CN112453300A - Robotized die forging production line - Google Patents

Robotized die forging production line Download PDF

Info

Publication number
CN112453300A
CN112453300A CN202011251748.0A CN202011251748A CN112453300A CN 112453300 A CN112453300 A CN 112453300A CN 202011251748 A CN202011251748 A CN 202011251748A CN 112453300 A CN112453300 A CN 112453300A
Authority
CN
China
Prior art keywords
forging
conveyor
manipulator
limit switch
shaping
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202011251748.0A
Other languages
Chinese (zh)
Inventor
汪爱明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China University of Mining and Technology Beijing CUMTB
Original Assignee
China University of Mining and Technology Beijing CUMTB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China University of Mining and Technology Beijing CUMTB filed Critical China University of Mining and Technology Beijing CUMTB
Priority to CN202011251748.0A priority Critical patent/CN112453300A/en
Publication of CN112453300A publication Critical patent/CN112453300A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J5/00—Methods for forging, hammering, or pressing; Special equipment or accessories therefor
    • B21J5/02—Die forging; Trimming by making use of special dies ; Punching during forging
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B07C5/362—Separating or distributor mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/38—Collecting or arranging articles in groups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J1/00—Preparing metal stock or similar ancillary operations prior, during or post forging, e.g. heating or cooling
    • B21J1/06—Heating or cooling methods or arrangements specially adapted for performing forging or pressing operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J13/00—Details of machines for forging, pressing, or hammering
    • B21J13/08—Accessories for handling work or tools
    • B21J13/10—Manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J3/00—Lubricating during forging or pressing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063—Using robots

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Forging (AREA)

Abstract

The invention belongs to the technical field of intelligent manufacturing, and particularly relates to a robotic die forging production line. The robotic die forging production line comprises: material loading heating system, forging and pressing system, side cut system and plastic system of stacking. The invention adopts industrial manipulators to replace die forging workers, and realizes the identification of the working condition that the forge piece jumps out of the die cavity and the intelligent control of accurately placing the forge piece into the die cavity in the die forging production process based on the computer vision technology. The invention provides a program flow chart of a controller, a mechanical arm, a vision system and a conveyor. The invention liberates workers from a hard production line, improves the production efficiency and reduces the production cost.

Description

Robotized die forging production line
Technical Field
The invention belongs to the technical field of intelligent manufacturing, and particularly provides a robotic die forging production line.
Background
The die forging is a mature mechanical processing method and is widely applied to manufacturing of mechanical equipment in the fields of coal, electric power, aerospace and the like. At present, the working environment of a die forging production site is severe, the labor intensity is high, and the main performance is high temperature and large noise. The hearing of the forger is seriously affected, and the hearing is worse as the worker ages, even the deafness is caused, and various diseases can be caused. In the die forging production process, a worker needs to operate the press on the spot, the distance between the worker and the forge piece is short, the body sensing temperature is high, the physical energy consumption is large, and generally, a plurality of workers are operated at certain intervals, so that the labor cost is high. Therefore, forging plants are facing both difficulties of labor involvement and high costs.
Disclosure of Invention
Aiming at the problems, the invention provides a robotic die forging production line, which uses industrial manipulators to replace people, frees workers from a hard production line, improves the production efficiency and reduces the production cost.
The technical scheme of the invention is as follows:
the robotic die forging line of claim 1, comprising a material loading heating system a, a forging system B, a trimming system C, and a shaping and stacking system D.
The feeding heating system A is composed of a feeding system, a heating furnace and an inclined sliding table.
The forging and pressing system B comprises a forging press, a forging and pressing mechanical hand, a #1 controller, a #1 conveyor, a #1 limit switch, a #2 limit switch, a #1 infrared temperature sensor, a #2 infrared temperature sensor, a #1 loading point vision system, a vertical vision system, a horizontal vision system, a #1 squint vision system, a wood chip scattering device, a push rod device, a graphite emulsion spraying device and a waste rod bin.
The trimming system C consists of a trimming machine, a trimming mechanical arm, #2 controller, #2 conveyor, #2 squint vision system, #2 loading point vision system, #4 limit switch, #3 limit switch and a flash box.
The shaping and stacking system D consists of a shaping machine, a shaping and stacking manipulator, a #3 controller, a #3 conveyor, a #3 squint vision system, a #3 loading point vision system, a #6 limit switch, a #5 limit switch and a stacking box.
The feeding system is connected with the heating furnace, and the heating furnace is connected with the inclined sliding table.
The forging press, the forging manipulator, the #1 conveyor, the #1 limit switch, the #2 limit switch, the #1 infrared temperature sensor, the #2 infrared temperature sensor, the #1 loading point vision system, the vertical vision system, the horizontal vision system, the wood chip scattering device, the push rod device and the graphite milk spraying device are connected with the #1 controller, and the forging manipulator is connected with the #1 oblique vision system.
The trimming machine, the trimming mechanical arm, #2 conveyor, #2 loading point vision system, #4 limit switch and #3 limit switch are connected with the #2 controller, and the trimming mechanical arm is connected with the #2 squint vision system.
The shaping and stacking manipulator, the #3 conveyor, the #3 loading point vision system, the #6 limit switch and the #5 limit switch are connected with the #3 controller, and the shaping and stacking manipulator is connected with the #3 squint vision system.
The feeding system is connected with a #1 controller, the inclined sliding table is connected with a #1 conveyor, the #1 controller is connected with a #2 controller, and the #2 controller is connected with a #3 controller.
The robot die forging production line has the following process flows:
step 1, a feeding system sends a bar into a heating furnace;
step 2, sliding the heated high-temperature bar to a loading point of a #1 conveyor from the sliding table;
step 3, rotating the #1 conveyor, and transferring the high-temperature bar stock to a loading point at the other end of the #1 conveyor;
step 4, if the temperature of the bar stock is unqualified, placing the forging and pressing manipulator into a waste bar stock box;
step 5, if the temperature of the bar stock is qualified, placing the forging press manipulator into a forging die cavity of a forging press;
step 6, the forging machine starts forging, whether the forge piece jumps out of the forging die cavity or not is detected after each forging, if the forge piece jumps out of the forging die cavity, the forge manipulator puts the forge piece into the forging die cavity again, and during the forging process, graphite emulsion is sprayed to the die and the forge piece, and wood chips are scattered;
step 7, after the forging press finishes the specified forging times, the forging manipulator puts the forged piece into a loading point of a #2 conveyor;
8, rotating the #2 conveyor, and transferring the forge piece to a loading point at the other end of the #2 conveyor;
9, grabbing the forged piece from a loading point of a conveyor entering a #2 by the edge cutting manipulator and placing the forged piece into an edge cutting die cavity of the edge cutting machine;
step 10, the edge trimmer starts trimming, after trimming, the trimming manipulator puts the flashes into a flash box, and puts the forgings into a loading point of a #3 conveyor;
step 11, rotating the #3 conveyor, and transferring the forge piece to a loading point at the other end of the #3 conveyor;
12, grabbing a forge piece from a loading point of a #3 conveyor by a shaping and stacking manipulator and placing the forge piece into a shaping die cavity of a shaping machine;
and step 13, shaping by using a shaping machine, and putting the forged piece into a stacking box by using a shaping manipulator after finishing shaping.
The #1 controller controls the forging press, the forging press manipulator, the conveyor, the sawdust spreading device, the push rod device, the graphite milk spraying device and the feeding system to execute specified tasks according to information acquired and processed by the #1 limit switch, the #2 limit switch, the #1 infrared temperature sensor, the #2 infrared temperature sensor, the vertical vision system, the #1 loading point vision system and the horizontal vision system; the forging press, the forging manipulator, the sawdust scattering device, the push rod device and the graphite emulsion spraying device feed back the execution conditions of the respective tasks to the #1 controller; the forging manipulator is matched with the #1 squint vision system, and a forging piece and a bar material are accurately placed into the forging die cavity.
The #2 controller controls the edge trimmer, the edge cutting manipulator and the #2 conveyor to execute specified tasks according to the information acquired and processed by the #3 limit switch, the #4 limit switch and the #2 loading point vision system; the edge trimmer and the edge cutting manipulator feed back the execution conditions of the tasks to the #2 controller; the trimming manipulator is matched with the #2 squint vision system, and the forged piece is accurately placed into the trimming die cavity.
The #3 controller controls the shaping machine, the shaping and stacking manipulator and the #3 conveyor to execute a specified task according to the information acquired and processed by the #5 limit switch, the #6 limit switch and the #3 loading point vision system; the shaping machine and the shaping stacking manipulator feed back the execution conditions of respective services to the #3 controller; the shaping and stacking manipulator is matched with the #3 squint vision system, and the forge piece is accurately placed into the shaping die cavity.
The #1 controller is linked with the #2 controller; and the #2 controller is linked with the #3 controller.
The invention has the beneficial effects that:
the invention liberates workers from a hard die forging production line, improves the production efficiency and reduces the production cost.
The invention is described in further detail below with reference to the following figures and detailed description:
description of the drawings:
fig. 1 is a schematic composition diagram of a robotic die forging line.
FIG. 2 is a schematic diagram of a robotic die forging production line based on a PLC and an industrial personal computer.
FIG. 3 is a flow chart of the #1PLC program.
Fig. 4 is a flow chart of the #2PLC program.
Fig. 5 is a flow chart of the #3PLC program.
FIG. 6 is a flow chart of the #3 IPC program.
FIG. 7 is a flow chart of the #5 IPC program.
FIG. 8 is a flow chart of the #7 IPC program.
Fig. 9 is a flowchart of the forging press robot process.
Figure 10 is a flowchart of the trim robot program.
Fig. 11 is a flowchart of the shaping and stacking robot program.
Fig. 12 is a flowchart of the procedure of the #1 conveyor.
Fig. 13 is a flowchart of the #2 conveyor program.
Fig. 14 is a flowchart of the procedure of the #3 conveyor.
The specific implementation mode is as follows:
as can be seen from fig. 1 and 2, the robotic die forging production line provided by the invention comprises a feeding heating system a, a forging system B, a trimming system C and a shaping stacking system D.
The controller is realized by a PLC, and the visual system is realized by a camera and an industrial personal computer.
The feeding heating system A is composed of a feeding system, a heating furnace and an inclined sliding table.
The forging and pressing system B comprises a forging press, a forging and pressing mechanical hand, #1PLC, #1 conveyor, #1 limit switch, #2 limit switch, #1 infrared temperature sensor, #2 infrared temperature sensor, #1 loading point camera, #1 industrial personal computer, vertical camera, #2 industrial personal computer, horizontal camera, #4 industrial personal computer, #1 oblique view camera, #3 industrial personal computer, sawdust scattering device, push rod device, graphite emulsion spraying device and waste rod bin.
The trimming system C consists of a trimming machine, a trimming manipulator, a #2PLC, a #2 conveyor, a #2 oblique view camera, a #5 industrial personal computer, a #2 loading point camera, a #6 industrial personal computer, a #4 limit switch, a #3 limit switch and a flash box.
The shaping and stacking system D consists of a shaping machine, a shaping and stacking manipulator, a #3PLC, a #3 conveyor, a #3 squint camera, a #7 industrial personal computer, a #3 loading point camera, a #8 industrial personal computer, a #6 limit switch, a #5 limit switch and a stacking box.
The feeding system is connected with the heating furnace, and the heating furnace is connected with the inclined sliding table.
The forging and pressing machine comprises a forging and pressing machine body, a forging and pressing mechanical hand, a #1 conveyor, a #1 limit switch, a #2 limit switch, a #1 infrared temperature sensor, a #2 infrared temperature sensor, a #1 industrial personal computer, a #2 industrial personal computer, a #4 industrial personal computer, a wood chip scattering device, a push rod device and a graphite milk spraying device, wherein the #1 infrared temperature sensor is connected with the #1PLC, the forging and pressing mechanical hand is connected with the #3 industrial personal computer, the #3 industrial personal computer is connected with the #1 oblique-view camera to form a #1 oblique-view visual system, the #1 industrial personal computer is connected with the #1 loading point camera to form a #1 loading point visual system, the #2 industrial personal computer is.
The trimming machine, the trimming manipulator, #2 conveyer, #6 industrial personal computer, #4 limit switch, #3 limit switch are connected with #2PLC, the trimming manipulator is connected with #5 industrial personal computer, the #5 industrial personal computer is connected with #2 squint camera to form 2 squint visual system, and the #6 industrial personal computer is connected with #2 loading point camera to form #2 loading point visual system.
The shaping and stacking manipulator is connected with the #7 industrial personal computer, the #7 industrial personal computer is connected with the #3 squint camera to form a #3 squint visual system, and the #8 industrial personal computer is connected with the #3 loading point camera to form a #3 loading point visual system.
The feeding system is connected with a #1PLC, the inclined sliding table is connected with a #1 conveyor, the #1PLC is connected with a #2PLC, and the #2PLC is connected with a #3 PLC.
A robotic die forging production line has the following process flows:
the robot die forging production line has the following process flows:
step 1, a feeding system sends a bar into a heating furnace;
step 2, sliding the heated high-temperature bar to a loading point of a #1 conveyor from the sliding table;
step 3, rotating the #1 conveyor, and transferring the high-temperature bar stock to a loading point at the other end of the #1 conveyor;
step 4, if the temperature of the bar stock is unqualified, placing the forging and pressing manipulator into a waste bar stock box;
step 5, if the temperature of the bar stock is qualified, placing the forging press manipulator into a forging die cavity of a forging press;
step 6, the forging machine starts forging, whether the forge piece jumps out of the forging die cavity or not is detected after each forging, if the forge piece jumps out of the forging die cavity, the forge manipulator puts the forge piece into the forging die cavity again, and during the forging process, graphite emulsion is sprayed to the die and the forge piece, and wood chips are scattered;
step 7, after the forging press finishes the specified forging times, the forging manipulator puts the forged piece into a loading point of a #2 conveyor;
8, rotating the #2 conveyor, and transferring the forge piece to a loading point at the other end of the #2 conveyor;
9, grabbing the forged piece from a loading point of a conveyor entering a #2 by the edge cutting manipulator and placing the forged piece into an edge cutting die cavity of the edge cutting machine;
step 10, the edge trimmer starts trimming, after trimming, the trimming manipulator puts the flashes into a flash box, and puts the forgings into a loading point of a #3 conveyor;
step 11, rotating the #3 conveyor, and transferring the forge piece to a loading point at the other end of the #3 conveyor;
12, grabbing a forge piece from a loading point of a #3 conveyor by a shaping and stacking manipulator and placing the forge piece into a shaping die cavity of a shaping machine;
and step 13, shaping by using a shaping machine, and putting the forged piece into a stacking box by using a shaping manipulator after finishing shaping.
The #1PLC controls the forging press, the forging press manipulator, the conveyor, the wood chip scattering device, the push rod device, the graphite milk spraying device and the feeding system to execute specified tasks according to information acquired and processed by the #1 limit switch, the #2 limit switch, the #1 infrared temperature sensor, the #2 infrared temperature sensor, the #1 industrial personal computer, the #2 industrial personal computer and the #4 industrial personal computer; the forging press, the forging manipulator, the sawdust spreading device, the push rod device and the graphite emulsion spraying device feed back the execution conditions of the respective tasks to the #1 PLC; the forging manipulator is matched with a #3 industrial personal computer and a #1 squint camera, and a forging piece and a bar material are accurately placed into the forging die cavity.
The #2PLC controls the edge trimmer, the edge cutting manipulator and the #2 conveyor to execute specified tasks according to the information acquired and processed by the #3 limit switch, the #4 limit switch and the #6 industrial personal computer; the edge trimmer and the edge cutting manipulator feed back the execution situation of each task to the #2 PLC; the trimming manipulator is matched with a #5 industrial personal computer and a #2 squint camera, and a forged piece is accurately placed into the trimming die cavity.
The #3PLC controls the shaping and stacking manipulator and the #3 conveyor to execute specified tasks according to information acquired and processed by the #5 limit switch, the #6 limit switch and the #8 industrial personal computer; the shaping machine and the shaping stacking manipulator feed back the execution conditions of respective tasks to the #3 PLC; the shaping and stacking manipulator is matched with a #7 industrial personal computer and a #3 squint camera, and the forge piece is accurately placed into the shaping die cavity.
The #1PLC is linked with the #2 PLC; and the #2PLC is linked with the #3 PLC.
As can be seen from fig. 2, the #1PLC has the following program flow:
reading the state of a #1 limit switch;
if the #1 limit switch is triggered, starting a feeding system, feeding a bar stock into the heating furnace, otherwise, reversely rotating the #1 conveyor, and returning to the step 1;
reading the temperature data of the infrared sensor # 1;
if the temperature data of the infrared sensor #1 is larger than the set threshold #1, the conveyor #1 is rotated in the forward direction, and if not, the step 3 is returned;
reading the state of a #2 limit switch;
reading the position information of the high-temperature bar output by the industrial personal computer #1 and transmitting the position information to the forging press manipulator if the limit switch #2 is triggered, otherwise, returning to the step 5;
seventhly, reading the temperature data of the infrared sensor # 2;
if the temperature data of the infrared sensor #2 is larger than a set threshold #2, informing a forging manipulator to place the bar into a forging die cavity, after the bar is successfully placed, returning to 1 by the forging manipulator, and if the bar is not successfully placed, returning to 0, otherwise, informing the forging manipulator to send the bar into a waste bar bin, controlling a conveyor #1 to rotate reversely to enable a transfer point to reach a limit switch #1, then reading the state of the limit switch #1, if the limit switch #1 is triggered, starting a feeding system, sending the bar into a heating furnace, and returning to the step 3, otherwise, continuously waiting until the limit switch #1 is triggered;
ninthly, if the forging manipulator successfully places the bar into the forging die cavity, controlling the graphite emulsion spraying device to spray graphite emulsion, returning to 1 after the spraying is finished, and otherwise, continuing to wait until the forging manipulator successfully places the bar into the forging die cavity;
if the graphite emulsion is sprayed on the red, controlling the forging press to forge once, if the forging is finished, returning to step 1, otherwise, continuing to wait until the graphite emulsion is sprayed;
Figure BDA0002771811020000081
if the forging is finished, reading the information whether the high-temperature forge piece output by the industrial personal computer #4 jumps out of the die cavity;
Figure BDA0002771811020000082
if the forging does not jump out of the die cavity, reducing the residual forging times by 1;
Figure BDA0002771811020000083
if the forging piece jumps out of the die cavity, the push rod device is controlled to push out, and then if the push rod does not complete the pushing out movementIf the push rod finishes the push action, reading the position information of the high-temperature forge piece output by the #2 industrial personal computer, transmitting the position information to the forging manipulator, informing the forging manipulator to place the bar into a forging die cavity, and if the bar is successfully placed into the die cavity, returning to the step 12;
Figure BDA0002771811020000091
if the residual forging times are equal to 1, controlling the sawdust spreading device to act, if the sawdust spreading action is not finished, continuing to wait until the sawdust spreading action is finished, and if the sawdust spreading action is finished, returning to the step 10;
Figure BDA0002771811020000092
if the residual forging times are not equal to 1, judging whether the residual forging times are equal to 0 or not, if not, returning to the step 10, and if so, sending an instruction to the #2PLC to control the #2 conveyor to rotate reversely so that a loading point reaches a #3 limit switch;
Figure BDA0002771811020000093
if the loading point of the #2 conveyor reaches the #3 limit switch, the forging manipulator is informed to grab the forge piece and place the forge piece at the transshipment point of the #2 conveyor, and if not, the forging manipulator continues to wait until the loading point reaches the #3 limit switch;
Figure BDA0002771811020000094
if the forging manipulator finishes loading the forged piece, sending an instruction to the #2PLC to enable the #2PLC to start the #2 conveyor forward, and if not, continuing to wait until the forging manipulator finishes loading the forged piece;
Figure BDA0002771811020000095
controlling the #1 conveyor to rotate reversely;
Figure BDA0002771811020000096
and returning to the step 1.
As can be seen from fig. 3, the #2PLC has the following program flow:
judging whether a command for rotating the #2 conveyor in the forward direction sent by the #1PLC is received or not if the command for rotating the #2 conveyor in the reverse direction sent by the #1PLC is not received;
secondly, if an instruction of reversely rotating the #2 conveyor, sent by the #1PLC, is received, reversely rotating the #2 conveyor, then reading the state of the #3 limit switch, if the #3 limit switch is not triggered, continuously waiting until the #3 limit switch is triggered, if the #3 limit switch is triggered, sending a return message to the #1PLC to indicate that the #2 conveyor reversely rotates in place, and returning to the step 1;
if the command of the forward rotation of the #2 conveyor sent by the #1PLC is not received, the step 1 is returned;
if receiving the instruction of the forward rotation of the #2 conveyor sent by the #1PLC, the #2 conveyor is rotated forward;
reading the state of the #4 limit switch
If the #4 limit switch is not triggered, continuing to wait until the #1 limit switch is triggered;
if the #4 limit switch is triggered, reading the position information of the high-temperature forging output by the #6 industrial personal computer, and transmitting the position information to the edge cutting manipulator;
informing the edge cutting manipulator to place the forged piece into the edge cutting die cavity;
ninthly, if the edge cutting mechanical hand successfully puts the forged piece into the edge cutting die cavity, controlling the edge cutting machine to act, and if not, continuing to wait until the edge cutting mechanical hand successfully puts the forged piece into the edge cutting die cavity;
if the edge cutting manipulator finishes edge cutting, the edge cutting manipulator is informed to place the flash into an edge cutting box, otherwise, the waiting is continued until the edge cutting manipulator finishes edge cutting;
Figure BDA0002771811020000101
if the trimming manipulator puts the flash into the trimming box, the #3 is givenThe PLC sends a command to control the #3 conveyor to rotate reversely, so that the loading point reaches the #5 limit switch, otherwise, the PLC continues to wait until the trimming manipulator puts the flash into the trimming box;
Figure BDA0002771811020000102
if the loading point of the #3 conveyor reaches the #5 limit switch, the trimming manipulator is informed to place the forge piece into the loading point of the #3 conveyor, otherwise, the trimming manipulator continues to wait until the loading point reaches the #5 limit switch;
Figure BDA0002771811020000103
if the trimming manipulator finishes loading the forged piece, sending an instruction to the #3PLC to enable the #3PLC to rotate the #3 conveyor forward, and otherwise, continuing to wait until the trimming manipulator finishes loading the forged piece;
Figure BDA0002771811020000104
controlling the #2 conveyor to rotate reversely;
Figure BDA0002771811020000105
and returning to the step 1.
As can be seen from fig. 4, the #3PLC has the following program flow:
judging whether an instruction for rotating the #3 conveyor in the forward direction sent by the #2PLC is received or not if the instruction for rotating the #3 conveyor in the reverse direction sent by the #2PLC is not received;
secondly, if an instruction of reversely rotating the #3 conveyor, sent by the #2PLC, is received, reversely rotating the #3 conveyor, then reading the state of the #5 limit switch, if the #5 limit switch is not triggered, continuously waiting until the #5 limit switch is triggered, if the #5 limit switch is triggered, sending a return message to the #2PLC to indicate that the #3 conveyor reversely rotates in place, and returning to the step 1;
if the command of forward rotation of the #3 conveyor sent by the #2PLC is not received, returning to the step 1;
if receiving the command of positively rotating the #3 conveyor sent by the #2PLC, positively rotating the #3 conveyor;
reading the state of the #6 limit switch
If the #6 limit switch is not triggered, continuing to wait until the #6 limit switch is triggered;
if the #6 limit switch is triggered, reading the position information of the high-temperature forging output by the #8 industrial personal computer, and transmitting the position information to the shaping manipulator;
informing a shaping manipulator to place the forged piece into a shaping die cavity;
ninthly, if the shaping mechanical arm successfully puts the forged piece into the shaping die cavity, controlling the shaping machine to act, and if not, continuing to wait until the shaping mechanical arm successfully puts the forged piece into the shaping die cavity;
if the reshaping is finished by the reshaping manipulator, the reshaping manipulator is informed to place the forge piece into the stacking box, and if not, the reshaping manipulator continues to wait until the reshaping manipulator places the forge piece into the stacking box;
Figure BDA0002771811020000111
controlling the #3 conveyor to rotate reversely to enable the loading point to reach the #5 limit switch;
Figure BDA0002771811020000112
if the loading point of the #3 conveyor is to the #5 limit switch, the process returns to the step 1, otherwise, the process continues to wait until the loading point is to the #5 limit switch.
As can be seen from fig. 5, the #3 industrial personal computer has the following program flow:
if an instruction for judging whether the forging manipulator is accurately placed into the forging die cavity is not received, continuing waiting until the instruction for judging whether the forging manipulator is accurately placed into the forging die cavity is received;
if receiving an instruction sent by the forging manipulator for judging whether the forging manipulator is accurately placed in the forging impression, reading a #1 squint camera signal;
analyzing based on machine vision and artificial intelligence algorithm to judge whether the forging die cavity is accurately placed;
fourthly, if the forge piece is accurately placed in the forging die cavity, returning to the forging manipulator by 1, and returning to the step 1;
fifthly, if the forge piece is not accurately placed in the forging die cavity, the adjusting coordinate is sent to a forging manipulator;
if the forging and pressing mechanical hand does not finish the putting action, continuing to wait until the forging and pressing mechanical hand does not finish the putting action, otherwise, returning to the step 2;
as can be seen from fig. 6, the #5 industrial personal computer has the following program flow:
if an instruction for judging whether the trimming die cavity is accurately placed or not is not received, the operation of continuing waiting until the instruction for judging whether the trimming die cavity is accurately placed or not is received, wherein the instruction is sent by the trimming manipulator;
if an instruction for judging whether the cutting edge is accurately placed into the cutting edge impression is received, which is sent by the cutting edge manipulator, reading a #2 squint camera signal;
analyzing based on machine vision and artificial intelligence algorithm to judge whether the trimming die cavity is accurately placed;
if the forge piece is accurately placed into the trimming die cavity, returning to the trimming manipulator 1 and returning to the step 1;
if the forge piece is not accurately placed in the trimming die cavity, the adjusted coordinate is sent to a trimming manipulator;
if the edge cutting mechanical hand does not finish the putting action, continuing to wait until the edge cutting mechanical hand does not finish the putting action, otherwise, returning to the step 2;
as can be seen from fig. 7, the #7 industrial personal computer has the following program flow:
if an instruction for judging whether the shaping die cavity is accurately placed or not is not received, the step of continuing to wait until the instruction for judging whether the shaping die cavity is accurately placed or not is received, wherein the instruction is sent by the shaping manipulator;
if receiving an instruction sent by the shaping manipulator for judging whether the shaping impression is accurately placed, reading a #3 squint camera signal;
analyzing based on machine vision and artificial intelligence algorithm to judge whether the plastic mold cavity is accurately placed;
fourthly, if the forge piece is accurately placed into the shaping die cavity, returning to the shaping manipulator 1, and returning to the step 1;
fifthly, if the forge piece is not accurately placed in the shaping die cavity, the adjusted coordinate is sent to a shaping manipulator;
if the shaping manipulator does not finish the putting-in action, continuing to wait until the shaping manipulator does not finish the putting-in action, otherwise, returning to the step 2.
As can be seen from fig. 8, the forging press robot has the following program flow:
judging whether an instruction of grabbing a forge piece to be placed into a loading point of a #2 conveyor sent by a #1PLC is received;
if an instruction of grabbing and placing a loading point of the #2 conveyor sent by the #1PLC is received, transferring the forge piece according to the given initial point coordinate, and returning 1 to the #1 PLC;
thirdly, if the command of grabbing and placing the forge piece into the loading point of the #2 conveyor sent by the #1PLC is not received, whether the command of grabbing and placing the forge piece into the forging and pressing die cavity sent by the #1PLC is received or not is judged;
if the instruction of grabbing the forge piece to be placed into the forging die cavity sent by the #1PLC is not received, returning to the step 1;
if receiving an instruction of grabbing the forge piece and putting the forge piece into a forging die cavity sent by the #1PLC, placing the forge piece according to the given initial point coordinate;
sixthly, returning to the industrial personal computer No. 3 after the placement is finished;
seventhly, sending an instruction for judging whether the trimming die cavity is accurately placed to the #3 industrial personal computer
If the die is accurately placed into a forging and pressing die chamber, returning to the No. 1 PLC;
and ninthly, if the forging and pressing mold cavity is not accurately placed, reading the adjustment coordinate output by the #3 industrial personal computer, and returning to the 4 th step.
As can be seen from fig. 9, the edge trimmer robot has the following program flow:
judging whether an instruction of grabbing a forge piece to be placed into a loading point of a #3 conveyor sent by a #2PLC is received;
if an instruction of grabbing and placing a loading point of the #3 conveyor sent by the #2PLC is received, transferring the forge piece according to the given initial point coordinate, and returning 1 to the #2 PLC;
thirdly, if the command of grabbing and placing the forge piece into the loading point of the #3 conveyor sent by the #2PLC is not received, whether the command of grabbing and placing the forge piece into the trimming die cavity sent by the #2PLC is received or not is judged;
if the instruction of grabbing the forge piece to be placed into the trimming die cavity sent by the #2PLC is not received, returning to the step 1;
if receiving an instruction sent by the #2PLC for grabbing the forge piece and placing the forge piece into the trimming die cavity, placing the forge piece according to the given initial point coordinate;
sixthly, returning to the industrial personal computer No. 5 after the placement is finished;
seventhly, sending an instruction for judging whether the trimming die cavity is accurately placed to the #5 industrial personal computer
If the cutting die chamber is accurately placed, returning to the No. 2PLC from the step 1;
ninthly, if the trimming mold is not accurately placed in the trimming mold, reading the adjustment coordinate output by the #3 industrial personal computer, and returning to the step 4;
as can be seen from fig. 10, the shaping and stacking robot has the following program flow:
judging whether an instruction of grabbing a forge piece and putting the forge piece into a shaping die cavity sent by a #3PLC is received;
if the command of grabbing the forge piece to be placed into the shaping die cavity sent by the #3PLC is not received, returning to the step 1;
thirdly, if an instruction sent by the #1PLC for grabbing the forge piece and placing the forge piece into the shaping die cavity is received, placing the forge piece according to the given initial point coordinate;
fourthly, returning 1 to a #7 industrial personal computer after the placement is finished;
fifthly, sending an instruction for judging whether the shaping impression is accurately placed to a #7 industrial personal computer
Returning to the No. 3PLC if the shaping die is accurately placed in the shaping die cavity;
seventhly, if the workpiece is not accurately placed in the shaping die cavity, reading an adjusting coordinate output by a #7 industrial personal computer, and returning to the step 3;
as can be seen from fig. 11, the #1 conveyor has the following program flow:
judging whether a reverse instruction of the #1PLC is received or not;
if a #1PLC reverse rotation instruction is received, the #1 conveyor driving motor reversely rotates until a #1 limit switch is triggered, the #1 conveyor is stopped, and the step 1 is returned;
thirdly, if the reverse rotation instruction of the #1PLC is not received, judging whether the forward rotation instruction of the #1PLC is received or not;
if the #1PLC forward rotation instruction is not received, returning to the step 1;
if receiving a #1PLC forward rotation instruction, the #1 conveyor driving motor rotates reversely until a #2 limit switch is triggered, the #1 conveyor is stopped, and the step 1 is returned;
as can be seen from fig. 12, the #2 conveyor has the following program flow:
judging whether a reverse instruction of the #2PLC is received or not;
if a #2PLC reverse rotation instruction is received, the #2 conveyor driving motor reversely rotates until a #3 limit switch is triggered, the #2 conveyor is stopped, and the step 1 is returned;
thirdly, if the reverse rotation instruction of the #2PLC is not received, judging whether the forward rotation instruction of the #2PLC is received or not;
if the #2PLC forward rotation instruction is not received, returning to the step 1;
if a #2PLC forward rotation instruction is received, the #2 conveyor driving motor rotates reversely until a #4 limit switch is triggered, the #2 conveyor is stopped, and the step 1 is returned to;
as can be seen from fig. 13, the #3 conveyor has the following program flow:
judging whether a reverse instruction of a #3PLC is received or not;
if a #3PLC reverse rotation instruction is received, the #3 conveyor driving motor reversely rotates until a #5 limit switch is triggered, the #3 conveyor is stopped, and the step 1 is returned;
thirdly, if the reverse rotation instruction of the #3PLC is not received, judging whether the forward rotation instruction of the #3PLC is received or not;
if the #3PLC forward rotation instruction is not received, returning to the step 1;
if receiving the positive rotation command of the #3PLC, the driving motor of the #3 conveyor rotates reversely until triggering the #6 limit switch, stopping the #3 conveyor and returning to the step 1.
Finally, it should be noted that the above examples are intended to illustrate the technical solutions of the present invention, but not to limit the same, and those skilled in the art may modify the embodiments or substitute part of the technical features to achieve the object of the present invention, and change the robot die forging line without departing from the spirit of the technical solutions of the present invention, and shall be covered by the scope of the present invention as claimed.

Claims (6)

1. A robotic die forging production line is characterized by comprising a feeding heating system A, a forging system B, a trimming system C and a shaping stacking system D;
the feeding heating system A consists of a feeding system, a heating furnace and an inclined sliding table;
the forging and pressing system B consists of a forging press, a forging and pressing manipulator, a #1 controller, a #1 conveyor, a #1 limit switch, a #2 limit switch, a #1 infrared temperature sensor, a #2 infrared temperature sensor, a #1 loading point vision system, a vertical vision system, a horizontal vision system, a #1 squint vision system, a wood chip scattering device, a push rod device, a graphite emulsion spraying device and a waste rod bin;
the trimming system C consists of a trimming machine, a trimming mechanical arm, a #2 controller, a #2 conveyor, a #2 squint vision system, a #2 loading point vision system, a #4 limit switch, a #3 limit switch and a flash box;
the shaping and stacking system D consists of a shaping machine, a shaping and stacking manipulator, a #3 controller, a #3 conveyor, a #3 squint vision system, a #3 loading point vision system, a #6 limit switch, a #5 limit switch and a stacking box;
the feeding system is connected with the heating furnace, and the heating furnace is connected with the inclined sliding table;
the forging press, the forging manipulator, the #1 conveyor, the #1 limit switch, the #2 limit switch, the #1 infrared temperature sensor, the #2 infrared temperature sensor, the #1 loading point vision system, the vertical vision system, the horizontal vision system, the wood chip scattering device, the push rod device and the graphite milk spraying device are connected with the #1 controller, and the forging manipulator is connected with the #1 oblique vision system;
the trimming machine, the trimming mechanical arm, #2 conveyor, #2 loading point vision system, #4 limit switch and #3 limit switch are connected with the #2 controller, and the trimming mechanical arm is connected with the #2 squint vision system;
the shaping and stacking manipulator, the #3 conveyor, the #3 loading point vision system, the #6 limit switch and the #5 limit switch are connected with the #3 controller, and the shaping and stacking manipulator is connected with the #3 squint vision system;
the feeding system is connected with a #1 controller, the inclined sliding table is connected with a #1 conveyor, the #1 controller is connected with a #2 controller, and the #2 controller is connected with a #3 controller.
2. The robotic die forging line of claim 1, wherein said robotic die forging line comprises the following process flows:
step 1, a feeding system sends a bar into a heating furnace;
step 2, sliding the heated high-temperature bar to a loading point of a #1 conveyor from the sliding table;
step 3, rotating the #1 conveyor, and transferring the high-temperature bar stock to a loading point at the other end of the #1 conveyor;
step 4, if the temperature of the bar stock is unqualified, placing the forging and pressing manipulator into a waste bar stock box;
step 5, if the temperature of the bar stock is qualified, placing the forging press manipulator into a forging die cavity of a forging press;
step 6, the forging machine starts forging, whether the forge piece jumps out of the forging die cavity or not is detected after each forging, if the forge piece jumps out of the forging die cavity, the forge manipulator puts the forge piece into the forging die cavity again, and during the forging process, graphite emulsion is sprayed to the die and the forge piece, and wood chips are scattered;
step 7, after the forging press finishes the specified forging times, the forging manipulator puts the forged piece into a loading point of a #2 conveyor;
8, rotating the #2 conveyor, and transferring the forge piece to a loading point at the other end of the #2 conveyor;
9, grabbing the forged piece from a loading point of a conveyor entering a #2 by the edge cutting manipulator and placing the forged piece into an edge cutting die cavity of the edge cutting machine;
step 10, the edge trimmer starts trimming, after trimming, the trimming manipulator puts the flashes into a flash box, and puts the forgings into a loading point of a #3 conveyor;
step 11, rotating the #3 conveyor, and transferring the forge piece to a loading point at the other end of the #3 conveyor;
12, grabbing a forge piece from a loading point of a #3 conveyor by a shaping and stacking manipulator and placing the forge piece into a shaping die cavity of a shaping machine;
and step 13, shaping by using a shaping machine, and putting the forged piece into a stacking box by using a shaping manipulator after finishing shaping.
3. The robotic die forging production line of claim 1, wherein the #1 controller controls the forging press, the forging press manipulator, the conveyor, the wood chip spreading device, the push rod device, the graphite emulsion spraying device and the feeding system to execute a specified task according to information collected and processed by the #1 limit switch, the #2 limit switch, the #1 infrared temperature sensor, the #2 infrared temperature sensor, the vertical vision system, the #1 loading point vision system and the # horizontal vision system;
the forging press, the forging manipulator, the sawdust scattering device, the push rod device and the graphite emulsion spraying device feed back the execution conditions of the respective tasks to the #1 controller;
the forging manipulator is matched with the #1 squint vision system, and the forging piece is accurately placed into the forging impression.
4. The robotic die forging line of claim 1, wherein said #2 controller controls the edge trimmer, the edge trimmer robot, and the #2 conveyor according to the information collected and processed by the #3 limit switch, the #4 limit switch, and the #2 loading point vision system;
the edge trimmer and the edge cutting manipulator feed back the execution conditions of the tasks to the #2 controller;
the trimming manipulator is matched with the #2 squint vision system, and the forged piece is accurately placed into the trimming die cavity.
5. The robotic die forging production line of claim 1, wherein the #3 controller controls the shaper, the shaping stacking manipulator and the #3 conveyor according to the information collected and processed by the #5 limit switch, the #6 limit switch and the #3 loading point vision system;
the shaping machine and the shaping stacking manipulator feed back the execution conditions of respective services to the #3 controller;
the shaping and stacking manipulator is matched with the #3 squint vision system, and the forge piece is accurately placed into the shaping die cavity.
6. The robotic die forging line of claim 1, wherein said #1 controller is operatively coupled to said #2 controller, and said #2 controller is operatively coupled to said #3 controller.
CN202011251748.0A 2020-11-11 2020-11-11 Robotized die forging production line Pending CN112453300A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011251748.0A CN112453300A (en) 2020-11-11 2020-11-11 Robotized die forging production line

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011251748.0A CN112453300A (en) 2020-11-11 2020-11-11 Robotized die forging production line

Publications (1)

Publication Number Publication Date
CN112453300A true CN112453300A (en) 2021-03-09

Family

ID=74825514

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011251748.0A Pending CN112453300A (en) 2020-11-11 2020-11-11 Robotized die forging production line

Country Status (1)

Country Link
CN (1) CN112453300A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113641155A (en) * 2021-07-23 2021-11-12 连云港杰瑞自动化有限公司 High-temperature forging detection control system
CN114570872A (en) * 2022-03-18 2022-06-03 北京机电研究所有限公司 Blade precision forging method and production line
CN115229103A (en) * 2022-06-28 2022-10-25 苏州虹逸重工科技有限公司 Automatic servo numerical control forging line of horizontal double-end upset forging car semi-axis

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006048373A (en) * 2004-08-04 2006-02-16 Ntn Corp Production management method for mechanical element commodity
CN105195655A (en) * 2015-09-25 2015-12-30 武汉新威奇科技有限公司 Industrial robot forging automatic line system and control method thereof
CN107282835A (en) * 2017-05-16 2017-10-24 浙江大学 Industrial robot intelligence swage line system and application
CN108873847A (en) * 2018-07-13 2018-11-23 北京工业大学 A kind of collecting method towards die forging production line
CN109521737A (en) * 2018-11-14 2019-03-26 北京工业大学 A kind of die forging production line intelligence control system
US20190176209A1 (en) * 2017-12-12 2019-06-13 Sumitomo Heavy Industries, Ltd. Press forming system
CN110293200A (en) * 2019-08-08 2019-10-01 中国矿业大学(北京) A kind of forging equipment robotization auxiliary device and forging dystopy detection method

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006048373A (en) * 2004-08-04 2006-02-16 Ntn Corp Production management method for mechanical element commodity
CN105195655A (en) * 2015-09-25 2015-12-30 武汉新威奇科技有限公司 Industrial robot forging automatic line system and control method thereof
CN107282835A (en) * 2017-05-16 2017-10-24 浙江大学 Industrial robot intelligence swage line system and application
US20190176209A1 (en) * 2017-12-12 2019-06-13 Sumitomo Heavy Industries, Ltd. Press forming system
CN108873847A (en) * 2018-07-13 2018-11-23 北京工业大学 A kind of collecting method towards die forging production line
CN109521737A (en) * 2018-11-14 2019-03-26 北京工业大学 A kind of die forging production line intelligence control system
CN110293200A (en) * 2019-08-08 2019-10-01 中国矿业大学(北京) A kind of forging equipment robotization auxiliary device and forging dystopy detection method

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113641155A (en) * 2021-07-23 2021-11-12 连云港杰瑞自动化有限公司 High-temperature forging detection control system
CN114570872A (en) * 2022-03-18 2022-06-03 北京机电研究所有限公司 Blade precision forging method and production line
CN115229103A (en) * 2022-06-28 2022-10-25 苏州虹逸重工科技有限公司 Automatic servo numerical control forging line of horizontal double-end upset forging car semi-axis
CN115229103B (en) * 2022-06-28 2023-06-23 苏州虹逸重工科技有限公司 Automatic servo numerical control forging production line for horizontal double-head upsetting automobile half shaft

Similar Documents

Publication Publication Date Title
CN112453300A (en) Robotized die forging production line
CN107442726B (en) full-automatic non-quenched and tempered steel forging production line
CN204321445U (en) There is the welding system of automatic loading/unloading function
CN106041933A (en) Robot polishing and grinding system and passive compliance and active compliance mixed control method
CN106853639A (en) A kind of battery of mobile phone automatic assembly system and its control method
CN110076579B (en) Full-automatic continuous annular forging production line
CN203794099U (en) Feeding machine
CN109093477B (en) Device and method for polishing flashes of casting and forging pieces through cooperation of multiple robots
CN101204764A (en) Story space cutting device
CN105195655A (en) Industrial robot forging automatic line system and control method thereof
CN108723173A (en) A kind of plank circular hole Sheet Metal Forming Technology
CN208543707U (en) A kind of flexible robot's production system of rubber patch production
CN111285112A (en) Artificial intelligence feeding equipment of wheel production line rolling machine
CN109176021B (en) Belt pulley hole key mark composite automatic processing system
CN104759573B (en) A kind of robotic gripper automatization die forging system
CN111975388B (en) Automatic production line for blanking and forging
CN203610678U (en) Automatic machining production line for crawler-type engineering machinery thrust wheel
CN203003585U (en) Servo manipulator of numerical control machine tool
CN102357615A (en) Gear hot-stamping equipment and gear hot-stamping method
CN104722614A (en) Intelligent full mechanical hand bending machine
CN107052221A (en) A kind of hot upsetting device for automatically molding
CN205496429U (en) Valve lifter rammer base automatic feeding
CN212823888U (en) Automatic production line for blanking and forging
CN103183238A (en) Method and device for automatically and evenly pouring medicine
CN212100962U (en) Artificial intelligence feeding equipment of wheel production line rolling machine

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
WD01 Invention patent application deemed withdrawn after publication
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20210309