CN113579368B - Motor spline shaft precision gear milling auxiliary control system and method based on intelligent robot - Google Patents
Motor spline shaft precision gear milling auxiliary control system and method based on intelligent robot Download PDFInfo
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- CN113579368B CN113579368B CN202111148074.6A CN202111148074A CN113579368B CN 113579368 B CN113579368 B CN 113579368B CN 202111148074 A CN202111148074 A CN 202111148074A CN 113579368 B CN113579368 B CN 113579368B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23F—MAKING GEARS OR TOOTHED RACKS
- B23F5/00—Making straight gear teeth involving moving a tool relatively to a workpiece with a rolling-off or an enveloping motion with respect to the gear teeth to be made
- B23F5/20—Making straight gear teeth involving moving a tool relatively to a workpiece with a rolling-off or an enveloping motion with respect to the gear teeth to be made by milling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23F—MAKING GEARS OR TOOTHED RACKS
- B23F23/00—Accessories or equipment combined with or arranged in, or specially designed to form part of, gear-cutting machines
Abstract
The invention relates to the technical field of industrial automation control, in particular to a motor spline shaft precision gear milling auxiliary control system and method based on an intelligent robot. Each unit is electrically connected with the auxiliary PLC programmable controller respectively; the auxiliary PLC is communicated with the gear milling machine PLC; when the clamping cylinder is positioned at the upper position, the spline shaft clamped by the finished product clamping unit is clamped, or a blank clamped by the finished product clamping unit is clamped by the blank clamping unit; when the feeding bin is in the rear position, the clamping cylinder clamps a blank at the front lower end in the feeding bin; and when the clamping cylinder is in the lower position, the spline shaft clamped by the clamping cylinder is placed on the finished product conveyor. The carrying bracket translates left and right. And when the auxiliary PLC sends a command for executing the clamping action but does not generate a signal for correct clamping, the auxiliary PLC starts the overturning and clamping alarm unit, gives an alarm and stops the machine for waiting. The invention can improve automation, intelligence, working efficiency, labor intensity and safety.
Description
Technical Field
The invention relates to the technical field of industrial automation control, in particular to an auxiliary control system and method for precise gear milling of a motor spline shaft based on an intelligent robot, which relate to an auxiliary handling control system, a control method and a monitoring alarm device used when a gear milling machine processes the motor spline shaft.
Background
The spline shaft 12 used on the motor is a hollow shaft, the middle part is provided with a central hole 122, the shaft sections at two ends of the outer contour have larger diameter, the spline is milled on the shaft sections, the middle part has smaller diameter, and the middle part is a slender waist part 121.
Spline teeth of the spline shaft 12 are processed on a gear milling machine, the mechanical structure of the gear milling machine comprises a workbench assembly 7 and a gear milling cutter 8, the workbench assembly 7 comprises a workbench 71 and a clamping and rotating mechanism 72; the automatic control system of the gear milling machine comprises a gear milling machine PLC programmable controller, a workpiece clamping unit, a workpiece rotation driving unit, a gear milling cutter rotation driving unit and a workbench translation unit, wherein the workpiece clamping unit, the workpiece rotation driving unit, the gear milling cutter rotation driving unit and the workbench translation unit are respectively and electrically connected with the gear milling machine PLC programmable controller.
The step of milling the spline shaft 12 by the gear milling machine comprises:
1) the thin waist part 121 is manually held to place the blank 11 in place, and the workpiece clamping unit is started to clamp both ends of the central hole 122 of the blank 11.
2) And starting the workpiece rotation driving unit, the milling cutter rotation driving unit and the workbench translation unit, milling the blank 11 while rotating, and simultaneously completing the feeding action until the spline milling is completed and the blank 11 is converted into the spline shaft 12.
3) The work holding unit is started to loosen the spline shaft 12, and the thin waist portion 121 is manually grasped to remove the spline shaft 12.
The traditional working method needs manual feeding and discharging, is low in automation and intelligence degree, low in working efficiency and high in labor intensity, and is poor in safety, dangerous accidents can happen due to carelessness sometimes when workers work.
Disclosure of Invention
The invention aims at the defects in the prior art, provides an auxiliary control system and a method for precisely milling spline shafts of motor spline shafts based on an intelligent robot, which can improve automation, intelligence, working efficiency, labor intensity and safety,
an intelligent robot-based motor spline shaft precision gear milling auxiliary control system comprises an auxiliary PLC (programmable logic controller), an overturning clamping unit, an overturning driving unit, a feeding unit, a finished product transportation unit, a carrying driving unit, a blank clamping unit and a finished product clamping unit; the overturning clamping unit, the overturning driving unit, the finished product transporting unit, the carrying driving unit, the blank clamping unit and the finished product clamping unit are respectively electrically connected with the auxiliary PLC; the auxiliary PLC is electrically connected with the gear milling machine PLC and is communicated with the gear milling machine PLC;
the overturning clamping unit comprises two clamping cylinders which synchronously move in opposite directions, and is used for clamping two ends of a center hole of a blank or a spline shaft;
the overturning driving unit comprises an overturning servo motor and an overturning arm, the direction of an output shaft of the overturning servo motor is the left-right direction, a first end of the overturning arm is fixed on the output shaft of the overturning servo motor, and a clamping cylinder is fixed on a second end of the overturning arm; the shaft axis of the clamped blank or spline shaft is parallel to but not coincident with the shaft axis of the output shaft of the turnover servo motor;
the feeding unit comprises a feeding bin, the bottom of the feeding bin is provided with an inclination with a lower front part and a higher rear part, and a blank automatically rolls forwards in the feeding bin;
the finished product transportation unit comprises a finished product conveyor;
the conveying driving unit comprises a conveying bracket, a driving motor, a belt and a belt wheel combination, and the conveying bracket is connected with the rack through a sliding pair; the driving motor drives the carrying support to translate left and right through the transmission mechanism, moves to a first position leftwards and moves to a second position rightwards;
the blank clamping unit comprises a blank cylinder, a blank pneumatic finger and a blank clamping jaw; the combination of the blank pneumatic finger and the blank clamping jaw is used for clamping the blank, and the clamping part is the thin waist part of the blank; the blank pneumatic finger is fixed at the first end of the blank air cylinder, and the second end of the blank air cylinder is fixed on the carrying bracket;
the finished product clamping unit comprises a finished product cylinder, a finished product pneumatic finger and a finished product clamping jaw; the combination of the finished product pneumatic fingers and the finished product clamping jaws is used for clamping the spline shaft, and the clamping part is the thin waist part of the spline shaft; the finished pneumatic fingers are fixed at the first end of the finished cylinder, and the second end of the finished cylinder is fixed on the carrying bracket;
the turning servo motor drives the clamping cylinder to turn to three target positions, namely an upper position, a lower position and a rear position; when the clamping cylinder is positioned at the upper position and the finished product clamping unit clamps the spline shaft, the finished product clamping unit stretches, and the clamping cylinder clamps the spline shaft clamped by the finished product clamping unit; when the clamping cylinder is positioned at the upper position and the blank is clamped by the clamping cylinder, the blank clamping unit is stretched and then clamps the blank clamped by the clamping cylinder; when the clamping cylinder is at the rear position, the clamping cylinder can clamp the blank at the front lower end in the feeding bin; when the clamping cylinder is positioned at the lower position, the spline shaft clamped by the clamping cylinder can be just placed at the front end of the finished product conveyor.
The invention also comprises a turning clamping detection unit and a turning clamping alarm unit, wherein the turning clamping detection unit comprises a clamping sensor which is used for acquiring a signal whether the blank or the spline shaft is correctly clamped; an induction device is arranged on the outer side of the cylinder body of the clamping cylinder, a magnet is arranged on the piston, and the position of the magnet is just sensed by the induction device when the clamping cylinder clamps correctly, so that a signal is generated and transmitted to the auxiliary PLC; when the workpiece is not clamped, a corresponding signal does not exist, although the workpiece is clamped, when the workpiece does not exist in the middle, the magnet rapidly passes through the induction area to be short of generating the corresponding signal, and the corresponding signal is considered to be not generated; when a signal for correct clamping is generated, the next step of command is executed, and when the command for executing the clamping action is sent but the signal for correct clamping is not generated, the overturning and clamping alarm unit is started, an alarm is sent, and the machine is stopped for waiting.
The invention also comprises a bin end detection unit and an empty bin alarm unit, wherein the bin end detection unit comprises a bin end sensor, the bin end sensor is used for detecting whether blanks are in place at the front lower end of the feeding bin, and if the blanks are in place, the bin end sensor generates a corresponding signal and transmits the signal to the auxiliary PLC; before the clamping cylinder performs the clamping action at the rear position, if the auxiliary PLC receives a blank in-place signal, the next step of instruction is continuously executed, otherwise, if the blank in-place signal is not received, the empty bin alarm unit is started, an alarm is given out, and the machine is stopped for waiting.
The invention also comprises a finished product detection unit and a finished product alarm unit; the finished product detection unit comprises a finished product sensor, the finished product sensor is used for detecting whether articles exist at the front end of the finished product conveyor, and if the articles exist, corresponding signals are generated and transmitted to the auxiliary PLC; the clamping cylinder clamps the spline shaft when being in an upper position, the finished product detection unit is started before the overturning driving unit is started, if the front end of the finished product conveyor is detected to have articles, the finished product alarm unit is started to give an alarm, and the finished product conveyor is stopped for waiting, so that the clamped spline shaft is prevented from colliding with the articles where the clamped spline shaft is located, and if the clamped spline shaft is not located, the next step of instruction is executed.
The invention also comprises a first position detection unit and a first position alarm unit; the first position detection unit comprises a first position sensor, the first position sensor is used for detecting whether the carrying bracket is located at a first position or not, and generating a corresponding signal to be transmitted to the auxiliary PLC; and before the finished product clamping unit is stretched, the first position detection unit is started, a corresponding signal is generated and transmitted to the auxiliary PLC, if the finished product clamping unit is determined to be at the first position, the finished product clamping unit executes stretching action, and if the finished product clamping unit is determined not to be at the first position, the first position alarm unit is started, an alarm is sent out, and the machine is stopped for waiting.
The invention also comprises a second position detection unit and a second position alarm unit; the second position detection unit comprises a second position sensor, the second position sensor is used for detecting whether the carrying bracket is located at a second position or not, and generating a corresponding signal to be transmitted to the auxiliary PLC; and before the finished product clamping unit is stretched, the second position detection unit is started, a corresponding signal is generated and transmitted to the auxiliary PLC, if the finished product clamping unit is determined to be at the second position, the finished product clamping unit executes stretching action, and if the finished product clamping unit is determined not to be at the second position, the second position alarm unit is started, an alarm is sent out, and the machine is stopped for waiting.
The invention also comprises a bin tail detection unit and a bin tail alarm unit; the bin tail detection unit comprises a bin tail sensor; the bin tail sensor is used for detecting whether the quantity of blanks in the feeding bin is less than a lower limit value or not, generating a corresponding signal and transmitting the signal to the auxiliary PLC, and if so, starting the bin tail alarm unit to remind workers of charging in the feeding bin within a certain time, but the operation is not required to be stopped.
An auxiliary control method for precise gear milling of a spline shaft of a motor based on an intelligent robot comprises the following steps:
01) starting the first position detection unit, generating a corresponding signal and transmitting the signal to the auxiliary PLC programmable controller; if the carrying support is determined to be at the first position, the PLC sends a next step instruction, and if the carrying support is determined not to be at the first position, the PLC starts a first position alarm unit, sends out an alarm, stops the machine for waiting;
02) starting a finished product detection unit, detecting whether articles exist at the front end of the finished product conveyor, and generating a corresponding signal to transmit the signal to the auxiliary PLC programmable controller if the articles exist; if yes, starting a finished product alarm unit, giving an alarm, stopping the machine for waiting, and if not, executing a next step instruction;
03) starting the finished product clamping unit, extending the finished product clamping unit, pushing the spline shaft to be in place, and enabling the spline shaft to be just positioned at the upper position of the clamping cylinder;
04) starting the overturning clamping unit, and clamping the spline shaft by a clamping cylinder;
05) starting the turning clamping detection unit, executing a next command when a signal for correct clamping is generated, otherwise, sending a command for executing the clamping action to the clamping cylinder but not generating a signal for correct clamping, starting the turning clamping alarm unit, sending an alarm, and stopping the machine for waiting;
06) starting the turnover driving unit, turning the spline shaft from the upper position to the lower position, and enabling the spline shaft clamped by the clamping cylinder to be just positioned at the front end of the finished product conveyor; loosening the spline shaft by the clamping cylinder, and enabling the spline shaft to fall at the front end of the finished product conveyor;
07) starting a finished product detection unit, detecting the position of the spline shaft, starting a finished product transportation unit, and transporting the spline shaft at the front end backwards by a finished product conveyor until the spline shaft falls into a rear finished product box; otherwise, sending an instruction for loosening the spline shaft by the clamping cylinder but not detecting that the spline shaft is in place, starting a finished product alarm unit, sending an alarm, and stopping for waiting;
08) the bin tail detection unit detects whether the number of the tails of the blank bins is less than a lower limit value or not, generates corresponding signals and transmits the signals to the auxiliary PLC, and the bin tail alarm unit is started to remind workers of loading materials in the feeding bins within a certain time, but does not need to stop the machine;
09) starting a bin end detection unit, detecting that the blanks are in place at the front lower end of the feeding bin, if so, generating corresponding signals by a bin end sensor, transmitting the corresponding signals to an auxiliary PLC (programmable logic controller), and executing a next step of instruction; otherwise, starting an empty bin alarm unit, giving an alarm, and stopping the machine for waiting;
10) starting the overturning driving unit, and overturning the overturning clamping cylinder from the lower position to the rear position;
11) starting the turning clamping unit, and clamping the blank at the front lower end of the feeding bin by a turning clamping cylinder;
12) starting the turnover driving unit, and turning the blank from the rear position to the upper position;
13) starting the blank clamping unit, extending the blank clamping unit, clamping the blank, loosening the overturning clamping cylinder, and driving the blank to retract by the blank clamping unit;
14) starting the conveying driving unit, and driving a motor to drive the conveying support, the blank clamping unit, and the combination of the blank and finished product clamping unit to a second position;
15) starting a second position detection unit, detecting whether the carrying support is located at a second position, if not, starting a second position alarm unit, sending an alarm, stopping the carrying support for waiting, and if the carrying support is located in place, executing a next step of instruction;
16) starting the finished product clamping unit, stretching and clamping the machined spline shaft, and sending information that the action is finished to a PLC (programmable logic controller) of the gear milling machine by the auxiliary PLC; the PLC of the gear milling machine sends out an instruction, the workpiece clamping unit is started, the spline shaft is loosened, and information that the action is finished is sent to the auxiliary PLC; the finished product clamping unit keeps clamping the spline shaft and retracts;
17) the auxiliary PLC sends out an instruction, the blank clamping unit is started, the blank clamping unit is stretched to push the blank in place, and information that the action is finished is sent out to the PLC of the gear milling machine; the PLC of the gear milling machine sends out an instruction, the workpiece clamping unit is started to clamp the blank, information that the action is finished is sent to the auxiliary PLC, and the blank clamping unit loosens and retracts;
18) starting the carrying driving unit, and driving a motor to drive the combination of the carrying support, the blank clamping unit, the finished product clamping unit and the spline shaft to a first position;
the steps 01 to 18) above are executed circularly;
for a gear milling machine, the following steps are carried out starting from 17):
19) starting a workpiece rotation driving unit to drive the spline shaft blank to rotate, wherein the first feeding motion is;
20) the rotary driving unit of the milling cutter is started, and the milling cutter rotates, which is the main cutting motion;
21) starting the translation unit of the workbench, finishing the feeding action of the driving workpiece, and finally converting the spline shaft blank into a finished spline shaft; then, step 16) is executed, and the five steps are as follows: 16) 17), 19) to 21) are executed cyclically.
Compared with the prior art, the invention has the beneficial effects that: the automation can be improved, the intellectualization is improved, the working efficiency is improved, the labor intensity is reduced, and the safety is improved.
Drawings
FIG. 1 is a schematic flow chart of a control method of the present invention;
FIG. 2 is a schematic view of a production process flow of the control method of the present invention;
FIG. 3 is a schematic three-dimensional structure of spline shaft 12;
FIG. 4 is a schematic three-dimensional structure of a mechanical overall structure according to the present invention from a first perspective;
FIG. 5 is a schematic three-dimensional structure of a second perspective of the mechanical overall structure of the present invention;
FIG. 6 is a schematic three-dimensional view of the inverted clamp assembly 2;
FIG. 7 is a schematic three-dimensional structure of the feed assembly 3;
FIG. 8 is a schematic three-dimensional structure of the finished shipping assembly 4;
fig. 9 is a schematic three-dimensional structure of the carrier drive assembly 5;
fig. 10 is a schematic three-dimensional structure of the table assembly 7.
In the figure:
11-blank; 12-a splined shaft; 121-thin waist; 122-a central hole;
2-overturning the clamping assembly; 21-turning over the servo motor; 22-a flipping arm; 23-a clamping cylinder; 24-a clamp sensor;
3-a feeding assembly; 31-a supply bin; 32-end of bin sensor; 33-bin tail sensor;
4-a finished product transport assembly; 41-finished product sensor; 42-finished product conveyer;
5-a handling drive assembly; 51-a handling rack; 52-a slide block; 53-blank cylinder; 54-blank pneumatic fingers; 55-blank clamping jaw; 56-finished product cylinder; 57-finished pneumatic finger; 58-finished product clamping jaw;
6-a drive assembly; 61-a first position sensor; 62-a second position sensor; 63-a drive motor; 64-a combination of belt and pulley;
7-a table assembly; 71-a workbench; 72-a clamping and rotation mechanism;
8-milling a gear cutter; 9-milling the gear machine body; 0-a frame; 10-finished product box.
Detailed Description
The technical solutions in the present invention will be described clearly and completely with reference to the following embodiments and the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Embodiment 1, a precision gear milling auxiliary control system based on an intelligent robot motor spline shaft, as shown in fig. 1-10, includes an auxiliary PLC programmable controller, an overturning clamping unit, an overturning driving unit, a feeding unit, a finished product transporting unit, a carrying driving unit, a blank clamping unit, and a finished product clamping unit; the overturning clamping unit, the overturning driving unit, the finished product transporting unit, the carrying driving unit, the blank clamping unit and the finished product clamping unit are respectively electrically connected with the auxiliary PLC; the auxiliary PLC is electrically connected with the gear milling machine PLC and is communicated with the gear milling machine PLC;
the overturning clamping unit comprises two clamping cylinders 23 which synchronously translate in opposite directions, and is used for clamping two ends of a central hole 122 of the blank 11 or the spline shaft 12;
the overturning driving unit comprises an overturning servo motor 21 and an overturning arm 22, the direction of an output shaft of the overturning servo motor 21 is the left-right direction, a first end of the overturning arm 22 is fixed on the output shaft of the overturning servo motor 21, and a clamping cylinder 23 is fixed on a second end of the overturning arm 22; the shaft axis of the clamped blank 11 or the spline shaft 12 is parallel to but not coincident with the shaft axis of the output shaft of the turnover servo motor 21;
the feeding unit comprises a feeding bin 31, the bottom of the feeding bin 31 is provided with an inclination which is low in the front and high in the rear, and the blank 11 automatically rolls forwards in the feeding bin;
the finished product transport unit includes a finished product conveyor 42;
the conveying driving unit comprises a conveying bracket 51, a driving motor 63 and a belt and belt wheel combination 64, and a sliding block 52 of the conveying driving unit is matched with a linear guide rail on the rack to form a moving pair; the driving motor 63 drives the carrying bracket 51 to move left and right horizontally through a belt and belt wheel combination 64, and moves left to a first position and moves right to a second position;
the blank clamping unit comprises a blank air cylinder 53, a blank pneumatic finger 54 and a blank clamping jaw 55; the combination of the blank pneumatic finger 54 and the blank clamping jaw 55 is used for clamping the blank 11, and the clamping position is the slender waist part 121 of the blank 11; the blank pneumatic finger 54 is fixed at the first end of the blank air cylinder 53, and the second end of the blank air cylinder 53 is fixed on the carrying bracket 51;
the finished product clamping unit comprises a finished product cylinder 56, a finished product pneumatic finger 57 and a finished product clamping jaw 58; the combination of the finished pneumatic fingers 57 and the finished clamping jaws 55 is used for clamping the spline shaft 12, and the clamping part is a thin waist part 121 of the spline shaft 12; the finished product pneumatic finger 57 is fixed to a first end of the finished product cylinder 56, and a second end of the finished product cylinder 56 is fixed to the carrying bracket 51;
the turning servo motor 21 drives the clamping cylinder 23 to turn to three target positions, namely an upper position, a lower position and a rear position; when the clamping cylinder 23 is at the upper position and the finished product clamping unit clamps the spline shaft 12, the finished product clamping unit is extended, and the clamping cylinder 23 clamps the spline shaft 12 clamped by the finished product clamping unit; when the clamping cylinder 23 is at the upper position and the clamping cylinder 23 clamps the blank 11, the blank clamping unit is extended and then clamps the blank 11 clamped by the clamping cylinder 23; when the clamping cylinder 23 is at the rear position, the clamping cylinder 23 can clamp the blank 11 at the front lower end in the feeding bin 31; when the clamping cylinder 23 is in the lower position, the spline shaft 12 clamped by the clamping cylinder 23 can be just placed at the front end of the finished product conveyor 42.
The present embodiment further includes a turning clamping detection unit and a turning clamping alarm unit, the turning clamping detection unit includes a clamping sensor 24, and the clamping sensor 24 is configured to obtain a signal indicating whether the blank 11 or the spline shaft 12 is correctly clamped; an induction device is arranged on the outer side of the cylinder body of the clamping cylinder 23, a magnet is arranged on the piston, and the position of the magnet is just sensed by the induction device when the clamping cylinder is correctly clamped, so that a signal is generated and transmitted to the auxiliary PLC; when the workpiece is not clamped, a corresponding signal does not exist, although the workpiece is clamped, when the workpiece does not exist in the middle, the magnet rapidly passes through the induction area to be short of generating the corresponding signal, and the corresponding signal is considered to be not generated; when a signal of correct clamping is generated, next turning work is carried out, and when an instruction of executing clamping action is sent but a signal of correct clamping is not generated, a turning clamping alarm unit is started, an alarm is sent, and the machine is stopped for waiting.
The embodiment also comprises a bin end detection unit and an empty bin alarm unit, wherein the bin end detection unit comprises a bin end sensor 32, the bin end sensor 32 is used for detecting whether the blank 11 is in position at the front lower end of the feeding bin, and if the blank 11 is in position, the bin end sensor 32 generates a corresponding signal and transmits the signal to the auxiliary PLC; before the clamping cylinder 23 performs the clamping action at the rear position, if the auxiliary PLC receives a signal that the blank 11 is in place, the clamping action is continuously performed, otherwise, the empty bin alarm unit is started, an alarm is given out, and the machine is stopped for waiting.
The embodiment also comprises a finished product detection unit and a finished product alarm unit; the finished product detection unit comprises a finished product sensor 41, the finished product sensor 41 is used for detecting whether articles exist at the front end of the finished product conveyor, and if the articles exist, corresponding signals are generated and transmitted to the auxiliary PLC; the clamping cylinder 23 clamps the spline shaft 12 when being in an upper position, the finished product detection unit is started before the overturning driving unit is started, and if the front end of the finished product conveyor is detected to have articles, the finished product alarm unit is started to give an alarm and stop for waiting.
The embodiment also comprises a first position detection unit and a first position alarm unit; the first position detection unit comprises a first position sensor 61, the first position sensor 61 is used for detecting whether the carrying bracket 51 is at a first position or not, and generating a corresponding signal to be transmitted to the auxiliary PLC programmable controller; and before the finished product clamping unit is stretched, the first position detection unit is started, a corresponding signal is generated and transmitted to the auxiliary PLC, if the finished product clamping unit is determined to be at the first position, the finished product clamping unit executes stretching action, and if the finished product clamping unit is determined not to be at the first position, the first position alarm unit is started, an alarm is sent out, and the machine is stopped for waiting.
The embodiment also comprises a second position detection unit and a second position alarm unit; the second position detection unit comprises a second position sensor 62, and the second position sensor 62 is used for detecting whether the carrying bracket 51 is at the second position or not, generating a corresponding signal and transmitting the signal to the auxiliary PLC; and before the finished product clamping unit is stretched, the second position detection unit is started, a corresponding signal is generated and transmitted to the auxiliary PLC, if the finished product clamping unit is determined to be at the second position, the finished product clamping unit executes stretching action, and if the finished product clamping unit is determined not to be at the second position, the second position alarm unit is started, an alarm is sent out, and the machine is stopped for waiting.
The embodiment also comprises a bin tail detection unit and a bin tail alarm unit; the bin tail detection unit comprises a bin tail sensor 33; the bin tail sensor 33 is used for detecting whether the number of the blanks 11 in the feeding bin 31 is less than a lower limit value, the lower limit value is set to be two in the embodiment, and when the bin tail sensor 33 detects that the third blank is empty, a corresponding signal is generated and transmitted to the auxiliary PLC, and the bin tail alarm unit is started to remind a worker of charging in the feeding bin 31 within a certain time, but the machine does not need to be stopped.
01) starting the first position detection unit, generating a corresponding signal and transmitting the signal to the auxiliary PLC programmable controller; if the carrying support is determined to be at the first position, the PLC sends a next step instruction, and if the carrying support is determined not to be at the first position, the PLC starts a first position alarm unit, sends out an alarm, stops the machine for waiting;
02) starting a finished product detection unit, detecting whether articles exist at the front end of the finished product conveyor, and generating a corresponding signal to transmit the signal to the auxiliary PLC programmable controller if the articles exist; if yes, starting a finished product alarm unit, giving an alarm, stopping the machine for waiting, and if not, executing a next step instruction;
03) starting the finished product clamping unit, extending the finished product clamping unit, pushing the spline shaft 12 to be in place, and enabling the spline shaft 12 to be just positioned at the upper position of the clamping cylinder 23;
04) starting the overturning clamping unit, and clamping the spline shaft 12 by the clamping cylinder 23;
05) starting the turning clamping detection unit, executing the next step of command when the signal of correct clamping is generated, otherwise, sending a command of executing the clamping action to the clamping cylinder 23 but not generating the signal of correct clamping, starting the turning clamping alarm unit, giving an alarm, and stopping the machine for waiting.
06) Starting the turnover driving unit, turning the spline shaft 12 from the upper position to the lower position, wherein the spline shaft 12 clamped by the clamping cylinder 23 is just positioned at the front end of the finished product conveyor 42; the clamping cylinder 23 loosens the spline shaft 12, and the spline shaft 12 falls on the front end of the finished product conveyor 42;
07) starting a finished product detection unit, detecting that the spline shaft 12 is in position, starting a finished product transportation unit, and transporting the spline shaft 12 at the front end backwards by using a finished product transporter 42 until the spline shaft falls into a rear finished product box 10; otherwise, an instruction for loosening the spline shaft 12 by the clamping cylinder 23 is sent out, but the spline shaft 12 is not detected to be in place, a finished product alarm unit is started, an alarm is sent out, and the machine is stopped for waiting;
08) the bin tail detection unit detects whether the bin tail number of the blank 11 is less than a lower limit value, the lower limit value is set to be two in the embodiment, and the bin tail sensor 33 detects that the third bin is empty, a corresponding signal is generated and transmitted to the auxiliary PLC, the bin tail alarm unit is started, and a worker is reminded of filling materials in the feeding bin 31 within a certain time, but does not need to stop the machine;
09) starting a bin end detection unit, detecting that a blank 11 is positioned at the front lower end of a feeding bin 31, if so, generating a corresponding signal by a bin end sensor 32, transmitting the corresponding signal to an auxiliary PLC (programmable logic controller), and executing a next step of instruction; otherwise, starting an empty bin alarm unit, giving an alarm, and stopping the machine for waiting;
10) starting the overturning driving unit, and overturning the clamping cylinder 23 from the lower position to the rear position;
11) starting the overturning clamping unit, and clamping the blank 11 at the front lower end of the feeding bin 31 by the overturning clamping cylinder 23;
12) starting the turnover driving unit, and turning the blank 11 from the rear position to the upper position;
13) starting the blank clamping unit, extending the blank clamping unit, clamping the blank, loosening the overturning clamping cylinder, and driving the blank to retract by the blank clamping unit;
14) starting the conveying driving unit, and driving a combination of the conveying bracket 51, the blank clamping unit, the blank 11 and the finished product clamping unit to a second position by a driving motor 63;
15) starting a second position detection unit, detecting whether the carrying bracket 51 is positioned at a second position, if not, starting a second position alarm unit, and if so, executing a next step instruction;
16) starting the finished product clamping unit, stretching and clamping the machined spline shaft 12, and sending information that the action is finished to a PLC (programmable logic controller) of the gear milling machine by the auxiliary PLC; the PLC of the gear milling machine sends out an instruction, starts the workpiece clamping unit, loosens the spline shaft 12 and sends out information that the action is finished to the auxiliary PLC; the finished product clamping unit keeps clamping the spline shaft and retracts;
17) the auxiliary PLC sends out an instruction, the blank clamping unit is started, the blank 11 is stretched and pushed in place, and information that the action is finished is sent out to the PLC of the gear milling machine; the PLC of the gear milling machine sends out an instruction, the workpiece clamping unit is started to clamp the spline shaft 12, information that the action is finished is sent to the auxiliary PLC, and the blank clamping unit loosens and retracts;
18) the auxiliary PLC sends an instruction, the conveying driving unit is started, and the driving motor 63 drives the conveying support 51, the blank clamping unit, the finished product clamping unit and the spline shaft 12 to be combined to a first position;
the steps 01 to 18) above are executed circularly;
for the gear milling machine, the following steps are carried out starting from step 17):
19) the PLC of the gear milling machine sends out an instruction, a workpiece rotation driving unit is started, and the spline shaft blank 11 is driven to rotate, namely a first feeding motion;
20) starting a gear milling cutter rotation driving unit to drive the gear milling cutter 8 to rotate, which is a cutting main motion;
21) starting a translation unit of the workbench to drive a workpiece to finish feeding action, and finally converting a blank 11 into a finished spline shaft 12;
then, step 16) is executed, and the five steps are as follows: 16) 17), 19) to 21) are executed cyclically. The working unit controlled by the auxiliary PLC and the working unit controlled by the gear milling machine PLC respectively work circularly and are coordinated with each other, so that the blank 11 in the feeding bin 31 is continuously conveyed, processed and conveyed again and finally sent into the finished product box 10, and the aims of improving automation, improving intelligence, improving working efficiency, reducing labor intensity and improving safety are fulfilled.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. An intelligent robot-based motor spline shaft precision gear milling auxiliary control system is characterized by comprising an auxiliary PLC (programmable logic controller), an overturning clamping unit, an overturning driving unit, a feeding unit, a finished product transporting unit, a carrying driving unit, a blank clamping unit and a finished product clamping unit; the overturning clamping unit, the overturning driving unit, the finished product transporting unit, the carrying driving unit, the blank clamping unit and the finished product clamping unit are respectively electrically connected with the auxiliary PLC; the auxiliary PLC is electrically connected with the gear milling machine PLC and is communicated with the gear milling machine PLC;
the overturning clamping unit comprises two clamping cylinders which synchronously move in opposite directions, and is used for clamping two ends of a center hole of a blank or a spline shaft;
the overturning driving unit comprises an overturning servo motor and an overturning arm, the direction of an output shaft of the overturning servo motor is the left-right direction, a first end of the overturning arm is fixed on the output shaft of the overturning servo motor, and a clamping cylinder is fixed on a second end of the overturning arm; the shaft axis of the clamped blank or spline shaft is parallel to but not coincident with the shaft axis of the output shaft of the turnover servo motor;
the feeding unit comprises a feeding bin, and the bottom of the feeding bin is provided with an inclination with a low front part and a high back part;
the finished product transportation unit comprises a finished product conveyor;
the conveying driving unit comprises a conveying bracket, a driving motor and a belt and belt wheel combination, and the conveying bracket is connected with the rack through a sliding pair; the driving motor drives the carrying support to translate left and right through the transmission mechanism, moves to a first position leftwards and moves to a second position rightwards;
the blank clamping unit comprises a blank cylinder, a blank pneumatic finger and a blank clamping jaw; the combination of the blank pneumatic finger and the blank clamping jaw is used for clamping the blank, and the clamping part is the thin waist part of the blank; the blank pneumatic finger is fixed at the first end of the blank air cylinder, and the second end of the blank air cylinder is fixed on the carrying bracket;
the finished product clamping unit comprises a finished product cylinder, a finished product pneumatic finger and a finished product clamping jaw; the combination of the finished product pneumatic fingers and the finished product clamping jaws is used for clamping the spline shaft, and the clamping part is the thin waist part of the spline shaft; the finished pneumatic fingers are fixed at the first end of the finished cylinder, and the second end of the finished cylinder is fixed on the carrying bracket;
the turning servo motor drives the clamping cylinder to turn to three target positions, namely an upper position, a lower position and a rear position; when the clamping cylinder is positioned at the upper position and the finished product clamping unit clamps the spline shaft, the finished product clamping unit stretches, and the clamping cylinder clamps the spline shaft clamped by the finished product clamping unit; when the clamping cylinder is positioned at the upper position and the blank is clamped by the clamping cylinder, the blank clamping unit is stretched and then clamps the blank clamped by the clamping cylinder; when the clamping cylinder is at the rear position, the clamping cylinder clamps the blank at the front lower end in the feeding bin; when the clamping cylinder is positioned at the lower position, the spline shaft clamped by the clamping cylinder is placed at the front end of the finished product conveyor.
2. The intelligent robot-based motor spline shaft precision gear milling auxiliary control system according to claim 1, further comprising an overturning clamping detection unit and an overturning clamping alarm unit, wherein the overturning clamping detection unit comprises a clamping sensor, and the clamping sensor is used for acquiring a signal whether the blank or the spline shaft is clamped correctly; generating a signal and transmitting the signal to an auxiliary PLC programmable controller; when the instruction for executing the clamping action is sent but a signal for correctly clamping is not generated, the overturning and clamping alarm unit is started, an alarm is sent, and the machine is stopped for waiting.
3. The intelligent robot motor spline shaft precision gear milling auxiliary control system based on the claim 1 is characterized by further comprising an end-of-bin detection unit and an empty bin alarm unit, wherein the end-of-bin detection unit comprises an end-of-bin sensor, the end-of-bin sensor is used for detecting whether blanks are in place at the front lower end of the feeding bin, if no blank in-place signal is received, the empty bin alarm unit is started, an alarm is given out, and the system is stopped for waiting.
4. The intelligent robot-based motor spline shaft precision gear milling auxiliary control system as claimed in claim 1, further comprising a finished product detection unit and a finished product alarm unit; the finished product detection unit comprises a finished product sensor, the finished product sensor is used for detecting whether articles exist at the front end of the finished product conveyor, if the articles exist, the finished product alarm unit is started, an alarm is given out, and the finished product conveyor is stopped for waiting.
5. The intelligent robot-based motor spline shaft precision gear milling auxiliary control system as claimed in claim 1, further comprising a first position detection unit and a first position alarm unit; the first position detection unit comprises a first position sensor, the first position sensor is used for detecting whether the carrying bracket is located at a first position or not, and generating a corresponding signal to be transmitted to the auxiliary PLC; if the first position is not determined, the first position alarm unit is started, an alarm is sent out, and the machine is stopped to wait.
6. A control method based on an intelligent robot motor spline shaft precision gear milling auxiliary control system as claimed in any one of claims 1 to 5, comprising the following steps:
03) starting the finished product clamping unit, extending the finished product clamping unit, pushing the spline shaft to be in place, and enabling the spline shaft to be just positioned at the upper position of the clamping cylinder;
04) starting the overturning clamping unit, and clamping the spline shaft by a clamping cylinder;
06) starting the turnover driving unit, turning the spline shaft from the upper position to the lower position, and enabling the spline shaft clamped by the clamping cylinder to be just positioned at the front end of the finished product conveyor; loosening the spline shaft by the clamping cylinder, and enabling the spline shaft to fall at the front end of the finished product conveyor;
10) starting the overturning driving unit, and overturning the overturning clamping cylinder from the lower position to the rear position;
11) starting the turning clamping unit, and clamping the blank at the front lower end of the feeding bin by a turning clamping cylinder;
12) starting the turnover driving unit, and turning the blank from the rear position to the upper position;
13) starting the blank clamping unit, extending the blank clamping unit, clamping the blank, loosening the overturning clamping cylinder, and driving the blank to retract by the blank clamping unit;
14) starting the conveying driving unit, and driving a motor to drive the conveying support, the blank clamping unit, and the combination of the blank and finished product clamping unit to a second position;
16) starting the finished product clamping unit, stretching and clamping the machined spline shaft, and sending information that the action is finished to a PLC (programmable logic controller) of the gear milling machine by the auxiliary PLC; the PLC of the gear milling machine sends out an instruction, the workpiece clamping unit is started, the spline shaft is loosened, and information that the action is finished is sent to the auxiliary PLC; the finished product clamping unit keeps clamping the spline shaft and retracts;
17) the auxiliary PLC sends out an instruction, the blank clamping unit is started, the blank clamping unit is stretched to push the blank in place, and information that the action is finished is sent out to the PLC of the gear milling machine; the PLC of the gear milling machine sends out an instruction, the workpiece clamping unit is started to clamp the blank, information that the action is finished is sent to the auxiliary PLC, and the blank clamping unit loosens and retracts;
18) starting the carrying driving unit, and driving a motor to drive the combination of the carrying support, the blank clamping unit, the finished product clamping unit and the spline shaft to a first position;
the steps are circularly executed.
7. The control method according to claim 6, characterized by further comprising, between steps 6) and 10), the steps of:
08) the bin tail detection unit detects whether the bin tail number of the blank is less than the lower limit value or not, generates a corresponding signal and transmits the signal to the auxiliary PLC, and the bin tail alarm unit is started.
8. The control method according to claim 6, characterized by further comprising, between steps 14) and 16), the steps of:
15) and starting a second position detection unit, detecting whether the carrying support is located at a second position, and if the carrying support is not located in place, starting a second position alarm unit, sending an alarm, stopping the machine and waiting.
9. Control method according to claim 6, characterized in that it further comprises, after step 17), the following steps performed by the gear milling machine:
19) starting a workpiece rotation driving unit to drive the blank to rotate;
20) starting a gear milling cutter rotation driving unit to drive the gear milling cutter to rotate;
21) starting the translation unit of the workbench to drive the workpiece to complete the feeding action;
the five steps are as follows: 16) 17), 19) to 21) are executed cyclically.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US3862585A (en) * | 1971-06-28 | 1975-01-28 | Gen Motors Corp | Method of manufacturing tapered involute splines |
| CN1072541C (en) * | 1995-02-06 | 2001-10-10 | 邵文远 | Small integrated machining center |
| CN205342101U (en) * | 2015-12-22 | 2016-06-29 | 杭州巨臣机电科技有限公司 | Roll major axis spline digit control machine tool |
| CN206484350U (en) * | 2017-02-27 | 2017-09-12 | 广州协鸿工业机器人技术有限公司 | A kind of workpiece turning hoistable platform |
| CN108528823B (en) * | 2018-05-14 | 2023-12-01 | 大连辰翔科技发展有限公司 | Automatic control-based part product boxing system |
| CN109454660A (en) * | 2019-01-20 | 2019-03-12 | 杜利斌 | One kind having turn over function fixture |
| CN110562704A (en) * | 2019-09-19 | 2019-12-13 | 济宁市金佳液压有限公司 | Hydraulic motor main shaft processing intelligent mechanical arm automatic feeding device |
| CN112238266B (en) * | 2020-10-24 | 2022-03-29 | 上海万众实业股份有限公司 | Numerical control gear hobbing machine tool |
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