CN112123350B - Control system and control method of wood processing device - Google Patents
Control system and control method of wood processing device Download PDFInfo
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- CN112123350B CN112123350B CN202011035676.6A CN202011035676A CN112123350B CN 112123350 B CN112123350 B CN 112123350B CN 202011035676 A CN202011035676 A CN 202011035676A CN 112123350 B CN112123350 B CN 112123350B
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- 238000012545 processing Methods 0.000 title claims abstract description 80
- 238000000034 method Methods 0.000 title claims abstract description 40
- 239000002023 wood Substances 0.000 title claims abstract description 35
- 238000007599 discharging Methods 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 19
- 238000004891 communication Methods 0.000 claims description 18
- 230000006835 compression Effects 0.000 claims description 14
- 238000007906 compression Methods 0.000 claims description 14
- 238000003754 machining Methods 0.000 claims description 13
- 238000003825 pressing Methods 0.000 claims description 13
- 238000005056 compaction Methods 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 7
- 230000003993 interaction Effects 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000002360 preparation method Methods 0.000 claims description 3
- 108010001267 Protein Subunits Proteins 0.000 claims description 2
- 230000009471 action Effects 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 208000027418 Wounds and injury Diseases 0.000 abstract description 3
- 230000006378 damage Effects 0.000 abstract description 3
- 238000005265 energy consumption Methods 0.000 abstract description 3
- 208000014674 injury Diseases 0.000 abstract description 3
- 230000002950 deficient Effects 0.000 abstract description 2
- 238000000926 separation method Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 8
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 1
- 238000000227 grinding Methods 0.000 description 1
- 238000005007 materials handling Methods 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The embodiment of the invention discloses a control system and a control method of a wood processing device, wherein the control system is applied to the wood processing device, a main control computer sends out various instructions, a main control operation panel inputs corresponding processing programs to the main control computer according to the preset shape and size of a workpiece and the specification of a selected processing tool, and the main control computer exchanges information with a controlled object of a servo driving system through an I/O expansion unit based on a PLC control chip so as to control actions of a tool unit, a loading and unloading mechanical arm unit and a processing mechanical arm unit. According to the invention, all working procedures are finished at one time by controlling the processing device, so that the processing precision is effectively improved, the production efficiency is improved, the defective rate is reduced, the energy consumption is reduced, the man-machine separation during processing is realized by automatic control, and the work injury rate of personnel is also effectively reduced.
Description
Technical Field
The embodiment of the invention relates to the technical field of wood processing, in particular to a control system and a control method of a wood processing device.
Background
The traditional wood processing is divided into a plurality of working procedures such as material cutting, processing, assembling, polishing, painting and the like, and different operation posts finish wood processing according to the flow by means of various equipment such as turning, milling, planing, grinding and the like distributed at different positions in a workshop. However, this process is not efficient due to the high latency. The digital upgrading of the processing industry usually takes a numerical control processing center as a core, and the processing center has the characteristics of high efficiency and strong specificity, is suitable for mass production, and has insufficient cost efficiency under the condition of small batch. Finding a small-batch flexible processing mode suitable for the woodworking industry is an innovative problem to be solved. Industrial robots have gained wide use in various industries, such as machinery, electronics, transportation, storage, etc., for their flexibility and reliability in recent decades, but have been used less frequently and primarily for materials handling in the woodworking industry, and more limited for processing.
The present wood working processingequipment that relates to, it includes feed bin unit, frock unit, goes up unloading arm unit and processing arm unit, carries out frock centre gripping and upset by the frock unit and shifts the work piece to be processed, carries out the work piece between feed bin unit and frock unit with the work piece by last unloading arm unit to set up by processing arm unit near the frock unit, process the work piece. However, the above device needs to incorporate a corresponding control system to realize automatic processing of the processing device.
Disclosure of Invention
Therefore, the embodiment of the invention provides a control system and a control method of a wood processing device, which are used for solving the problem that the wood processing device in the prior art lacks automatic processing control.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:
according to a first aspect of an embodiment of the present invention, a woodworking control system is applied to a woodworking device to process a workpiece, the woodworking device includes a bin unit, a tooling unit, a loading and unloading mechanical arm unit and a processing mechanical arm unit, and the woodworking control system includes:
the main control computer is suitable for executing each instruction;
a memory adapted to store a plurality of instructions, the instructions adapted to be loaded and executed by the host computer;
the main control operation panel inputs corresponding control instructions to the main control computer according to the preset shape and size of the workpiece and the specification of the selected processing tool;
the demonstrator is suitable for carrying out information interaction with the main control computer in a serial communication mode so as to carry out manual operation, program writing, parameter configuration and monitoring of the mechanical arm unit in the wood processing device;
the servo driving system is suitable for controlling servo driving devices in the tooling unit, the feeding and discharging mechanical arm unit and the processing mechanical arm unit to receive control instructions of the main control computer and correspondingly control the feeding and discharging mechanical arm unit to sequentially and automatically feed a plurality of workpieces to the tooling unit or feed the workpieces to the stock bin unit according to a program pre-input by the demonstrator;
the tool unit is controlled to automatically clamp, overturn and shift the workpiece;
controlling the machining mechanical arm unit to automatically machine the workpiece;
the I/O expansion unit is based on a PLC control chip and is suitable for information exchange between the main control computer and a controlled object of the servo driving system;
the clamping control of the tool unit and the feeding and discharging mechanical arm unit on the workpiece is completed through a PLC pin serial relay of the I/O expansion unit.
Further, the main control computer is integrated with a main control cabinet circuit, the main control cabinet circuit comprises a first terminal row and a second terminal row, the first terminal row is connected with a breaker QF1, a breaker QF2 and a breaker QF3, the breaker QF1 and the breaker QF2 are all connected with relay coils, the breaker QF3 is connected with a fan coil and a switch power supply, the switch power supply is connected with the second terminal row, so that the switch power supply is suitable for supplying power to the main control computer and a main control operation panel.
Further, the fixture unit comprises a fixture sub-unit and a workpiece positioning sub-unit, the fixture sub-unit comprises a base frame, an active air chuck and a driven air chuck, the active air chuck and the driven air chuck are oppositely arranged at the top of the base frame and are in sliding connection with the base frame, a gap for clamping a workpiece is formed between the active air chuck and the driven air chuck, the workpiece positioning sub-unit comprises three groups of jacking platforms which are arranged between the active air chuck and the driven air chuck side by side, each jacking platform comprises a platform panel and a servo motor which is connected with and drives the platform panel to lift, two pressing cylinders which are oppositely arranged are respectively and slidably connected on the platform panel of each jacking platform, the sliding direction of each pressing cylinder is perpendicular to the clamping axes of the active air chuck and the driven air chuck, the I/O expansion unit comprises a first I/O expansion module, the first I/O expansion module comprises a first group of I/O interfaces, the first group of I/O interfaces and the servo motors of the three groups of jacking platforms are in connection relation through a communication bus, and the first group of I/O interfaces are connected with a plurality of limit switches or limit switches which are respectively controlled by the limit platforms.
Further, the first group of I/O interfaces are respectively connected with the compression cylinder and the two air chucks on the jacking platform through communication buses, and the output interfaces of the first group of I/O interfaces are connected with a plurality of relays, so that the first group of I/O interfaces are suitable for being respectively clamped or loosened by the compression cylinder and the air chucks according to instructions.
Further, the first group of I/O interfaces and the demonstrator establish a connection relationship through a communication bus, and the input interface of the first group of I/O interfaces is connected with a plurality of key switches, which are adapted to be operated by the key switches according to the operation button control devices corresponding to the demonstrator.
Further, the first I/O expansion module includes a second group of I/O interfaces, the second group of I/O interfaces and the compression cylinders on the jacking platform establish a connection relationship through a communication bus, and an input interface of the second group of I/O interfaces is connected with a plurality of limit switches, which are applicable to the plurality of limit switches to respectively control the clamping and stopping positions or the loosening and stopping positions of each compression cylinder according to instructions.
Further, the feeding and discharging mechanical arm unit comprises a mechanical arm and a gripper arranged at the working end of the mechanical arm, the gripper comprises a plurality of electric grippers, the I/O expansion unit comprises a second I/O expansion module, the second I/O expansion module comprises a third group of I/O interfaces, the third group of I/O interfaces and the gripper establish a connection relationship through a communication bus, wherein the input interfaces of the third group of I/O interfaces are connected with a plurality of limit switches, the limit switches are applicable to the limit switches to respectively control the clamping and loosening positions of the grippers according to instructions, and the output interfaces of the third group of I/O interfaces are connected with a plurality of relays, and the limit switches are applicable to the grippers to respectively clamp or loosen according to the instructions.
According to a second aspect of the embodiment of the present invention, a wood processing control method, which adopts the wood processing control system described in this embodiment, includes:
s1, pre-entering a processing program into a main control computer by the demonstrator according to processing requirements, simultaneously carrying out workpiece preparation in a bin unit by an operator, and sending a control instruction through a main control operation panel after the bin unit is in place;
s2, the main control computer receives a control instruction sent by the main control operation panel and performs information interaction with the servo driving system, and the servo driving system controls the feeding and discharging mechanical arm unit to sequentially take materials, position and feed the workpieces to the tool unit according to a pre-set processing program;
s3, after the workpiece is fed, controlling two air chucks of the clamp subunit to clamp two ends of the workpiece by the servo driving system according to a pre-set processing program;
s4, after the workpiece is clamped, controlling a jacking platform of the workpiece positioning subunit to ascend to support the middle section of the workpiece by the servo driving system according to a pre-set processing program, and controlling a compression cylinder on the jacking platform to compress the workpiece;
s5, after the workpiece is positioned, the servo driving system controls the machining mechanical arm unit to machine the workpiece according to a pre-machining program;
s6, after the workpiece is machined, sequentially controlling by the servo driving system according to a pre-machining program:
returning the machining mechanical arm unit;
the pressing cylinder loosens the workpiece;
the feeding and discharging mechanical arm unit sequentially performs material taking, positioning and discharging on the workpiece to the bin unit.
Further, the wood processing control method further comprises the following steps: after the step S2 is executed, the main control computer judges whether the workpiece needs to be overturned for processing according to a pre-processing program:
if the workpiece does not need to be overturned, skipping the step S3, and sequentially executing the steps S4-S6;
if the workpiece is required to be overturned, executing the step S3, and after the step S3 is executed, firstly controlling the processing mechanical arm unit to process the middle section of the workpiece, wherein the step S3 comprises controlling the air chuck to overturne the workpiece, and continuing the steps S4-S6 after the middle section of the workpiece is processed, wherein the step S5 comprises controlling the air chuck to loosen the end parts of the workpiece, and controlling the processing mechanical arm unit to process the two ends of the workpiece.
Further, the wood processing control method further comprises the following steps: after the step S3 is executed, the main control computer judges whether the workpiece needs auxiliary compaction according to a pre-processing program:
if the workpiece does not need auxiliary compaction, the step of overturning and processing is carried out according to the workpiece requirement;
and if the workpiece is required to be pressed in an auxiliary manner, sequentially executing steps S3-S6, wherein step S5 comprises the steps of firstly controlling the processing mechanical arm unit to process the middle section of the workpiece, controlling the air chuck to overturn the workpiece after one surface of the middle section of the workpiece is processed, controlling the pressing cylinder to press the workpiece again, controlling the processing mechanical arm unit to process the other surface of the middle section of the workpiece, controlling the air chuck to loosen the end part of the workpiece after the middle section of the workpiece is processed, and controlling the processing mechanical arm unit to process the two ends of the workpiece.
The embodiment of the invention has the following advantages: the device is provided with a control system which is applied to a wood processing device, a control instruction is input to a main control computer through a main control operation panel, and the main control computer and a controlled object of a servo driving system are subjected to information exchange through an I/O expansion unit based on a PLC control chip, so that actions of a tool unit, a loading and unloading mechanical arm unit and a processing mechanical arm unit are controlled, and the processing device is controlled to automatically complete all working procedures at one time, so that the processing precision is effectively improved, the production efficiency is improved, the defective rate is reduced, the energy consumption is reduced, and the man-machine separation during processing is realized through automatic control, and the work injury rate of personnel is also effectively reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those of ordinary skill in the art that the drawings in the following description are exemplary only and that other implementations can be obtained from the extensions of the drawings provided without inventive effort.
The structures, proportions, sizes, etc. shown in the present specification are shown only for the purposes of illustration and description, and are not intended to limit the scope of the invention, which is defined by the claims, so that any structural modifications, changes in proportions, or adjustments of sizes, which do not affect the efficacy or the achievement of the present invention, should fall within the scope of the invention.
Fig. 1 is a schematic diagram of the overall structure of the woodworking device provided in embodiment 1 of the present invention;
fig. 2 is a schematic structural diagram of a tooling unit of the woodworking device provided in embodiment 1 of the present invention;
FIG. 3 is a control schematic block diagram of the wood working control system provided in embodiment 1 of the present invention;
fig. 4 is a schematic circuit diagram of a master control cabinet of the woodworking control system provided in embodiment 1 of the present invention;
FIGS. 5-6 are schematic diagrams of a first I/O expansion module of the woodworking control system provided in embodiment 1 of the present invention;
fig. 7 is a schematic diagram of a signal line of a tooling unit of the woodworking control system provided in embodiment 1 of the present invention;
FIG. 8 is a schematic diagram of a second I/O expansion module of the woodworking control system provided in embodiment 1 of the present invention;
fig. 9 is a schematic diagram of signal lines of a loading and unloading mechanical arm unit of the woodworking control system provided in embodiment 1 of the present invention.
Detailed Description
Other advantages and advantages of the present invention will become apparent to those skilled in the art from the following detailed description, which, by way of illustration, is to be read in connection with certain specific embodiments, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
The embodiment of the invention provides a wood processing control system which is applied to a wood processing device to process a workpiece.
Wherein, as shown in fig. 1 and 2, the wood working device includes a stock bin unit 1, a tooling unit 2, a loading and unloading mechanical arm unit 3 and a processing mechanical arm unit 4, the tooling unit 2 includes a fixture subunit 21 and a workpiece positioning subunit 22, the fixture subunit 21 includes a base frame, a driving air chuck 211 and a driven air chuck 212, the driving air chuck 211 and the driven air chuck 212 are oppositely arranged at the top of the base frame and are in sliding connection on the base frame, so that a gap for clamping a workpiece is formed between the driving air chuck 211 and the driven air chuck 212, and the axial positioning of the workpiece is realized. Preferably, the driving air chuck 211 is driven to rotate by a servo motor, so that high-speed rotation and accurate indexing can be realized, and the disk body of the driven air chuck 212 is arranged in a free rotation mode, so that after a workpiece is clamped, the driven air chuck 212 can rotate along with the driving air chuck 211, and the workpiece can be overturned. The workpiece positioning subunit 22 comprises three groups of jacking platforms 221 which are arranged between the driving air chuck 211 and the driven air chuck 212 side by side, the jacking platforms 221 comprise a platform panel and a servo motor which is connected with and drives the platform panel to lift, and two pressing cylinders 222 which are arranged oppositely are connected to the platform panel of each group of jacking platforms 221 in a sliding manner, so that the sliding direction of each pressing cylinder 222 is perpendicular to the clamping axes of the driving air chuck 211 and the driven air chuck 212, and the workpiece is respectively pressed in different directions along the horizontal direction and the vertical direction by adopting the plurality of pressing cylinders 222 arranged on the three groups of jacking platforms 221, thereby positioning and clamping of the workpiece tenoning are completed. The feeding and discharging mechanical arm unit 3 is arranged between the stock bin unit 1 and the tool unit 2, and comprises a mechanical arm and a gripper arranged at the working end of the mechanical arm, preferably, the gripper comprises a plurality of electric grippers to clamp and transfer workpieces, and the processing mechanical arm unit 4 is arranged on one side of the tool unit 2 to process the workpieces.
As shown in fig. 3, in combination with the above-mentioned woodworking device, the woodworking control system of the present embodiment includes:
the main control computer 5 is adapted to execute the instructions. Wherein, the main control computer 5 is integrated with a main control cabinet circuit (refer to fig. 4), the main control cabinet circuit includes a first terminal row and a second terminal row, the first terminal row is connected with a breaker QF1, a breaker QF2 and a breaker QF3, the breaker QF1 and the breaker QF2 are all connected with a relay coil, the breaker QF3 is connected with a fan coil and a switch power supply, the switch power supply is connected with the second terminal row to be applicable to the switch power supply and supply power to the main control computer 5 and the main control operation panel 7.
A memory adapted to store a plurality of instructions, and the plurality of instructions are adapted to be loaded and executed by the host computer 5;
the main control operation panel 6 inputs corresponding control instructions to the main control computer 5 according to the preset shape and size of the workpiece and the specification of the selected processing tool;
the demonstrator is suitable for carrying out information interaction with the main control computer 5 in a serial communication mode so as to carry out manual operation, program writing, parameter configuration and monitoring of the wood processing device;
the servo driving system 7 is suitable for controlling servo driving devices in the tooling unit 2, the feeding and discharging mechanical arm unit 3 and the processing mechanical arm unit 4 to receive control instructions of a main control computer and correspondingly control the feeding and discharging mechanical arm unit 3 to sequentially and automatically feed a plurality of workpieces to the tooling unit 2 or feed the workpieces to the stock bin unit 1 according to programming pre-input by a demonstrator;
the tool unit 2 is controlled to automatically clamp and turn over the workpiece;
the machining mechanical arm unit 4 is controlled to automatically machine the workpiece;
the I/O expansion unit 8 is based on a PLC control chip and is suitable for information exchange between the main control computer 5 and a controlled object of the servo drive system;
the workpiece is clamped by the tool unit 2 and the loading and unloading mechanical arm unit 3, and the action control is completed through the PLC pin serial relay of the I/O expansion unit 8.
Specifically, as shown in connection with fig. 5-9, the I/O expansion unit 8 includes a first I/O expansion module and a second I/O expansion module.
The first I/O expansion module includes a first set of I/O interfaces and a second set of I/O interfaces, the first set of I/O interfaces including:
establishing a connection relationship with the servo motors of the three groups of jacking platforms 221 through a communication bus, wherein the input interface of the first group of I/O interfaces is connected with a plurality of limit switches, and the plurality of limit switches are applicable to respectively controlling the upper limit or the lower limit of the three groups of jacking platforms 221 according to instructions;
the pressing cylinder 222 and the two air chucks on the jacking platform 221 are connected through a communication bus, and a plurality of relays are connected to the output interfaces of the first group of I/O interfaces, so that the pressing cylinder 222 and the air chucks are respectively clamped or unclamped according to instructions;
and the demonstrator establishes a connection relation through a communication bus, and the input interface of the first group of I/O interfaces is connected with a plurality of key switches, so that the plurality of key switches are applicable to running according to the operation button control device corresponding to the demonstrator.
The second group of I/O interfaces and the compression cylinders 222 on the jacking platform 221 establish a connection relationship through a communication bus, and the input interfaces of the second group of I/O interfaces are connected with a plurality of limit switches, which are applicable to the limit switches to respectively control the clamping and releasing stop positions of the compression cylinders 222 according to instructions.
The second I/O expansion module comprises a third group of I/O interfaces, the third group of I/O interfaces and the grippers are connected through a communication bus, wherein the input interfaces of the third group of I/O interfaces are connected with a plurality of limit switches, the limit switches are applicable to controlling the clamping stop positions or the loosening stop positions of the plurality of grippers respectively according to the instructions, the output interfaces of the third group of I/O interfaces are connected with a plurality of relays, and the limit switches are applicable to clamping or loosening the plurality of grippers respectively according to the instructions.
The embodiment of the invention has the following advantages: the setting control system is applied to a wood processing device, a control instruction is input to a main control computer 5 through a main control operation panel 6, and information exchange is carried out on a controlled object of a main control computer 5 and a servo driving system 7 through an I/O expansion unit 8 based on a PLC control chip, so that actions of a tool unit 2, a loading and unloading mechanical arm unit 3 and a processing mechanical arm unit 4 are controlled, and therefore the processing device is controlled to automatically complete all working procedures at one time, a plurality of compression cylinders 222 arranged on three groups of jacking platforms 221 are controlled to compress workpieces in different directions along the horizontal direction and the vertical direction respectively, positioning and clamping of workpiece tenoning processing are completed, two groups of pneumatic chucks are controlled to clamp the workpieces, axial positioning of the workpieces is achieved, the mechanical arm processing unit 4 is controlled to process the workpieces, and the like, processing precision is effectively improved, production efficiency is reduced, energy consumption is reduced, manual work can be partially replaced by controlling the loading and unloading mechanical arm unit 3 and the processing mechanical arm unit 4, and the work injury rate of workers can be effectively reduced.
Example 2
As shown in fig. 1, an embodiment of the present invention provides a method for controlling wood processing, where the wood processing control system of embodiment 1 is adopted, including:
s1, pre-entering a processing program into a main control computer 5 by a demonstrator according to processing requirements, simultaneously carrying out workpiece preparation in a bin unit 1 by an operator, and sending a control instruction through a main control operation panel 6 after the bin unit 1 is in place;
s2, a main control computer 5 receives a control instruction sent by a main control operation panel 6 and performs information interaction with a servo driving system 7, and the servo driving system 7 controls a loading and unloading mechanical arm unit 3 to sequentially take materials, position and load the workpieces to a tool unit 2 according to a pre-set processing program;
s3, after the workpiece is fed, controlling two air chucks of the clamp subunit 21 to clamp two ends of the workpiece by a servo driving system 7 according to a pre-set processing program;
s4, after the workpiece is clamped, the servo driving system 7 controls the lifting platform 221 of the workpiece positioning subunit 22 to lift up to support the middle section of the workpiece according to a pre-set processing program, and controls the compression cylinder 222 on the lifting platform 221 to compress the workpiece;
s5, after the workpiece is positioned, the servo driving system 7 controls the machining mechanical arm unit 4 to machine the workpiece according to a pre-machining program;
s6, after the workpiece is processed, sequentially controlling by a servo driving system 7 according to a pre-processing program:
the machining mechanical arm unit 4 returns;
the hold-down cylinder 222 releases the workpiece;
the feeding and discharging mechanical arm unit 3 sequentially performs material taking, positioning and discharging on the workpiece to the bin unit 1.
In another implementation manner, the wood processing control method of the embodiment further includes: after the step S2 is executed, the main control computer 5 determines whether the workpiece needs to be turned over for machining according to the pre-programmed machining program:
if the workpiece does not need to be overturned, skipping the step S3, and sequentially executing the steps S4-S6;
if the workpiece is required to be overturned, executing the step S3, and after the step S3 is executed, firstly controlling the processing mechanical arm unit 4 to process the middle section of the workpiece, including controlling the air chuck to overturne the workpiece, and continuing the steps S4-S6 after the middle section of the workpiece is processed, wherein the step S5 includes controlling the air chuck to loosen the end part of the workpiece, and controlling the processing mechanical arm unit 4 to process the two ends of the workpiece.
In another implementation manner, the wood processing control method of the embodiment further includes: after the step S3 is executed, the main control computer 5 determines whether the workpiece needs auxiliary compaction according to the pre-processing program:
if the workpiece does not need auxiliary compaction, the step of overturning and processing is carried out according to the workpiece requirement;
if the workpiece requires auxiliary compaction, steps S3-S6 are sequentially performed, where step S5 includes controlling the machining mechanical arm unit 4 to machine the middle section of the workpiece, controlling the air chuck to overturn the workpiece after one surface of the middle section of the workpiece is machined, controlling the compaction cylinder 222 to compress the workpiece again, controlling the machining mechanical arm unit 4 to machine the other surface of the middle section of the workpiece, controlling the air chuck to loosen the end of the workpiece after the middle section of the workpiece is machined, and controlling the machining mechanical arm unit 4 to machine both ends of the workpiece.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (8)
1. The utility model provides a wood working control system, is applied to on the wood working device in order to process the work piece, the wood working device includes feed bin unit, frock unit, goes up unloading arm unit and processing arm unit, its characterized in that, wood working control system includes:
the main control computer is suitable for executing each instruction;
a memory adapted to store a plurality of instructions, the instructions adapted to be loaded and executed by the host computer;
the main control operation panel inputs corresponding control instructions to the main control computer according to the preset shape and size of the workpiece and the specification of the selected processing tool;
the demonstrator is suitable for carrying out information interaction with the main control computer in a serial communication mode so as to carry out manual operation, program writing, parameter configuration and monitoring of the mechanical arm unit in the wood processing device;
the servo driving system is suitable for controlling servo driving devices in the tooling unit, the feeding and discharging mechanical arm unit and the processing mechanical arm unit to receive control instructions of the main control computer and correspondingly control the feeding and discharging mechanical arm unit to sequentially and automatically feed a plurality of workpieces to the tooling unit or feed the workpieces to the stock bin unit according to the pre-input programming of the demonstrator;
the tool unit is controlled to automatically clamp, overturn and shift the workpiece;
controlling the machining mechanical arm unit to automatically machine the workpiece;
the I/O expansion unit is based on a PLC control chip and is suitable for information exchange between the main control computer and a controlled object of the servo driving system;
the clamping of the workpiece by the tool unit and the feeding and discharging mechanical arm unit is finished by connecting a relay in series with a PLC pin of the I/O expansion unit;
the main control computer is integrated with a main control cabinet circuit, the main control cabinet circuit comprises a first terminal row and a second terminal row, the first terminal row is connected with a breaker QF1, a breaker QF2 and a breaker QF3, the breaker QF1 and the breaker QF2 are connected with relay coils, the breaker QF3 is connected with a fan coil and a switching power supply, and the switching power supply is connected with the second terminal row so as to be suitable for the switching power supply to supply power to the main control computer and a main control operation panel;
the fixture unit comprises a fixture sub-unit and a workpiece positioning sub-unit, the fixture sub-unit comprises a base frame, a driving air chuck and a driven air chuck, the driving air chuck and the driven air chuck are oppositely arranged at the top of the base frame and are connected to the base frame in a sliding mode, a gap for clamping a workpiece is formed between the driving air chuck and the driven air chuck, the workpiece positioning sub-unit comprises three groups of jacking platforms which are arranged between the driving air chuck and the driven air chuck side by side, each jacking platform comprises a platform panel and a servo motor which is connected with and drives the platform panel to lift, two pressing cylinders which are oppositely arranged are connected to the platform panel of each jacking platform in a sliding mode, the sliding direction of each pressing cylinder is perpendicular to the clamping axes of the driving air chuck and the driven air chuck, the I/O expansion unit comprises a first I/O expansion module, the first I/O expansion module comprises a first group of I/O interfaces, the servo motor of the first group of I/O interfaces and the three groups of jacking platforms establishes a connection relation through communication buses, and the first group of I/O interfaces are connected with a plurality of limit switches or limit switches which are connected with the jacking platforms respectively according to a plurality of limit switches.
2. The woodworking control system of claim 1, wherein: the first group of I/O interfaces are respectively connected with a compression cylinder and two air chucks on the jacking platform through communication buses, and the output interfaces of the first group of I/O interfaces are connected with a plurality of relays, so that the first group of I/O interfaces are suitable for being respectively clamped or loosened by the compression cylinder and the air chucks according to instructions.
3. The woodworking control system of claim 1, wherein: the first group of I/O interfaces and the demonstrator establish a connection relationship through a communication bus, and the input interfaces of the first group of I/O interfaces are connected with a plurality of key switches, so that the key switches are applicable to running according to the operation button control devices corresponding to the demonstrator.
4. The woodworking control system of claim 1, wherein: the first I/O expansion module comprises a second group of I/O interfaces, the second group of I/O interfaces and compression cylinders on the jacking platform are connected through a communication bus, and the input interfaces of the second group of I/O interfaces are connected with a plurality of limit switches which are applicable to the limit switches to respectively control the clamping and stopping positions or the loosening and stopping positions of the compression cylinders according to instructions.
5. The woodworking control system of claim 1, wherein: the feeding and discharging mechanical arm unit comprises a mechanical arm and a gripper arranged at the working end of the mechanical arm, the gripper comprises a plurality of electric grippers, the I/O expansion unit comprises a second I/O expansion module, the second I/O expansion module comprises a third group of I/O interfaces, the third group of I/O interfaces and the gripper establish a connection relationship through a communication bus, wherein the input interfaces of the third group of I/O interfaces are connected with a plurality of limit switches, the limit switches are applicable to the limit switches to respectively control clamping and loosening and stopping positions of the grippers according to instructions, the output interfaces of the third group of I/O interfaces are connected with a plurality of relays, and the limit switches are applicable to the grippers to respectively clamp or loosen according to the instructions.
6. A wood working control method, employing the wood working control system according to any one of claims 1 to 5, characterized in that the wood working control method comprises:
s1, pre-entering a processing program into a main control computer by the demonstrator according to processing requirements, simultaneously carrying out workpiece preparation in a bin unit by an operator, and sending a control instruction through a main control operation panel after the bin unit is in place;
s2, the main control computer receives a control instruction sent by the main control operation panel and performs information interaction with the servo driving system, and the servo driving system controls the feeding and discharging mechanical arm unit to sequentially take materials, position and feed the workpieces to the tool unit according to a pre-set processing program;
s3, after the workpiece is fed, controlling two air chucks of the clamp subunit to clamp two ends of the workpiece by the servo driving system according to a pre-set processing program;
s4, after the workpiece is clamped, controlling a jacking platform of the workpiece positioning subunit to ascend to support the middle section of the workpiece by the servo driving system according to a pre-set processing program, and controlling a compression cylinder on the jacking platform to compress the workpiece;
s5, after the workpiece is positioned, the servo driving system controls the machining mechanical arm unit to machine the workpiece according to a pre-machining program;
s6, after the workpiece is machined, sequentially controlling by the servo driving system according to a pre-machining program:
returning the machining mechanical arm unit;
the pressing cylinder loosens the workpiece;
the feeding and discharging mechanical arm unit sequentially performs material taking, positioning and discharging on the workpiece to the bin unit.
7. The woodworking control method according to claim 6, characterized in that the woodworking control method further comprises: after the step S2 is executed, the main control computer judges whether the workpiece needs to be overturned for processing according to a pre-processing program:
if the workpiece does not need to be overturned, skipping the step S3, and sequentially executing the steps S4-S6;
if the workpiece is required to be overturned, executing the step S3, and after the step S3 is executed, firstly controlling the processing mechanical arm unit to process the middle section of the workpiece, wherein the step S3 comprises controlling the air chuck to overturne the workpiece, and continuing the steps S4-S6 after the middle section of the workpiece is processed, wherein the step S5 comprises controlling the air chuck to loosen the end parts of the workpiece, and controlling the processing mechanical arm unit to process the two ends of the workpiece.
8. The woodworking control method according to claim 7, characterized in that the woodworking control method further comprises: after the step S3 is executed, the main control computer judges whether the workpiece needs auxiliary compaction according to a pre-processing program:
if the workpiece does not need auxiliary compaction, the step of overturning and processing is carried out according to the workpiece requirement;
and if the workpiece is required to be pressed in an auxiliary manner, sequentially executing steps S3-S6, wherein step S5 comprises the steps of firstly controlling the processing mechanical arm unit to process the middle section of the workpiece, controlling the air chuck to overturn the workpiece after one surface of the middle section of the workpiece is processed, controlling the pressing cylinder to press the workpiece again, controlling the processing mechanical arm unit to process the other surface of the middle section of the workpiece, controlling the air chuck to loosen the end part of the workpiece after the middle section of the workpiece is processed, and controlling the processing mechanical arm unit to process the two ends of the workpiece.
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