CN111331862B - Blanking, taking and placing process of plate-shaped workpiece edge covering system software - Google Patents

Blanking, taking and placing process of plate-shaped workpiece edge covering system software Download PDF

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Publication number
CN111331862B
CN111331862B CN201811302287.8A CN201811302287A CN111331862B CN 111331862 B CN111331862 B CN 111331862B CN 201811302287 A CN201811302287 A CN 201811302287A CN 111331862 B CN111331862 B CN 111331862B
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China
Prior art keywords
blanking
rod
signal
relay
arm
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CN111331862A (en
Inventor
程宪宝
屈百达
佟艳芬
韩开旭
赵荣阳
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Beibu Gulf University
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Beibu Gulf University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
    • B29C65/48—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor using adhesives, i.e. using supplementary joining material; solvent bonding
    • B29C65/50—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor using adhesives, i.e. using supplementary joining material; solvent bonding using adhesive tape, e.g. thermoplastic tape; using threads or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
    • B29C65/78—Means for handling the parts to be joined, e.g. for making containers or hollow articles, e.g. means for handling sheets, plates, web-like materials, tubular articles, hollow articles or elements to be joined therewith; Means for discharging the joined articles from the joining apparatus
    • B29C65/7858—Means for handling the parts to be joined, e.g. for making containers or hollow articles, e.g. means for handling sheets, plates, web-like materials, tubular articles, hollow articles or elements to be joined therewith; Means for discharging the joined articles from the joining apparatus characterised by the feeding movement of the parts to be joined
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/01—General aspects dealing with the joint area or with the area to be joined
    • B29C66/03—After-treatments in the joint area
    • B29C66/032—Mechanical after-treatments
    • B29C66/0326—Cutting, e.g. by using waterjets, or perforating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/90—Measuring or controlling the joining process
    • B29C66/92—Measuring or controlling the joining process by measuring or controlling the pressure, the force, the mechanical power or the displacement of the joining tools
    • B29C66/924—Measuring or controlling the joining process by measuring or controlling the pressure, the force, the mechanical power or the displacement of the joining tools by controlling or regulating the pressure, the force, the mechanical power or the displacement of the joining tools
    • B29C66/9241—Measuring or controlling the joining process by measuring or controlling the pressure, the force, the mechanical power or the displacement of the joining tools by controlling or regulating the pressure, the force, the mechanical power or the displacement of the joining tools by controlling or regulating the pressure, the force or the mechanical power
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K3/00—Apparatus or processes for manufacturing printed circuits

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Manipulator (AREA)

Abstract

A software blanking taking and placing process of a plate-shaped workpiece edge covering system comprises the following 11 steps: 1: the process is to give a swing angle signal beta to a feeding armRIs assigned as a material taking position signal beta of a swing angle of a blanking arm1The value starts; a blanking rod is extended; 2: if the blanking rod extends to the right position, turning to the step 3; otherwise, turning to the step 1; 3: the blanking air pipe is pumped and pressurized; 4: the blanking rod contracts → the blanking sucker is pressed to a low position; 5: the blanking rod is contracted; the blanking sucker is pressed to a low position; 6: if R isMTBDecrease to value RMTBThe feeding rod is contracted to the minimum value R of the magneto-resistanceMTB0Namely, the blanking rod is contracted to the right position, and the step 7 is carried out; otherwise, turning to the step 5; 7: the discharging arm swings outwards; 8: if the value of beta is reduced to beta-beta0Namely, the discharging arm swings in place, and the step 9 is carried out; otherwise, the blanking arm continuously swings outwards; 9: a blanking rod is extended; 10: if the blanking rod extends to the right position, turning to the step 11; otherwise, the blanking rod continues to extend downwards; 11: preparing a discharging air pipe for air discharge; and (6) ending.

Description

Blanking, taking and placing process of plate-shaped workpiece edge covering system software
Technical Field
The invention relates to a method for carrying out side wrapping and pasting on a flat-plate-shaped workpiece.
Background
In many flat product production lines, a side wrapping and pasting process is performed on flat workpieces, especially in circuit board production enterprises. The production process comprises the following steps: the whole periphery of the flat workpiece is wrapped and pasted by a special adhesive tape. At present, the procedures are manually finished, and the result is poor consistency of the wrapping and pasting state and has the defects of partial pasting, folds, leakage gaps and the like of unequal parts. Manual operation is more difficult with the typically large, heavy pieces of board. This is a bottleneck that seriously affects the flow for the related product production line, and the whole production process of the elbow is automated. Therefore, it is urgently needed to develop an automatic method which can ensure the consistency of the package and paste states and replace manual operation with heavy force so as to realize automation of the whole production process.
Disclosure of Invention
In order to solve the problems of poor consistency of wrapping and pasting states, defects of deflection pasting, wrinkles, leakage gaps and the like, heavy manual wrapping and pasting operation and the like, the invention provides a software blanking taking and placing process of a plate-shaped workpiece wrapping and pasting system, which comprises the following 11 steps:
1: the process is to give a swing angle signal beta to a feeding armRIs assigned as a material taking position signal beta of a swing angle of a blanking arm1The value starts; a blanking rod is extended;
2: if the blanking rod extends to the right position, turning to the step 3; otherwise, turning to the step 1;
3: the blanking air pipe is pumped and pressurized;
4: the blanking rod contracts → the blanking sucker is pressed to a low position;
5: the blanking rod is contracted; the blanking sucker is pressed to a low position;
6: if R isMTBDecrease to value RMTBThe feeding rod is contracted to the minimum value R of the magneto-resistanceMTB0Namely, the blanking rod is contracted to the right position, and the step 7 is carried out; otherwise, turning to the step 5;
7: the discharging arm swings outwards;
8: if the value of beta is reduced to beta-beta0Namely, the discharging arm swings in place, and the step 9 is carried out; otherwise, the blanking arm continuously swings outwards;
9: a blanking rod is extended;
10: if the blanking rod extends to the right position, turning to the step 11; otherwise, the blanking rod continues to extend downwards;
11: preparing a discharging air pipe for air discharge; and (6) ending.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the blanking taking and placing process of the plate-shaped workpiece edge covering system software comprises the following steps:
stp B1.1: the process is to give a swing angle signal beta to a feeding armRIs assigned as a material taking position signal beta of a swing angle of a blanking arm1The value starts; when the feeding arm swing angle feedback signal beta is adjusted to be operated to beta, beta is1Value → feeding rod up-shrinking control signal optical coupler LCPTBStop → feeding rod upper shrinkage operation isolation relay electromagnetic coil JT3Power failure → first normally open contact J of isolating relay in upward shrinkage operation of blanking rodT3-1 releasing the on-off state while the blanking lever is retracted to operate the second normally closed contact J of the isolation relayT3-2 closed; while beta is beta1→βNValue increase → blanking arm swing angle taking and placing position relay electromagnetic coil JβElectrifying → discharging arm swing angle taking and discharging position relayNormally open contact J of electric applianceβ-1 attraction → operation of the isolating relay electromagnetic coil J by downward extension of the blanking rodT4Second normally open contact J of isolating relay during up → down extension operation of blanking rodT4-2 closing and blanking normally closed contact J of high-voltage relaySB2-2 closed state → first normally open contact J of isolating relay operated by downward extension of blanking rodT4-1 suck-off; -extension of the blanking rod → upward contraction of the blanking rod to the position of the magnetoresistor RMTBThe value increases while sBThe value is decreased;
stp B1.2: if unloading low pressure relay solenoid JSB1Electrifying, namely extending a blanking rod to the position, → Stp B1.3; otherwise, → Stp B1.1;
stp B1.3: negative terminal T of blanking valvenk2Negative terminal T in the baiting valveno2Off state, JSB1First normally open contact J of power-on → blanking rod low-voltage relaySB1-1 closing, at the same time, the elastic arm is close to the second normally open contact J of the relayBF-2 releasing the third normally closed contact J of the standby relay of the on-off and tape-feeding mechanismW0-3 closed, positive terminal T of the blanking valvepk2-positive terminal T in the blanking valvepo2Drawing a square root and combining the square root and the square root; -the air exhaust and pressurization of the blanking air pipe → Tpk2-Tpo2Contact and break and Tnk2-Tno2On state → blanking rod high-voltage relay electromagnetic coil JSB2Power up while betaNAssignment 0 → Jβ-1 powering down;
Stp B1.4：JSB2touch signal s of feeding and discharging rods at the same timeB0 → feeding rod give upper shrinkage displacement signal dBRAssignment 0 → LCPTBWork → JT3Power-on → JT3-1 pull-in, while JT3-2 suck-off; at the same time, JSB2Electrifying → blanking high-voltage relay normally closed contact JSB2-2 suck Break → JT4Power down → JT4-2 release the cut-off, with JT4-1 closed; -blanking rod shrinking → sBIncrease of value → JSB2Power down-the blanking sucker is pressed to a low position;
stp B1.5: -the blanking bar is retracted; -the blanking suction cup is pressed to a low position;
StpB 1.6: if R isMTBDecrease to value RMTBThe feeding rod is contracted to the minimum value R of the magneto-resistanceMTB0I.e. the blanking bar is retracted in place, → Stp B1.7; otherwise, → Stp B1.5;
Stp B1.7：RMTB＝RMTB0，→βRassignment of beta0-the discharge arm swings outwards, → beta value decreases;
stp B1.8: if the value of beta is reduced to beta-beta0Namely the discharging arm is swung in place outwards, → Stp B1.9; otherwise, the blanking arm continues to swing outwards, and the value of → beta is reduced;
Stp B1.9：β＝β0，→LCPTBrest → JT3Power down → JT3-1 Release disconnect, with JT3-2 is fused, and β ═ β0→βNEnlargement → JβPower-on → Jβ-1 pull-in → JT4Power-on → JT4-2 pull-in, while JT4-1 suck-off-extension of blanking rod → RMTBThe value increases while sBThe value is decreased;
stp B1.10: if s isBThe value is reduced to JSB2Electrifying, namely the blanking rod extends to the position, → Stp B1.11; otherwise, the blanking rod continues to extend downwards → RMTBThe value increases while sBThe value is decreased;
Stp B1.11：βNassignment 0 → Jβ-1 powering down; first normally open contact J of blanking lever high-voltage relaySB2-1 pull-in, while JSB1-1 attraction state, Tnk2-Tno2Open-state-the blanking air pipe is ready to be deflated; and (6) ending.
The invention has the beneficial effects that: an equipment complete system capable of efficiently supporting and realizing the wrapping and pasting of the side edge of a flat-plate-shaped workpiece. The side wrapping and attaching device enables the side wrapping and attaching of the flat workpiece to be set and adjusted in a wide specification range, can keep stable under multiple given values, and overcomes the defects of unreliable and uncontrollable manual operation and the like. Particularly for batch package and paste, the method can be quickly finished and far exceeds the manual working speed; and meanwhile, the labor and the labor are greatly saved. The system realizes the wrapping and pasting of the side edge of the flat workpiece in a compact and simple structure, and the control system is high in structuralization and systematization degree and easy to adjust; and a complete equipment system with high cost performance is easily formed. The whole body is easy to produce in batch; the system is simple and easy to maintain.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic top view of a method for hemming a plate-shaped workpiece according to an embodiment of the present invention.
FIG. 2 is a front view of the structure of the edge covering device for plate-shaped workpieces.
Fig. 3 is a sectional view of the blanking mechanism.
Fig. 4 is a circuit diagram of a three-way valve for blanking. .
Fig. 5 is a circuit diagram of the detection-amplification-execution circuit of the blanking rod touch pressure signal.
Fig. 6 is an enlarged-driving-executing-rotation angle detection circuit diagram of the blanking swing system.
Fig. 7 is a circuit diagram of the feeding telescopic rod upper-shrinkage-in-place positioning detection-feedback circuit.
Fig. 8 is a circuit diagram of the operation and control of the plate-shaped workpiece hemming system.
FIG. 9 is a circuit diagram illustrating the operation of the feeding arm with the enlarged feeding angle.
Fig. 10 is an enlarged-drive-execution circuit diagram of the feed bar telescopic motor.
Fig. 11 is a block diagram of a blanking arm control system of the plate-shaped workpiece hemming device.
Fig. 12 is a block diagram of a blanking rod control system of the plate-shaped workpiece hemming device.
FIG. 13 is a software configuration diagram of a plate-shaped workpiece hemming system.
FIG. 14 is a flow chart of a plate-shaped workpiece taping system software taping module.
FIG. 15 is a flow chart of a plate-shaped workpiece edge covering system software blanking taking and placing module.
In FIGS. 1 to 5: 1. the automatic feeding device comprises a base station, 2 parts of a discharging mechanism, 3 parts of packaged parts, 4 parts of a discharging vehicle, 5 parts of a feeding vehicle, 6 parts to be packaged, 7 parts of a feeding mechanism, 8 parts of a belt feeding mechanism and 9 parts of a workpiece. Alpha is alpha00For taking the material level, alpha, at the swing angle of the loading arm10Placing the material level for the swinging angle of the feeding arm; beta is a00For the swing angle of the feeding arm to discharge material, beta10For the material-taking position of the swing angle of the discharging arm。
In FIGS. 2 to 10: 1.1. the automatic cutting machine comprises a rotary base, a 1.2-counter, a 1.3-main motor, a 1.4-operating panel, a 2.1-blanking air pipe, a 2.2-blanking arm, a 2.3-blanking column, a 2.4-blanking telescopic rod, a 2.5-blanking sucker, a 7.1-feeding air pipe, a 7.2-feeding arm, a 7.3-feeding column, a 7.4-feeding telescopic rod, a 7.5-feeding sucker, a 8.1-guide belt wheel, a 8.2-belt shaft, a 8.3-adhesive tape roll, a 8.4-belt supporting disc, a 8.5-end seat disc, a 8.6-rocker cable, a 8.7-rocker motor, a 8.8.8-rocker, a 8.9-elastic arm, a 8.10-connecting arm, a 8.11-cutting head driving coil, a 8.12-connecting rod, a 8.13-electric heating cable, a 8.14-cutting head and a 8.15-cutting knife.
In FIGS. 3 to 10: 2.2.2. the upper part of a blanking arm bearing, 2.2.5. the inner edge of a rotor magnetic yoke, 2.2.6. the blanking bearing, 2.2.7. the moving part of a blanking swing arm motor rotation angle sensor, 2.2.9. a telescopic motor stator winding, 2.2.10. a telescopic cable and 2.2.11. a pipeline; 2.3.10. stator yoke disk ring, 2.3.11 swing arm cable; 2.4.1. a pipeline hole of the blanking rod, 2.4.5, a sliding wall of a telescopic rod, 2.4.6, blanking telescopic rod magnetic steel, 2.4.9, an inductance coil and 2.4.10, a bearing; 2.5.2. inner support, 2.5.3. inner vortex ring, 2.5.4. gland bush, 2.5.5. outer support, 2.5.6. outer vortex ring.
In FIGS. 4 to 15: 2V.5. a driving coil of a blanking air valve, 2V.7. a left in-place switch of the blanking air valve and 2V.13. a right in-place switch of the blanking air valve; j. the design is a squareW0-3 third normally closed contact, T, of stand-by relay of belt feeding mechanismpo2Is a blanking inner positive terminal, JBF-2 is the second normally open contact of the spring arm hold-down relay, JSB2-1 is a first normally open contact of the blanking lever high-voltage relay, Tno2Is the negative terminal in the blanking valve, LV2For the coil inductance of the feed valve, JSB1And-1 is a first normally open contact of the blanking rod low-voltage relay.
In FIGS. 5 to 15: l isSB0For blanking inductance coil inductance, LSB1Is a discharge inner eddy ring inductor, LSB2For blanking, an external eddy current ring inductor, ES1To energize the source upper terminal, ES2Is a lower terminal of an excitation source, SS1For pressing switches for internal supports, SS2For external cradle tact switches, TSFor contact signal transformers, DS1Is touched byVoltage signal detecting diode, CS1A first filter capacitor for the touch signal, RS1As a signal filtering resistor, CS2A second filter capacitor, LC, for the touch signalSFor touch-pressure signal opto-coupler, RS2For loading resistors, LC, for touch-down signalsSBOutput optocoupler, P, for touch-pressure signalSBThe blanking rod is contacted with a signal wiring terminal; DTSBThe method is a link for detecting the touch signal of the blanking rod. RS3Coupling resistors for touch-down signals, DS2Is a freewheeling diode of a low-voltage relay, JSB1For blanking the electromagnetic coil of the low-voltage relay, TRS1For driving the transistor at low voltage, RS4Coupling resistors for pressing high-voltage signals, DS4Isolating the diode for the purpose of signal contact, JSB2For the blanking rod high-voltage relay electromagnetic coil, DS3Is a freewheeling diode, TR, of a high-voltage relayS2The transistor is driven for high voltage.
In FIGS. 6 to 15: LC (liquid Crystal)BPFor B-phase positive drive optocoupler, LCCPFor C-phase positive drive optocoupler, LCAPThe phase A positive drive optical coupler is adopted; rBNFor B-phase negative drive pull-up resistor, RCNFor C-phase negative drive pull-up resistor, RANA pull-up resistor is driven by the A phase negative voltage; LC (liquid Crystal)BNIs a B-phase negative drive optical coupler, LCCNFor C-phase negative drive optocoupler, LCANThe phase A negative drive optical coupler is adopted; gβIs a feeding arm inversion triggering module. QAPFor A-phase switching positive MOSFET, QBPIs a B-phase switch anode MOSFET, QCPA C-phase switch anode MOSFET; qANIs an A-phase switch cathode MOSFET, QBNIs a B-phase switch cathode MOSFET, QCNIs a C-phase switch cathode MOSFET; a. theβIs a feeding arm inversion execution module. WAIs a phase A winding, WBIs a B-phase winding, WCIs a C-phase winding; mβIs a feeding arm rotary swing motor. E is the positive terminal of the system control circuit power supply, PβFeeding a signal terminal for a swinging angle of a feeding arm; DTβIs a feeding arm swing angle signal processing module.
In FIGS. 7 to 15: rMTBFor the purpose of retracting the blanking bar into position, RWFor the purpose of lowering the feed rod to a desired position, a voltage-dividing resistor, LCTBThe optical coupler is a telescopic signal optical coupler on the blanking rod.
In FIGS. 8 to 15: rPIndicating resistance for operation of control circuit, DPAn indication LED for controlling the circuit operation; kMFor controlling the system start key, RKMBuffer resistors for enabling signals, CKMBuffering the capacitor for a start signal; snFor the main motor rotation angle detection-feedback link, PnA corner feedback signal terminal of the main motor; rMCoupling resistors, R, for corner feedback signalsPFFor feeding back signal coupling resistance, R, for the swing angle of the loading armPBFeeding back a signal coupling resistor for a swing angle of a blanking arm; cp1Is a first self-excited capacitor, Cp2Is a second self-excited capacitor, CfA crystal oscillator; u is a controller chip; pαA signal terminal P for a swinging angle of a feeding arm to take and place a material positionβA material taking and placing position signal wiring terminal of a swinging angle of a blanking arm; rAP0A pull-down resistor for A-phase anode trigger signal, RBP0A pull-down resistor for B-phase positive trigger signal, RCP0A C-phase positive trigger signal pull-down resistor, RAN0A pull-down resistor for A-phase negative trigger signal, RBN0A pull-down resistor for B-phase negative trigger signal, RCN0A pull-down resistor is used as a C-phase negative trigger signal; pn3For turning the main motor to 3-bit signal terminals, Pn2For turning the main motor to 2-bit signal terminals, Pn1For turning the main motor to 1-bit signal terminal, PnCA main motor corner control signal terminal; rPWFor the tape-feeding mechanism to control the signal pull-down resistor, RPWFor the feeding rod to control the signal pull-down resistor, RNTFFor the feed rod to extend downwards to control the pull-down resistor, RPTFA pull-down resistor is used for controlling a signal by the upward shrinkage of the feeding rod; LC (liquid Crystal)PWFor operating signal optocouplers, LC, for the tape-feeding mechanismPTFFor operating signal optical coupler, LC, for feeding rod upper contractionNTFA feeding rod downward extension control signal optical coupler; rR1For resetting the signal pull-up resistor, RR2Buffer resistors for resetting signals, CRBuffer capacitor for resetting signal, KRThe keys are reset for the controller.
In FIGS. 9 to 15: dβFor the discharging arm pendulumAngle taking and placing position relay freewheeling diode, JβA discharging arm swinging angle material taking and placing position relay electromagnetic coil RβA pull-down resistor, LC, for the material-taking and placing position signal of the swing angle of the discharging armβThe material taking and placing position signal optical coupler is a swinging angle taking and placing position signal optical coupler of a discharging arm.
In FIGS. 10 to 15: rPTBbFor retracting the control signal bias resistor, D, on the blanking barPTB1For the first trigger diode, R, of the control signal for the retraction of the blanking barPTBgFor retracting the switching grid bias resistor, Q, on the blanking barPTBFor retracting the switching MOSFET, R on the discharge barPTBcFor the telescopic operation of the switch on the discharge bar, DPTB2For the second trigger diode, T, of the control signal for the upward contraction of the blanking rodPTBFor tripping a feed ram up-draw switch to trigger a triode, DPTBFor driving follow-current stabilivolt, L, for telescopic operation of blanking rodPTBFor driving filter inductors for telescopic operation of blanking bars, CPTBFor driving filter capacitors, R, for telescopic operation of the blanking barsPTBJIsolating relay divider resistor for feeding rod up-shrinkage operation, DPTBJIsolating relay follow current voltage-stabilizing tube J for upward shrinkage operation of blanking rodT3Isolating relay solenoid for telescopic operation of blanking rod, JT3-1 is the first normally open contact of the isolating relay with the blanking lever retracted upward, JT4-1 is a first normally closed contact of a blanking rod downward-extending operation isolation relay; a. thePTBAnd a large link is zoomed on the feeding rod operation control system. L isTBThe winding is a stator winding of a telescopic motor of a blanking rod. L isTBThe winding is a stator winding of a telescopic motor of a blanking rod. J. the design is a squareT3-2 is a second normally closed contact of the isolating relay for the telescopic operation of the blanking lever, JT4-2 is a second normally open contact of the blanking rod downward-extending operation isolation relay, DNTB1For the downward extension of the feeding rod, a first voltage-reducing and voltage-stabilizing tube DNTBJIsolating relay follow current voltage-stabilizing tube J for downward extending operation of blanking rodT4Isolating relay electromagnetic coil for downward extending operation of blanking rod, CNTBFor the downward extension of the feeding rod to impact the capacitor, DNTB2A second pressure reduction and stabilization tube is operated for downward extension of the blanking rod; j. the design is a squareβ-1 is a normally open contact of a discharging position relay with a swinging angle of a discharging arm, JSB2-2 is blanking high pressureNormally closed contacts of the relay; a. theNTBThe method is a downward extending and amplifying link of a feeding rod operation control system.
In FIGS. 11 to 15: beta is aRSetting a swing angle signal for the blanking arm, wherein delta beta is a rotation angle deviation signal of the blanking arm, CβFor the link of operation control of the feeding arm, betaCFor a control signal of the swing angle of the feed arm, DrβFor controlling the drive link for the swing angle of the feeding arm, betaDrFor the operation of the feed arm with a drive signal iβAFor the A-phase drive current, i, of the rotary swing motor of the feeding armβBFor the B-phase drive current, i, of the rotary swing motor of the feeding armβCFor C-phase drive current, beta, of a rotary swing motor of a discharging armoutAnd outputting a signal for the swing angle of the blanking arm, and feeding back a signal for the swing angle of the blanking arm.
In FIGS. 12 to 15: dBRSetting up-shrinkage displacement signal, delta d, for blanking rodTBFor a deviation signal of the upper shrinkage displacement of the blanking rod, CdBA link for controlling the upward shrinkage of the blanking rod, dPBCFor a control signal for the upward and downward movements of the discharge bar, ePBFor feeding rod telescopic motor stator winding up-draw drive signal, dPBFor the up-scaling displacement of the blanking bars, eNBFor the down-extending driving signal of the stator winding of the telescopic motor of the blanking rod, sTBA signal of the upper shrinkage position of the blanking rod is obtained; alpha is alpha1A material taking and placing position signal of a material loading arm swing angle betaNA swinging angle signal of a discharging arm, a discharging position signal, delta dNBIs a downward extension displacement deviation signal of the blanking rod, dNBFor the downward extension displacement of the blanking rod, sBThe blanking rod is a pressing signal.
In FIGS. 14 to 15: alpha is alpha0For taking a level signal, beta, of the swing angle of the loading arm0A material position signal is taken for the swinging angle of the blanking arm, N is the number of pseudo-package workpieces, i is the cycle number, and WWPIs the single weight of the workpiece.
In fig. 15: rMTF0The minimum value of the magnetic resistance is the minimum value of the upper shrinkage of the feeding rod.
Detailed Description
In one embodiment of the invention shown in fig. 1, a schematic top view of a method for hemming a plate-shaped workpiece: the overall configuration of the plate-shaped workpiece edge covering method comprises a base station 1, a blanking mechanism 2, a wrapping piece, a blanking vehicle 4, a feeding vehicle 5, a to-be-wrapped piece 6, a feeding mechanism 7, a belt feeding mechanism 8 and a wrapped piece 9. The base station 1 is used as a main body workbench, a machine box body and a working and bearing surface of the overall system device and is located on the right side of the middle of a working field. The blanking mechanism 2 is used as a wrapping piece grasping, transferring and lowering mechanism of the system device to work and is assembled at the left end of the upper surface of the base station 1. The wrapped workpiece 3 is taken as a work object of the system device, namely a wrapped finished workpiece, and is gripped, transferred and placed by the blanking mechanism 2 and sequentially placed in the blanking trolley 4. The blanking cart 4 is used as a transfer device for carrying and transporting the packaged piece 3, is suspended at the left side of the base platform 1 and is positioned at a position to be loaded and positioned. The feeding trolley 5 is used as a transfer device for carrying and transporting the to-be-packaged piece 6, is suspended at the outer side of the base platform 1 and is positioned at a to-be-unloaded positioning position. The workpiece to be wrapped 6 serving as an object of the system device to work, namely a workpiece to be wrapped, is sequentially grabbed, transferred and placed by the feeding mechanism 7, and is pressed on the working position in the middle of the upper surface of the base station 1. The feeding mechanism 7 is used as a holding, transferring, lowering and pressing mechanism of the to-be-packaged piece of the system device, and is assembled at the right outer end of the upper surface of the base station 1. The tape feeding mechanism 8 is used as a feeding mechanism of the edge covering adhesive tape and is assembled on the right side of the feeding mechanism 7 on the base platform 1. The wrapped workpiece 9 as a workpiece to be wrapped is gripped, transferred, and lowered by the feeding mechanism 7, and pressed to the working position in the middle of the upper surface of the base 1.
In one embodiment of the invention shown in fig. 1, a schematic top view of a method for hemming a plate-shaped workpiece and a front view of the structure of a device for hemming a plate-shaped workpiece shown in fig. 2:
the base station 1 is a main body workbench, a machine box body and a working and bearing surface of the system overall device. The rotary base 1.1 is used as a machine member for bearing and driving the wrapped piece 9 to rotate, and is tightly connected with the main shaft, namely the output shaft of the main motor 1.3 in a matching mode through a matching shaft hole. The counter 1.2 is used as a device for sensing, detecting and transmitting the rotation angle of the rotary seat 1.1, is rooted and installed on the right side of a main motor 1.3 on the base station 1, and is arranged below the rotary seat 1.1, and the distance of 3mm is reserved between the upper end of the rotary seat and the lower end of the rotary seat 1.1. The main motor 1.3 is used as a main power and system execution device of the system device, is embedded in the middle of the base station 1 and deviates to the left, and the output shaft of the main motor is matched and connected with the rotary base 1.1. The operating panel 1.4 is used as the operating surface of the man-machine interaction keyboard for system operation, and is embedded and assembled in the groove chamber which is arranged on the right side of the inner side of the base station 1 in a pulling structure.
The blanking air pipe 2.1 is used as an exhaust line for obtaining negative pressure for the blanking sucker 2.5, is led from the blanking sucker 2.5, passes through the blanking telescopic rod 2.4, then passes through the blanking arm 2.2, the blanking column 2.3 and the base station 1, and is led to an exhaust system. The blanking arm 2.2 is used as a transfer motion cantilever beam mechanism of the blanking mechanism 2, the head end is used as the top of a blanking column 2.3 assembled at the rotating shaft end, and the tail end is used as the working end and is assembled with a blanking telescopic rod 2.4. The blanking column 2.3 is used as a main supporting structure of the blanking mechanism 2, the upper end is provided with a blanking arm 2.2, and the lower end is arranged in the middle of the left end of the base station 1. The feeding telescopic rod 2.4 is used as a lifting and lowering mechanism of the feeding mechanism 2 and is assembled at the working end of the feeding arm 2.2, and the feeding sucker 2.5 is assembled at the lower end of the feeding telescopic rod. The blanking sucker 2.5 is a flexible material umbrella-shaped mechanism as a terminal part for gripping, transferring and lowering the blanking mechanism 2, and the top end of the flexible material umbrella-shaped mechanism is assembled at the lower end of the blanking telescopic rod 2.4.
The feeding air pipe 7.1 is used as an exhaust pipeline for obtaining negative pressure for the feeding sucker 7.5, is led from the feeding sucker 7.5, passes through the feeding telescopic rod 7.4, then passes through the feeding arm 7.2, the feeding column 7.3 and the base station 1, and is led to an exhaust system. The feeding arm 7.2 is used as a transfer motion cantilever beam mechanism of the feeding mechanism 7 and is made of iron materials, the head end of the feeding arm is used as the top of a feeding column 7.3 assembled at the rotating shaft end, and the tail end of the feeding arm is used as the working end and is assembled with a feeding telescopic rod 7.4. The feeding column 7.3 is used as a main supporting mechanism of the feeding mechanism 7, the upper end is provided with a feeding arm 7.2, and the upper end is arranged outside the right end of the base station 1. The feeding telescopic rod 7.4 is used as a lifting, lowering and pressing mechanism of the feeding mechanism 7 and is assembled at the working end of the feeding arm 7.2, and the feeding sucker 7.5 is assembled at the lower end of the feeding telescopic rod. The feeding sucker 7.5 is a flexible material umbrella-shaped mechanism as a terminal part for grasping, transferring and downward pressing of the feeding mechanism 7, and the top end of the flexible material umbrella-shaped mechanism is assembled at the lower end of the feeding telescopic rod 7.4.
The guide belt wheel 8.1 is used as a reversing mechanism for guiding the edge-covering adhesive tape, is a wheel disc piece with a wheel edge groove and is assembled at the left inner end of the end seat disc 8.5. The belt supporting shaft 8.2 is used as a positioning shaft of the belt feeding mechanism, is a middle shaft protruding part of the belt supporting disc 8.4, is used for positioning and matching the adhesive tape roll 8.3, and is in running fit with a matching hole of the adhesive tape roll 8.3. The adhesive tape roll 8.3 is a commodity part of adhesive tape materials used for edge covering, is of a disc structure with a middle shaft sleeve matching hole, matches a tape supporting shaft 8.2 through the matching hole, and is flatly placed on the tape supporting disc 8.4. The belt supporting disc 8.4 is used as a component for positioning and supporting the belt coil 8.3 and is a disc provided with a belt supporting shaft 8.2, and a shaft sleeve hole with a non-tight upper end is sleeved on the central shaft position of the disc body and the belt supporting shaft 8.2; through the axle sleeve hole, the belt supporting disc 8.4 and the end seat disc 8.5 form a running fit. The end seat disc 8.5 is used as a terminal base disc of the tape feeding mechanism 8, the middle position of the outer side outwards extends out of a spring arm 8.9, the right inner corner of the upper side is provided with a carrier disc 8.4, the left inner corner of the upper side is provided with a guide belt wheel 8.1, and the middle part of the lower side is provided with a head cutting drive coil 8.11 at a left outer position. The rocker cable 8.6 is used as a cable bundle of an electric heating cable 8.13 and a pressure signal wire of the elastic arm 8.9, is led out from the inner side position between the feeding column 7.3 of the base station 1 and the rocker motor 8.7 and is led into a cable pore channel of the rocker 8.8. The rocker motor 8.7 is used as a driving device and a system execution terminal of the belt feeding mechanism 8 and is arranged at the right outer end of the base station 1, namely the right side of the feeding column 7.3. The rocker arm 8.8 is used as a driving main arm of the tape feeding mechanism 8, the head end of the rocker arm is fixedly assembled at the output shaft end of the rocker arm motor 8.7, and the tail end of the rocker arm is assembled with an elastic arm 8.9 and a connecting arm 8.10. The elastic arm 8.9 is used as an elastic driving secondary arm of the belt feeding mechanism 8, the head end of the elastic arm is assembled at the tail end of the rocker arm 8.8, and the tail end of the elastic arm is connected with the end seat disc 8.5 into a whole. The connecting arm 8.10 is used as a component force of the feeding mechanism 8 to drive the secondary arm, the head end of the connecting arm is assembled at the tail end of the rocker arm 8.8, and the tail end of the connecting arm is in hinge fit with the tail end of the connecting rod 8.12. The head cutting driving coil 8.11 is used as an electromagnetic driving device of the belt cutting mechanism and a system execution terminal and is arranged at the left outer position of the middle part below the end seat disk 8.5. The connecting rod 8.12 is used as a component force steering rocker arm of the belt feeding mechanism 8, and the head end hinge is assembled below the left inner side of the end seat disc 8.5, above the inner edge of the base station 1 and on the right side of the groove chamber of the operating disc 1.4. An electric heating cable 8.13 is taken as an electric heating driving cable of the cutter 8.15, is led out from the tail opening of a cable duct of the rocker arm 8.8, is attached with the elastic arm 8.9 and the end seat disc 8.5 at the lower part, and is led into the cutter 8.14 along the outer side of the cutter driving coil 8.11. The cutting head 8.14 is used as an action swing arm of the cutter 8.15, the cutter 8.15 is arranged on the tail end, and the electric heating cable 8.13 is led in the lower part and supports the electric connection between the electric heating cable 8.13 and the cutter 8.15. The cutter 8.15 is used as a working structure for cutting the adhesive tape and is formed by wrapping the heating wire around the supporting main body, and two ends of the heating wire penetrate through the cutting head 8.14 and are respectively connected with two ends of the heating cable 8.13; the supporting body of the cutting knife 8.15 is made of heat-resistant insulating material, fitted with its root to the tail end of the cutting head 8.14.
In the cross-sectional view of the blanking mechanism shown in fig. 3:
the blanking air pipe 2.1 is led to an air extraction system, passes through a blanking column pipeline hole 2.3.1 and a blanking column pipeline cavity 2.3.9 in the blanking column 2.3, passes through a blanking arm pipeline cavity 2.2.1 and a pipeline 2.2.11 in the blanking arm 2.2, passes through a blanking pipe chase 2.2, passes through the tail section of the blanking arm 2.2, passes through a blanking rod pipeline hole 2.6, and is finally led into a blanking sucker 2.5 through a blanking rod air pipe straight section 2.1.1. The head end of the blanking arm 2.2 is provided with a swing arm driving motor rotor and a blanking bearing 2.2.6 outer ring, and a blanking arm pipeline cavity 2.2.1 is bored; the first section is provided with a pipeline 2.2.11; a blanking pipeline groove 2.2 is milled in the middle section; the tail end is provided with a blanking telescopic rod 2.4 and a telescopic motor stator winding 2.2.9. The upper end of the blanking column 2.3 is provided with a swing arm driving motor stator and a blanking bearing 2.2.6, and a blanking column pipeline cavity 2.3.9 is bored; the whole section is bored with a blanking column pipeline orifice 2.3.1. The blanking sucker 2.5 is a flexible material umbrella-shaped mechanism, and the top end of the flexible material umbrella-shaped mechanism is connected with the blanking telescopic rod 2.4 in a matching way through a blanking connector 2.5.1. The pipeline pore channel 2.6 of the blanking rod is sleeved on the middle shaft position of the blanking telescopic rod 2.4, the upper end of the blanking telescopic rod is fixedly connected with a blanking air pipe frame hoop 2.4.4 for fastening the upper end of the straight section 2.1.1 of the blanking rod air pipe and a blanking signal cable 2.4.2 accompanied by the straight section, and the lower end of the blanking telescopic rod is provided with an inward-contracting edge hoop for fastening the lower end of the straight section 2.1.1 of the blanking rod air pipe and the blanking signal cable 2.4.2 accompanied by the straight section. The blanking pipe chase 2.2 is dug in the middle section of the top of the blanking arm 2.2, the head end is communicated with the pipe 2.2.11 in the blanking arm 2.2, the tail end is in curved surface transition with the top surface of the blanking arm 2.2 and is provided with a telescopic cable 2.2.10 which penetrates from the bottom of the transition surface to the telescopic motor stator winding 2.2.9 at the tail end of the blanking arm 2.2.
The straight section 2.1.1 of the blanking rod air pipe is deeply assembled in the center of a blanking rod pipeline hole channel 2.6 in a blanking telescopic rod 2.4, the upper end of the blanking rod air pipe is fixedly connected with the upper end of the blanking rod pipeline hole channel 2.6 through a blanking air pipe frame hoop 2.4.4, the lower end of the blanking rod air pipe is fastened in an inner contraction edge hoop at the lower end of the blanking rod pipeline hole channel 2.6, and a blanking signal cable 2.4.2 is coated on one path. The magneto resistor 2.2.0 is embedded in the lower wall of the tail end of the blanking arm 2.2, and the sliding wall of the telescopic rod is arranged at one side outside the opening 2.4.3; the lead of the magnetic resistance 2.2.0 is led to and is coated with a stator winding 2.2.9 of the telescopic motor and then is merged into a telescopic cable 2.2.10. The blanking arm pipeline cavity 2.2.1 is bored at the head end of the blanking arm 2.2, is an inner core cavity of a swing arm driving motor rotor, is of a horn mouth-shaped structure, and is provided with a large opening upwards and smoothly communicated with a pipeline 2.2.11 of the blanking arm 2.2. The N pole pieces of the feeding swing arm motor rotor and the S pole pieces 2.2.4 of the feeding swing arm motor rotor are fixedly attached to the ring position of the yoke slot of the swing arm drive motor rotor at the head end of the feeding arm 2.2 one by one at intervals, and the magnetic pole faces downwards. The S pole pieces 2.2.4 of the feeding swing arm motor rotor and the N pole pieces 2.2.3 of the feeding swing arm motor rotor are fixedly attached to the magnetic disk ring position of the swing arm drive motor rotor at the head end of the feeding arm 2.2 one by one, and the magnetic pole faces downwards. The movable part 2.2.7 of the rotating angle sensor of the feeding swing arm motor is a light deleting coding structure device and is pasted along the first semicircular ring of the annular surface outer ring below the outer seat 2.2.8 of the feeding arm bearing, and the semicircular ring is in a semicircular arc shape. The outer bearing seat 2.2.8 of the blanking arm is a structure which is protruded downwards along the inner ring line of the 2.2.5 ring surface of the inner edge of the rotor magnetic yoke, and the outer ring of the blanking bearing 2.2.6 is buckled and sealed by the inner buckle of the lower edge, the outer edge of the upper part 2.2.2 of the blanking arm bearing and the side wall between the lower edge and the outer edge.
The telescopic motor stator winding 2.2.9 is a high-strength electromagnetic wire coil wound in a high-strength polyester material ring groove box as a driving device of the magnetic force of the telescopic motor stator, the whole structure is a solenoid disc column structure, and two ends of the coil are led out and merged into a telescopic cable 2.2.10. The telescopic cable 2.2.10 is used as a driving cable of a telescopic motor stator winding 2.2.9, is separated from the swing arm cable 2.3.11 at the upper section of the blanking column pipeline duct 2.3.1, is accompanied with the blanking signal cable 2.4.2 along the way by a blanking air pipe 2.1, is separated from the blanking air pipe 2.1 and the blanking signal cable 2.4.2 from the tail port of the pipeline 2.2.11 through the blanking column pipeline cavity 2.3.9, the blanking arm pipeline cavity 2.2.1 and the pipeline 2.2.11, is laid along the blanking pipeline slot 2.2, is introduced into the tail section cable duct of the blanking arm 2.2 at the bottom of the transition curved surface at the tail end of the blanking pipe slot 2.2, and penetrates to the terminal of the telescopic motor stator winding 2.2.9 at the tail end of the blanking arm 2.2. The pipeline 2.2.11 is used as a passage for the feeding air pipe 2.1, the accompanied telescopic cable 2.2.10 and the feeding signal cable 2.4.2 to pass through the feeding arm 2.2 and is arranged at the first section of the feeding arm 2.2; the head end of the blanking arm is communicated with the tail end of the blanking arm pipeline cavity 2.2.1, and the tail end opening is communicated with the head end of the blanking pipeline groove 2.2.
The blanking column pipeline orifice 2.3.1 is bored at the middle axis of the blanking column 2.3 and is coaxial with the blanking column 2.3, and the upper port of the blanking column pipeline orifice is communicated with the bottom port of the blanking column pipeline cavity 2.3.9 and is in smooth transition. The stator pole shoe 2.3.3 of the blanking swing arm motor is a cylinder with a rectangular section; each column body is integrated with the disk ring at the root part thereof to form a motor stator magnetic yoke; the whole body is formed by stacking high-magnetic-density silicon steel sheets which are formed by shearing and concentric disk rings. The stator winding 2.3.4 of the blanking swing arm motor is sequentially wound on 18 stator pole shoes 2.3.3 of the blanking swing arm motor according to three-phase hexapoles and is connected according to three-phase hexapole directions. The blanking bearing roller 2.3.6 is a circular truncated cone cylinder structure, and is assembled into a blanking bearing 2.2.6 with a large bottom surface. The blanking swing arm motor corner sensor static part 2.3.2 is an infrared LED receiving and transmitting combined device, corresponds to the blanking swing arm motor corner sensor dynamic part 2.2.7 and is arranged at the outer end of the outer ring at the bottom of the blanking column bearing groove ring 2.3.8. The blanking column bearing groove ring 2.3.8 is a stepped groove ring structure; the deep ladder groove ring is bored on the outer groove ring and is used for forming loose fit with the outer bearing seat 2.2.8 of the blanking arm; the shallow ladder groove ring is bored on the inner groove ring and is used for tightly assembling the inner ring of the blanking bearing 2.2.6. The blanking column pipeline cavity 2.3.9 is bored at the axial upper end of the blanking column 2.3, is coaxial with the blanking column 2.3, is an inner core cavity of a swing arm drive motor rotor, is in a horn mouth structure, has a big mouth upward, is aligned and communicated with the lower mouth of the blanking arm pipeline cavity 2.2.1 of the blanking arm 2.2, and has a small mouth downward and is smoothly connected with the upper end of the blanking column pipeline cavity 2.3.1.
The stator magnet yoke disc ring 2.3.10 is used as a base structure of a blanking swing arm motor stator magnet yoke, is a rectangular diameter section disc ring body, and is integrated with each cylinder of a blanking swing arm motor stator pole shoe 2.3.3 to form a motor stator magnet yoke; the whole body is formed by stacking high-magnetic-density silicon steel sheets which are formed by shearing and concentric disk rings. The swing arm cable 2.3.11 is used as a drive line of the swing arm drive motor and a cable bundle of a blanking swing arm motor corner signal transmission line, is separated from the telescopic cable 2.2.10 and the blanking signal cable 2.4.2 in the blanking column pipeline duct 2.3.1 from the blanking cable bundle 2.8 at the upper end and is led to a stator terminal of the swing arm drive motor in a penetrating way.
After the swing arm cable is separated from the blanking cable bundle 2.8 at the upper end of the blanking signal cable 2.4.2 at 2.3.1, the swinging arm cable is together with the telescopic cable 2.2.10, one path is accompanied by the blanking air pipe 2.1, the tail port of the pipeline 2.2.11 is separated from the telescopic cable 2.2.10 through the blanking column pipeline cavity 2.3.9, the blanking arm pipeline cavity 2.2.1 and the pipeline 2.2.11, the blanking air pipe 2.1 is accompanied by the blanking, the blanking pipe crosses the blanking pipeline groove 2.2, the tail section of the blanking arm 2.2 crosses the blanking arm 2.2, the tail section penetrates through the upper part of the blanking rod pipeline channel 2.6, the blanking rod pipeline channel 2.6 enters the blanking rod pipeline channel 2.6, and the straight section of the blanking rod air pipe 2.1.1 is accompanied by the inductance coil 2.4.9 led to the top end of the blanking sucker 2.5.
The inductance coil 2.4.9 is used as a sensing coil of the pressure signal and a driving coil of the excitation signal of the blanking suction cup 2.5, is integrally in a disc ring structure, and is sleeved and tightly assembled on an inner ring of the bearing 2.4.10 at the bottom end of the blanking telescopic rod 2.4. The bearing 2.4.10 is used as a part for matching and connecting the bottom end of the blanking telescopic rod 2.4 with the blanking connector 2.5.1 at the top end of the blanking sucker 2.5, the inner ring of the bearing is fixedly embedded at the bottom end of the blanking telescopic rod 2.4, and the outer ring of the bearing is fixedly embedded at the inner ring of the blanking connector 2.5.1.
The blanking connector 2.5.1 is made of high-strength synthetic material, the upper opening of the blanking connector and the lower end of the outer wall of the blanking telescopic rod 2.4 form tangential rolling sliding fit connection through a bearing 2.4.10, and the bottom edge of the lower opening is fastened and bonded with the top edge of the upper opening of the blanking sucker 2.5.
The inner support 2.5.2 is used as a connecting structure for assembling, supporting and switching the inner vortex ring 2.5.3, the upper end of the inner support penetrates through the top wall of the blanking sucker 2.5, the upper top end surface of the inner support is tightly bonded with the left part of the lower opening bottom edge of the blanking connector 2.5.1, the side surface of the upper end of the inner support is hermetically bonded with the top wall of the blanking sucker 2.5, and the bottom end surface of the inner support is tightly bonded with the outer edge ring of the inner vortex ring 2.5.3 and the inner edge ring of the outer vortex ring 2.5.6 at the left side; the inner support 2.5.2 is internally provided with a touch switch, and two terminals of a normally open contact of the switch are respectively connected with two terminals of a broken seam opening of the inner eddy current ring 2.5.3. The inner vortex ring 2.5.3 is used as a sensing device for receiving primary pressure, generating displacement to switch on a touch switch so as to be excited to generate vortex, is a disc ring structure with a crack opening at the left side of phosphor-copper material, and is combined with the inner vortex ring 2.5.6 through the outer ring to be tightly adhered to the bottom end face of the inner support 2.5.2 at the left side; the axis of the disc is coincided with the axis of a blanking telescopic rod 2.4; two terminals of the break joint opening are respectively connected with two terminals of a normally open contact of a built-in touch switch of the inner support 2.5.2. The sealing sleeve 2.5.4 is used as a structure part for airtight connection between the blanking sucker 2.5 and the lower end of the straight section 2.1.1 of the blanking rod air pipe, and is a circular truncated cone sleeve-shaped structure with an upward extending top opening of the blanking sucker 2.5, the inner wall of the sealing sleeve is flexibly sleeved on the lower end of the straight section 2.1.1 of the blanking rod air pipe, and the sealing sleeve and the outer wall of the lower end of the straight section 2.1.1 of the blanking rod air pipe form a tangential sliding fit from loose to tight. The outer support 2.5.5 is used as a connecting structure for assembling, supporting and switching the outer vortex ring 2.5.6, the upper end of the outer support 2.5.5 penetrates through the top wall of the blanking sucker 2.5, the upper top end face of the outer support is tightly bonded with the right part of the bottom edge of the lower opening of the blanking connector 2.5.1, the side face of the upper end of the outer support is hermetically bonded with the top wall of the blanking sucker 2.5, and the bottom end face of the outer support is tightly bonded with the inner edge ring of the outer vortex ring 2.5.6 and the outer edge ring of the inner vortex ring 2.5.3 at the right side; a light touch switch is arranged in the outer support 2.5.5, and two terminals of a normally open contact of the switch are respectively connected with two terminals of a broken seam opening of the outer vortex ring 2.5.6. The outer vortex ring 2.5.6 is used as a sensing device for receiving secondary pressure, generating displacement to switch on the tact switch and further generating vortex by stimulation, and is a disc ring structure with a gap opening at the right side of phosphor-copper material, and the inner side ring is combined with the outer side ring of the inner vortex ring 2.5.3 and is fixedly bonded at the right side of the bottom end face of the outer bracket 2.5.5; the axis of the disc is coincided with the axis of a blanking telescopic rod 2.4; two terminals of the gap opening are respectively connected with two terminals of a normally open contact of a built-in light touch switch of the outer support 2.5.5.
In the blanking three-way valve driving circuit diagram shown in fig. 4: baiting valve drive coil inductance LV2With one end of its driving coil 2V.5 connected to the inner positive terminal T of the right-to-position change-over switch 2V.13po2Valve positive terminal T of right-to-place change-over switch 2V.13pk2Third normally closed contact J of standby relay through belt feeding mechanismW0-3 is connected to the positive terminal E of the system working power supplyP(ii) a At the same time, the same end of the driving coil 2V.5 is connected to the inner negative terminal T of the left-in-place selector switch 2V.7no2(ii) a Valve negative terminal T of left-in-place change-over switch 2V.7nk2The elastic arm is abutted against the second normally open contact of the relayJBF-2 and a first normally open contact J of the blanking lever high-voltage relaySB2-1 is connected to the negative terminal E of the system working power supplyN. Baiting valve drive coil inductance LV2The other end of the driving coil 2V.5 passes through a first normally open contact of the blanking rod low-voltage relaySB1-1 is connected to ground.
In the cross-sectional view of the blanking mechanism shown in fig. 3, the circuit diagram shown in fig. 4, and the blanking lever touch signal detection-amplification-execution circuit diagram shown in fig. 5: inductance L of inductance coilSB0One end of the connecting wire is connected to the upper terminal E of the excitation sourceS1And the other end is connected to a signal transformer TSA lower input terminal of (a); signal transformer TSIs connected to the lower terminal E of the excitation sourceS2. Inner eddy current loop inductor LSB1Contact switch S bridged on inner supportSB1Between two contacts, contact-pressing switch S with inner supportSB1Forming a closed loop. Outer eddy current loop inductance LSB2Light touch switch S bridged on external supportSB2A switch S is lightly touched between two contact points and the outer bracketSB2Forming a closed loop. Signal transformer TSUpper output terminal of and signal detection diode DS1Is connected to the positive pole of the signal detection diode DS1Negative pole of and signal first filter capacitor CS1Is connected with one end of the connecting rod; first filter capacitor C for signalS1And the other end of the same is grounded. Signal filtering resistor RS1And a signal detection diode DS1Is connected with the negative pole of the signal filtering resistor RS1And the other end of the signal second filter capacitor CS2Is connected to the touch signal optical coupler LCSThe input end anode of (1); second filter capacitor C for signalS2And the other end of the touch signal optical coupler LCSThe negative electrode of the input end is simultaneously grounded; touch signal optical coupler LCSThe positive electrode of the output end is connected to the positive electrode end E of the system working power supplyP. Signal load resistance RS2One end of (1) and a signal coupling resistor RS3Is connected to the touch signal optical coupler LCSNegative pole of the output terminal. Signal load resistance RS2Is connected to the touch signal output optical coupler LCSBPositive electrode of input terminal, touch press signalNumber output optical coupler LCSBThe negative electrodes of the input end and the output end are simultaneously grounded, and the touch signal output optical coupler LCSBThe positive pole of the output end of the discharging rod is used as a contact pressure signal wiring end P of the discharging rodSB. Low-voltage relay freewheeling diode DS2The positive pole and the blanking rod of the low-voltage relay electromagnetic coil JSB1Is connected to the low voltage drive transistor TRS1A collector electrode of (a); low-voltage relay freewheeling diode DS2Negative pole and unloading pole low-voltage relay solenoid JSB1Is connected to the positive terminal E of the system working power supplyP(ii) a Low-voltage driving triode TRS1Base and signal coupling resistor RS3Is connected to the other end of the Transistor (TR), a low voltage drives a Triode (TR)S1The emitter of (2) is grounded. Low-voltage relay freewheeling diode DS2The positive pole and the blanking rod of the low-voltage relay electromagnetic coil JSB1Is connected to the low voltage drive transistor TRS1The collector electrode of (1). High-voltage relay freewheeling diode DS3Negative pole and blanking pole high-voltage relay electromagnetic coil JSB2Is connected to the positive terminal E of the system working power supplyP(ii) a High-voltage relay freewheeling diode DS3Negative pole and blanking pole high-voltage relay electromagnetic coil JSB2Is connected to the positive terminal E of the system working power supplyP(ii) a High-voltage driving triode TRS2Base and touch signal isolation diode DS4Is connected with the negative electrode of the touch-press signal isolating diode DS4The positive pole of the resistor is connected with a high-voltage signal coupling resistor R through touch pressureS4LC connected to touch signal optical couplerSNegative electrode of the output terminal of the high voltage driving transistor TRS2The emitter of (2) is grounded.
In the cross-sectional view of the blanking mechanism shown in fig. 3 and the enlarged-drive-execute-rotation angle detection circuit diagram of the blanking swing system shown in fig. 6:
b-phase positive drive optocoupler LCBPC-phase positive drive optocoupler LCCPphase-A positive drive optical coupler LCAPB-phase negative drive pull-up resistor RBNC-phase negative drive pull-up resistor RCNA-phase negative drive pull-up resistorRANB-phase negative drive optical coupler LCBNC-phase negative drive optical coupler LCCNAnd A-phase negative drive optical coupler LCANForm a blanking arm inversion trigger module Gβ. B-phase positive drive optocoupler LCBPOutput end positive electrode and C-phase positive drive optocoupler LCCPThe positive pole of the output end and the A-phase positive drive optical coupler LCAPThe positive electrode of the output end is connected to the positive electrode end E of the system working power supplyPB-phase positive drive optocoupler LCBPOutput end negative electrode and C-phase positive drive optocoupler LCCPOutput end negative electrode and A-phase positive drive optocoupler LCAPThe negative electrodes of the output ends are respectively connected to the positive electrodes of the MOSFET Q of the B-phase switchBPGate of the MOSFET Q of the C-phase switchCPGate of and a-phase switch positive MOSFET QAPA gate electrode of (1); b-phase negative drive pull-up resistor RBNOne end of the C-phase negative drive pull-up resistor RCNOne end of and A phase negative drive pull-up resistor RANOne end of the system working power supply positive terminal EPB-phase negative drive pull-up resistor RBNThe other end of the resistor R is connected with a C-phase negative drive pull-up resistor RCNThe other end of the A phase negative drive pull-up resistor RANThe other ends of the two optical couplers are respectively connected to a B-phase negative driving optical coupler LCBNOutput end positive pole, C phase negative drive optical coupler LCCNOutput end positive pole and A phase negative drive optical coupler LCANOutput end positive pole, B phase negative drive optical coupler LCBNOutput end negative pole, C phase negative drive optical coupler LCCNOutput end cathode and A-phase negative drive optical coupler LCANThe negative poles of the output ends of the two phase-B switch are respectively connected with the negative pole MOSFET Q of the phase-B switchBNGrid, C-phase switch cathode MOSFET QCNGate of and a-phase switch cathode MOSFET QANA gate electrode of (1).
A-phase switch anode MOSFET QAPB-phase switch anode MOSFET QBPPositive MOSFET Q of C-phase switchCPA-phase switch cathode MOSFET QANB-phase switch cathode MOSFET QBNC-phase switch cathode MOSFET QCNForm a blanking arm inversion execution module Aβ. A-phase switch anode MOSFET QAPDrain electrode of (1), C-phase switch anode MOSFET QCPDrain of and B-phase switch anode MOSFET QBPAll connected to the system workerAs the positive terminal E of the power supplyPPositive pole MOSFET Q of phase A switchAPSource electrode, positive electrode MOSFET Q of C-phase switchCPSource and B-phase switch positive MOSFET QBPAre respectively connected to the A-phase winding WAHead end, C phase winding WCHead end of and B-phase winding WBThe head end of (2); a-phase switch cathode MOSFET QANDrain electrode of the MOSFET Q, and C-phase switch cathodeCNDrain of and B-phase switch cathode MOSFET QBNAre respectively connected to the A-phase winding WAHead end, C phase winding WCHead end of and B-phase winding WBHead end of, A phase switch cathode MOSFET QANSource electrode, C phase switch cathode MOSFET QCNSource and B-phase switch cathode MOSFET QBNAre all connected to the negative terminal E of the system working power supplyN。
A phase winding WAPhase B winding WBAnd a C-phase winding WCFor unloading arm rotary swing motor MβThe three-phase winding of the stator, namely the stator winding of the blanking swing arm motor 2.3.4. A phase winding WATail end, C phase winding W ofCTail end of and a B-phase winding WBIs connected with a point. The blanking swing arm motor corner sensor static part 2.3.7 is arranged corresponding to the blanking swing arm motor corner sensor dynamic part 2.2.7 to obtain a corner pulse signal.
Two-stage forward-connected phase inverter forming blanking arm swing angle signal processing module DTβ. The output end of the last-stage phase inverter is used as a feeding arm swing angle feedback signal wiring end PβThe input end of the most front-stage inverter is connected to the signal output end of the static part 2.3.7 of the blanking swing arm motor corner sensor; the positive power supply end and the grounding end of the static part 2.3.7 of the blanking swing arm motor corner sensor are respectively connected to the positive end E and the ground of a system control circuit power supply; and the positive electrode power source end of the phase inverter chip is connected to the positive electrode end E of the system control circuit power source, and the negative electrode power source end of the phase inverter chip is grounded.
In the feeding telescopic rod in-position locating detection-feedback circuit diagram shown in fig. 7: magnetic sensitive resistor R capable of being retracted to proper position on blanking rodMTBOne end of the feeding rod is connected to the positive end E of a system control circuit power supply, and the other end of the feeding rod passes through the discharging rodShrinking-in-place voltage-dividing resistor RTBShrinkage in-place signal optical coupler LC connected to blanking rodTBThe input end anode of (1); upper shrinkage in-place signal optical coupler LC of blanking rodTBThe negative pole of the input terminal of the transformer is grounded.
In the front view of the structure of the plate-shaped workpiece edge covering device shown in fig. 2, the circuit diagrams shown in fig. 5 to 7 and the operation and control circuit diagram of the plate-shaped workpiece edge covering system shown in fig. 8:
control circuit work indication LED DPThe positive pole of the resistor is controlled by a control circuit to work and indicate the resistance RPIs connected to the positive terminal E of the system control circuit power supply and the control circuit work indication LED DPIs connected to the PD0 pin of the controller chip U. Elastic arm close to signal terminal PBPTo PD1 pin of controller chip U. Feeding arm inversion trigger module GβInversion triggering module G corresponding to feeding arm in right frameαA-phase anode trigger signal pull-down resistor R in left frameAP0One end of the resistor R, a B-phase anode trigger signal pull-down resistor RBP0One end of the resistor R, a C-phase anode trigger signal pull-down resistor RCP0One end of the A-phase negative trigger signal pull-down resistor RAN0One end of the resistor R, a B-phase negative trigger signal pull-down resistor RBN0One end of the resistor and a C-phase negative trigger signal pull-down resistor RCN0Are connected to the PD2, PD3, PD4, PD5, PD6, and PD7 pins, respectively, of the controller chip U. Control system start key KMOne end of which is connected with a start signal buffer resistor RKMThe PA0 pin is connected to the controller chip U, and the other end of the PA0 pin is grounded; starting signal buffer capacitor CKMConnected across the PA0 pin of the controller chip U and ground. Main motor corner feedback signal terminal PnCoupling resistor R through corner feedback signalMPA1 pin connected to controller chip U; feeding arm swing angle feedback signal terminal PαSignal coupling resistor R is fed back through swinging angle of feeding armPFPA2 pin connected to controller chip U; feeding arm swing angle feedback signal terminal PβSignal coupling resistor R is fed back through swinging angle of discharging armPBTo the PA3 pin of controller chip U. Feeding rod upper shrinkage in-place signal optical coupler LCTFIs connected to the PA of the controller chip U4 pin, last signal opto-coupler LC that contracts in place of material loading poleTFThe negative electrode of the output end of the transformer is grounded; upper shrinkage in-place signal optical coupler LC of blanking rodTBThe anode of the output end of the feeding rod is connected to a PA5 pin of a controller chip U, and the feeding rod is contracted to a position to signal optical coupler LCTBThe negative electrode of the output end of the transformer is grounded. Feeding rod touch signal terminal PSFPA6 pin connected to controller chip U; blanking rod touch signal terminal PSBTo the PA7 pin of controller chip U. First self-excited capacitor Cp1Connected across the XTAL1 pin of the controller chip U and ground; second self-excited capacitor Cp2Connected across the XTAL2 pin of the controller chip U and ground; crystal oscillator CfConnected across the XTAL1 pin and the XTAL2 pin of the controller chip U. V of controller chip UCCThe pin is connected to the positive power supply terminal E of the system control circuit. Signal wiring terminal P of material taking and placing position of material loading arm swing angleαNPC7 pin connected to controller chip U; signal wiring terminal P of material taking and placing position of swinging angle of blanking armβNTo the PA6 pin of controller chip U. A-phase anode trigger signal pull-down resistor RAP0One end of the resistor R, a B-phase anode trigger signal pull-down resistor RBP0One end of the pull-down resistor, one end of the pull-down resistor for the positive trigger signal of the phase C, one end of the pull-down resistor for the negative trigger signal of the phase A, one end of the pull-down resistor for the negative trigger signal of the phase B and one end of the pull-down resistor for the negative trigger signal of the phase C are respectively connected to pins PC5, PC4, PC3, PC2, PC1 and PC0 of the controller chip U, and the pull-down resistor R for the positive trigger signal of the phase A is connected to a pin of the controller chip UAP0The other end of the resistor R is pulled down by a B-phase positive trigger signalBP0The other end of the pull-down resistor, the other end of the pull-down resistor for the C-phase positive trigger signal, the other end of the pull-down resistor for the A-phase negative trigger signal, the other end of the pull-down resistor for the B-phase negative trigger signal and the other end of the pull-down resistor for the C-phase negative trigger signal are respectively connected to an LC (inductance-capacitance) of the A-phase positive drive optocouplerAPB-phase positive drive optocoupler LCBPC-phase positive drive optocoupler LCCPphase-A negative drive optical coupler LCANB-phase negative drive optical coupler LCBNAnd C-phase negative drive optical coupler LCCNThe input end anode of (1); a-phase positive drive optocoupler LCAPB-phase positive drive optocoupler LCBPC-phase positive drive optocoupler LCCPPhase A negative driveDynamic optical coupler LCANB-phase negative drive optical coupler LCBNAnd C-phase negative drive optical coupler LCCNThe negative poles of the input ends of the two are all grounded. The main motor turns to 3-bit signal terminal Pn3To, the main motor turns to 2-bit signal terminal Pn2The main motor is turned to 1 bit signal terminal Pn1And a main motor corner control signal terminal PnCConnected to the PB7, PB6, PB5, and PB4 pins, respectively, of the controller chip U. Control signal optical coupler LC of belt feeding mechanismPWInput end anode, feeding rod up-shrinkage control signal optical coupler LCPTBInput end anode, feeding rod downward extension control signal optical coupler LCNTFInput end anode and feeding rod up-shrinking control signal optical coupler LCPTFThe positive electrode of the input end controls a signal pull-down resistor R through a belt feeding mechanism respectivelyPWA pull-down resistor R for controlling the signal by the upward shrinkage of the blanking rodRPBThe feeding rod stretches downwards to control the pull-down resistor R of the signalNTFAnd a pull-down resistor R of the control signal of the feeding rodPTFPB3, PB2, PB1, and PB0 pins connected to the controller chip U. Reset signal pull-up resistor RR1Bridged between the positive power supply terminal E of the system control circuit and the controller chip U
Figure GDA0003190859720000101
Among the pins; reset signal buffer resistor RR2Reset key K of controllerRIn series, the series branch is connected with a reset signal buffer capacitor CRAre connected in parallel; the parallel branch is bridged to the controller chip U
Figure GDA0003190859720000102
Between the pin and ground. The GND pin of the controller chip U is grounded.
Corresponding to and the feeding arm inversion triggering module GαThe pins of the PC5, the PC4, the PC3, the PC2, the PC1 and the PC0 which are connected with the feeding arm inversion triggering module GβOne end of the corresponding negative trigger signal pull-down resistor in the controller chip U is respectively connected with pins PD2, PD3, PD4, PD5, PD6 and PD 7.
The operation and control circuit diagram of the plate-shaped workpiece edge covering system shown in figure 8 and the material taking angle position of the blanking arm shown in figure 9 are enlargedAnd in the operation circuit diagram: discharging arm swing angle discharging level relay fly-wheel diode DβThe negative pole of the discharging arm is connected to the positive end E of a system control circuit power supply, and the discharging arm swings the angle and discharges the material level relay fly-wheel diode DβThe anode of the optical coupler LC is connected to a swing angle discharging position signal optical coupler LC of a discharging armβThe output end of (1) is positive; electromagnetic coil J of blanking level relay with blanking arm swing angleβA swing angle discharging position signal optical coupler LC bridged between the positive end E of the system control circuit power supply and the discharging armβBetween the output end positive poles; discharging arm swing angle discharging position signal optical coupler LCβThe negative electrode of the output end of the transformer is grounded. Discharging arm swing angle discharging position signal optical coupler LCβThe positive electrode of the input end of the resistor R is pulled down by a material discharging position signal of a discharging arm through a swinging angleβA signal terminal P connected to the swing angle of the blanking arm for taking and placing material positionsβNAnd the swing angle of the blanking arm puts the material level signal optical coupler LCβThe negative pole of the input terminal of the transformer is grounded.
In a cross-sectional view of the blanking mechanism shown in fig. 3, a blanking lever touch signal detection-amplification-execution circuit diagram shown in fig. 5, an operation and control circuit diagram of a plate-shaped workpiece hemming system shown in fig. 8, and an amplification-drive-execution circuit diagram of a blanking lever telescopic motor shown in fig. 10:
upper zooming large link A of blanking rod operation control systemPTBBy retracting the switch MOSFET Q from the lower feed rodPTBThe PWM power regulating circuit is a core.
Upper shrinkage control signal optical coupler LC of blanking rodPTBThe anode of the output end of the voltage-controlled rectifier is connected to a first trigger diode D of a telescopic control signal on the blanking rodPTB1Negative pole, down pole shrank up and control signal optical coupler LCPTBThe negative electrode of the output end of the transformer is grounded. System working power supply positive terminal EPA bias current resistor R connected to the blanking rod for operating the signalPTBbOne end of the switching grid biasing resistor R is operated by the material discharging rod in a shrinkage modePTBgOne end of the switch and the discharging rod are contracted to operate a switch MOSFET QPTBA drain electrode of (1); upper shrinkage control signal bias current resistor R of blanking rodPTBbThe other end of the control circuit is connected with a discharging rod, and a first trigger diode D of an operation signal is contracted upwardsPTB1The anode and the blanking rod of the second trigger diode D of the control signalPTB2The positive electrodes of the two-phase current transformer are connected simultaneously, and the blanking rod is contracted upwards to operate a switch grid bias resistor RPTBgThe other end of the switch and the discharging rod are connected with a MOSFET Q switchPTBThe grid connection of (2). Coupling resistor R of feeding rod up-shrinkage operation switchPTBcSwitch MOSFET Q connected to discharging rod in bridging modePTBThe deleting pole and the blanking rod are contracted upwards to operate the switch to trigger the triode TPTBBetween the collectors. Second trigger diode D of control signal of upper shrinkage of blanking rodPTB2The negative pole and the blanking rod are contracted upwards to operate the switch to trigger the triode TPTBThe base electrode of (1) is connected; feeding rod up-shrinkage operation switch trigger triode TPTBThe emitter of (2) is grounded. Blanking rod upward-shrinkage operation driving follow current voltage stabilizing tube DPTBThe negative electrode and the blanking rod of the MOSFET Q switchPTBThe source electrode of the voltage stabilizing tube D is connected, and the blanking rod is contracted upwards to drive the follow current voltage stabilizing tube DPTBThe positive electrode of (2) is grounded. Filter inductor L driven by upward shrinkage of blanking rodPTBA follow current voltage-stabilizing tube D is bridged on the blanking rod and is driven by the shrinkage operationPTBThe negative pole and the blanking rod are contracted to run to drive the filter capacitor CPTBBetween the positive electrodes of (1); feeding rod up-shrinkage operation driving filter capacitor CPTBThe negative electrode of (2) is grounded. Isolation relay divider resistor R for upward shrinkage operation of blanking rodPTBJOne end of the filter is connected to a feeding rod to operate and drive a filter capacitor C in a shrinkage modePTBThe other end of the anode is simultaneously connected to a blanking rod and a follow current voltage regulator tube D of a contracted operation isolation relayPTBJThe negative pole and the blanking rod of the isolating relay solenoid coil J are contracted upwards to operateT3One end of (a); blanking rod upward-shrinkage operation isolation relay follow current voltage stabilizing tube DPTBJThe positive pole and the blanking rod of the isolating relay solenoid coil J are contracted upwards to operateT3While the other end is simultaneously grounded.
First normally open contact J of telescopic operation isolation relay on blanking rodT3-1 first normally closed contact J of isolation relay with downward extending blanking rodT4-1 in series; the series branch circuit is connected on the blanking rod in a bridging way and operates to drive the filter capacitor CPTBThe positive pole and the blanking rod of the stator winding L of the motorTBBetween one end of; stator winding L of telescopic motor of blanking rodTBAnd the other end of the same is grounded.
Baiting rod operation controlSystem downward extension amplifying link ANTBA normally open contact J of a material taking and placing position relay is arranged at a swing angle of a lower material armβ-1 and blanking high-voltage relay normally closed contact JSB2-2 switching circuit components of the core.
Second normally closed contact J of isolating relay for upward shrinkage operation of blanking rodT3-2 and a second normally open contact J of the blanking rod downward extending operation isolation relayT4-2 in series; the serial branch and a blanking rod extend downwards to operate a first voltage reduction voltage regulator tube DNTB1Are connected in series; first voltage reduction and voltage stabilization tube D for downward extending operation of blanking rodNTB1The anode and the blanking rod extend downwards to operate a second voltage reduction voltage stabilizing tube D simultaneouslyNTB2The negative pole and the blanking rod extend downwards to drive the filter capacitor CNTBThe positive electrode of (1) is connected; a second voltage-reducing voltage-stabilizing tube D is operated by downward extension of the blanking rodNTB2The anode and the blanking rod extend downwards to drive the filter capacitor CNTBIs connected to the negative electrode of (1).
First voltage reduction and voltage stabilization tube D for downward extending operation of blanking rodNTB1The anode and the blanking rod extend downwards to operate the follow current voltage stabilizing tube D of the isolation relayNTBJThe positive electrode of (1) is connected; blanking rod downward-extending operation isolation relay follow current voltage stabilizing tube DNTBJThe positive pole and the blanking rod extend downwards to operate the electromagnetic coil J of the isolation relayT4Is connected with one end of the connecting rod; blanking rod downward-extending operation isolation relay follow current voltage stabilizing tube DNTBJNegative pole and unloading pole stretch down and operate the electromagnetic coil J of the isolation relayT4While the other end is simultaneously grounded.
A second voltage-reducing voltage-stabilizing tube D is operated by downward extension of the blanking rodNTB2The anode is connected to a normally open contact J of a discharging position relay with a swinging angle of a discharging armβ-1 stationary contact. Normally closed contact J of blanking high-voltage relaySB2A static contact of the-2 is connected to a normally open contact J of a swinging angle material taking and placing relay of a discharging armβ-1 movable contact connected to positive terminal E of system working power supplyP。
In the front view of the structure of the plate-shaped workpiece hemming device shown in fig. 2, the circuit diagram for amplifying-driving-executing-rotating angle detection of the blanking swing system shown in fig. 6, the circuit diagram for operating and controlling the plate-shaped workpiece hemming system shown in fig. 8, and the block diagram of the blanking arm control system of the plate-shaped workpiece hemming device shown in fig. 11:
comparison link of discharging arm control system of plate-shaped workpiece edge covering device
Figure GDA0003190859720000111
Operation control link C of discharging armβDr (Dr) control driving link for controlling swing angle of blanking armβFeeding arm inversion trigger module GβInversion execution module A of blanking armβFeeding arm rotary swing motor MβAnd blanking arm swing angle signal processing module DTβAnd (4) forming.
Blanking arm given swing angle signal betaRComparing the feedback signal beta with the swinging angle feedback signal beta of the blanking arm in the storage of the feedback signal beta in the controller chip U
Figure GDA0003190859720000112
Comparing to generate a blanking arm rotation angle deviation signal delta beta; a discharging arm operation control link C stored in a controller chip UβCalculating and processing, converting the blanking arm rotation angle deviation signal delta beta into a blanking arm swing angle control signal betaC(ii) a Controlling a driving link Dr through a swinging angle of a discharging arm stored in a controller chip UβAmplifying and blanking arm swing angle control signal betaCBecomes a feeding arm operation driving signal betaDrIn the discharging arm inversion triggering module GβInversion execution module A of blanking armβOf a cascade of links Gβ-AβFeeding arm operation driving signal betaDrTriggering a PWM three-phase inverter bridge to output three-phase driving current to a feeding arm rotary swing motor, namely A-phase driving current i of the feeding arm rotary swing motorβAB-phase driving current i of rotary swing motor of blanking armβBAnd C-phase driving current i of discharging arm rotary swing motorβCFeeding arm rotary swing motor A phase driving current iβAB-phase driving current i of rotary swing motor of blanking armβBAnd C-phase driving current i of discharging arm rotary swing motorβCRotary swing motor M for driving discharging armβAnd converting to generate a discharge arm swing angle output signal betaout(ii) a Through unloading arm pivot angle signal processing module DTβDetecting and feeding back, and outputting a signal beta by a swinging angle of a blanking armoutFeedback signal of swing angle of lower charging armNumber beta introduces a comparison link
Figure GDA0003190859720000113
Blanking arm given swing angle signal betaRIn the comparison link
Figure GDA0003190859720000114
Given by the following logic: if beta is beta0→βRAssignment of beta1(ii) a If beta is beta1→βRAssignment of beta0. Comparison link
Figure GDA0003190859720000115
The transfer function model is as follows: Δ β ═ βR-β。
Operation control link C of discharging armβThe transfer function model is as follows: control signal beta of swing angle of blanking armCPulse width tauβCCalculating the periodic duty ratio tau according to the control trigger pulse unitβC(k+1)＝△β(k)[1-(πnβeRβWβ/(9.8TCβPβ))k]Approximate calculation of where nβeFor unloading arm rotary swing motor MβCalculated number of revolutions of RβFor calculating the arm length, W, of the blanking arm 2.2βCalculating constant, T, for inertia of the blanking arm 2.2CβFor the feeding arm rotary swing motor M obtained by the experimentβStructural constant, PβFor unloading arm rotary swing motor MβK is the number of cycle times of the unit calculation.
Discharging arm swing angle control driving link DrβThe transfer function model is as follows: operation driving signal beta of blanking armDrA, B, C three-phase control trigger pulse beta is separated according to 120 degrees phase angle differenceDrA、βDrB、βDrCCalculating the periodic duty ratio tau per unit of the pulse width of the control trigger pulse per phaseβDr(k+1)＝KββC(k)/nβeApproximate calculation of where KβFor unloading arm rotary swing motor MβThe turning angle proportionality coefficient is obtained by experiment and calculation.
In a circuit diagram of detecting, amplifying and executing a touch signal of a blanking rod shown in fig. 5, a circuit diagram of detecting, feeding and positioning a telescopic rod of a blanking rod shown in fig. 7, a circuit diagram of operating and controlling a plate-shaped workpiece edge covering system shown in fig. 8, an amplifying, driving and executing circuit diagram of a telescopic motor of a blanking rod shown in fig. 10, and a block diagram of a blanking rod control system of a plate-shaped workpiece edge covering device shown in fig. 12:
the control system of the blanking rod of the edge covering device for the plate-shaped workpieces is compared by the upper and lower links
Figure GDA0003190859720000121
Operation control link C of blanking roddBBig telescopic link A on feeding rod operation control systemPTBA downward extending and amplifying link A of a discharging rod operation control systemNTBStator winding L of telescopic motor of blanking rodTBThe blanking rod is contracted to the position to form the magnetic sensitive resistor RMTBAnd the upper shrinkage in-place signal optical coupler LC of the blanking rodTBDetecting link DT with blanking rod touch pressure signalSBAnd (4) forming.
The blanking rod gives an up-contraction displacement signal dBRWith the down-feed rod in-position signal sTBIn the upper comparison link stored in the controller chip U
Figure GDA0003190859720000122
Middle comparison, generating a deviation signal Delta d of the upper shrinkage displacement of the blanking rodTB(ii) a A discharging rod operation control link C stored in a controller chip UdBCalculating and processing the deviation signal delta d of the upper shrinkage displacement of the blanking rodTBConverted into a control signal d for the upward and downward displacement of the discharging rodPBC(ii) a Scaling large link A on a baiting rod operation control systemPTBIn and out feeding rod up-contraction displacement control signal dPBCControlling PWM output voltage of the link, i.e. feeding rod telescopic motor stator winding up-contraction driving signal ePBThe characterized drive voltage; feeding rod telescopic motor stator winding up-shrinkage driving signal ePBStator winding L of motor for driving telescopic blanking rodTBAnd converting to generate a down-rod up-contraction displacement output signal dPB(ii) a The magnetic resistance R is contracted to the position on the blanking rodMTBAnd a feeding rod upper shrinkage in-place signal optical coupler LCTBR of (A) isMTB-LCTBThe link is that the magnetic resistance R is contracted to the proper position through the blanking rodMTBDetection and feeding rod in-place signal optical coupler LCTBFeedback of, the discharge rod is moved up and down to output a signal dPBSignal s for lower feeding rod to retract to its positionTBIntroducing an upper comparison link
Figure GDA0003190859720000123
Material taking and placing position signal beta of swinging angle of blanking armNSignal s of contact pressure with blanking rodBAt blanking pole high-voltage relay solenoid JSB2Electromagnetic coil J of feeding position taking and placing relay with swinging angle of feeding armβAmplifying and operating circuit formed lower comparison link
Figure GDA0003190859720000124
Middle comparison to generate a blanking rod downward extension displacement deviation signal delta dNB(ii) a A downward extending and amplifying link A of a blanking rod operation control systemNTBIn and out blanking rod downward extension displacement deviation signal delta dNBThe output voltage of the link is operated, namely a downward extending driving signal e of a stator winding of a telescopic motor of the discharging rodNBThe characterized drive voltage; downward extending driving signal e of stator winding of telescopic motor of blanking rodNBStator winding L of motor for driving telescopic blanking rodTBAnd converting to generate a down-extending displacement output signal d of the blanking rodNB(ii) a Detection link DT through blanking rod touch signalSBDetection and feedback of the feeding rod, and a downward extending displacement output signal d of the feeding rodNBTouch signal s for lower feeding rodBIntroducing a lower comparison link
Figure GDA0003190859720000125
The blanking rod gives an up-contraction displacement signal dBRIn the upper comparison link
Figure GDA0003190859720000126
Given by the following logic: dBRA value of 0 is assigned. Upper comparison link
Figure GDA0003190859720000127
The transfer function model is as follows: delta dTB＝-sTB。
Operation control link C of blanking roddBThe transfer function model is as follows: control signal d for upward shrinkage displacement of blanking rodPBCPulse width tauPBCCalculating the periodic duty ratio tau according to the control trigger pulse unitPBC(k+1)＝△dTB(k)[(vTBWWP/(TBPTB))k-1]Approximate calculation of where vTBFor calculating the speed of the lowering rod, TBIs a structural constant, P, of the telescopic motor of the discharging rod obtained by the testTBFor the stator winding L of the telescopic motor of the blanking rodTBK is the first number of the unit calculation cycle.
In the operation and control circuit diagram of the plate-shaped workpiece hemming system shown in fig. 8, the control system block diagram of the plate-shaped workpiece hemming device shown in fig. 11 to 12, and the software structure diagram of the plate-shaped workpiece hemming system shown in fig. 13:
the plate-shaped workpiece edge covering system software structure comprises a feeding part, a discharging part, a main rotating part, a feed belt part and an air exhaust part. Wherein material loading portion includes material loading arm and two modules of material loading pole, and material unloading portion includes two modules of material unloading arm and material unloading pole, and main portion of revolving includes main motor module, and it includes pendulum arm portion, flail sword portion and heating portion to present the area portion, and the portion of bleeding includes material loading valve module and unloading valve module.
The feeding part utilizes a feeding arm to give a swing angle signal alphaRThrough a feeding arm operation control link CαFeeding arm rotary swing motor M for finally controlling and operating feeding armαThe operating state of (c); using a loading rod to give a top-down displacement signal dTFRAnd the feeding rod gives a downward extending displacement signal dSFRThrough the operation control link C of the feeding roddFFeeding rod telescopic motor stator winding L for finally controlling and operating feeding rodTFThe operating state of (c).
The blanking part utilizes a feeding arm to give a swing angle signal betaRThrough a discharging arm operation control link CβFeeding arm rotary swing motor M for finally controlling and operating feeding armβThe operating state of (c); using blanking rod to give up-contraction displacement signal dBRThrough the followingMaterial rod operation control link CdBBlanking rod telescopic motor stator winding L for finally controlling and operating blanking rodTBThe upper shrinkage operation working state.
The main rotating part gives a corner signal n by using a main motorRThrough the operation control link C of the main motornFinally controlling and operating the main motor MMThe operating state of (c).
The belt feeding part gives a signal s by utilizing the abutting pressure of the elastic armBPRThe amplification link A of the left-side pressure control system of the belt feeding mechanismWFinally controlling and operating rocker arm motor MWLeft-right operation state; using main motor to convert to 3-bit signal n3And the second normally open contact J of the 3-bit relay is switched to through the main motorn3-2 and fourth normally open contact J of standby position relay of belt feeding mechanismW0-4, operating the rocker motor MWThe backswing running state of (1); using main motor to convert to 2-bit signal n2And the main motor to 3-bit signal n3The third normally closed contact J of the 3-bit relay is switched to by the main motorn3-3, the fourth normally open contact J of the relay for switching the main motor to 3 positionsn3-4 and the second normally open contact J of the relay for switching the main motor to 2 positionn2-2 co-operating action of operating the truncated drive coil LCThe reciprocating flail knife acts; using main motor to turn to 1-bit signal n1The main motor is turned to 2-bit signal n2And main motor angle control signal nCIs turned to a first normally open contact J of a 1-bit relay through a main motorn1-1, turning the main motor to the second normally closed contact J of the 1-position relayn12 and the main motor is turned to a first normally closed contact J of the 2-position relayn2-1 first normally open contact J with main motor start-run relaynC-1, first normally open contact J of charging bar low-voltage relaySF1-1, first normally open contact J of standby position relay of belt feeding mechanismW0-1, operating the heating and annealing condition of the electric blade resistance RL.
The air exhaust part feeds back a signal s by utilizing the closing pressure of the elastic armBPThrough the second normally closed contact J of the standby position relay of the tape feeding mechanismW0-2, the elastic arm is abutted against the first normally open contact J of the relayBF-1, feeding rod high-voltage relayFirst normally open contact JSF2-1 and second normally open contact J of charging bar low-voltage relaySF1-2, operating the coil inductance L of the drive of the loading valveV7The working state of (2); feedback signal s by utilizing elastic arm closing pressureBPThe third normally closed contact J of the standby relay of the belt feeding mechanismW0-3, the elastic arm is abutted against the second normally open contact J of the relayBF-2, a first normally open contact J of the blanking rod high-voltage relaySB2-1 and a first normally open contact J of a blanking lever low-voltage relaySB1-1 cooperating action on the operation of the baiting valve drive coil inductance LV2The operating state of (c).
In an embodiment of the present invention shown in fig. 1, which is a schematic plan view of a plate-shaped workpiece hemming method, a blanking three-way valve driving circuit diagram shown in fig. 4, a plate-shaped workpiece hemming system operation and control circuit diagram shown in fig. 8, a plate-shaped workpiece hemming device control system block diagram shown in fig. 11 and 12, a plate-shaped workpiece hemming system software structure diagram shown in fig. 13, and a plate-shaped workpiece hemming system software taping module flow diagram shown in fig. 14:
the software taping process of the plate-shaped workpiece taping system comprises the following steps:
stp Bd 1: the electromagnetic coil J of the high-voltage relay of the feeding rod is enabled to be operated after the process of the feeding taking and placing process is finishedSF2Starting power-on; second normally open contact J of feeding rod high-voltage relaySF2-2 pull-in-elastic arm control left leaning and → elastic arm leaning pressure feedback signal sBPThe amplitude rises, the tape feeding mechanism swings back to the position of the reed pipe DrPW0Attraction → tape feed mechanism standby position relay electromagnetic coil JW0Powering up;
stp Bd 2: if s isBPRises to s BP1 is ═ 1; otherwise, the elastic arm continues to control the left leaning → sBPThe value is increased;
stp Bd 3: elastic arm is leaned on and is held close relay first normally open contact JBF-1 actuation, second normally open contact J of low-voltage relay of feeding rodSF1-2 attraction, first normally open contact J of high-voltage relay of feeding rodSF2-1 closing and simultaneously loading valve negative terminal Tnk7Negative terminal T in the charging valveno7Because the left in-place change-over switch is jointed by 7V.7Venting and pressure loss of a feeding air pipe; at the same time, JBF-2 attraction, first normally open contact J of blanking rod low-voltage relaySB1-1 attraction, blanking lever high-voltage relay first normally open contact JSB2-1 closing and simultaneously blanking valve negative terminal Tnk2Negative terminal T in the baiting valveno2The left in-place selector switch 2V.7 is jointed to be switched on, namely the discharging air pipe is deflated and loses pressure; → charging valve positive terminal Tpk7-positive terminal T in the charging valvepo7T is switched on due to the fit of a right-in-place change-over switch 7V.13nk7-Tno7Open due to 7v.7 touch; meanwhile, a positive terminal p of the blanking valvek2-positive terminal p in the blanking valveo2N is switched on due to the attachment of the right-in-place change-over switch 2V.13k2-no2Open due to 2v.7 touch;
stp Bd 4: manually confirming that the tape is reliably applied, pressing a control system start key KM(ii) a Otherwise, manually assisting the adhesive tape application;
Stp Bd5：KMconnection → 1) the feedback signal n of the main motor corner is assigned to 0, and the third normally open contact J of the low-voltage relay of the feeding rod is simultaneously connected with the feeding rodSF1-3 pull-in-main motor start; 2) electromagnetic coil J of main motor starting-running relaynCElectrifying → first normally open contact J of main motor start-operation relaynC-1 closing, and simultaneously feeding the first normally open contact J of the standby position relay of the mechanismW0-1、JSF1-1, closing and preheating a cutter;
stp Bd 6: if n is increased to n ═ n1I.e. the main machine goes to bit 1, → Stp Bd 7; otherwise, the main motor continues to run → the value of n increases;
Stp Bd7：n＝n1→ main motor turns to 1 bit relay solenoid coil Jn1Electrifying → main motor turning to the second normally closed contact J of 1-bit relayn1-2 suck off, while the main motor turns to 1-position relay first normally open contact Jn1-1 attraction, JW0-1、JSF1-1 and JnC-1, closing and heating a cutter;
stp Bd 8: if n is increased to n ═ n2I.e. the main machine goes to 2 bit, → Stp Bd 9; if not, then,the main motor continues to run → the value of n increases;
Stp Bd9：n＝n2-main motor creep → n value increases;
Stp Bd10：n＝n2→Jn2power-on → Jn2-2, sucking-cutting and throwing;
stp Bd 11: if n is increased to n ═ n3I.e. the main machine goes to 3 bit, → Stp Bd 11; otherwise, the main motor continues to creep operation → the n value is increased;
Stp Bd12：n＝n3→ main motor turns to 3-position relay electromagnetic coil Jn3Electrifying → main motor turning to the third normally closed contact J of 3-position relayn3-3 suck off, while the main motor turns to the fourth normally controlled on-off J of the 3-position relayn3-4, closing-cutting head and swinging outwards;
stp Bd 13: fourth normally open contact J of standby position relay of tape feeding mechanismW0-4 pull-in, main motor turns to 3 relay first normally closed contact J n31 suck-off, the main motor is switched to the second normally open contact J of the 3-position relayn3-2 pull-in-spring arm homing → sBPValue decrease, → sBPWhen the elastic arm returns to the standby position, the elastic arm returns to the standby position;
Stp Bd14：n＝n3→ main motor corner control signal nCValue 0-main motor stall; assigning value 0 to n, and giving a rotation angle signal n to the main motorRAnd assigning 0 and finishing.
In an embodiment of the present invention shown in fig. 1, a schematic plan view of a plate-shaped workpiece hemming method, a cross-sectional view of a blanking mechanism shown in fig. 3, a driving circuit diagram of a blanking three-way valve shown in fig. 4, a detection-amplification-execution circuit diagram of a blanking lever touch pressure signal shown in fig. 5, an amplification-driving-execution-rotation angle detection circuit diagram of a blanking swing system shown in fig. 6, and an operation of a plate-shaped workpiece hemming system shown in fig. 8, a control circuit diagram, an amplification-drive-execution circuit diagram of a blanking rod telescopic motor shown in fig. 10, a control system block diagram of a plate-shaped workpiece edge covering device shown in fig. 11 and 12, a software structure diagram of a plate-shaped workpiece edge covering system shown in fig. 13, a software edge covering module flow diagram of the plate-shaped workpiece edge covering system shown in fig. 14, and a blanking taking and placing module flow diagram of the plate-shaped workpiece edge covering system software shown in fig. 15:
the blanking taking and placing process of the plate-shaped workpiece edge covering system software comprises the following steps:
stp B1.1: the process is to give a swing angle signal beta to a feeding armRIs assigned as a material taking position signal beta of a swing angle of a blanking arm1The value starts; when the feeding arm swing angle feedback signal beta is adjusted to be operated to beta, beta is1Value → feeding rod up-shrinking control signal optical coupler LCPTBStop → feeding rod upper shrinkage operation isolation relay electromagnetic coil JT3Power failure → first normally open contact J of isolating relay in upward shrinkage operation of blanking rodT3-1 releasing the on-off state while the blanking lever is retracted to operate the second normally closed contact J of the isolation relayT3-2 closed; while beta is beta1→βNValue increase → blanking arm swing angle taking and placing position relay electromagnetic coil JβNormally open contact J of power-on → blanking arm swing angle material taking and placing position relayβ-1 attraction → operation of the isolating relay electromagnetic coil J by downward extension of the blanking rodT4Second normally open contact J of isolating relay during up → down extension operation of blanking rodT4-2 closing and blanking normally closed contact J of high-voltage relaySB2-2 closed state → first normally open contact J of isolating relay operated by downward extension of blanking rodT4-1 suck-off; -extension of the blanking rod → upward contraction of the blanking rod to the position of the magnetoresistor RMTBThe value increases while sBThe value is decreased;
stp B1.2: if unloading low pressure relay solenoid JSB1Electrifying, namely extending a blanking rod to the position, → Stp B1.3; otherwise, → Stp B1.1;
stp B1.3: negative terminal T of blanking valvenk2Negative terminal T in the baiting valveno2Off state, JSB1First normally open contact J of power-on → blanking rod low-voltage relaySB1-1 closing, at the same time, the elastic arm is close to the second normally open contact J of the relayBF-2 releasing the third normally closed contact J of the standby relay of the on-off and tape-feeding mechanismW0-3 closed, positive terminal T of the blanking valvepk2-positive terminal T in the blanking valvepo2Drawing a square root and combining the square root and the square root; -the air exhaust and pressurization of the blanking air pipe → Tpk2-Tpo2Contact and break and Tnk2-Tno2On state → high-voltage relay of blanking rodElectromagnetic coil JSB2Power up while betaNAssignment 0 → Jβ-1 powering down;
Stp B1.4：JSB2touch signal s of feeding and discharging rods at the same timeB0 → feeding rod give upper shrinkage displacement signal dBRAssignment 0 → LCPTBWork → JT3Power-on → JT3-1 pull-in, while JT3-2 suck-off; at the same time, JSB2Electrifying → blanking high-voltage relay normally closed contact JSB2-2 suck Break → JT4Power down → JT4-2 release the cut-off, with JT4-1 closed; -blanking rod shrinking → sBIncrease of value → JSB2Power down-the blanking sucker is pressed to a low position;
stp B1.5: -the blanking bar is retracted; -the blanking suction cup is pressed to a low position;
StpB 1.6: if R isMTBDecrease to value RMTBThe feeding rod is contracted to the minimum value R of the magneto-resistanceMTB0I.e. the blanking bar is retracted in place, → Stp B1.7; otherwise, → Stp B1.5;
Stp B1.7：RMTB＝RMTB0，→βRassignment of beta0-the discharge arm swings outwards, → beta value decreases;
stp B1.8: if the value of beta is reduced to beta-beta0Namely the discharging arm is swung in place outwards, → Stp B1.9; otherwise, the blanking arm continues to swing outwards, and the value of → beta is reduced;
Stp B1.9：β＝β0，→LCPTBrest → JT3Power down → JT3-1 Release disconnect, with JT3-2 is fused, and β ═ β0→βNEnlargement → JβPower-on → Jβ-1 pull-in → JT4Power-on → JT4-2 pull-in, while JT4-1 suck-off-extension of blanking rod → RMTBThe value increases while sBThe value is decreased;
stp B1.10: if s isBThe value is reduced to JSB2Electrifying, namely the blanking rod extends to the position, → Stp B1.11; otherwise, the blanking rod continues to extend downwards → RMTBThe value increases while sBThe value is decreased;
Stp B1.11：βNassignment 0 → Jβ-1 powering down; first normally open contact J of blanking lever high-voltage relaySB2-1 pull-in, while JSB1-1 attraction state, Tnk2-Tno2Open-state-the blanking air pipe is ready to be deflated; and (6) ending.

Claims (5)

1. A plate-shaped workpiece edge covering system software blanking taking and placing process is characterized in that:
stp B1.1: the process is to give a swing angle signal beta to a feeding armRIs assigned as a material taking position signal beta of a swing angle of a blanking arm1The value starts; when the feeding arm swing angle feedback signal beta is adjusted to be operated to beta, beta is1Value → feeding rod up-shrinking control signal optical coupler LCPTBStop → feeding rod upper shrinkage operation isolation relay electromagnetic coil JT3Power failure → first normally open contact J of isolating relay in upward shrinkage operation of blanking rodT3-1 releasing the on-off state while the blanking lever is retracted to operate the second normally closed contact J of the isolation relayT3-2 closed; while beta is beta1→ feeding arm swing angle taking and discharging position signal betaNValue increase → blanking arm swing angle taking and placing position relay electromagnetic coil JβNormally open contact J of power-on → blanking arm swing angle material taking and placing position relayβ-1 attraction → operation of the isolating relay electromagnetic coil J by downward extension of the blanking rodT4Second normally open contact J of isolating relay during up → down extension operation of blanking rodT4-2 closing and blanking normally closed contact J of high-voltage relaySB2-2 closed state → first normally open contact J of isolating relay operated by downward extension of blanking rodT4-1 suck-off; -extension of the blanking rod → upward contraction of the blanking rod to the position of the magnetoresistor RMTBThe value is increased, and simultaneously the blanking rod touches a pressure signal sBThe value is decreased;
stp B1.2: if unloading low pressure relay solenoid JSB1Electrifying, namely extending a blanking rod to the position, → Stp B1.3; otherwise, → Stp B1.1;
stp B1.3: negative terminal T of blanking valvenk2Negative terminal T in the baiting valveno2Off state, JSB1First normally open contact J of power-on → blanking rod low-voltage relaySB1-1 closing, at the same time, the elastic arm is close to the second normally open contact J of the relayBF-2 releasing the third normally closed contact J of the standby relay of the on-off and tape-feeding mechanismW0-3 closed, positive terminal T of the blanking valvepk2-positive terminal T in the blanking valvepo2Drawing a square root and combining the square root and the square root; -the air exhaust and pressurization of the blanking air pipe → Tpk2-Tpo2Contact and break and Tnk2-Tno2On state → blanking rod high-voltage relay electromagnetic coil JSB2Power up while betaNAssignment 0 → Jβ-1 powering down;
Stp B1.4：JSB2touch signal s of feeding and discharging rods at the same timeB0 → feeding rod give upper shrinkage displacement signal dBRAssignment 0 → LCPTBWork → JT3Power-on → JT3-1 pull-in, while JT3-2 suck-off; at the same time, JSB2Electrifying → blanking high-voltage relay normally closed contact JSB2-2 suck Break → JT4Power down → JT4-2 release the cut-off, with JT4-1 closed; -blanking rod shrinking → sBIncrease of value → JSB2Power down-the blanking sucker is pressed to a low position;
stp B1.5: -the blanking bar is retracted; -the blanking suction cup is pressed to a low position;
StpB 1.6: if R isMTBDecrease to value RMTBThe feeding rod is contracted to the minimum value R of the magneto-resistanceMTB0I.e. the blanking bar is retracted in place, → Stp B1.7; otherwise, → Stp B1.5;
Stp B1.7：RMTB＝RMTB0，→βRassignment of beta0-the discharge arm swings outwards, → beta value decreases;
stp B1.8: if the value of beta is reduced to beta-beta0Namely the discharging arm is swung in place outwards, → Stp B1.9; otherwise, the blanking arm continues to swing outwards, and the value of → beta is reduced;
Stp B1.9：β＝β0，→LCPTBrest → JT3Power down → JT3-1 Release disconnect, with JT3-2 is fused, and β ═ β0→βNEnlargement → JβPower-on → Jβ-1 pull-in → JT4Power-on → JT4-2 pull-in, while JT4-1 suck-off-extension of blanking rod → RMTBThe value of the signal is increased and,at the same time sBThe value is decreased;
stp B1.10: if s isBThe value is reduced to JSB2Electrifying, namely the blanking rod extends to the position, → Stp B1.11; otherwise, the blanking rod continues to extend downwards → RMTBThe value increases while sBThe value is decreased;
Stp B1.11：βNassignment 0 → Jβ-1 powering down; first normally open contact J of blanking lever high-voltage relaySB2-1 pull-in, while JSB1-1 attraction state, Tnk2-Tno2Open-state-the blanking air pipe is ready to be deflated; and (6) ending.
2. The plate-shaped workpiece edge covering system software blanking taking and placing process as claimed in claim 1, which is characterized in that:
in the operation and control circuit of the plate-shaped workpiece edge covering system:
signal wiring terminal P of material taking and placing position of material loading arm swing angleαNPC7 pin connected to controller chip U; signal wiring terminal P of material taking and placing position of swinging angle of blanking armβNPA6 pin connected to controller chip U; a-phase anode trigger signal pull-down resistor RAP0One end of the resistor R, a B-phase anode trigger signal pull-down resistor RBP0One end of the pull-down resistor, one end of the pull-down resistor for the positive trigger signal of the phase C, one end of the pull-down resistor for the negative trigger signal of the phase A, one end of the pull-down resistor for the negative trigger signal of the phase B and one end of the pull-down resistor for the negative trigger signal of the phase C are respectively connected to pins PC5, PC4, PC3, PC2, PC1 and PC0 of the controller chip U, and the pull-down resistor R for the positive trigger signal of the phase A is connected to a pin of the controller chip UAP0The other end of the resistor R is pulled down by a B-phase positive trigger signalBP0The other end of the pull-down resistor, the other end of the pull-down resistor for the C-phase positive trigger signal, the other end of the pull-down resistor for the A-phase negative trigger signal, the other end of the pull-down resistor for the B-phase negative trigger signal and the other end of the pull-down resistor for the C-phase negative trigger signal are respectively connected to an LC (inductance-capacitance) of the A-phase positive drive optocouplerAPB-phase positive drive optocoupler LCBPC-phase positive drive optocoupler LCCPphase-A negative drive optical coupler LCANB-phase negative drive optical coupler LCBNAnd C-phase negative drive optical coupler LCCNThe input end anode of (1); a-phase positive drive optocoupler LCAPB is normalDrive optocoupler LCBPC-phase positive drive optocoupler LCCPphase-A negative drive optical coupler LCANB-phase negative drive optical coupler LCBNAnd C-phase negative drive optical coupler LCCNThe negative electrodes of the input ends are all grounded; the main motor turns to 3-bit signal terminal Pn3To, the main motor turns to 2-bit signal terminal Pn2The main motor is turned to 1 bit signal terminal Pn1And a main motor corner control signal terminal PnCPB7, PB6, PB5, and PB4 pins connected to the controller chip U, respectively; control signal optical coupler LC of belt feeding mechanismPWInput end anode, feeding rod up-shrinkage control signal optical coupler LCPTBInput end anode, feeding rod downward extension control signal optical coupler LCNTFInput end anode and feeding rod up-shrinking control signal optical coupler LCPTFThe positive electrode of the input end controls a signal pull-down resistor R through a belt feeding mechanism respectivelyPWA pull-down resistor R for controlling the signal by the upward shrinkage of the blanking rodRPBThe feeding rod stretches downwards to control the pull-down resistor R of the signalNTFAnd a pull-down resistor R of the control signal of the feeding rodPTFPB3, PB2, PB1, and PB0 pins connected to the controller chip U; reset signal pull-up resistor RR1Bridged between the positive power supply terminal E of the system control circuit and the controller chip U
Figure FDA0003190859710000021
Among the pins; reset signal buffer resistor RR2Reset key K of controllerRIn series, the series branch is connected with a reset signal buffer capacitor CRAre connected in parallel; the parallel branch is bridged to the controller chip U
Figure FDA0003190859710000022
Between the pin and the ground; a GND pin of the controller chip U is grounded;
corresponding to and the feeding arm inversion triggering module GαThe pins of the PC5, the PC4, the PC3, the PC2, the PC1 and the PC0 which are connected with the feeding arm inversion triggering module GβOne end of the corresponding negative trigger signal pull-down resistor in the controller chip U is respectively connected with pins PD2, PD3, PD4, PD5, PD6 and PD 7.
3. The plate-shaped workpiece edge covering system software blanking taking and placing process as claimed in claim 1, which is characterized in that:
inner positive terminal T of right-in-place change-over switchpo2Inductance L connected to drive coil of blanking valveV2One end of the driving coil, and a valve positive terminal T of the right-to-place changeover switchpk2Third normally closed contact J of standby relay through belt feeding mechanismW0-3 is connected to the positive terminal E of the system working power supplyP(ii) a Meanwhile, the same end of the driving coil is connected to the inner negative terminal T of the left in-place selector switchno2(ii) a Valve negative terminal T of left-in-place change-over switchnk2The elastic arm is abutted against the second normally open contact J of the relayBF-2 and a first normally open contact J of the blanking lever high-voltage relaySB2-1 is connected to the negative terminal E of the system working power supplyN(ii) a Baiting valve drive coil inductance LV2The other end of the driving coil passes through a first normally open contact of the blanking rod low-voltage relaySB1-1 is connected to ground.
4. The plate-shaped workpiece edge covering system software blanking taking and placing process as claimed in claim 1, which is characterized in that:
in the blanking rod touch signal detection-amplification-execution circuit: inductance L of inductance coilSB0One end of the connecting wire is connected to the upper terminal E of the excitation sourceS1And the other end is connected to a signal transformer TSA lower input terminal of (a); signal transformer TSIs connected to the lower terminal E of the excitation sourceS2(ii) a Inner eddy current loop inductor LSB1Contact switch S bridged on inner supportSB1Between two contacts, contact-pressing switch S with inner supportSB1Forming a closed loop; outer eddy current loop inductance LSB2Light touch switch S bridged on external supportSB2A switch S is lightly touched between two contact points and the outer bracketSB2Forming a closed loop; signal transformer TSUpper output terminal of and signal detection diode DS1Is connected to the positive pole of the signal detection diode DS1Negative pole of and signal first filter capacitor CS1Is connected with one end of the connecting rod; first filter capacitor C for signalS1To another one ofThe end is grounded; signal filtering resistor RS1And a signal detection diode DS1Is connected with the negative pole of the signal filtering resistor RS1And the other end of the signal second filter capacitor CS2Is connected to the signal filtering resistor RS1The other end of the filter capacitor is connected with a signal second filter capacitor CS2One end of the connecting point is connected with a touch signal optical coupler LCSThe input end anode of (1); second filter capacitor C for signalS2And the other end of the touch signal optical coupler LCSThe negative electrode of the input end is simultaneously grounded; touch signal optical coupler LCSThe positive electrode of the output end is connected to the positive electrode end E of the system working power supplyP(ii) a Signal load resistance RS2One end of (1) and a signal coupling resistor RS3Is connected to the touch signal optical coupler LCSNegative pole of the output terminal; signal load resistance RS2Is connected to the touch signal output optical coupler LCSBThe input end anode of the optical coupler LC for outputting touch signalSBThe negative electrodes of the input end and the output end are simultaneously grounded, and the touch signal output optical coupler LCSBThe positive pole of the output end of the discharging rod is used as a contact pressure signal wiring end P of the discharging rodSB(ii) a Low-voltage relay freewheeling diode DS2The positive pole and the blanking rod of the low-voltage relay electromagnetic coil JSB1Is connected to the low voltage drive transistor TRS1A collector electrode of (a); low-voltage relay freewheeling diode DS2Negative pole and unloading pole low-voltage relay solenoid JSB1Is connected to the positive terminal E of the system working power supplyP(ii) a Low-voltage driving triode TRS1Base and signal coupling resistor RS3Is connected to the other end of the Transistor (TR), a low voltage drives a Triode (TR)S1The emitter of (2) is grounded; low-voltage relay freewheeling diode DS2The positive pole and the blanking rod of the low-voltage relay electromagnetic coil JSB1Is connected to the low voltage drive transistor TRS1A collector electrode of (a); high-voltage relay freewheeling diode DS3Negative pole and blanking pole high-voltage relay electromagnetic coil JSB2Is connected to the positive terminal E of the system working power supplyP(ii) a High-voltage relay freewheeling diode DS3Negative pole and blanking pole high-voltage relay electromagnetic coil JSB2Is connected to the positive terminal E of the system working power supplyP(ii) a High-voltage driving triode TRS2Base and touch signal isolation diode DS4Is connected with the negative electrode of the touch-press signal isolating diode DS4The positive pole of the resistor is connected with a high-voltage signal coupling resistor R through touch pressureS4LC connected to touch signal optical couplerSNegative electrode of the output terminal of the high voltage driving transistor TRS2The emitter of (2) is grounded.
5. The plate-shaped workpiece edge covering system software blanking taking and placing process as claimed in claim 1, which is characterized in that:
in the amplifying-driving-executing circuit of the feed rod telescopic motor:
upper zooming large link A of blanking rod operation control systemPTBBy retracting the switch MOSFET Q from the lower feed rodPTBA PWM power adjusting circuit as a core;
upper shrinkage control signal optical coupler LC of blanking rodPTBThe anode of the output end of the voltage-controlled rectifier is connected to a first trigger diode D of a telescopic control signal on the blanking rodPTB1Negative pole, down pole shrank up and control signal optical coupler LCPTBThe negative electrode of the output end of the transformer is grounded; system working power supply positive terminal EPA bias current resistor R connected to the blanking rod for operating the signalPTBbOne end of the switching grid biasing resistor R is operated by the material discharging rod in a shrinkage modePTBgOne end of the switch and the discharging rod are contracted to operate a switch MOSFET QPTBA drain electrode of (1); upper shrinkage control signal bias current resistor R of blanking rodPTBbThe other end of the control circuit is connected with a discharging rod, and a first trigger diode D of an operation signal is contracted upwardsPTB1The anode and the blanking rod of the second trigger diode D of the control signalPTB2The positive electrodes of the two-phase current transformer are connected simultaneously, and the blanking rod is contracted upwards to operate a switch grid bias resistor RPTBgThe other end of the switch and the discharging rod are connected with a MOSFET Q switchPTBThe grid electrode of (1) is connected; coupling resistor R of feeding rod up-shrinkage operation switchPTBcSwitch MOSFET Q connected to discharging rod in bridging modePTBThe deleting pole and the blanking rod are contracted upwards to operate the switch to trigger the triode TPTBBetween the collector electrodes; upward shrinkage control of blanking rodSignal second trigger diode DPTB2The negative pole and the blanking rod are contracted upwards to operate the switch to trigger the triode TPTBThe base electrode of (1) is connected; feeding rod up-shrinkage operation switch trigger triode TPTBThe emitter of (2) is grounded; blanking rod upward-shrinkage operation driving follow current voltage stabilizing tube DPTBThe negative electrode and the blanking rod of the MOSFET Q switchPTBThe source electrode of the voltage stabilizing tube D is connected, and the blanking rod is contracted upwards to drive the follow current voltage stabilizing tube DPTBThe positive electrode of (2) is grounded; filter inductor L driven by upward shrinkage of blanking rodPTBA follow current voltage-stabilizing tube D is bridged on the blanking rod and is driven by the shrinkage operationPTBThe negative pole and the blanking rod are contracted to run to drive the filter capacitor CPTBBetween the positive electrodes of (1); feeding rod up-shrinkage operation driving filter capacitor CPTBThe negative electrode of (2) is grounded; isolation relay divider resistor R for upward shrinkage operation of blanking rodPTBJOne end of the filter is connected to a feeding rod to operate and drive a filter capacitor C in a shrinkage modePTBThe other end of the anode is simultaneously connected to a blanking rod and a follow current voltage regulator tube D of a contracted operation isolation relayPTBJThe negative pole and the blanking rod of the isolating relay solenoid coil J are contracted upwards to operateT3One end of (a); blanking rod upward-shrinkage operation isolation relay follow current voltage stabilizing tube DPTBJThe positive pole and the blanking rod of the isolating relay solenoid coil J are contracted upwards to operateT3The other end of the first and second electrodes is grounded at the same time;
first normally open contact J of telescopic operation isolation relay on blanking rodT3-1 first normally closed contact J of isolation relay with downward extending blanking rodT4-1 in series; the series branch circuit is connected on the blanking rod in a bridging way and operates to drive the filter capacitor CPTBThe positive pole and the blanking rod of the stator winding L of the motorTBBetween one end of; stator winding L of telescopic motor of blanking rodTBThe other end of the first and second electrodes is grounded;
down-extending amplifying link A of discharging rod operation control systemNTBA normally open contact J of a material taking and placing position relay is arranged at a swing angle of a lower material armβ-1 and blanking high-voltage relay normally closed contact JSB2-2 switching circuit components of the core;
second normally closed contact J of isolating relay for upward shrinkage operation of blanking rodT3-2 and a second normally open contact J of the blanking rod downward extending operation isolation relayT4-2 in series; the series branchThen the first voltage reduction voltage stabilizing tube D is downwards extended with the blanking rodNTB1Are connected in series; first voltage reduction and voltage stabilization tube D for downward extending operation of blanking rodNTB1The anode and the blanking rod extend downwards to operate a second voltage reduction voltage stabilizing tube D simultaneouslyNTB2The negative pole and the blanking rod extend downwards to drive the filter capacitor CNTBThe positive electrode of (1) is connected; a second voltage-reducing voltage-stabilizing tube D is operated by downward extension of the blanking rodNTB2The anode and the blanking rod extend downwards to drive the filter capacitor CNTBThe negative electrode of (1) is connected;
first voltage reduction and voltage stabilization tube D for downward extending operation of blanking rodNTB1The anode and the blanking rod extend downwards to operate the follow current voltage stabilizing tube D of the isolation relayNTBJThe positive electrode of (1) is connected; blanking rod downward-extending operation isolation relay follow current voltage stabilizing tube DNTBJThe positive pole and the blanking rod extend downwards to operate the electromagnetic coil J of the isolation relayT4Is connected with one end of the connecting rod; blanking rod downward-extending operation isolation relay follow current voltage stabilizing tube DNTBJNegative pole and unloading pole stretch down and operate the electromagnetic coil J of the isolation relayT4The other end of the first and second electrodes is grounded at the same time;
a second voltage-reducing voltage-stabilizing tube D is operated by downward extension of the blanking rodNTB2The anode is connected to a normally open contact J of a discharging position relay with a swinging angle of a discharging armβ-1 stationary contact; normally closed contact J of blanking high-voltage relaySB2A static contact of the-2 is connected to a normally open contact J of a swinging angle material taking and placing relay of a discharging armβ-1 movable contact connected to positive terminal E of system working power supplyP。
CN201811302287.8A 2018-11-02 2018-11-02 Blanking, taking and placing process of plate-shaped workpiece edge covering system software Active CN111331862B (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104176471A (en) * 2014-08-07 2014-12-03 山东大学 Cantilever type automatic loading and unloading device and method for stone plate
CN104385686A (en) * 2014-12-09 2015-03-04 东莞市铭丰包装品制造有限公司 Covering machine
CN207359663U (en) * 2017-10-30 2018-05-15 广州市科腾智能装备股份有限公司 A kind of edge covering mechanism
CN207775550U (en) * 2017-12-25 2018-08-28 佛山市南海区永正制鞋机械设备有限公司 Glue Wrapping apparatus

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104176471A (en) * 2014-08-07 2014-12-03 山东大学 Cantilever type automatic loading and unloading device and method for stone plate
CN104385686A (en) * 2014-12-09 2015-03-04 东莞市铭丰包装品制造有限公司 Covering machine
CN207359663U (en) * 2017-10-30 2018-05-15 广州市科腾智能装备股份有限公司 A kind of edge covering mechanism
CN207775550U (en) * 2017-12-25 2018-08-28 佛山市南海区永正制鞋机械设备有限公司 Glue Wrapping apparatus

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