CN113059040B - Bending equipment and method for wiper steel bar - Google Patents

Bending equipment and method for wiper steel bar Download PDF

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Publication number
CN113059040B
CN113059040B CN202110282054.1A CN202110282054A CN113059040B CN 113059040 B CN113059040 B CN 113059040B CN 202110282054 A CN202110282054 A CN 202110282054A CN 113059040 B CN113059040 B CN 113059040B
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servo
cam
curve
steel bar
cutting
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CN113059040A (en
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杨扬戬
尹绍杰
郑军
付彬
林鹏
朱优优
龚哲
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Research Institute of Zhejiang University Taizhou
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Research Institute of Zhejiang University Taizhou
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D7/00—Bending rods, profiles, or tubes
    • B21D7/12—Bending rods, profiles, or tubes with programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
    • B21C47/00—Winding-up, coiling or winding-off metal wire, metal band or other flexible metal material characterised by features relevant to metal processing only
    • B21C47/16—Unwinding or uncoiling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
    • B21C51/00—Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/08—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by rollers
    • B21D43/09—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by rollers by one or more pairs of rollers for feeding sheet or strip material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/28—Associations of cutting devices therewith
    • B21D43/285—Devices for handling elongated articles, e.g. bars, tubes or profiles
    • 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

A bending device and method of a wiper steel bar, the device realizes the bending operation of the steel bar by arranging a first cam mechanism, and meanwhile, a second cam mechanism is arranged between the first cam mechanism and a middle position cutting servo, and the bending stress generated when the steel bar passes through the first cam mechanism is eliminated by means of the movement of the second cam mechanism; through cutting the meso position servo and setting up in the meso position and cutting transmission, cut the billet servo and set up in the billet and cut transmission, and the meso position cuts servo and billet and cuts the servo and can cut transmission's transmission track one and billet respectively at the meso position and cut transmission's transmission track two and go up the action, control cutting point and cut the point, and then be convenient for control billet cut length, on the other hand can also reduce rocking of billet when cutting or cutting, guarantee that the billet cuts and cuts the accuracy at position.

Description

Bending equipment and method for wiper steel bar
Technical Field
The invention relates to the field of automobile parts, in particular to a bending device and a bending method for a wiper steel bar.
Background
Since both the front windshield and the rear windshield of the automobile have a certain radian, the wipers arranged on the front and rear windshield also need to be matched with the radian of the glass. At present, a steel bar bending machine is generally adopted to complete the bending operation of a steel bar on a windscreen wiper; on the other hand, because the size, the bending curve, the stress and other elements of the wiper corresponding to each type of automobile are different, and the bending curve of the steel bar needs to be adapted according to the curvature of the front windshield and the rear windshield of each type of automobile, the general performance of the steel bar bending machine needs to be considered, wherein the conventional steel bar bending machine can basically meet the requirement of the general performance. The traditional steel bar bending machine comprises a domestic bending machine and an imported bending machine, wherein the domestic bending machine is single in function, poor in precision and unstable in performance of produced products, and the products are easy to deform after being used for a long time; compared with the prior art, the imported bending machine is complex in structure and high in precision, the performance of the produced product is more stable, but the imported bending machine is expensive, and large burden is caused to small and medium enterprises. Therefore, a wiper steel bar bending device with high precision, simple structure and low cost is needed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides the bending equipment and the bending method for the steel bar of the windscreen wiper, which have the advantages of simple structure and convenience in use.
A bending device for a wiper steel bar comprises a master control system, a steel bar unreeling mechanism, a transmission servo, a bending servo, a stress relief servo, a middle position cutting servo, a steel bar cutting servo, a middle position cutting transmission device and a steel bar cutting transmission device; the middle position cutting servo is arranged on the middle position cutting transmission device, and the steel bar cutting servo is arranged on the steel bar cutting transmission device; the transmission servo is positioned between the steel bar unreeling mechanism and the bending servo; the stress relieving servo is positioned between the bending servo and the middle position cutting servo; the middle position cutting servo is positioned between the stress relieving servo and the steel bar cutting servo; the main control system is respectively in communication connection with the steel bar unreeling mechanism, the transmission servo, the bending servo, the stress relieving servo, the middle position cutting servo, the steel bar cutting servo, the middle position cutting transmission servo and the steel bar cutting transmission servo.
Further, the master control system comprises a motion controller and a touch screen, wherein the motion controller is used for controlling the rotation direction and the rotation speed of the servo motor; the touch screen is used as an HMI human-computer interface;
the steel bar unreeling mechanism comprises a steel bar unreeling motor and an unreeling detection sensor, wherein the unreeling detection sensor can detect the transmission speed of the steel bars, and the rotating speed of the unreeling motor is adjusted according to the processing speed of the steel bars;
the transmission servo is used for conveying the steel bar to a working area of the bending servo, wherein a conveying path is linear conveying; the transmission servo is an EtherCat bus servo;
the bending servo is an EtherCat bus servo, an absolute servo motor is used as a drive for the bending servo, the bending servo further comprises a cam mechanism I, and the cam mechanism I simulates cam motion track curve control to realize bending operation of the steel strip;
the stress relief servo is an EtherCat bus servo, an absolute servo motor is adopted for driving the stress relief servo, and the stress relief servo further comprises a cam mechanism II, wherein the cam mechanism II is used for simulating the curve control of the motion track of the cam;
the middle position cutting servo is an EtherCat bus servo and is used for cutting an installation hole position in the middle of the steel bar;
the middle position cutting transmission device comprises a middle position cutting transmission servo and a first transmission track, and the middle position cutting servo is arranged on the first transmission track; the steel bar cutting transmission device comprises a steel bar cutting transmission servo and a transmission track II, and the steel bar cutting servo is arranged on the transmission track II.
Further, the transmission servo comprises at least two groups of transmission wheels, and each group of transmission wheels comprises two transmission wheels; two driving wheels in the same group of driving wheel sets are symmetrically arranged around the steel bars; the connecting line of the axes of the driving wheels positioned on the same side of the steel bar is parallel to the steel bar.
Furthermore, the system also comprises an origin detection sensor which is a zero detection switch; the origin detection sensor is respectively arranged at the position where the meso position cuts the servo and the steel bar cuts the servo and is used for providing positioning detection for the meso position cutting servo and the steel bar cutting servo.
A method for bending a steel bar of a wiper blade comprises the following steps:
step 1: the motion controller downloads the processing formula of the steel bar according to the input of the HMI human-machine interface;
step 2: the motion controller adjusts the processing formula according to the input of the HMI human-machine interface, including the adjustment of steel bar data and the fitting adjustment of electronic cam parameters; the steel bar data comprise truncation length and production quantity, and the electronic cam parameters comprise curve offset, curve translation, data scaling and curve symmetry data; and issuing the adjusted processing formula data;
and step 3: the motion controller controls the middle position cutting servo and the steel bar cutting servo to reach the designated position;
and 4, step 4: the motion controller controls the steel strip unwinding mechanism and the transmission servo to start to act, and the steel strip is continuously fed;
and 5: the motion controller controls the bending servo and the stress relieving servo to perform linkage feeding according to the fitted and adjusted parameters of the electronic cam;
and 6: after the length of the steel bar fed by the transmission servo reaches the cut-off length, the motion controller controls the middle position cutting servo and the steel bar cut-off servo to act;
and 7: the motion controller judges whether the production quantity of the steel bars meets the input cutting quantity requirement or not; if the production quantity is less than the input production quantity, returning to the step 4; otherwise, the step is ended.
Further, the input of the HMI human-machine interface in step 1 includes manual control options, parameter setting, curve formula storage and downloading; wherein the manual control option is used for realizing inching control of each axis; the parameter setting is used for setting equipment parameters including the running speed of each servo; the curve setting comprises a long size mode and a short size mode, the long size and the short size are judged according to the truncation length of the steel bar, and data points of the long size mode are redundant with data points of the short size mode; the curve formula can be stored and downloaded according to the optimal parameters of the steel bar production, and the stored parameter files are named in a user-defined mode.
Further, the step 2 of fitting and adjusting the electronic cam parameters comprises the following steps:
step 21: fitting a track curve of the cam according to a set fitting conversion table;
step 22: symmetrically correcting the fitted cam curve, and realizing symmetrical arrangement of the front half part and the rear half part by setting the curve arrangement of the front half part and the curve symmetry function;
step 23: carrying out cache backup on curve data;
and step 24: performing curve translation operation on the curve data subjected to the symmetry correction in the step 22;
step 25: carrying out curve scaling operation on the translated curve data, and longitudinally amplifying or reducing the motion trail curve data of the first simulation cam to obtain the motion trail curve data of the second simulation cam so as to realize the adjustment of the whole data;
step 26: and reestablishing the cam track curve of the first simulated cam, and establishing the cam track curve of the second simulated cam according to the offset.
Further, in the step 22, the fitted curve is symmetrically corrected to realize that the front half part and the rear half part are symmetrically arranged, and a symmetric correction formula of the cam track curve of the electronic cam is shown as follows:
if the cam track curve of the simulation cam I is divided by X point data, wherein:
TF [ (X-n + 1) ] = TF [ n ] M = 0; n > =1;
TF [ (X-n + 1) ] = TF [ n +2M ] > (M >) 0, M < = 5; n > =2;
TF [ (X-n + 1) +2M ] = TF [ n ] M <0,M > = -5; n > =2;
wherein n represents the number of curve points, and TF [ n ] represents the longitudinal coordinate value corresponding to the nth curve point of the first analog cam; m denotes a translation parameter.
Further, the curve shifting operation in step 24 is as follows:
TF [ n ] = Copy _ TF [ n-M ] n-M >0 and n > =2;
wherein M represents a translation parameter; TF [ n ] is the ordinate value of the nth curve point after the symmetrical correction in step 22; copy _ TF n-M represents a cache backup array for the n-M point of the simulated cam-caching backup data in step 23.
Further, the cam curve is re-established in step 26, and the relationship between the actual bending servo and the cam table fitting curve needs to be converted and data converted; setting the length of a virtual stroke of a main shaft as Y, dividing a motion track curve of the cam through X point data, and expressing the feeding amount of the main shaft corresponding to each curve point as P, wherein P = Y/(X-Z), and Z expresses the number of line segments contained in a median line segment of the motion track curve of the cam; the scaling parameter K of the main axis is represented as K = L/Y, L representing the steel strip truncation length set in step 2; the spindle position is shown as follows:
ZD[n]＝P*(n-1)；
Figure BDA0002978963260000041
Figure BDA0002978963260000042
ZD[n]＝P*(n-Z)；
Figure BDA0002978963260000043
ZD [ n ] represents an abscissa corresponding to an nth curve point in a first trajectory curve of the simulated cam;
the position of the simulated cam is shown as follows:
CD[n]＝TF[n]；1<＝n<＝X；
wherein CD [ n ] represents the position of the corresponding simulation cam I when the nth curve point in the track curve of the simulation cam I is located; TF [ n ] represents a longitudinal coordinate value corresponding to the nth curve point of the first analog cam;
the linkage speed of the first simulated cam is shown as the following formula:
V[n]＝(CD[n]-CD[n-1])/P；
Figure BDA0002978963260000044
and is
Figure BDA0002978963260000045
V[n]＝(CD[n]-CD[n-1])/(P/Z)；
Figure BDA0002978963260000046
V[1]＝V[2]；n＝1；
Wherein V [ n ] represents the speed in the direction of the longitudinal axis at the nth curve point in the trajectory curve of the first simulated cam;
and setting the actual translation amount of the second simulated cam as E, the converted translation amount as E, and the position of the main shaft as shown in the following formula, wherein E = E/K:
ZDX[n]＝P*(n-1)；1<＝n<＝(1+2M)；
ZDX[n]＝P*(n-1)+e；
Figure BDA0002978963260000051
Figure BDA0002978963260000052
ZDX[n]＝P*(n-Z)+e；
Figure BDA0002978963260000053
ZDX [ n ] represents the abscissa corresponding to the nth curve point in the track curve of the simulated cam II;
the two positions of the simulated cam are shown as follows:
CDX[n]＝TW[n]+g；1<＝n<＝X；
wherein CDX [ n ] represents the position of the second simulation cam at the nth curve point in the track curve of the second simulation cam; TW [ n ] represents the vertical coordinate value of the position of the nth curve point in the track curve of the second analog cam; g represents the position offset between the first analog cam and the second analog cam;
the linkage speed of the second simulation cam is shown as the following formula:
VX[n]＝(CD[n]-CD[n-1])/P；
Figure BDA0002978963260000054
and is
Figure BDA0002978963260000055
VX[n]＝(CD[n]-CD[n-1])/(P/Z)；
Figure BDA0002978963260000056
VX[1]＝VX[2]；n＝1；
Wherein VX n represents the speed in the direction of the vertical axis at the nth curve point of the curve simulating the two-track curve of the cam.
The beneficial effects of the invention are as follows:
the bending operation of the steel bar is realized by arranging the first cam mechanism, and meanwhile, the second cam mechanism is arranged between the first cam mechanism and the middle position cutting servo, so that the bending stress generated when the steel bar passes through the first cam mechanism is eliminated by means of the movement of the second cam mechanism;
the middle position cutting servo is arranged on the middle position cutting transmission device, the steel bar cutting servo is arranged on the steel bar cutting transmission device, and the middle position cutting servo and the steel bar cutting servo can respectively act on a first transmission track of the middle position cutting transmission device and a second transmission track of the steel bar cutting transmission device to accurately control a cutting point and a cutting point, so that the cutting length of the steel bar can be conveniently controlled, and on the other hand, the shaking of the steel bar during cutting or cutting can be reduced, and the accuracy of the cutting and cutting part of the steel bar is ensured;
the two simulated electronic cams are arranged, the first cam mechanism and the second cam mechanism are synchronously controlled, so that the stress removing operation of bending the steel bar is realized, the stability of the product is improved, the service life of the product is prolonged, and on the other hand, the electronic cams are arranged for simulation, so that the debugging machine is convenient, and the debugging efficiency of the product can be improved; the better steel bar bending effect is realized by fitting and adjusting the parameters of the electronic cam, including operations such as symmetrical correction, curve translation, curve scaling and the like;
by arranging the neutral line section to comprise Z line sections, the bending and stress relieving operations of the steel bars can accurately control the position of the cam when the steel bars pass through the inflection point.
Drawings
FIG. 1 is a schematic diagram illustrating a connection between positions of devices according to a first embodiment of the present invention;
FIG. 2 is a diagram illustrating a control relationship of an apparatus according to a first embodiment of the present invention;
FIG. 3 is a structural diagram of a bending servo and a stress relieving servo according to a first embodiment of the present invention;
FIG. 4 is a flowchart of a method according to a first embodiment of the present invention;
FIG. 5 is a cam path curve fitted in step 21 according to a first embodiment of the present invention;
FIG. 6 is a trace curve after symmetric correction in step 22 according to the first embodiment of the present invention;
FIG. 7 is a trace curve before curve translation in step 24 according to a first embodiment of the present invention;
FIG. 8 is a trace curve after curve translation in step 24 according to a first embodiment of the present invention;
FIG. 9 is a trace curve before scaling the curve in step 25 according to the first embodiment of the present invention;
fig. 10 is a trace curve obtained by scaling the curve in step 25 according to the first embodiment of the present invention.
Description of reference numerals: the device comprises a transmission servo 1, a bending servo 2, a first cam 21, a first pressing block 22, a stress relieving servo 3, a second cam 31 and a steel bar 4.
Detailed Description
The following embodiments of the present invention are provided by way of specific examples, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
The first embodiment is as follows:
as shown in fig. 1 and 2, the bending equipment for the steel bars of the windscreen wiper comprises a master control system, a steel bar unreeling mechanism, a transmission servo 1, a bending servo 2, a destressing servo 3, a middle position cutting servo, a steel bar cutting servo, a middle position cutting transmission device and a steel bar cutting transmission device. The middle position cutting servo is arranged on the middle position cutting transmission device, and the steel bar cutting servo is arranged on the steel bar cutting transmission device; the transmission servo is positioned between the steel bar unreeling mechanism and the bending servo; the stress relieving servo is positioned between the bending servo and the middle position cutting servo; the middle position cutting servo is positioned between the stress relief servo and the steel bar cutting servo. The main control system is respectively in communication connection with the steel bar unreeling mechanism, the transmission servo, the bending servo, the stress relieving servo, the middle position cutting servo, the steel bar cutting servo, the middle position cutting transmission servo and the steel bar cutting transmission servo.
The master control system comprises a motion controller and a touch screen, wherein the motion controller is used for controlling the rotation direction and the rotation speed of the servo motor; the touch screen is used as an HMI (human machine interface) and is used for realizing the functions of parameter setting, function control, steel bar bending curve adjustment, formula storage and the like. The motion controller and the steel bar unwinding mechanism are controlled through digital quantity; and the motion controller and the HMI human-computer interface realize information interaction through the Ethernet.
Billet unwinding mechanism includes billet unwinding motor and unreels and detects the sensor, wherein unreels the transmission speed that the detection sensor can detect the billet, and unwinding motor's rotational speed can be adjusted according to the process velocity of billet, realizes the purpose of the different production beats of self-adaptation.
The drive servo 1 is used to transfer the steel strip 4 to the working area of the bending servo 2, wherein the path of the transfer is a straight line transfer. Transmission servo 1 is EtherCat bus servo. The transmission servo 1 comprises at least two groups of transmission wheels, and each group of transmission wheels comprises two transmission wheels; the two driving wheels in the same group of driving wheel sets are symmetrically arranged about the steel bar 4, and the connecting line of the axes of the driving wheels on the same side of the steel bar is parallel to the steel bar. Its purpose is kept straight in order to guarantee through the servo steel strip of transmission.
As shown in fig. 3, the bending servo 2 is an EtherCat bus servo, the bending servo 2 uses an absolute servo motor as a drive, and the bending servo further includes a first cam mechanism, wherein the first cam mechanism realizes control by simulating a cam motion trajectory curve, so as to complete the bending operation of the steel bar. The cam mechanism I comprises a cam I21 and a pressing block I22, wherein the position of the pressing block I22 relative to the cam I21 can be adjusted; the steel bar 4 is positioned between the first pressing block 22 and the first cam 21. In operation, the cam-one 21 presses the steel strip 4 against the presser-one 22, thereby performing a bending operation of the steel strip 4 passing between the cam-one 21 and the presser-one 22.
The stress relief servo 3 is an EtherCat bus servo, the stress relief servo 3 adopts an absolute servo motor as a drive, the stress relief servo further comprises a cam mechanism II, the cam mechanism II realizes control through simulating a cam motion track curve, and after steel bars are bent and formed through the bending servo, bending stress is removed. The second cam mechanism comprises a second cam 31 which moves along a set motion track to extrude the steel bar 4, so that the bending stress is removed. The bottom of the second cam 31 is provided with a roller which is in contact with the protruding side of the bent steel bar 4 in the example, so as to extrude the steel bar 4 and release the stress generated by bending.
The middle position cutting servo is an EtherCat bus servo, and the middle position cutting servo is used for cutting mounting hole positions in the middle of the steel bars, wherein the mounting hole positions are used for mounting and connecting the steel bars with other parts of the windscreen wiper.
The billet cuts servo for the EtherCat bus servo, and the billet cuts servo and is used for realizing the operation of cutting of billet.
The middle position cutting transmission device comprises a middle position cutting transmission servo and a first transmission track, and the middle position cutting servo is arranged on the first transmission track; the steel bar cutting transmission device comprises a steel bar cutting transmission servo and a transmission track II, and the steel bar cutting servo is arranged on the transmission track II. In the embodiment, the middle position cutting servo can slide on the first transmission track along with the action of the middle position cutting transmission servo, and the steel bar cutting servo can slide on the second transmission track along with the action of the steel bar cutting transmission servo. Wherein the middle position cutting transmission servo and the steel bar cutting transmission servo all adopt absolute value type servo motors.
The steel bar cutting device is characterized by further comprising an original point detection sensor, wherein the original point detection sensor is a zero position detection switch, and the original point detection sensor is respectively arranged at the middle position cutting servo position and the steel bar cutting servo position and used for providing positioning detection for the middle position cutting servo position and the steel bar cutting servo position so as to realize accurate cutting or cutting. The origin detection sensor and the motion controller of the main control system realize information transmission through digital quantity.
In the implementation process, the bending operation of the steel bar is realized through the first cam mechanism, meanwhile, the second cam mechanism is arranged between the first cam mechanism and the middle position cutting servo, and the bending stress generated when the steel bar passes through the first cam mechanism is eliminated through the second cam mechanism; through cutting the meso position servo and setting up in the meso position and cutting transmission, cut the billet servo and set up in the billet and cut transmission, and the meso position cuts servo and billet and cuts servo can cut transmission's transmission track one and billet respectively at the meso position and cut transmission's transmission track two and go up the action, accurate control cutting point and cut the point, and then be convenient for control billet cut length, on the other hand can also reduce rocking of billet when cutting or cutting, guarantee that the billet cuts and cuts the accuracy at position.
As shown in fig. 4, a method for bending a wiper steel bar includes the steps of:
step 1: the motion controller downloads the processing formula of the steel bar according to the input of the HMI human-machine interface;
step 2: the motion controller adjusts the processing formula according to the input of the HMI, and comprises adjustment of steel bar data and fitting adjustment of electronic cam parameters, wherein the steel bar data comprises truncation length, production quantity and the like, and the electronic cam parameters comprise data such as curve offset, curve translation, data scaling, curve symmetry and the like; and sending the adjusted processing formula data;
and 3, step 3: the motion controller controls the middle position cutting servo and the steel bar cutting servo to a specified position;
and 4, step 4: the motion controller controls the steel strip unwinding mechanism and the transmission servo to start to act, and the steel strip is continuously fed;
and 5: the motion controller controls the bending servo and the stress relieving servo to perform linkage feeding according to the fitted and adjusted parameters of the electronic cam;
step 6: after the length of the steel bar fed by the transmission servo reaches the cut-off length, the motion controller controls the middle position cutting servo and the steel bar cut-off servo to act;
and 7: the motion controller judges whether the production quantity of the steel bars meets the input cutting quantity requirement or not; if the production quantity is less than the input production quantity, returning to the step 4; otherwise, the step is ended.
The input of the HMI human-machine interface in the step 1 comprises manual control options, parameter setting, curve formula storage and downloading and the like. The manual control option is used for realizing JOG control (JOG) of each shaft, and when the equipment is debugged, the installation and adjustment of the equipment are convenient to realize by controlling the movement of each shaft. The parameter setting is used to set the equipment parameters including the operation speed of each servo, etc. The curve setting comprises a long size mode and a short size mode, wherein the long size and the short size are judged according to the actual truncation length of the steel bar; the data points of the long-dimension mode are more than those of the short-dimension mode, and because the bending process of the long-dimension steel strip takes longer time, more data points need to be set to realize accurate control. In the long-size mode, the curve simulation of the electronic cam is decomposed into 63-point data, and the electronic cam comprises a first simulation cam and a second simulation cam which respectively correspond to the simulation states of the first cam mechanism and the second cam mechanism; in the short-size mode, the track curve of the electronic cam is simulated and decomposed into 43 points of data; the cam motion track curves of the first simulation cam and the second simulation cam are divided, compared with the conventional situation of simply controlling the motion distance of the cams, the cam mechanism is controlled according to the motion track curves of the cams, and therefore the bending effect with higher precision and smoother performance can be achieved. The optimal parameters corresponding to the steel bar production can be stored by storing and downloading the curve formula, and the stored parameter files are named in a user-defined manner; the time for configuring the parameters during repeated or batch production can be saved by storing and downloading the curve formula.
The step 2 of fitting and adjusting the parameters of the electronic cam comprises the following steps:
step 21: fitting a track curve of the cam according to a set fitting conversion table;
step 22: symmetrically correcting the fitted cam curve, and realizing symmetrical arrangement of the front half part and the rear half part by setting the curve arrangement of the front half part and by a curve symmetry function;
step 23: carrying out cache backup on curve data;
step 24: performing curve translation operation on the curve data subjected to symmetry correction in the step 22, and performing curve data compensation through left-right translation of the curve to achieve the effect of midpoint symmetry;
step 25: carrying out curve scaling operation on the translated curve data, and longitudinally amplifying or reducing the motion trail curve data of the first simulation cam to obtain the motion trail curve data of the second simulation cam so as to realize the adjustment of the whole data;
step 26: and reestablishing the cam track curve of the first simulated cam, and establishing the cam track curve of the second simulated cam according to the offset.
As shown in fig. 5, the horizontal axis of the trajectory curve of the cam in step 21 represents the spindle position, i.e., the virtual length of the transmission servo feeding steel strip, and the vertical axis represents the position of the electronic cam. The fitting conversion table comprises a 43-point fitting conversion table and a 63-point fitting conversion table, wherein the 43-point fitting conversion table is shown in a table I, and the 63-point fitting conversion table is shown in a table II:
table-43 points cam curve fitting conversion table
Figure BDA0002978963260000101
Figure BDA0002978963260000111
Figure BDA0002978963260000121
Table two 63 point cam curve fitting conversion table
Figure BDA0002978963260000122
Figure BDA0002978963260000131
Figure BDA0002978963260000141
Figure BDA0002978963260000151
The velocity and acceleration in table one and table two are both vectors in the direction of the vertical axis, i.e. perpendicular to the direction of strip feed.
As shown in fig. 6, the fitted curve is symmetrically corrected in step 22, so that the first half and the second half are symmetrically arranged, and the adjustment efficiency of the user is greatly improved. The formula for the symmetrical correction of the cam track curve of the electronic cam is shown as follows:
if the cam track curve of the first simulation cam is divided by 43 points of data, namely the length of the steel bar is set to be a short size, wherein:
TF [ (43-n + 1) ] = TF [ n ] M = 0; n > =1;
TF [ (43-n + 1) ] = TF [ n +2M ] > -M0, M < = 5; n > =2;
TF [ (43-n + 1) +2M ] = TF [ n ] M <0,M > = -5; n > =2;
wherein n represents the number of curve points, and TF [ n ] represents the longitudinal coordinate value corresponding to the nth curve point in the track curve of the simulation cam I; m represents a translation parameter, and it should be noted that in this embodiment, the translation of the curve is performed after the symmetry correction of the curve, and in this case, M is 0.
If the cam track curve of the first simulation cam is divided by 63 point data, namely the length of the steel bar is set to be a long size, wherein:
TF [ (63-n + 1) ] = TF [ n ] M = 0; n > =1;
TF [ (63-n + 1) ] = TF [ n +2M ] > -M0, M < = 5; n > =2;
TF [ (63-n + 1) +2M ] = TF [ n ] M <0,M > = -5; n > =2;
wherein n represents the number of curve points, and TF [ n ] represents the ordinate value of the nth curve point position in the track curve of the simulation cam I; m denotes a translation parameter.
As shown in fig. 7 and 8, the curve translation operation in step 24 is as follows:
TF [ n ] = Copy _ TF [ n-M ] n-M >0 and n > =2;
wherein M represents a translation parameter; TF [ n ] represents the ordinate value of the nth curve point in the track curve of the first analog cam, in this case, the ordinate value of the nth curve point after the symmetrical correction in step 22; copy _ TF n-M represents the cache backup array for the n-M point of the simulated cam-caching backup data in step 23.
As shown in fig. 9 and 10, in the step 25, the formula of curve scaling is as follows:
TW[n]＝TF[n]*s；
wherein TF [ n ] represents the ordinate value of the position of the nth curve point in the track curve of the simulation cam I; TW [ n ] represents the vertical coordinate value of the position of the nth curve point in the track curve of the second simulation cam; s denotes a scaling. Wherein if the short size is selected, 1< = n < =43; if the long dimension is chosen, 1< = n < =63.
In the step 26, the cam curve is re-established, and the relationship between the actual bending servo and the cam table fitting curve needs to be converted and converted into data. The line segments are uniformly divided into 39 segments by the short size of 43 points, the 20 th line segment is a middle bit line segment, and the middle bit line segment comprises 4 small line segments; similarly, the line segment is uniformly divided into 59 segments in the size of 63 dots, the 30 th line segment is used as a middle-bit line segment, and the middle-bit line segment comprises 4 small line segments; by dividing the median line section to comprise the small line section, the motion trail of the cam can be more accurate when the steel bar is processed at the middle bending part, and the smooth transition of the bending part is realized. Taking a short size as an example, the virtual stroke length of a main shaft of the first simulation cam is 29250, wherein the feeding amount of the main shaft corresponding to each curve point is represented as P, P =29250/39, the main shaft represents transmission servo, and the virtual stroke length of the main shaft represents the length of a steel bar fed by the transmission servo; the scaling parameter K of the spindle is represented as K = L/29250, where L represents the strip truncation length set in step 2, and the scaling parameter K represents the length of the actual spindle feeding the strip, i.e., the multiple relationship between the actual truncation length and the simulated virtual stroke length of the spindle. The spindle position is shown as follows:
ZD[n]＝P*(n-1)； 1<＝n<＝20；
ZD[n]＝P*19+(P/4)*(n-20)； 21<＝n<＝23；
ZD[n]＝P*(n-4)； 24<＝n<＝43；
ZD [ n ] represents the feeding length of the main shaft from the nth curve point of the main shaft feeding steel bar to the first simulation cam, and represents the abscissa corresponding to the nth curve point in the track curve of the first simulation cam;
the position of the simulated cam is shown as follows:
CD[n]＝TF[n]；1<＝n<＝43；
wherein CD [ n ] represents the position of the corresponding first simulation cam when the steel strip is fed to the nth curve point;
the linkage speed of the first simulation cam is shown as the following formula:
v [ n ] = (CD [ n ] -CD [ n-1 ])/P; 2< = n < =20 and 24< = n < =43;
V[n]＝(CD[n]-CD[n-1])/(P/4)； 21<＝n<＝23；
V[1]＝V[2]； n＝1；
where V [ n ] represents the velocity in the direction of the vertical axis at the nth curve point in the trajectory curve of the first simulated cam.
Similarly, as can be seen from table one, the virtual stroke length of the main shaft corresponding to the provided second simulation cam is also 29250, and therefore the displacement amount P of each point of the main shaft is represented as P =29250/39; the scaling parameter K for the main axis is denoted as K = L/29250, where L denotes the truncation length of the steel strip set in step 2; the actual translation amount fine adjustment is E, the translation amount fine adjustment after conversion is E, E = E/K, and it should be noted that the translation amount fine adjustment is a curve translation compensation amount. The spindle position is shown as follows:
ZDX[n]＝P*(n-1)； 1<＝n<＝(1+2M)；
ZDX[n]＝P*(n-1)+e； (1+2M)<n<＝(20+M)；
ZDX[n]＝P*(20+M)+(P/4)*(n-20)； (21+M)<＝n<＝(23+M)；
ZDX[n]＝P*(n-4)+e； (24+M)<＝n<＝43；
ZDX [ n ] represents the feeding length of the second simulated cam corresponding to the main shaft at the nth curve point, and represents the abscissa of the nth curve point in the steel bar track curve of the second simulated cam;
the two positions of the simulated cam are shown as follows:
CDX[n]＝TW[n]+g；1<＝n<＝43；
wherein CDX [ n ] represents the position of the second simulation cam corresponding to the nth curve point in the track curve of the second simulation cam; g represents the position offset between the first analog cam and the second analog cam, namely the spacing distance between the first analog cam and the second analog cam;
the linkage speed of the second simulation cam is shown as the following formula:
VX [ n ] = (CD [ n ] -CD [ n-1 ])/P; 2< = n < = (20 + M) and (24 + M) <= n < =43;
VX[n]＝(CD[n]-CD[n-1])/(P/4)； (21+M)<＝n<＝(23+M)；
VX[1]＝VX[2]； n＝1；
wherein VX [ n ] represents the speed in the direction of the vertical axis when simulating the nth curve point of the curve of the two tracks of the cam.
And 7, judging the production quantity of the steel bars in the step 7 according to the action times of the median cutting servo or the steel bar cutting servo, wherein the production quantity of the steel bars is w, the action times of the median cutting servo or the steel bar cutting servo is v, and w = v-1. In the implementation process, the middle position cutting servo and the steel bar cutting servo act for the first time to realize the cutting of one end of the steel bar a1 and the cutting and punching of the middle part of the steel bar a 1; the meso position cuts servo and billet and cuts servo second action, realizes the separation of billet an 1 and billet a2 and the cutting in billet a2 middle part and punches, consequently can obtain w billet after the action of v times.
In the implementation process, two simulated electronic cams are arranged, and the cam mechanism I and the cam mechanism II are synchronously controlled, so that the stress removing operation of bending the steel bar is realized, the stability of the product is improved, and the service life of the product is prolonged; on the other hand, the electronic cam is arranged for simulation, so that the debugging machine is convenient, and the debugging efficiency of the product can be improved; through carrying out fitting adjustment on the parameters of the electronic cam, the better steel bar bending effect is realized through operations such as symmetrical correction, curve translation and curve scaling.
The above description is only one specific example of the present invention and should not be construed as limiting the invention in any way. It will be apparent to persons skilled in the relevant art(s) that, having the benefit of this disclosure and its principles, various modifications and changes in form and detail can be made without departing from the principles and structures of the invention, which are, however, encompassed by the appended claims.

Claims (9)

1. A bending device for a wiper steel bar is characterized by comprising a master control system, a steel bar unreeling mechanism, a transmission servo, a bending servo, a stress relieving servo, a middle position cutting servo, a steel bar cutting servo, a middle position cutting transmission device and a steel bar cutting transmission device; the middle position cutting servo is arranged on the middle position cutting transmission device, and the steel bar cutting servo is arranged on the steel bar cutting transmission device; the transmission servo is positioned between the steel bar unreeling mechanism and the bending servo; the stress relieving servo is positioned between the bending servo and the middle position cutting servo; the middle position cutting servo is positioned between the stress relieving servo and the steel bar cutting servo; the main control system is respectively in communication connection with the steel bar unreeling mechanism, the transmission servo, the bending servo, the stress relieving servo, the middle position cutting servo, the steel bar cutting servo, the middle position cutting transmission servo and the steel bar cutting transmission servo, and further comprises an origin detection sensor which is a zero position detection switch; the origin detection sensor is respectively arranged at the position where the meso position cuts the servo and the steel bar cuts the servo and is used for providing positioning detection for the meso position cutting servo and the steel bar cutting servo.
2. The bending device of the wiper steel bar of claim 1, wherein the master control system comprises a motion controller and a touch screen, the motion controller is used for controlling the rotation direction and the rotation speed of a servo motor; the touch screen is used as an HMI human-computer interface;
the steel bar unreeling mechanism comprises a steel bar unreeling motor and an unreeling detection sensor, wherein the unreeling detection sensor can detect the transmission speed of the steel bars, and the rotating speed of the unreeling motor is adjusted according to the processing speed of the steel bars;
the transmission servo is used for conveying the steel bar to a working area of the bending servo, wherein a conveying path is linear conveying; the transmission servo is an EtherCat bus servo;
the bending servo is an EtherCat bus servo, an absolute servo motor is used as a drive for the bending servo, the bending servo further comprises a cam mechanism I, and the cam mechanism I simulates cam motion track curve control to realize bending operation of the steel strip;
the stress relief servo is an EtherCat bus servo, an absolute servo motor is adopted for driving the stress relief servo, and the stress relief servo further comprises a cam mechanism II, wherein the cam mechanism II is used for simulating the curve control of the motion track of the cam;
the middle position cutting servo is an EtherCat bus servo and is used for cutting an installation hole position in the middle of the steel bar;
the middle position cutting transmission device comprises a middle position cutting transmission servo and a first transmission track, and the middle position cutting servo is arranged on the first transmission track; the steel bar cutting transmission device comprises a steel bar cutting transmission servo and a transmission track II, and the steel bar cutting servo is arranged on the transmission track II.
3. The apparatus of claim 2, wherein said drive servo comprises at least two sets of drive wheels, each set of drive wheels comprising two drive wheels; two driving wheels in the same group of driving wheel sets are symmetrically arranged around the steel bars; the connecting line of the axes of the driving wheels positioned on the same side of the steel bar is parallel to the steel bar.
4. A method for bending a steel bar of a wiper blade is characterized by comprising the following steps:
step 1: the motion controller downloads the processing formula of the steel bar according to the input of the HMI human-machine interface;
step 2: the motion controller adjusts the processing formula according to the input of the HMI human-machine interface, including the adjustment of steel bar data and the fitting adjustment of electronic cam parameters; the steel bar data comprise truncation length and production quantity, and the electronic cam parameters comprise curve offset, curve translation, data scaling and curve symmetry data; and issuing the adjusted processing formula data;
and step 3: the motion controller controls the middle position cutting servo and the steel bar cutting servo to a specified position;
and 4, step 4: the motion controller controls the steel strip unwinding mechanism and the transmission servo to start to act, and the steel strip is continuously fed;
and 5: the motion controller controls the bending servo and the stress relieving servo to perform linkage feeding according to the fitted and adjusted parameters of the electronic cam;
and 6: after the length of the steel bar fed by the transmission servo reaches the cut-off length, the motion controller controls the middle position cutting servo and the steel bar cut-off servo to act;
and 7: the motion controller judges whether the production quantity of the steel bars meets the input cutting quantity requirement or not; if the production quantity is less than the input production quantity, returning to the step 4; otherwise, the step is ended.
5. The method of claim 4, wherein said HMI human machine interface inputs of step 1 include manual control options, parameter settings, curve recipe storage and download; wherein the manual control option is used for realizing inching control of each axis; the parameter setting is used for setting equipment parameters including the running speed of each servo; the curve setting comprises a long size mode and a short size mode, the long size and the short size are judged according to the truncation length of the steel bar, and data points in the long size mode are redundant with data points in the short size mode; the curve formula can be stored and downloaded according to the optimal parameters of the steel bar production, and the stored parameter files are named in a user-defined mode.
6. The method of bending a wiper strip of claim 4 wherein said step 2 fitting adjustments of electronic cam parameters comprises the steps of:
step 21: fitting a track curve of the cam according to a set fitting conversion table;
step 22: symmetrically correcting the fitted cam curve, and realizing symmetrical arrangement of the front half part and the rear half part by setting the curve arrangement of the front half part and by a curve symmetry function;
step 23: carrying out cache backup on curve data;
and step 24: performing curve translation operation on the curve data subjected to the symmetrical correction in the step 22;
step 25: carrying out curve scaling operation on the translated curve data, and longitudinally amplifying or reducing the motion trail curve data of the first simulation cam to obtain the motion trail curve data of the second simulation cam so as to realize the adjustment of the whole data;
step 26: and reestablishing the cam track curve of the first simulated cam, and establishing the cam track curve of the second simulated cam according to the offset.
7. The method of bending a steel wiper strip according to claim 6, wherein said step 22 of symmetrically correcting said fitting curve to achieve symmetrical arrangement of said front half and said rear half, and wherein said formula for symmetrically correcting said cam trajectory curve of said electronic cam is as follows:
if the cam track curve of the simulation cam I is divided by X point data, wherein:
TF [ (X-n + 1) ] = TF [ n ] M = 0; n > =1;
TF [ (X-n + 1) ] = TF [ n +2M ] > -M0, M < = 5; n > =2;
TF [ (X-n + 1) +2M ] = TF [ n ] M <0,M > = -5; n > =2;
wherein n represents the number of curve points, and TF [ n ] represents the longitudinal coordinate value corresponding to the nth curve point of the first analog cam; m denotes a translation parameter.
8. The method of bending a wiper strip of claim 6 wherein said step 24 of translating a curve is performed as follows:
TF [ n ] = Copy _ TF [ n-M ] n-M >0 and n > =2;
wherein M represents a translation parameter; TF [ n ] is the ordinate value of the nth curve point after the symmetrical correction in step 22; copy _ TF n-M represents the cache backup array for the n-M point of the simulated cam-caching backup data in step 23.
9. The method of claim 6 wherein said step 26 of reconstructing a cam curve requires scaling and data conversion of the relationship between the actual bending servo and the cam table fit curve; setting the length of a virtual stroke of a main shaft as Y, dividing a motion track curve of the cam through X point data, and expressing the feeding amount of the main shaft corresponding to each curve point as P, wherein P = Y/(X-Z), and Z expresses the number of line segments contained in a median line segment of the motion track curve of the cam; the scaling parameter K of the main axis is represented as K = L/Y, L representing the steel strip truncation length set in step 2; the spindle position is shown as follows:
ZD[n]＝P*(n-1)；
Figure FDA0003744905180000041
Figure FDA0003744905180000042
ZD[n]＝P*(n-Z)；
Figure FDA0003744905180000043
ZD [ n ] represents an abscissa corresponding to an nth curve point in a first trajectory curve of the simulated cam;
the position of the simulated cam is shown as follows:
CD[n]＝TF[n]；1<＝n<＝X；
wherein CD [ n ] represents the position of the corresponding simulation cam I when the nth curve point in the track curve of the simulation cam I is located; TF [ n ] represents a longitudinal coordinate value corresponding to the nth curve point of the first analog cam;
the linkage speed of the first simulated cam is shown as the following formula:
V[n]＝(CD[n]-CD[n-1])/P；
Figure FDA0003744905180000044
and is
Figure FDA0003744905180000045
V[n]＝(CD[n]-CD[n-1])/(P/Z)；
Figure FDA0003744905180000046
V[1]＝V[2]；n＝1；
Wherein V [ n ] represents the speed in the direction of the longitudinal axis at the nth curve point in the trajectory curve of the first simulated cam;
and setting the actual translation amount of the second simulated cam as E, the converted translation amount as E, and the position of the main shaft as shown in the following formula, wherein E = E/K:
ZDX[n]＝P*(n-1)；1<＝n<＝(1+2M)；
ZDX[n]＝P*(n-1)+e；
Figure FDA0003744905180000047
Figure FDA0003744905180000048
ZDX[n]＝P*(n-Z)+e；
Figure FDA0003744905180000049
ZDX [ n ] represents the abscissa corresponding to the nth curve point in the track curve of the simulated cam II;
the two positions of the simulated cam are shown as follows:
CDX[n]＝TW[n]+g；1<＝n<＝X；
wherein CDX [ n ] represents the position of the second simulation cam at the nth curve point in the track curve of the second simulation cam; TW [ n ] represents the vertical coordinate value of the position of the nth curve point in the track curve of the second analog cam; g represents the position offset between the first analog cam and the second analog cam;
the linkage speed of the second simulation cam is shown as the following formula:
VX[n]＝(CD[n]-CD[n-1])/P；
Figure FDA0003744905180000051
and is provided with
Figure FDA0003744905180000052
VX[n]＝(CD[n]-CD[n-1])/(P/Z)；
Figure FDA0003744905180000053
VX[1]＝VX[2]；n＝1；
Wherein VX n represents the speed in the direction of the vertical axis at the nth curve point of the curve simulating the two-track curve of the cam.
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