the technical field of plate stamping, and particularly relates to a synchronous intermittent control method for a stamping production line.
Background
With the continuous improvement of the requirements of modern factories on production efficiency and the continuous improvement of electrical control technology, the stamping automation technology is rapidly developed in recent ten years, and the production efficiency is greatly improved from the realization of loading and unloading by means of sequential control between an early press and a manipulator to the development of master-slave control between the existing synchronous press and a rapid feeding mechanism.
The application of the synchronous motion technology on the punching line, the whole line speed of the large-scale punching line is improved to 10 to 15 pieces from the original 6 to 8 pieces per minute, and the high efficiency of the automatic production line is reflected to the maximum. The cost of the rapid feeding line is 30-40% higher than that of the whole automatic line of the original manipulator robot type, and the production efficiency is improved by nearly one time. The improvement of the production efficiency is a necessary development trend of modern industry, and the synchronous motion control is believed to be widely applied along with the continuous development of the control technology.
With the rapid development of the domestic machinery manufacturing industry, the domestic automobile manufacturing accessory supplier industry is competitive, and the requirements of customers are increasingly strict; this requires more advantages in terms of productivity and process manufacturing applicability, and the simultaneous intermittent development meets the requirements of both.
Disclosure of Invention
The invention aims to provide a synchronous intermittent control method for a stamping production line, which is used on the same platform for synchronous continuous and intermittent operation, widens the use requirements of the existing equipment on the parameters of a die, improves the use efficiency of the equipment and reduces the research and development cost of the die.
The purpose of the invention is realized as follows: a synchronous intermittent control method for a stamping production line comprises a plurality of presses arranged along a logistics direction, wherein manipulators are arranged on two sides of each press in the logistics direction; the manipulator is provided with a corresponding plate gripping device according to the corresponding stamping product;
the eccentric wheel shaft of the press rotates for one circle to complete one working cycle, the eccentric wheel drives the sliding block to complete the pressing down to the bottom dead center of the press and the lifting up to the top dead center of the press in one working cycle, and the working cycle process is top dead center → bottom dead center → top dead center; defining the angle of the press as the rotation angle of the eccentric wheel shaft in one working cycle;
the operation of the mechanical arm simulates the action through a virtual shaft, the virtual shaft rotates for one circle to complete one working cycle, the initial position of the mechanical arm is the original position, the mechanical arm completes the material taking action and the material placing action in one working cycle, and the working cycle process is the original position → the material taking of the upper press → the material placing of the lower press → the original position; defining the angle of the manipulator as the rotation angle of the virtual shaft in one working cycle;
defining the phase difference as the deviation of the rotation angle of the shaft between the two components;
defining the coupling following as that one part keeps the phase difference following the other part, and the two parts do not interfere with each other in operation;
in each working cycle of the current press, the angle of the lower platen press is kept lagging behind the current press by a phase difference;
in each working cycle of the current manipulator, the coupling follows the movement of the upper press in the material taking process from the original position to the upper press; the mechanical arm is coupled to follow the lower platen press to move in the process of discharging materials from the upper platen press to the lower platen press; when the lower platen press runs to the top dead center, the current manipulator is coupled to follow the lower platen manipulator to run;
when the front press completes product punch forming and returns to the top dead center, the rear manipulator takes materials into the press, and a sliding block of the press runs to the top dead center and stops; the rear manipulator grabs the plate and then transports the plate to a lower platform press;
after the upper press machine operates to the top dead center and stops, the current press machine is not coupled with the upper press machine any more, and the speed of the current press machine is kept to continue to operate; when the current press runs to the phase difference set by the current press in the next cycle after the current press stops running to the top dead center, the current press is started again and lags behind the phase difference set by the current press to run;
when a workpiece is conveyed to a centering table on the front side of the first press, sending a signal to a manipulator on the front side of the first press after the centering table is in place, sending a signal to the first press after the manipulator on the front side performs self-checking, and coupling the manipulator on the front side to follow the first press after the first press is started;
furthermore, in a working cycle of the last manipulator, the last manipulator is coupled to move along with the upper press in the process of taking materials from the original position to the upper press; in the process of discharging the next-sequence equipment after the current manipulator comes out of the upper press, the speed of the manipulator is kept to run, or the phase difference is kept to run along with the first press, or the manipulator is coupled to run along with the next-sequence equipment.
Further, the press angle is detected by an encoder mounted on the eccentric shaft.
Further, the manipulator angle simulates the manipulator virtual axis rotation angle through software.
Furthermore, the real-time phase difference and the theoretical phase difference deviation of the adjacent presses in the actual operation process are adjusted by the motion controller according to the speed of the corresponding press.
Furthermore, the stop of the sliding block at the top dead center is realized by a clutch brake, the action of the clutch brake overcomes the spring force in the clutch brake by pressure oil, and the combination of a piston in the clutch brake and a friction disc is realized; the pressure oil is provided by a pump, a one-way valve is arranged between the pump and the clutch brake, and the one-way valve enables the pressure oil to flow from the pump side to the clutch brake only.
Compared with the prior art, the invention has the outstanding and beneficial technical effects that:
in the process of producing the plate, the intermittent production mode is added in a synchronous motion control mode, so that enough time and space are saved for the mechanical arm, and the plate can be grabbed and thrown in the enough time and the safer space. The invention accumulates the technology of synchronous continuous and intermittent use of the same platform of the press, widens the use requirements of the existing equipment on the parameters of the die, improves the use efficiency of the equipment and reduces the research and development cost of the die.
Drawings
FIG. 1 is a schematic view of the installation of a press and a robot in the direction of logistics in an embodiment of the invention;
FIG. 2 is a schematic view of a work cycle of a press in an embodiment of the present invention;
FIG. 3 is a schematic view of a work cycle of a robot in an embodiment of the present invention;
FIG. 4 is a schematic illustration of a current robot switching coupling follower in an embodiment of the present invention;
fig. 5 is a schematic diagram of the connection of the pump and the clutch brake in the embodiment of the present invention.
Reference numerals: 1. a press; 1a, a sliding block; 2. a manipulator; 3. centering the platform; 4. a pump; 5. a clutch brake; 6. a one-way valve; A. the current manipulator angle; B. a step of setting an angle of a platform press; C. a step of pressing the angle of the platen; D. and (4) setting the angle of the manipulator.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
A stamping production line synchronous intermittent control method is disclosed, as shown in figure 1, the stamping production line comprises a plurality of presses 1 arranged along the logistics direction, and two sides of each press 1 in the logistics direction are provided with manipulators 2; the manipulator 2 is provided with a corresponding plate gripping device according to the corresponding stamping product.
The press 1 realizes the stamping of a product through the up-and-down movement of a slide block 1a, the slide block 1a is driven by an eccentric wheel, and the eccentric wheel is driven by a servo motor to drive an eccentric wheel shaft to rotate so as to realize the action; the eccentric wheel shaft rotates for one circle to complete one working cycle; as shown in fig. 2, the eccentric wheel drives the slide block 1a to complete the downward pressing to the bottom dead center of the press 1 and the upward lifting to the top dead center of the press 1 in one working cycle, which is the process of top dead center → bottom dead center → top dead center; defining the angle of the press as the rotation angle of the eccentric wheel shaft in one working cycle; the rotation angle can be realized by monitoring the running of the eccentric wheel shaft through an encoder.
The manipulator 2 is driven by a plurality of motors, the running track of the manipulator is realized by simulating a virtual shaft through software, and the virtual shaft rotates for one circle to complete one working cycle; as shown in fig. 3, the initial position of the manipulator 2 is an original position, i.e. home position in the figure, the manipulator 2 completes the material taking action and the material placing action in one working cycle, and the working cycle process is the original position → material taking to the upper press → material placing to the lower press → the original position; defining the angle of the manipulator as the rotation angle of the virtual shaft in one working cycle; the rotation angle is converted by software according to the operation position of the manipulator 2.
Defining the phase difference as the deviation of the rotation angle of the shaft between the two components; if the angle of the front platform press is 50 degrees and the angle of the lower platform press is 30 degrees, the phase difference of the two presses is 20 degrees.
Defining the coupling following as that one part keeps the phase difference following the other part to operate without interference; if the front side manipulator is coupled to follow the current press in the up-and-down sliding process of the slide block 1a of the current press, the front side manipulator does not interfere with the slide block 1a in operation and other parts in the press when entering the current press;
as shown in fig. 4, in each working cycle of the current manipulator, in the process of taking materials from the original position to the upper press, the coupling follows the upper press to ensure that the manipulator does not interfere with the upper press; the coupling follows the lower platen press to move in the process of discharging from the upper platen press to the lower platen press after the current manipulator comes out from the upper platen press so as to ensure that the manipulator does not interfere with the lower platen press when entering the lower platen press; when the lower platen press runs to the upper dead point, the current manipulator is coupled with the lower platen manipulator to run so as to avoid taking the materials with the lower platen manipulator to interfere. The set phase difference between the manipulator and the press is selected according to the phase difference range which does not interfere with the manipulator and the press, and the working efficiency of a production line is ensured as much as possible. The same principle of the set phase difference between the current mechanical arm and the next mechanical arm is adopted, and the condition that the actual phase difference is close to the set phase difference when the current mechanical arm is switched to the coupling following next mechanical arm from the pressing machine is guaranteed, so that the continuity of the current mechanical arm action is guaranteed.
In each working cycle of the current press, the angle of the lower platen press is kept lagging behind the current press by a set phase difference; the set phase difference between the two presses is selected, so that the deviation value of the actual phase difference and the set phase difference when the mechanical arm switches the coupling follow is reduced as much as possible. If the manipulator is switched to the coupling following lower platen press from the current platen press, the actual phase difference between the manipulator and the lower platen press is close to the set phase difference, the continuity of the action of the manipulator is ensured, and the control system can control the motor to accelerate or decelerate in time to adjust the manipulator to the set phase difference.
When the front press completes product punch forming and returns to the top dead center, the rear manipulator takes materials into the press, and the slide block 1a of the press stops waiting for the next starting signal after running to the top dead center, so that the feeding and discharging time of the manipulators on the two sides of the press is prolonged; the rear manipulator grabs the plate and then transports the plate to a lower platform press, and then returns to the original position to complete a working cycle;
after the upper press machine operates to the top dead center and stops, the current press machine is not coupled with the upper press machine any more, and the speed of the current press machine is kept to continue to operate; when the front press is operated to the phase difference position set by the front press in the next cycle of the upper press after the front press is operated to the top dead center and stopped, the front press is started again and operated after delaying the phase difference set by the upper press.
The starting process of the first press is as follows, when a workpiece is conveyed to the centering table 3 on the front side of the first press, after the centering table 3 is in place, a signal is sent to a manipulator on the front side of the first press, after the manipulator on the front side performs self-checking, a signal is sent to the first press, and after the first press is started, the manipulator on the front side is coupled to follow the first press to run.
In a working cycle of the last manipulator, the last manipulator is coupled to move along with the upper press in the process of taking materials from the original position to the upper press; in the process of discharging the next-sequence equipment after the current manipulator comes out of the upper press, the speed of the manipulator is kept to run, or the phase difference is kept to run along with the first press, or the manipulator is coupled to run along with the next-sequence equipment.
The real-time phase difference and the theoretical phase difference bias value of the adjacent presses in actual operation are adjusted by the motion controller according to the speed of the corresponding press.
As shown in fig. 5, the stop of the slide block 1a at the top dead center is realized by the clutch brake 5, the action of the clutch brake 5 overcomes the spring force inside the clutch brake 5 by the pressure oil, and the combination of the piston and the friction disc inside the clutch brake 5 is realized; pressure oil is provided by a pump 4, a one-way valve 6 is arranged between the pump 4 and the clutch brake 5, and the one-way valve 6 enables the pressure oil to flow only from the side of the pump 4 to the direction of the clutch brake 5, so that the stability of flow is ensured, and the problem of response delay caused by pulse impact is reduced; and simultaneously protects the pump 4 from damage caused by accidental external impact load.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (6)
1. A synchronous intermittent control method for a stamping production line,
the automatic feeding device comprises a plurality of presses arranged along the logistics direction, wherein manipulators are arranged on two sides of each press in the logistics direction; the manipulator is provided with a corresponding plate gripping device according to the corresponding stamping product;
the eccentric wheel shaft of the press rotates for one circle to complete one working cycle, the eccentric wheel drives the sliding block to complete the pressing down to the bottom dead center of the press and the lifting up to the top dead center of the press in one working cycle, and the working cycle process is top dead center → bottom dead center → top dead center; defining the angle of the press as the rotation angle of the eccentric wheel shaft in one working cycle;
the operation of the mechanical arm simulates the action through a virtual shaft, the virtual shaft rotates for one circle to complete one working cycle, the initial position of the mechanical arm is the original position, the mechanical arm completes the material taking action and the material placing action in one working cycle, and the working cycle process is the original position → the material taking of the upper press → the material placing of the lower press → the original position; defining the angle of the manipulator as the rotation angle of the virtual shaft in one working cycle;
the method is characterized in that:
defining the phase difference as the deviation of the rotation angle of the shaft between the two components;
defining the coupling following as that one part keeps the phase difference following the other part, and the two parts do not interfere with each other in operation;
in each working cycle of the current press, the angle of the lower platen press is kept lagging behind the current press by a phase difference;
in each working cycle of the current manipulator, the coupling follows the movement of the upper press in the material taking process from the original position to the upper press; the mechanical arm is coupled to follow the lower platen press to move in the process of discharging materials from the upper platen press to the lower platen press; when the lower platen press runs to the top dead center, the current manipulator is coupled to follow the next manipulator to run;
when the front press completes product punch forming and returns to the top dead center, the rear manipulator takes materials into the press, and a sliding block of the press runs to the top dead center and stops; the rear manipulator grabs the plate and then transports the plate to a lower platform press;
after the upper press machine operates to the top dead center and stops, the current press machine is not coupled with the upper press machine any more, and the speed of the current press machine is kept to continue to operate; when the current press runs to the phase difference set by the current press in the next cycle after the current press stops running to the top dead center, the current press is started again and lags behind the phase difference set by the current press to run;
the starting process of the first press is as follows, when a workpiece is conveyed to a centering table on the front side of the first press, after the centering table is in place, a signal is sent to a manipulator on the front side of the first press, after the manipulator on the front side performs self-checking, a signal is sent to the first press, and after the first press is started, the manipulator on the front side is coupled with the first press.
2. The synchronous intermittent control method for the stamping production line according to claim 1, characterized in that:
in a working cycle of the last manipulator, the last manipulator is coupled to move along with the upper press in the process of taking materials from the original position to the upper press; in the process of discharging the next-sequence equipment after the current manipulator comes out of the upper press, the speed of the manipulator is kept to run, or the phase difference is kept to run along with the first press, or the manipulator is coupled to run along with the next-sequence equipment.
3. The synchronous intermittent control method for the stamping production line according to claim 1, characterized in that: the press angle is detected by an encoder mounted on the eccentric shaft.
4. The synchronous intermittent control method for the stamping production line according to claim 1, characterized in that: the manipulator angle simulates the manipulator virtual axis rotation angle through software.
5. The synchronous intermittent control method for the stamping production line according to claim 1, characterized in that: the real-time phase difference and the theoretical phase difference deviation of the adjacent presses in the actual operation are adjusted by the motion controller according to the speed of the corresponding press.
6. The synchronous intermittent control method for the stamping production line according to claim 1, characterized in that: the stop of the sliding block at the upper dead point is realized by a clutch brake, the action of the clutch brake overcomes the spring force in the clutch brake by pressure oil, and the combination of a piston in the clutch brake and a friction disc is realized; the pressure oil is provided by a pump, a one-way valve is arranged between the pump and the clutch brake, and the one-way valve enables the pressure oil to flow from the pump side to the clutch brake only.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810750921.8A CN110695234B (en) | 2018-07-10 | 2018-07-10 | Synchronous intermittent control method for stamping production line |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810750921.8A CN110695234B (en) | 2018-07-10 | 2018-07-10 | Synchronous intermittent control method for stamping production line |
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| CN110695234A CN110695234A (en) | 2020-01-17 |
| CN110695234B true CN110695234B (en) | 2021-05-04 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3640316B2 (en) * | 1995-01-26 | 2005-04-20 | 株式会社小松製作所 | Synchronizer for press machine and robot |
| US7197909B1 (en) * | 2004-09-08 | 2007-04-03 | Ohio Valley Manufacturing, Inc. | Press unloader |
| EP2149831B1 (en) * | 2008-07-31 | 2012-02-01 | Siemens Aktiengesellschaft | Control method for a composite of several multi-axle handling devices arranged behind or beside each other and data storage medium, control system and composite |
| CN102513465B (en) * | 2011-11-24 | 2014-07-30 | 中达电通股份有限公司 | Material conveying control system |
| JP2016163921A (en) * | 2015-03-06 | 2016-09-08 | ファナック株式会社 | Robot system having robot operating synchronously with bending machine |
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Effective date of registration: 20200921 Address after: No.31, Xiamen street, economic and Technological Development Zone, Yantai City, Shandong Province Applicant after: Saikeli (Yantai) automobile mould technology application Co., Ltd Address before: 201209 Shanghai City, Pudong New Area Chinese (Shanghai) free trade zone Jinsui Road No. 775 Applicant before: SHANGHAI SUPERIOR DIE TECHNOLOGY Co.,Ltd. |
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