CN111283010A - Automatic control device and method for ingot casting retroversion of extruding machine - Google Patents
Automatic control device and method for ingot casting retroversion of extruding machine Download PDFInfo
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- CN111283010A CN111283010A CN202010181046.3A CN202010181046A CN111283010A CN 111283010 A CN111283010 A CN 111283010A CN 202010181046 A CN202010181046 A CN 202010181046A CN 111283010 A CN111283010 A CN 111283010A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C33/00—Feeding extrusion presses with metal to be extruded ; Loading the dummy block
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C31/00—Control devices, e.g. for regulating the pressing speed or temperature of metal; Measuring devices, e.g. for temperature of metal, combined with or specially adapted for use in connection with extrusion presses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C35/00—Removing work or waste from extruding presses; Drawing-off extruded work; Cleaning dies, ducts, containers, or mandrels
- B21C35/02—Removing or drawing-off work
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Abstract
The invention provides an automatic control device and method for ingot casting rollback of an extruder, and the automatic control device comprises an ingot withdrawing mechanism, a feeding mechanical arm, an ingot bearing table and a PLC (programmable logic controller) control system, wherein the ingot withdrawing mechanism and the feeding mechanical arm are in electric signal connection with the PLC control system, the ingot withdrawing mechanism and the feeding mechanical arm are matched to back an ingot to the ingot bearing table, the PLC control system is in electric signal connection with an HMI (human machine interface), and the PLC control system is used for calculating according to the length of the ingot input by the HMI to obtain a pre-stop position L1 where the ingot withdrawing mechanism needs to withdraw the ingot to the ingot bearing table and a start position L2 where the feeding mechanical arm is opened along with the motion, and monitoring the positions of the ingot withdrawing mechanism and the feeding mechanical arm in. The invention adjusts the relative position of the ingot withdrawing arm and the movable telescopic arm of the feeding manipulator in real time in the ingot withdrawing process to always maintain a dynamic balance, realizes the full automation of the ingot withdrawing of the extruder, does not need manual intervention, accelerates the production rhythm and reduces the potential safety hazard caused by manual transportation.
Description
Technical Field
The invention belongs to the technical field of aluminum extruder equipment of metallurgical equipment, and particularly relates to an automatic control device and method for ingot casting retroversion of an extruder.
Background
Before the preparation extrusion of an aluminum profile of an extruder, a heated cast ingot needs to be subjected to length measurement and performance detection operation, the situation that performance indexes such as the temperature or the size and the length of the cast ingot cannot meet the process requirements is often encountered, or a feeding manipulator conveys the cast ingot to an extrusion station, the phenomena such as extrusion faults are encountered, the cast ingot needs to be extruded again after fault treatment, and the cast ingot needs to be retreated under the above situations.
At present, extrusion ingot casting returning operation basically depends on manual work, and ingot casting is lifted away by a crane and a lifting appliance. The traditional conveying mode not only occupies manpower and material resources and increases the labor cost, but also has slower rhythm, low automation degree and certain potential safety hazard.
Disclosure of Invention
The invention aims to provide an automatic control device for ingot back of an extruder, which overcomes the technical problems in the prior art.
The invention also aims to provide an automatic control method for ingot casting retroversion of the extruding machine, which realizes the automation of ingot casting retroversion for extrusion, reduces the labor intensity and the labor cost, improves the production efficiency and accelerates the production rhythm.
Therefore, the technical scheme provided by the invention is as follows:
the utility model provides an automatic control device is rolled back to extruder ingot casting, is including moving back spindle mechanism, material loading manipulator, bearing spindle platform and PLC control system, move back spindle mechanism and material loading manipulator and all with PLC control system electric signal connection, move back spindle mechanism and material loading manipulator cooperation and roll back the ingot casting to bearing spindle platform, PLC control system electric signal connection has HMI human-machine interface.
The PLC control system is used for calculating according to the length of the ingot cast input by the HMI to obtain a pre-stop position L1 from the ingot withdrawing mechanism to the ingot bearing platform and a starting position L2 from the feeding manipulator to be opened along with follow-up, and monitoring the positions of the ingot withdrawing mechanism and the feeding manipulator in real time to send instructions at corresponding positions for control.
Move back spindle mechanism including moving back the spindle arm, moving back spindle inverter motor and stroke detector one, move back spindle inverter motor and be used for the drive to move back spindle arm rectilinear motion, stroke detector one and PLC control system signal of telecommunication are connected, stroke detector one is used for real-time detection to move back the position of spindle arm, move back spindle arm, material loading manipulator and hold the spindle platform and be located same straight line.
The feeding manipulator comprises a fixed arm, a movable telescopic arm, a movable arm telescopic variable frequency motor and a stroke detector II, the movable telescopic arm is close to one side of the ingot bearing table, a linear guide rail is arranged between the fixed arm and the movable telescopic arm, and manipulator fingers for clamping the ingot 6 are arranged on the fixed arm and the movable telescopic arm;
the movable arm telescopic variable frequency motor is used for driving the movable telescopic arm to do linear telescopic motion along the linear guide rail, the second stroke detector is in electric signal connection with the PLC control system, and the second stroke detector is used for detecting the position of the ingot withdrawing arm in real time.
The spindle withdrawing variable frequency motor is characterized in that a rotating shaft is connected with a synchronous belt wheel, and the spindle withdrawing arm is fixedly arranged on a synchronous belt of the synchronous belt wheel.
The first stroke detector is a displacement sensor or an ingot retreating rotary encoder, the displacement sensor is arranged on an ingot retreating arm, the ingot retreating rotary encoder is fixedly arranged on a rotating shaft of an ingot retreating variable frequency motor, an ingot retreating arm retreating limit position induction switch is arranged before the ingot retreating arm, and the ingot retreating arm retreating limit position induction switch is in electrical signal connection with the PLC control system.
The linear guide rail is a ball screw, the movable telescopic arm is fixedly connected with a nut sleeved on the ball screw, and a rotating shaft of the movable arm telescopic variable frequency motor is connected with the ball screw.
And the second stroke detector is a displacement sensor or a movable arm rotary encoder, the displacement sensor is arranged on the movable telescopic arm, and the movable arm rotary encoder is arranged on the movable arm telescopic variable frequency motor.
An automatic control method for ingot back of an extruder adopts an automatic control device for ingot back of the extruder, and comprises the following steps:
step 1) inputting the ingot casting length of the returned ingot through the human-machine interface of the HMI, and obtaining a pre-stop position L1 of the returned ingot mechanism needing to return the ingot to the ingot bearing platform and a starting position L2 of the feeding manipulator following to open by the operation of the PLC control system;
step 2) the PLC control system sends an instruction to start the ingot withdrawing mechanism, an ingot withdrawing arm of the ingot withdrawing mechanism pushes the ingot to advance towards the direction of the ingot bearing table, and when the ingot withdrawing arm moves to a starting position L2 where the feeding manipulator follows to be opened, the PLC control system sends an instruction to start a movable arm telescopic variable frequency motor of the feeding manipulator, so that the movable telescopic arm moves towards the direction of the ingot bearing table along the linear guide rail and follows the ingot withdrawing arm, and the movable telescopic arm is opened;
step 3) the movable telescopic arm moves continuously towards the direction of the ingot bearing table along with the ingot withdrawing arm until the movable telescopic arm moves to the end of the linear guide rail, at the moment, the movable telescopic arm is opened to the maximum position, and the PLC control system sends an instruction to stop the movable arm telescopic variable frequency motor;
and step 4) the ingot withdrawing arm continues to push the ingot towards the ingot bearing table until the ingot withdrawing arm moves to a pre-stop position L1, the ingot is withdrawn to the ingot bearing table, and the PLC control system sends an instruction to stop the ingot withdrawing variable frequency motor of the ingot withdrawing mechanism.
In the process that the movable telescopic arm moves towards the direction of the ingot bearing table along the linear guide rail and follows the ingot withdrawing arm in the step 2), the PLC control system monitors the change of displacement data of the first stroke detector of the ingot withdrawing mechanism and the second stroke detector of the feeding manipulator in real time, and adjusts the movement speed and the position of the ingot withdrawing arm and the movement speed and the position of the upper movable telescopic arm in real time, so that the relative positions of the ingot withdrawing arm and the upper movable telescopic arm are kept in dynamic balance.
The invention has the beneficial effects that:
according to the automatic control device and method for ingot casting retraction of the extruding machine, the PLC control system is connected with the ingot withdrawing mechanism and the feeding mechanical arm through electric signals, the movement speed and the position of the ingot withdrawing arm and the telescopic arm of the feeding mechanical arm are adjusted in real time, closed-loop control is formed, the relative positions of the ingot withdrawing arm and the movable telescopic arm of the feeding mechanical arm are always kept in dynamic balance, and smooth ingot withdrawing is guaranteed.
The invention has reasonable design, simple structure, excellent process and high automation degree and is suitable for single-action and double-action extruders. The automatic ingot withdrawing of the extruder is realized, manual intervention is not needed, the labor and production cost are greatly reduced, the production rhythm is accelerated, and the potential safety hazard caused by manual transportation is reduced.
In order to make the aforementioned and other objects of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
FIG. 1 is a schematic diagram of one embodiment of the present invention;
FIG. 2 is a flow chart of the method of the present invention.
In the figure:
description of reference numerals:
1. an ingot withdrawing mechanism; 2. a feeding manipulator; 3. an ingot bearing table; 4. HMI human-machine interface; 5. a PLC control system; 6. casting ingots; 101. an ingot withdrawing arm; 102. an ingot withdrawing variable frequency motor; 103. a spindle withdrawal rotary encoder; 104. a retreat limit position induction switch of the ingot retreating arm; 201. a movable telescopic arm; 202. a movable arm telescopic variable frequency motor; 203. fixing the arm; 204. a linear guide rail; 205. the movable arm rotates the encoder.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
In the present invention, the upper, lower, left and right in the drawings are regarded as the upper, lower, left and right of the automatic control device for ingot retraction of an extruder described in the present specification.
The exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, however, the present invention may be embodied in many different forms and is not limited to the embodiments described herein, which are provided for complete and complete disclosure of the present invention and to fully convey the scope of the present invention to those skilled in the art. The terminology used in the exemplary embodiments illustrated in the accompanying drawings is not intended to be limiting of the invention. In the drawings, the same units/elements are denoted by the same reference numerals.
Unless otherwise defined, terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Further, it will be understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense.
Example 1:
the embodiment provides an automatic control device for ingot casting and returning of an extruding machine, which comprises an ingot returning mechanism 1, a feeding manipulator 2, an ingot bearing table 3 and a PLC (programmable logic controller) control system 5, wherein the ingot returning mechanism 1 and the feeding manipulator 2 are all in electric signal connection with the PLC control system 5, the ingot returning mechanism 1 and the feeding manipulator 2 are matched to return an ingot 6 to the ingot bearing table 3, and the PLC control system 5 is in electric signal connection with an HMI (human machine interface) 4.
Specifically, the working process or the application process of the automatic control device for ingot back of the extruder provided by the embodiment is as follows:
in the process of returning an ingot 6 of an extruding machine, the length of the ingot 6 returned at this time is input by the HMI human-machine interface 4, the PLC control system 5 calculates the initial position L2 of the ingot returning mechanism 1, which needs to return the ingot to the pre-stop position L1 of the ingot bearing platform 3 and the feeding manipulator 2 to follow and open, and then feeds back the corresponding control value calculated by the PLC control system to the walking control devices of the ingot returning mechanism 1 and the feeding manipulator 2, in the process of returning, the PLC control system 5 monitors the displacement data change of the ingot returning mechanism 1 and the feeding manipulator 2 in real time, adjusts the movement speed and position of the ingot returning mechanism 1 and the feeding manipulator 2 in real time, and forms closed-loop control, so that the relative positions of the ingot returning mechanism 1 and the feeding manipulator 2 are always kept in a dynamic balance, and the ingot returning is ensured to be carried out smoothly.
The invention has high automation degree and is simultaneously suitable for single-action and double-action extruders. The automatic ingot withdrawing of the extruder is realized, manual intervention is not needed, the labor and production cost are greatly reduced, the production rhythm is accelerated, and the potential safety hazard caused by manual transportation is reduced.
Example 2:
on the basis of embodiment 1, the present embodiment provides an automatic control device for ingot casting retraction of an extruder, where the PLC control system 5 is configured to calculate, according to a length of an ingot casting 6 input by the HMI human-machine interface 4, a pre-stop position L1 where an ingot casting mechanism 1 needs to withdraw an ingot to a supporting platform 3 and a start position L2 where a feeding manipulator 2 is opened following up, and monitor positions of the ingot casting mechanism 1 and the feeding manipulator 2 in real time to send a command at a corresponding position for control.
Move back spindle mechanism 1 including moving back spindle arm 101, moving back spindle inverter motor 102 and stroke detector one, move back spindle inverter motor 102 and be used for the drive to move back spindle arm 101 linear motion, stroke detector one and PLC control system 5 signal of telecommunication are connected, stroke detector one is used for real-time detection to move back the position of spindle arm 101, move back spindle arm 101, material loading manipulator 2 and hold spindle platform 3 and be located same straight line.
The ingot withdrawing arm 101 is driven by the ingot withdrawing variable frequency motor 102 to carry the ingot to and fro, and the ingot 6 is pushed to the ingot bearing platform 3 by the ingot withdrawing arm 101. In the process that the ingot withdrawing arm 101 pushes the ingot 6 to withdraw, the PLC control system 5 monitors the displacement value of the first stroke detector in real time, when the ingot withdrawing arm 101 moves to the initial position L2 where the feeding manipulator 2 is opened along with the movement, the PLC control system 5 sends an instruction to start the feeding manipulator 2, and when the ingot withdrawing arm 101 moves to the pre-stop position L1 where the ingot is required to be withdrawn to the ingot bearing platform 3, the PLC control system 5 sends an instruction to stop the ingot withdrawing variable frequency motor 102.
Example 3:
on the basis of embodiment 2, the present embodiment provides an automatic control device for ingot retraction of an extruder, as shown in fig. 1, the feeding manipulator 2 includes a fixed arm 203, a movable telescopic arm 201, a movable arm telescopic variable frequency motor 202 and a second stroke detector, the movable telescopic arm 201 is close to one side of the ingot bearing table 3, a linear guide 204 is arranged between the fixed arm 203 and the movable telescopic arm 201, and manipulator fingers for clamping an ingot 6 are arranged on both the fixed arm 203 and the movable telescopic arm 201;
the movable arm stretching variable frequency motor 202 is used for driving the movable stretching arm 201 to conduct linear stretching movement along the linear guide rail 204, the second stroke detector is in electric signal connection with the PLC control system 5, and the second stroke detector is used for detecting the position of the ingot withdrawing arm 101 in real time.
When the ingot 6 needs to be retracted, the feeding manipulator 2 walks to the ingot retracting position, at this time, the feeding manipulator 2 is not opened, namely, the movable telescopic arm 201 is located on one side of the linear guide 204 close to the fixed arm 203, the ingot 6 is clamped by the manipulator fingers of the fixed arm 203 and the movable telescopic arm 201, and then the ingot retracting arm 101 of the ingot retracting mechanism 1 pushes the ingot 6 to move towards the ingot bearing table 3. In the whole retracting process, the manipulator fingers are in a clamping state, and the spindle retracting arm 101 can penetrate through the manipulator fingers of the fixed arm 203.
When the ingot withdrawing arm 101 moves to the starting position L2 where the movable telescopic arm 201 of the feeding manipulator 2 follows the opening, the PLC control system 5 sends an instruction to start the movable arm telescopic inverter motor 202, and drives the movable telescopic arm 201 to move toward the ingot bearing table 3 along the linear guide 204 until the movable telescopic arm 201 is opened to the maximum position (i.e., moves to the rightmost end of the linear guide 204), and then the ingot withdrawing arm 101 pushes the ingot 6 to continue to move toward the ingot bearing table 3 until the ingot is moved to the pre-stop position L1 where the ingot is to be withdrawn toward the ingot bearing table 3.
In the process, in order to maintain a dynamic balance between the relative positions of the ingot withdrawing mechanism 1 and the feeding manipulator 2, the PLC control system 5 monitors the displacement values of the first stroke detector of the estimating mechanism and the second stroke detector of the feeding manipulator 2 in real time, so as to adjust the moving speed and position of the ingot withdrawing mechanism 1 and the feeding manipulator 2 in real time by adjusting and controlling the rotating speed of the movable arm telescopic variable frequency motor 202 and the ingot withdrawing variable frequency motor 102.
The determination of the start position L2 and the pre-stop position L1 is related to the distance between the fixed arm 203 and the movable telescopic arm 201 of the feeding manipulator 2 and the distance between the movable telescopic arm 201 and the ingot receiving platform when the movable telescopic arm 201 is opened to the maximum.
Example 4:
on the basis of embodiment 2, this embodiment provides an automatic control device for ingot casting retraction of an extruder, a rotating shaft of the ingot retraction variable frequency motor 102 is connected with a synchronous pulley, and the ingot retraction arm 101 is fixedly arranged on a synchronous belt of the synchronous pulley.
In this embodiment, the ingot withdrawing inverter motor 102 drives the synchronous pulley to rotate, the synchronous pulley drives the synchronous belt to move, and the synchronous belt drives the ingot withdrawing arm 101 to move back and forth, so as to push the ingot 6 to withdraw.
Example 5:
on the basis of embodiment 2, this embodiment provides an automatic control device for ingot casting retraction of an extruder, a rotating shaft of the ingot retraction variable frequency motor 102 is connected with a gear, the gear is engaged with a rack, and the ingot retraction arm 101 is fixedly arranged on the rack.
In this embodiment, the ingot withdrawing variable frequency motor 102 drives the gear to rotate, the gear engages with the rack, and the rack drives the ingot withdrawing arm 101 to move back and forth, so as to push the ingot 6 to withdraw.
Example 6:
on the basis of embodiment 2, this embodiment provides an extruder ingot casting rolls back automatic control device, a stroke detection appearance is displacement sensor or moves back spindle rotary encoder 103, displacement sensor locates on moving back spindle arm 101, move back spindle rotary encoder 103 and set firmly in moving back spindle inverter motor 102 pivot, move back spindle arm and retreat limit position inductive switch 104 before spindle arm 101, move back spindle arm and retreat limit position inductive switch 104 and PLC control system 5 signal connection.
The displacement of the spindle withdrawal arm 101 is detected by a displacement sensor or a spindle withdrawal rotary encoder 103. In order to avoid the deviation of the displacement sensor or the ingot withdrawing rotary encoder 103, the motion initial positions of the ingot withdrawing arm 101 and the feeding manipulator 2 are both zero positions by using the ingot withdrawing arm withdrawing limit position inductive switch 104.
Example 7:
on the basis of embodiment 3, this embodiment provides an automatic control device for ingot casting retraction of an extruder, the linear guide 204 is a ball screw, the movable telescopic arm is fixedly connected with a nut sleeved on the ball screw, and a rotating shaft of the movable arm telescopic variable frequency motor 202 is connected with the ball screw.
The movable telescopic arm is driven by a movable arm telescopic variable frequency motor 202 to rotate a ball screw so as to drive the movable telescopic arm to perform linear telescopic motion on a linear guide rail 204.
The second stroke detector is a displacement sensor or a movable arm rotary encoder 205, the displacement sensor is arranged on the movable telescopic arm, and the movable arm rotary encoder 205 is arranged on the movable arm telescopic variable frequency motor 202.
Example 8:
the embodiment provides an automatic control method for ingot back of an extruder, which adopts the automatic control device for ingot back of an extruder in embodiment 3, and as shown in fig. 2, the method comprises the following steps:
step 1) inputting the length of an ingot 6 which is withdrawn through the HMI cross section, and calculating by a PLC (programmable logic controller) control system 5 to obtain a pre-stop position L1 from the ingot withdrawing mechanism 1 to the ingot bearing platform 3 and a start position L2 of the feeding manipulator 2 which is opened along with follow-up;
step 2) the PLC control system 5 sends an instruction to start the ingot withdrawing mechanism 1, the ingot withdrawing arm 101 of the ingot withdrawing mechanism 1 pushes the ingot 6 to advance towards the ingot bearing table 3, when the ingot withdrawing arm 101 moves to the initial position L2 where the feeding manipulator 2 is opened along with the movement, the PLC control system 5 sends an instruction to start the movable arm telescopic variable frequency motor 202 of the feeding manipulator 2, so that the movable telescopic arm 201 moves towards the ingot bearing table 3 along the linear guide rail 204 along with the ingot withdrawing arm 101, and the movable telescopic arm 201 is opened;
step 3), the movable telescopic arm 201 moves continuously towards the direction of the ingot bearing table 3 along with the ingot withdrawing arm 101 until the movable telescopic arm 201 moves to the end of the linear guide rail 204, at the moment, the movable telescopic arm 201 is opened to the maximum position, and the PLC control system 5 sends an instruction to stop the movable arm telescopic variable frequency motor 202;
and step 4), the ingot withdrawing arm 101 continues to push the ingot 6 towards the direction of the ingot bearing table 3 until the ingot withdrawing arm 101 moves to a pre-stop position L1, the ingot 6 is withdrawn to the ingot bearing table 3, and the PLC control system 5 sends an instruction to stop the ingot withdrawing variable frequency motor 102 of the ingot withdrawing mechanism 1.
Example 9:
on the basis of the embodiment 8, the embodiment provides an automatic control method for ingot casting retraction of an extruder, firstly, a feeding manipulator 2 travels to an ingot retraction position, a mechanical finger grips an ingot casting 6, an HMI human-machine interface 4 inputs the length of the ingot casting 6 which needs to be retracted currently, and a PLC control system 5 calculates an optimal pre-stop position L1 at which the corresponding ingot retraction arm 101 needs to push the ingot to an ingot bearing platform 3 and a start position L2 at which a movable telescopic arm 201 of the feeding manipulator 2 follows to be opened. And feeding back the corresponding control value of the calculation to the variable frequency walking control of the ingot withdrawing arm 101 and the movable telescopic arm 201 of the feeding manipulator 2. Move back spindle in-process PLC control system 5 real-time supervision and push away spindle rotary encoder and the change of digging arm rotary encoder 205 displacement data to real-time self-adaptation adjusts and moves back spindle arm and the flexible arm 201 of material loading manipulator 2 activity and follow the position variation, forms closed loop control, makes and moves back the relative position of spindle arm and the flexible arm of material loading manipulator 2 activity and maintain a dynamic balance all the time, guarantees to move back the spindle and go on smoothly.
Example 10:
on the basis of the embodiment 8, in the process that the movable telescopic arm 201 moves along the linear guide 204 to the ingot receiving table 3 along with the ingot withdrawing arm 101 in the step 2), the PLC control system 5 monitors the change of the displacement data of the first stroke detector of the ingot withdrawing mechanism 1 and the second stroke detector of the feeding manipulator 2 in real time, and adjusts the movement speed and the position of the ingot withdrawing arm 101 and the upper movable telescopic arm 201 in real time, so that the relative positions of the two are kept in dynamic balance.
In the above embodiments, the PLC control system is a prior art. The PLC control system comprises a PLC controller (model 1756-L72), a signal input module (model 1734-SSI), a digital quantity output module (model 1794-OB 32) and a digital quantity input module (model 1794-IB 32). The PLC calculates and compares the position of each encoder in real time, and all parts are connected in series into a network in a TCP/IP Ethernet communication mode to share data. The plurality of encoders or displacement sensors respectively transmit measured continuous change displacement value signals to a signal input module 1734-SSI of the PLC, trigger signals of the retreating spindle arm retreating limit position induction switch are connected with digital quantity input modules 1794-IB32 in the PLC control system, and the operating parameters of each variable frequency motor are subjected to TCP/IP communication data interaction with the PLC through a frequency converter.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (10)
1. The utility model provides an automatic control device is rolled back to extruder ingot which characterized in that: including withdrawing ingot mechanism (1), material loading manipulator (2), bearing ingot platform (3) and PLC control system (5), withdraw ingot mechanism (1) and material loading manipulator (2) and all with PLC control system (5) signal of telecommunication connection, withdraw ingot mechanism (1) and material loading manipulator (2) cooperation and roll back ingot (6) to bearing ingot platform (3), PLC control system (5) signal of telecommunication connection has HMI human-machine interface (4).
2. The automatic control device for ingot back-off of the extruder of claim 1, which is characterized in that: the PLC control system (5) is used for calculating the length of the ingot (6) input by the HMI (human machine interface) to obtain a pre-stop position L1 from the ingot withdrawing mechanism (1) to the ingot bearing platform (3) and a start position L2 of the feeding manipulator (2) which is opened along with the ingot withdrawing mechanism and monitoring the positions of the ingot withdrawing mechanism (1) and the feeding manipulator (2) in real time so as to send instructions at corresponding positions for control.
3. The automatic control device for ingot back-off of the extruder of claim 2, wherein: move back spindle mechanism (1) including moving back spindle arm (101), moving back spindle inverter motor (102) and stroke detector one, move back spindle inverter motor (102) and be used for the drive to move back spindle arm (101) linear motion, stroke detector one and PLC control system (5) signal of telecommunication are connected, stroke detector one is used for the position that real-time detection moved back spindle arm (101), move back spindle arm (101), material loading manipulator (2) and hold spindle platform (3) and be located same straight line.
4. The automatic control device for ingot back-off of the extruder of claim 2, wherein: the feeding manipulator (2) comprises a fixed arm (203), a movable telescopic arm (201), a movable arm telescopic variable frequency motor (202) and a second stroke detector, the movable telescopic arm (201) is close to one side of the ingot bearing table (3), a linear guide rail (204) is arranged between the fixed arm (203) and the movable telescopic arm (201), and manipulator fingers for clamping the ingot (6) are arranged on the fixed arm (203) and the movable telescopic arm (201);
the movable arm stretching variable frequency motor (202) is used for driving the movable stretching arm (201) to conduct linear stretching movement along the linear guide rail (204), the second stroke detector is connected with the PLC control system (5) through electric signals, and the second stroke detector is used for detecting the position of the ingot withdrawing arm (101) in real time.
5. The automatic control device for ingot back-off of the extruder of claim 3, wherein: a rotating shaft of the spindle withdrawing variable-frequency motor (102) is connected with a synchronous belt wheel, and the spindle withdrawing arm (101) is fixedly arranged on a synchronous belt of the synchronous belt wheel.
6. The automatic control device for ingot back-off of the extruder of claim 3, wherein: the first stroke detector is a displacement sensor or an ingot retreating rotary encoder (103), the displacement sensor is arranged on an ingot retreating arm (101), the ingot retreating rotary encoder (103) is fixedly arranged on a rotating shaft of an ingot retreating variable frequency motor (102), an ingot retreating arm retreating limit position induction switch (104) is arranged in front of the ingot retreating arm (101), and the ingot retreating arm retreating limit position induction switch (104) is in electric signal connection with a PLC control system (5).
7. The automatic control device for ingot back-off of the extruder of claim 4, wherein: the linear guide rail (204) is a ball screw, the movable telescopic arm is fixedly connected with a nut sleeved on the ball screw, and a rotating shaft of the movable arm telescopic variable frequency motor (202) is connected with the ball screw.
8. The automatic control device for ingot back-off of the extruder of claim 4, wherein: and the second stroke detector is a displacement sensor or a movable arm rotary encoder (205), the displacement sensor is arranged on the movable telescopic arm, and the movable arm rotary encoder (205) is arranged on the movable arm telescopic variable frequency motor (202).
9. An automatic control method for ingot back of an extruder, which adopts the automatic control device for ingot back of the extruder of claim 4, and is characterized by comprising the following steps:
step 1) inputting the length of an ingot (6) which is withdrawn through the human-machine interface of the HMI, and calculating by the PLC control system (5) to obtain a pre-stop position L1 where the ingot withdrawing mechanism (1) needs to withdraw to an ingot bearing platform (3) and a start position L2 where a feeding manipulator (2) is opened along with follow-up;
step 2), the PLC control system (5) sends an instruction to start the ingot withdrawing mechanism (1), an ingot withdrawing arm (101) of the ingot withdrawing mechanism (1) pushes an ingot (6) to advance towards the direction of the ingot bearing table (3), when the ingot withdrawing arm (101) moves to a starting position L2 where the feeding manipulator (2) is opened along with the movement, the PLC control system (5) sends an instruction to start a movable arm telescopic variable frequency motor (202) of the feeding manipulator (2), so that the movable telescopic arm (201) moves towards the direction of the ingot bearing table (3) along a linear guide rail (204) along with the ingot withdrawing arm (101), and the movable telescopic arm (201) is opened;
step 3), the movable telescopic arm (201) moves continuously to the direction of the ingot bearing platform (3) along with the ingot withdrawing arm (101) until the movable telescopic arm (201) moves to the end of the linear guide rail (204), at the moment, the movable telescopic arm (201) is opened to the maximum position, and the PLC control system (5) sends an instruction to stop the movable arm telescopic variable frequency motor (202);
and step 4), the ingot withdrawing arm (101) continues to push the cast ingot (6) towards the ingot bearing table (3) until the ingot withdrawing arm (101) moves to a pre-stop position L1, the cast ingot (6) is withdrawn to the ingot bearing table (3), and the PLC control system (5) sends an instruction to stop the ingot withdrawing variable frequency motor (102) of the ingot withdrawing mechanism (1).
10. The method for automatically controlling the ingot back-off of the extruder according to claim 9, wherein the method comprises the following steps: in the step 2), in the process that the movable telescopic arm (201) moves to the direction of the ingot bearing table (3) along the linear guide rail (204) along with the ingot withdrawing arm (101), the PLC control system (5) monitors the displacement data change of the first stroke detector of the ingot withdrawing mechanism (1) and the second stroke detector of the feeding manipulator (2) in real time, and adjusts the movement speed and position of the ingot withdrawing arm (101) and the upper movable telescopic arm (201) in real time, so that the relative positions of the ingot withdrawing arm (101) and the upper movable telescopic arm (201) are kept in dynamic balance.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112198514A (en) * | 2020-09-30 | 2021-01-08 | 山东理工职业学院 | Safety monitoring and early warning system based on mold design |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112198514A (en) * | 2020-09-30 | 2021-01-08 | 山东理工职业学院 | Safety monitoring and early warning system based on mold design |
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