CN111570556A - Cast ingot self-adaptive conveying control system and method for extrusion production line - Google Patents
Cast ingot self-adaptive conveying control system and method for extrusion production line Download PDFInfo
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- CN111570556A CN111570556A CN202010474587.5A CN202010474587A CN111570556A CN 111570556 A CN111570556 A CN 111570556A CN 202010474587 A CN202010474587 A CN 202010474587A CN 111570556 A CN111570556 A CN 111570556A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C33/00—Feeding extrusion presses with metal to be extruded ; Loading the dummy block
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C31/00—Control devices, e.g. for regulating the pressing speed or temperature of metal; Measuring devices, e.g. for temperature of metal, combined with or specially adapted for use in connection with extrusion presses
Abstract
The invention provides a system and a method for controlling self-adaptive conveying of cast ingots on an extrusion production line, which comprise a PLC control system, a feeding and discharging mechanism and a cast ingot clamping manipulator, wherein the cast ingot clamping manipulator is arranged on a first track; storage platform ingot casting inductive switch is installed to storage platform one side, holds ingot platform one side and installs and hold ingot platform correlation inductive switch, and business turn over material correlation inductive switch is installed to business turn over material mechanism one side, all installs rotary encoder on business turn over material mechanism and the ingot clamping machinery hand, and storage platform ingot casting inductive switch, hold ingot platform correlation inductive switch, business turn over material correlation inductive switch and rotary encoder all with PLC control system electric signal connection. According to the invention, the intelligent ingot feeding and conveying linkage interaction is realized according to the ingot calling of the extruder and the ingot requiring request signal of the induction heating furnace.
Description
Technical Field
The invention belongs to the technical field of automatic control of aluminum extrusion machine equipment of metallurgical equipment, and particularly relates to a cast ingot self-adaptive conveying control system and method for an extrusion production line.
Background
In the continuous extrusion production process of the extrusion production line, the heated cast ingot is continuously conveyed to the extruder for continuous production, and meanwhile, the cold cast ingot is filled into the induction heating furnace for heating, and the reciprocating conveying response speed of the cast ingot is a key factor influencing the rhythm speed of the extrusion production line. At present, the traditional ingot casting conveying of the extrusion production line is carried by a crown block or a forklift, manual instruction sending is also completed by a material conveying trolley, the conveying modes are slow in rhythm, the automation degree is low, and certain potential safety hazards exist.
Disclosure of Invention
The invention aims to provide an ingot casting self-adaptive conveying control system for an extrusion production line, which overcomes the technical problems in the prior art.
The invention also aims to provide a self-adaptive conveying control method for the cast ingots in the extrusion production line, which intelligently supplements the cast ingots and conveys the cast ingots according to the ingot calling request signals of the extruder and the ingot requiring request signals of the induction heating furnace.
Therefore, the technical scheme provided by the invention is as follows:
an ingot casting self-adaptive conveying control system of an extrusion production line comprises a PLC control system, a feeding and discharging mechanism and an ingot casting clamping manipulator, wherein the ingot casting clamping manipulator is arranged on a first rail, a storage table and an ingot bearing table are respectively arranged below two ends of the first rail, the feeding and discharging mechanism is arranged between the storage table and the ingot bearing table and is close to the ingot bearing table, and one end of the feeding and discharging mechanism is an induction heating furnace;
storage platform ingot casting inductive switch is installed to storage platform one side, bear ingot platform one side and install and bear ingot platform correlation inductive switch, business turn over material mechanism one side is installed and is expected inductive switch to the correlation, all install rotary encoder on business turn over material mechanism and the ingot centre gripping manipulator, storage platform ingot casting inductive switch, bear ingot platform correlation inductive switch, business turn over material correlation inductive switch and rotary encoder all with PLC control system electric signal connection.
The feeding and discharging mechanism comprises a second rail, a guide wheel bracket and a feeding and discharging variable frequency motor speed reducer, the second rail is arranged on the guide wheel bracket, the feeding and discharging variable frequency motor speed reducer drives the second rail through a synchronous belt, a feeding and discharging rotary encoder is installed on the feeding and discharging variable frequency motor speed reducer, a feeding and discharging correlation inductive switch is installed on one side of the second rail, a laser thermodetector is arranged on the other side of the second rail, and the feeding and discharging variable frequency motor speed reducer, the feeding and discharging rotary encoder and the laser thermodetector are all in electrical signal connection with a PLC control system.
Ingot casting centre gripping manipulator includes base, manipulator walking inverter motor and activity hand claw mechanism all establish on the base, manipulator walking inverter motor installs the walking encoder, vertical direction up-and-down motion can be followed to activity hand claw mechanism, manipulator walking inverter motor, walking encoder and activity hand claw mechanism all with PLC control system electric signal connection.
The PLC control system comprises a PLC controller, a digital quantity input module and an analog quantity input module, the storage table ingot casting induction switch, the ingot bearing table correlation induction switch and the feeding and discharging correlation induction switch are all in signal connection with the digital quantity input module, and the rotary encoder is in signal connection with the analog quantity input module.
And a stop block is arranged on the second rail.
The base is fixedly provided with a third track, the third track is perpendicular to the first track, the movable paw mechanism comprises a movable paw and a movable paw variable frequency motor speed reducer, the movable paw is connected with the third track, a gear is connected to a rotating shaft of the movable paw variable frequency motor speed reducer, the gear is meshed with the third track, the movable paw variable frequency motor speed reducer is provided with an encoder, and the movable paw variable frequency motor speed reducer and the encoder are both in electric signal connection with a PLC control system.
The movable paw comprises a first movable paw, a second movable paw, a first variable frequency motor speed reducer of the movable paw and a second variable frequency motor speed reducer of the movable paw, the first movable paw and the second movable paw are arranged oppositely, and the straight line where the first movable paw and the second movable paw are located is parallel to the first track;
the three tracks are respectively connected with the first movable gripper and the second movable gripper, the first encoder is mounted on the first movable gripper variable frequency motor speed reducer, the second encoder is mounted on the second movable gripper variable frequency motor speed reducer, and the first encoder and the second encoder are both in electric signal connection with the PLC control system.
An ingot casting self-adaptive conveying control method for an extrusion production line comprises the following steps:
step 1) in the ingot conveying process of the extrusion production line, judging whether cold ingots are stored in a storage table or not by a PLC control system through an electric signal sent by an ingot induction switch of the storage table, and when the judgment is true, enabling an ingot clamping manipulator to walk to an L1 position above the storage table along a first rail to control a second movable claw to grab the cold ingots;
step 2) the ingot clamping manipulator travels to a position L2 above the storage table along the first rail to wait, when the PLC control system sends an ingot calling request instruction to the feeding and discharging mechanism, the feeding and discharging mechanism conveys the heated ingot out, and after the PLC control system receives an ingot discharging in-place signal and the laser thermometer detects that the temperature of the ingot meets the extrusion requirement, the movable claw is controlled to grab the heated ingot;
step 3) the PLC control system controls the ingot clamping manipulator to walk to the position L3 above the storage table along the first rail, the second movable claw puts the cold cast ingot on the second rail of the feeding and discharging mechanism, a feeding and discharging opposite-jet induction switch on one side of the second rail senses the cold cast ingot, and then sends a signal to the PLC control system, and the PLC control system controls the cold cast ingot to be conveyed into an induction heating furnace liner along the second rail to be heated;
step 4), the PLC control system controls the ingot clamping manipulator to walk to the position L4 above the storage table along the first rail, and then the first movable claw puts the hot ingot onto the ingot bearing table;
and step 5) the PLC control system controls the ingot clamping manipulator to return to the storage table along the first rail, and the next ingot self-adaptive conveying cycle is started.
The specific process of controlling the movable paw II to pick up the cold cast ingot in the step 1) is as follows: the PLC control system sends an instruction to start the two variable frequency motor speed reducers of the movable claws, the two variable frequency motor speed reducers of the movable claws drive the two movable claws to descend along the third track to grab the cast ingot, and then ascend along the third track, and in the process, the PLC control system monitors the data of the two encoders of the two variable frequency motor speed reducers of the movable claws in real time.
And the PLC control system controls the horizontal direction walking displacement of the ingot clamping manipulator by monitoring the data of the walking encoder in real time in the process that the ingot clamping manipulator walks to the position L1-L4 above the storage table along the first rail.
The invention has the beneficial effects that:
the ingot casting self-adaptive conveying control system of the extrusion production line provided by the invention can realize intelligent ingot casting supplement and conveying linkage interaction according to the ingot calling of the extruder and the ingot-needing request signal of the induction heating furnace. Through PLC control system and discharge mechanism and ingot clamping mechanical hand signal connection, make in whole ingot casting conveying circulation, the movable claw is got the ingot and is put the ingot and get the ingot and put the ingot and maintain a dynamic balance throughout with movable claw two, guarantee that extrusion production line ingot casting carries and goes on smoothly.
Through PLC control system and each inverter motor electricity is connected, can accurate control grab the ingot casting, put the ingot casting and carry the position of ingot casting, whole production process is compact orderly, and the full automatization goes on, need not artificial intervention, has reduceed manual work and manufacturing cost by a wide margin for the production rhythm, has reduced the potential safety hazard that manual transportation arouses.
In order to make the aforementioned and other objects of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
FIG. 1 is a schematic top view of one embodiment of the present invention;
FIG. 2 is a schematic front view of an embodiment of the present invention;
FIG. 3 is a functional block diagram of a PLC control system;
fig. 4 is a flow chart of a method of an embodiment of the invention.
In the figure:
description of reference numerals:
1. a cast ingot clamping manipulator; 2. a feeding and discharging mechanism; 3. a storage table; 4. an ingot bearing table; 5. an induction heating furnace; 6. a first track; 7. a PLC control system; 8. casting ingots; 101. a manipulator walking variable frequency motor; 102. a walking encoder; 103. a first movable paw; 104. the movable paw is a variable frequency motor reducer; 105. a first encoder; 106. a second movable paw; 107. a movable paw two variable frequency motor reducer; 108. a second encoder; 201. a feeding and discharging variable frequency motor reducer; 202. a feeding and discharging rotary encoder; 203. a second track; 204. a guide wheel bracket; 205. a laser thermometer; 206. a feed and discharge opposite-jet inductive switch; 301. a storage platform ingot casting induction switch; 401. the ingot bearing table is opposite to the induction switch.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
In the present invention, the upper, lower, left and right in the drawings are regarded as the upper, lower, left and right of the extrusion line ingot casting adaptive conveying control system described in the present specification.
The exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, however, the present invention may be embodied in many different forms and is not limited to the embodiments described herein, which are provided for complete and complete disclosure of the present invention and to fully convey the scope of the present invention to those skilled in the art. The terminology used in the exemplary embodiments illustrated in the accompanying drawings is not intended to be limiting of the invention. In the drawings, the same units/elements are denoted by the same reference numerals.
Unless otherwise defined, terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Further, it will be understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense.
Example 1:
the embodiment provides an ingot casting self-adaptive conveying control system of an extrusion production line, which comprises a PLC control system 7, a feeding and discharging mechanism 2 and an ingot casting clamping manipulator 1, wherein the ingot casting clamping manipulator 1 is arranged on a first rail 6, a storage table 3 and an ingot bearing table 4 are respectively arranged below two ends of the first rail 6, the feeding and discharging mechanism 2 is arranged between the storage table 3 and the ingot bearing table 4 and is close to the ingot bearing table 4, and one end of the feeding and discharging mechanism 2 is an induction heating furnace 5;
storage platform ingot casting inductive switch 301 is installed to 3 one sides of storage platform, bear 4 one sides of spindle platform and install and bear spindle platform correlation inductive switch 401, business turn over material correlation inductive switch 206 is installed to 2 one sides of business turn over material mechanism, all install rotary encoder on business turn over material mechanism 2 and the ingot casting centre gripping manipulator 1, storage platform ingot casting inductive switch 301, bear spindle platform correlation inductive switch 401, business turn over material correlation inductive switch 206 and rotary encoder all with PLC control system 7 signal of telecommunication.
Bear spindle platform correlation inductive switch 401 and be used for detecting the casting and bear spindle platform 4 and whether deposit the ingot casting 8, storage platform ingot casting inductive switch 301 is used for detecting storage platform 3 and whether deposit cold ingot casting 8, whether business turn over material correlation inductive switch 206 is used for detecting business turn over material mechanism 2 and goes up ingot casting 8 and treat the transport, the rotary encoder of installation is used for real-time detection ingot casting centre gripping manipulator 1 at the walking displacement of horizontal direction on the ingot casting centre gripping manipulator 1, the rotary encoder of installation is used for real-time detection business turn over material mechanism 2 to drive ingot casting 8 and advance (play the ingot) or retreat (advance the displacement of ingot).
The working process or the application process is as follows:
in the process of conveying the cast ingot 8 on the extrusion production line, the PLC control system 7 judges whether the storage table 3 stores the cold cast ingot 8 through the storage table cast ingot inductive switch 301, when the judgment is true, the cast ingot clamping manipulator 1 travels to the position L1 above the storage table 3 to grab the cold cast ingot 8, then the cast ingot clamping manipulator 1 travels to the position L2 above the feeding and discharging table to wait for the PLC control system 7 to send an ingot calling request command, after receiving the ingot calling request, the heated cast ingot 8 is conveyed out of the heating furnace through the feeding and discharging mechanism 2, after receiving a cast ingot 8 discharging completion in-place signal and the laser thermometer 205 detects that the temperature of the cast ingot 8 meets the extrusion requirement, the PLC control system 7 controls the cast ingot clamping manipulator 1 to grab the heated cast ingot 8 and controls the cast ingot clamping manipulator 1 to travel to the position L3 above the feeding and discharging mechanism 2, and the cast ingot clamping manipulator 1 puts the cold ingot onto the feeding and discharging mechanism 2, after the feeding and discharging opposite-jetting induction switch 206 senses the ingot 8, the feeding and discharging mechanism 2 conveys the cold ingot 8 into the furnace pipe of the induction heating furnace 5 for heating, meanwhile, the ingot clamping manipulator 1 walks to the position L4 above the ingot bearing table 4, the hot ingot 8 is placed on the ingot bearing table 4, and finally, the ingot clamping manipulator 1 returns to the position 3 of the ingot 8 storage table to enter the next ingot 8 self-adaptive conveying circulation.
In the whole conveying circulation of the cast ingot 8, the ingot taking and placing of the ingot clamping manipulator 1 always maintains a dynamic balance, and the smooth conveying of the cast ingot 8 on the extrusion production line is ensured.
Example 2:
on the basis of embodiment 1, the embodiment provides an ingot casting self-adaptive conveying control system for an extrusion production line, the feeding and discharging mechanism 2 includes a second rail 203, a guide wheel bracket 204 and a feeding and discharging variable frequency motor reducer 201, the second rail 203 is arranged on the guide wheel bracket 204, the feeding and discharging variable frequency motor reducer 201 drives the second rail 203 through a synchronous belt, the feeding and discharging variable frequency motor reducer 201 is provided with a feeding and discharging rotary encoder 202, the feeding and discharging induction switch 206 is arranged on one side of the second rail 203, the other side of the second rail 203 is provided with a laser thermometer 205, and the feeding and discharging variable frequency motor reducer 201, the feeding and discharging rotary encoder 202 and the laser thermometer 205 are all in electrical signal connection with a PLC control system 7.
As shown in fig. 1, a feeding and discharging variable frequency motor reducer 201 drives a rotating wheel to reciprocate on a guide wheel bracket 204 through a synchronous belt driving track II 203 so as to feed the cast ingot 8 into and out of the furnace pipe of the induction heating furnace 5.
The PLC control system 7 monitors the numerical value of the feeding and discharging rotary encoder 202 in real time so as to obtain the displacement variation of the second track 203 and the ingot 8 on the synchronous belt.
Example 3:
on the basis of embodiment 1, this embodiment provides an extrusion production line ingot casting self-adaptation conveying control system, ingot casting centre gripping manipulator 1 includes base, manipulator walking inverter motor 101 and activity hand claw mechanism all establish on the base, manipulator walking inverter motor 101 installs walking encoder 102, vertical direction up-and-down motion can be followed to activity hand claw mechanism, manipulator walking inverter motor 101, walking encoder 102 and activity hand claw mechanism all with PLC control system 7 signal of telecommunication connection.
As shown in fig. 1 and 2, the ingot holding robot 1 is erected above the charging and discharging mechanism 2, the ingot receiving table 4, and the ingot 8 storage table 3. A gear is connected to a rotating shaft of the manipulator walking variable frequency motor 101, and the gear is meshed with a rack of the first rail 6. The horizontal direction walking displacement of the ingot clamping manipulator 1 is detected in real time through the walking encoder 102. The movable paw mechanism can move up and down along the vertical direction, and the ingot 8 can be grabbed or put down by moving down and then lifted.
Example 4:
on the basis of embodiment 1, this embodiment provides an extrusion production line ingot casting self-adaptation transport control system, PLC control system 7 includes PLC controller, digital input module and analog input module, storage platform ingot casting inductive switch 301, ingot supporting platform correlation inductive switch 401, business turn over material correlation inductive switch 206 all with digital input module signal connection, rotary encoder and analog input module signal connection.
As shown in fig. 3, the controller (models 1756-L72S) in the PLC control system 7 connects the parts in series to form a network by TCP/IP ethernet communication and shares data. Feedback signals of all the encoders are current signals of 4-20 ma, and analog quantity input modules respectively convert analog signals of the encoders into digital signals and transmit the digital signals to the PLC. Signals of the feeding and discharging correlation inductive switch 206, the storage platform ingot casting inductive switch 301 and the ingot bearing platform correlation inductive switch 401 are fed back to the digital quantity input module in the PLC control system 7 to complete the process.
Example 5:
on the basis of the embodiment 2, the embodiment provides an ingot casting self-adaptive conveying control system for an extrusion production line, and a stop block is arranged on the second rail 203.
And a stop block is fixed on the second rail 203, so that the ingot 8 and the arc roller table are relatively static during feeding and discharging, and sliding is avoided.
Example 6:
on the basis of embodiment 3, this embodiment provides an extrusion production line ingot casting self-adaptation conveying control system, it has three tracks to set firmly on the base, track three is perpendicular with track 6, activity hand claw mechanism includes activity hand claw and activity hand claw inverter motor speed reducer, activity hand claw is connected with track three, be connected with the gear in the pivot of activity hand claw inverter motor speed reducer, gear and the three meshing of track, install the encoder on the activity hand claw inverter motor speed reducer, activity hand claw inverter motor speed reducer and encoder all with 7 signal connection of telecommunication of PLC control system.
The encoder is used for detecting the walking displacement of the first movable gripper 103 in the vertical direction in real time. In the conveying process of the ingot 8, when the manipulator of the ingot 8 waits for the PLC control system 7 to send an ingot calling request instruction at the position L2 above the in-out mechanism, after the ingot calling request is received, the discharging variable frequency motor reducer 201 drives the synchronous belt to drive the track II 203 to convey the heated ingot 8, after the discharging in-place signal of the ingot 8 is received and the temperature of the ingot 8 is detected by the laser thermodetector 205 to meet the extrusion requirement, the movable claw variable frequency motor reducer drives the movable claw to descend along the track III to grab the heated ingot 8 and then ascend, then the ingot clamping manipulator 1 moves to the position L4 above the ingot bearing table 4, and the movable claw variable frequency motor reducer drives the movable claw to descend along the gear guide rail to place the hot ingot 8 on the ingot bearing table 4 and then ascend.
When the PLC control system 7 judges whether the storage platform 3 has stored cold cast ingots 8, when the judgment is true, the ingot clamping manipulator 1 walks to the position L1 above the storage platform 3, the movable claw frequency conversion motor speed reducer drives the movable claw to descend along the gear track III to grab the cast ingots 8 and then ascend, the ingot clamping manipulator 1 walks to the position L3 above the feeding and discharging platform, the movable claw of the ingot clamping manipulator 1 descends to place the cold ingots into the track II 203 and then ascend, the feeding and discharging opposite-jet induction switch 206 senses the cast ingots 8, and the feeding and discharging frequency conversion motor speed reducer 201 drives the synchronous belt to drive the track II 203 to convey the cold cast ingots 8 into the furnace pipe of the induction heating furnace 5 to be heated.
Example 7:
on the basis of the embodiment 6, the embodiment provides an ingot casting self-adaptive conveying control system for an extrusion production line, wherein the movable claw comprises a first movable claw 103, a second movable claw 106, a first movable claw variable frequency motor speed reducer 104 and a second movable claw variable frequency motor speed reducer 107, the first movable claw 103 and the second movable claw 106 are arranged oppositely, a straight line where the first movable claw 103 and the second movable claw 106 are located is parallel to a first track 6, the first movable claw 103 is close to one side of the ingot bearing table 4, and the second movable claw 106 is close to one side of the storage table 3;
the three tracks are respectively connected with a first movable paw 103 and a second movable paw 106, a first encoder 105 is mounted on a first variable frequency motor speed reducer 104 of the movable paw, a second encoder 108 is mounted on a second variable frequency motor speed reducer 107 of the movable paw, and the first encoder 105 and the second encoder 108 are both in electric signal connection with the PLC control system 7.
The first movable gripper 103 is used for grabbing and putting down the hot ingot 8 after heating, and the second movable gripper 106 is used for grabbing and putting down the cold ingot 8. In the whole conveying cycle of the cast ingot 8, the first movable gripper 103 is used for taking and placing the ingot and the second movable gripper 106 is used for taking and placing the ingot to maintain a dynamic balance all the time, so that the smooth conveying of the cast ingot 8 on the extrusion production line is ensured.
Through PLC control system 7 with each inverter motor electricity is connected, can accurate control grab ingot casting 8, put ingot casting 8 and carry the position of ingot casting 8, whole production process is compact orderly, and the full automatization goes on, need not artificial intervention, has reduceed manual work and manufacturing cost by a wide margin for the production rhythm has reduced the potential safety hazard that manual transportation arouses.
Example 8:
the embodiment provides an extrusion production line ingot casting self-adaptation conveying control system, which comprises an ingot casting clamping manipulator 1, a first rail 6, a feeding and discharging mechanism 2, a storage table 3, an ingot bearing table 4, a laser thermometer 205 and a PLC control system 7.
As shown in fig. 1, the ingot holding robot 1 is erected above the feeding and discharging mechanism 2, the storage table 3 and the ingot receiving table 4 through a first rail 6. The feeding and discharging mechanism 2 comprises a feeding and discharging variable frequency motor speed reducer 201, a second rail 203 and a guide wheel bracket 204, and the second rail 203 is positioned above the guide wheel bracket 204. The feeding and discharging variable frequency motor reducer 201 drives the rotating wheel to drive the second rail 203 to reciprocate on the guide wheel bracket 204 through the synchronous belt, so that the cast ingot 8 is fed into and discharged from the furnace pipe of the induction heating furnace 5. And a stop block is fixed on the second rail 203, and the ingot 8 and the second rail 203 are relatively static during feeding and discharging and are free from any dynamic friction. A feeding and discharging opposite-jetting induction switch 206 and a laser thermometer 205 are installed on the guide wheel bracket 204, a feeding and discharging rotary encoder 202 is installed on a feeding and discharging variable frequency motor speed reducer 201, the feeding and discharging rotary encoder 202 is used for detecting the position on the second track 203 in real time to judge whether the ingot 8 enters the inner container of the induction heating furnace 5 or whether the ingot 8 can be grabbed by the movable claw of the ingot clamping manipulator 1, the feeding and discharging opposite-jetting induction switch 206 is used for detecting whether the ingot 8 is placed on the second track 203, and the laser thermometer 205 is used for detecting the temperature of the ingot 8 in real time.
The storage platform 3 is fixedly provided with a correlation inductive switch, the ingot 8 storage platform 3 is connected with a PLC control system 7 electric signal, and the storage platform 3 is used for detecting whether the ingot 8 is stored on the ingot 8 storage platform 3 or not. Bear the spindle platform 4 on fixed mounting have correlation inductive switch, the 8 storage platforms of ingot 3 correlation inductive switch and the 7 signal connection of telecommunication of PLC control system, bear spindle platform correlation inductive switch 401 and be used for detecting whether cast ingot 8 has been deposited to cast ingot platform 4.
The movable paw mechanism comprises a movable paw I103, a movable paw II 106, a rack track III, a movable paw I variable frequency motor speed reducer 104, a movable paw II variable frequency motor speed reducer 107, a coder I105 and a coder II 108, wherein a gear is connected to a rotating shaft of a variable frequency motor on the movable paw I103 and the movable paw II 106, the gear is meshed with the vertical rack track III, the movable paw I variable frequency motor speed reducer 104 and the coder I105 are both in electric signal connection with a PLC (programmable logic controller) control system 7, and the coder I105 is used for detecting the vertical walking displacement of the movable paw I103 in real time. The variable-frequency motor speed reducer 107 and the encoder 108 of the second movable gripper are in electrical signal connection with the PLC control system 7, and the encoder 108 is used for detecting the walking displacement of the second movable gripper 106 in the vertical direction in real time.
As shown in fig. 3, the PLC control system 7 is mainly based on a controller (model 1756-L72S), and connects each part in series to form a network by TCP/IP ethernet communication and shares data. Feedback signals of the manipulator walking encoder 102, the first encoder 105, the second encoder 108, the feeding and discharging rotary encoder 202 and the laser thermometer 205 of the ingot 8 are all 4-20 mA current signals, and analog signals of the analog input module (model 1794-IE 8) in the PLC control system 7 are converted into digital signals respectively and transmitted to the PLC controller. Signals of the feeding and discharging correlation inductive switch 206, the storage platform ingot casting inductive switch 301 and the ingot bearing platform correlation inductive switch 401 are fed back to a digital quantity input module (model 1794-IB 32) in the PLC control system 7 to complete the process, and the running parameters of the manipulator walking variable frequency motor 101 speed reducer of the ingot casting 8, the movable paw one variable frequency motor speed reducer 104 and the movable paw two variable frequency motor speed reducer 107 are subjected to data interaction with the PLC controller through TCP/IP communication.
Example 9:
the embodiment provides a cast ingot self-adaptive conveying control method for an extrusion production line, which comprises the following steps:
step 1) in the conveying process of the cast ingot 8 on the extrusion production line, judging whether the cold cast ingot 8 is stored in the storage table 3 or not by the PLC control system 7 through an electric signal sent by the storage table cast ingot induction switch 301, and when the judgment is true, enabling the cast ingot clamping manipulator 1 to walk to the position L1 above the storage table 3 along the first rail 6 to control the movable claw II 106 to grab the cold cast ingot 8;
step 2) the ingot clamping manipulator 1 travels to a position L2 above the storage table 3 along a first rail 6 to wait, when the PLC control system 7 sends an ingot calling request instruction to the feeding and discharging mechanism 2, the feeding and discharging mechanism 2 conveys out the heated ingot 8, and after the PLC control system 7 receives a discharging in-place signal of the ingot 8 and the laser thermometer 205 detects that the temperature of the ingot 8 meets the extrusion requirement, the movable gripper 103 is controlled to grab the heated ingot 8;
step 3), the PLC control system 7 controls the ingot clamping manipulator 1 to walk to the position L3 above the storage platform 3 along the first rail 6, the second movable claw 106 places the cold ingot 8 on the second rail 203 of the feeding and discharging mechanism 2, the feeding and discharging opposite-jet induction switch 206 on one side of the second rail 203 senses the cold ingot 8 and sends a signal to the PLC control system 7, and the PLC control system 7 controls the cold ingot 8 to be conveyed into the furnace pipe of the induction heating furnace 5 along the second rail 203 for heating;
step 4), the PLC control system 7 controls the ingot clamping manipulator 1 to walk to the position L4 above the storage table 3 along the first rail 6, and then the first movable claw 103 enables the hot ingot 8 to be placed on the ingot bearing table 4;
and step 5), the PLC control system 7 controls the ingot clamping manipulator 1 to return to the storage table 3 along the first rail 6, and then the next ingot 8 enters a self-adaptive conveying cycle. As shown in fig. 4.
Example 10:
on the basis of embodiment 9, the embodiment provides an ingot casting adaptive conveying control method for an extrusion production line, and the specific process of controlling the second movable gripper 106 to pick up the cold ingot casting 8 in the step 1) is as follows: the PLC control system 7 sends an instruction to start the second variable frequency motor speed reducer 107 of the movable paw, the second variable frequency motor speed reducer 107 of the movable paw drives the second movable paw 106 to descend along the third track to grab the ingot 8, and then ascends along the third track, and in the process, the PLC control system 7 monitors data of the second encoder 108 of the second variable frequency motor speed reducer 107 of the movable paw in real time.
And the PLC control system 7 controls the horizontal direction walking displacement of the ingot clamping manipulator 1 by monitoring the data of the walking encoder 102 in real time in the process that the ingot clamping manipulator 1 walks to the L1-L4 above the storage table 3 along the first rail 6.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (10)
1. The utility model provides an extrusion production line ingot casting self-adaptation transport control system which characterized in that: the device comprises a PLC control system (7), a feeding and discharging mechanism (2) and an ingot casting clamping mechanical arm (1), wherein the ingot casting clamping mechanical arm (1) is arranged on a track I (6), a storage platform (3) and an ingot bearing platform (4) are respectively arranged below two ends of the track I (6), the feeding and discharging mechanism (2) is arranged between the storage platform (3) and the ingot bearing platform (4) and is close to the ingot bearing platform (4), and one end of the feeding and discharging mechanism (2) is provided with an induction heating furnace (5);
storage platform ingot casting inductive switch (301) is installed to storage platform (3) one side, bear ingot platform (4) one side and install and bear ingot platform correlation inductive switch (401), business turn over material mechanism (2) one side is installed and is expected correlation inductive switch (206), all install rotary encoder on business turn over material mechanism (2) and ingot casting centre gripping manipulator (1), storage platform ingot casting inductive switch (301), bear ingot platform correlation inductive switch (401), business turn over material correlation inductive switch (206) and rotary encoder all with PLC control system (7) signal of telecommunication.
2. The extrusion production line ingot casting self-adaptive conveying control system of claim 1, wherein: the feeding and discharging mechanism (2) comprises a second track (203), a guide wheel bracket (204) and a feeding and discharging variable frequency motor speed reducer (201), the second track (203) is arranged on the guide wheel bracket (204), the feeding and discharging variable frequency motor speed reducer (201) drives the second track (203) through a synchronous belt, a feeding and discharging rotary encoder (202) is installed on the feeding and discharging variable frequency motor speed reducer (201), a feeding and discharging induction switch (206) is installed on one side of the second track (203), a laser thermometer (205) is arranged on the other side of the second track (203), and the feeding and discharging variable frequency motor speed reducer (201), the feeding and discharging rotary encoder (202) and the laser thermometer (205) are all in electrical signal connection with the PLC control system (7).
3. The extrusion production line ingot casting self-adaptive conveying control system of claim 1, wherein: ingot casting centre gripping manipulator (1) includes base, manipulator walking inverter motor (101) and activity hand claw mechanism all establish on the base, walking encoder (102) are installed to manipulator walking inverter motor (101), vertical direction up-and-down motion can be followed to activity hand claw mechanism, manipulator walking inverter motor (101), walking encoder (102) and activity hand claw mechanism all with PLC control system (7) signal of telecommunication connection.
4. The extrusion production line ingot casting self-adaptive conveying control system of claim 1, wherein: the PLC control system (7) comprises a PLC controller, a digital quantity input module and an analog quantity input module, the storage platform ingot casting induction switch (301), the ingot bearing platform correlation induction switch (401), the feeding and discharging correlation induction switch (206) are in signal connection with the digital quantity input module, and the rotary encoder is in signal connection with the analog quantity input module.
5. The extrusion production line ingot casting self-adaptive conveying control system of claim 2, wherein: and a stop block is arranged on the second rail (203).
6. The ingot adaptive conveying control system of the extrusion production line according to claim 3, characterized in that: the base is fixedly provided with a third track which is perpendicular to the first track (6), the movable paw mechanism comprises a movable paw and a movable paw variable frequency motor speed reducer, the movable paw is connected with the third track, a gear is connected to a rotating shaft of the movable paw variable frequency motor speed reducer, the gear is meshed with the third track, the movable paw variable frequency motor speed reducer is provided with an encoder, and the movable paw variable frequency motor speed reducer and the encoder are both in electric signal connection with a PLC control system (7).
7. The ingot adaptive conveying control system of the extrusion production line according to claim 6, characterized in that: the movable paw comprises a first movable paw (103), a second movable paw (106), a first movable paw variable frequency motor speed reducer (104) and a second movable paw variable frequency motor speed reducer (107), the first movable paw (103) and the second movable paw (106) are arranged oppositely, a straight line where the first movable paw (103) and the second movable paw (106) are located is parallel to the first track (6), the first movable paw (103) is close to one side of the ingot bearing platform (4), and the second movable paw (106) is close to one side of the storage platform (3);
the three tracks are two and are respectively connected with a first movable gripper (103) and a second movable gripper (106), a first encoder (105) is installed on a first variable frequency motor speed reducer (104) of the movable gripper, a second encoder (108) is installed on a second variable frequency motor speed reducer (107) of the movable gripper, and the first encoder (105) and the second encoder (108) are both in electric signal connection with the PLC control system (7).
8. An extrusion line ingot adaptive conveying control method using the extrusion line ingot adaptive conveying control system according to claim 7, characterized by comprising the steps of:
step 1) in the conveying process of an ingot (8) on an extrusion production line, a PLC control system (7) judges whether a cold ingot (8) is stored in a storage table (3) or not through an electric signal sent by a storage table ingot sensing switch (301), and when the judgment is true, an ingot clamping manipulator (1) travels to a position L1 above the storage table (3) along a first rail (6) to control a second movable claw (106) to grab the cold ingot (8);
step 2), the ingot clamping manipulator (1) travels to a position L2 above the storage table (3) along a first rail (6) to wait, when a PLC control system (7) sends an ingot calling request instruction to the feeding and discharging mechanism (2), the feeding and discharging mechanism (2) conveys the heated ingot (8), and after the PLC control system (7) receives a discharging and in-place signal of the ingot (8) and the laser thermometer (205) detects that the temperature of the ingot (8) meets the extrusion requirement, the movable claw (103) is controlled to grab the heated ingot (8);
step 3), the PLC control system (7) controls the ingot clamping manipulator (1) to walk to the position L3 above the storage platform (3) along the first rail (6), the second movable claw (106) places the cold ingot (8) on the second rail (203) of the feeding and discharging mechanism (2), the feeding and discharging opposite-emitting induction switch (206) on one side of the second rail (203) sends a signal to the PLC control system (7) after sensing the cold ingot (8), and the PLC control system (7) controls the cold ingot (8) to be conveyed into the furnace of the induction heating furnace (5) along the second rail (203) to be heated;
step 4), the PLC control system (7) controls the ingot clamping manipulator (1) to travel to a position L4 above the storage table (3) along a first rail (6), and then a first movable claw (103) is used for placing a hot ingot (8) on the ingot bearing table (4);
and step 5), the PLC control system (7) controls the ingot clamping manipulator (1) to return to the storage table (3) along the first rail (6) and enter a next ingot (8) self-adaptive conveying cycle.
9. The ingot adaptive conveying control method of the extrusion production line according to claim 8, characterized in that: the specific process of controlling the movable paw II (106) to pick up the cold cast ingot (8) in the step 1) is as follows: the PLC control system (7) sends an instruction to start the two-variable-frequency motor speed reducer (107) of the movable claw, the two-variable-frequency motor speed reducer (107) of the movable claw drives the second movable claw (106) to descend along the third track to grab the cast ingot (8) and then ascend along the third track, and in the process, the PLC control system (7) monitors data of the second encoder (108) of the two-variable-frequency motor speed reducer (107) of the movable claw in real time.
10. The ingot adaptive conveying control method of the extrusion production line according to claim 8, characterized in that: and in the process that the PLC control system (7) controls the ingot clamping manipulator (1) to travel to the position L1-L4 above the storage table (3) along the first rail (6), the horizontal direction travel displacement of the ingot clamping manipulator (1) is controlled by monitoring the data of the travel encoder (102) in real time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010474587.5A CN111570556A (en) | 2020-05-29 | 2020-05-29 | Cast ingot self-adaptive conveying control system and method for extrusion production line |
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| CN202010474587.5A CN111570556A (en) | 2020-05-29 | 2020-05-29 | Cast ingot self-adaptive conveying control system and method for extrusion production line |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113926969A (en) * | 2021-11-19 | 2022-01-14 | 桐乡市思远环保科技有限公司 | Zinc sheet ingot casting collection device |
-
2020
- 2020-05-29 CN CN202010474587.5A patent/CN111570556A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113926969A (en) * | 2021-11-19 | 2022-01-14 | 桐乡市思远环保科技有限公司 | Zinc sheet ingot casting collection device |
| CN113926969B (en) * | 2021-11-19 | 2023-05-26 | 桐乡市思远环保科技有限公司 | Zinc sheet ingot collecting device |
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