CN114179432B - Full-automatic multi-station hydraulic press demolding control system and control method - Google Patents
Full-automatic multi-station hydraulic press demolding control system and control method Download PDFInfo
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- CN114179432B CN114179432B CN202111510409.4A CN202111510409A CN114179432B CN 114179432 B CN114179432 B CN 114179432B CN 202111510409 A CN202111510409 A CN 202111510409A CN 114179432 B CN114179432 B CN 114179432B
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- 239000010727 cylinder oil Substances 0.000 claims description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
- B30B15/32—Discharging presses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
- B30B15/16—Control arrangements for fluid-driven presses
- B30B15/166—Electrical control arrangements
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- 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
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention belongs to the technical field of hydraulic press demolding, and particularly discloses a full-automatic multi-station hydraulic press demolding control system and a full-automatic multi-station hydraulic press demolding control method, wherein the full-automatic multi-station hydraulic press demolding control system comprises a human-computer interface touch screen, a manipulator controller, a motion controller, an analog input module, an analog output module, an SSI signal access module, a displacement detection assembly, a pressure detection assembly, a servo pump, a servo motor, a servo driver and an energy accumulator; the displacement detection assembly is used for detecting displacement of the main cylinder and the plurality of top cylinders; the pressure detection component is used for detecting pressure values of the energy accumulator and the plurality of top cylinders; the analog quantity output module is used for receiving and converting the calculated output value of the motion controller so as to control the oil inlet quantity and the pressure of the plurality of top cylinders. The system is provided. The problem that the pressure of each station is difficult to distribute and the strain or deformation is easy to occur in the demolding process of the workpiece in the prior art can be solved; and moreover, a plurality of stations are difficult to ensure to accurately and simultaneously reach the grabbing positions of the manipulators, so that the production efficiency is reduced.
Description
Technical Field
The invention belongs to the technical field of hydraulic press demolding, and particularly relates to a full-automatic multi-station hydraulic press demolding control system and a full-automatic multi-station hydraulic press demolding control method.
Background
The hydraulic press is a machine which is made according to Pascal principle and is used for transferring energy to implement various processes and is generally used for processing products such as metal, plastic, rubber, wood, powder and the like by taking liquid as a working medium; are commonly used in press processes and press forming processes, such as: forging, stamping, cold extrusion, straightening, bending, flanging, sheet drawing, powder metallurgy, press fitting, and the like. Typical workpiece forming processes are: upsetting-first forming-second forming- … -nth forming. In order to improve the forming efficiency, a multi-station hydraulic press is generally adopted to sequentially form a plurality of workpieces, and a manipulator is adopted to transfer the workpieces, so that the production process is approximately as follows: after the forming of the workpiece n at the first station is completed, the clamping jaw 2 grabs the workpiece n to the second station, and the clamping jaw 1 grabs the workpiece n+1 to the first station; after the forming of the workpiece n at the second station is completed, the clamping jaw 3 grabs the workpiece n to the third station, the clamping jaw 2 grabs the workpiece n+1 to the second station, and the clamping jaw 1 grabs the workpiece n+2 to the first station; after the forming of the workpiece n at the station three is completed, the clamping jaw 4 grabs the station four of the workpiece, the clamping jaw 3 grabs the workpiece n+1 to the station three, the clamping jaw 2 grabs the workpiece n+2 to the station two, and the clamping jaw 1 grabs the workpiece n+3 to the station one; and so on. However, in the forming process of the plurality of stations, it is difficult to ensure that the plurality of stations accurately and simultaneously reach the grabbing position of each clamping jaw, so that the clamping jaw which reaches the position first needs to wait for the clamping jaw which reaches the position later, and therefore the production efficiency is reduced. And the pressure of each station is difficult to distribute, so that the workpiece is easy to be pulled or deformed in the demolding process.
Disclosure of Invention
The invention aims to provide a full-automatic multi-station hydraulic press demoulding control system and a control method, which are used for solving the problems that the pressure of each station is difficult to distribute and the strain or deformation is easy to occur in the process of demoulding a workpiece in the prior art; and moreover, a plurality of stations are difficult to ensure to accurately and simultaneously reach the grabbing positions of the manipulators, so that the production efficiency is reduced.
In order to achieve the above purpose, the technical scheme of the invention is as follows: the demolding control system of the full-automatic multi-station hydraulic machine is used for controlling the operation of a main cylinder and a plurality of top cylinders; the device comprises a human-computer interface touch screen, a manipulator controller, a motion controller, an analog input module, an analog output module, an SSI signal access module, a displacement detection assembly, a pressure detection assembly, a servo pump, a servo motor, a servo driver and an energy accumulator; the human-computer interface touch screen, the manipulator controller, the SSI signal access module, the analog input module and the analog output module are respectively connected with the motion controller; the human-computer interface touch screen is used for setting and displaying control parameters of the motion controller in real time; the manipulator controller is used for controlling the clamping jaws to realize carrying control on the workpiece; the displacement detection assembly is used for detecting displacement amounts of the main cylinder and the plurality of top cylinders and sending the displacement amounts to the motion controller through the SSI signal access module; the pressure detection assembly is used for detecting pressure values of the energy accumulator and the plurality of top cylinders, the pressure detection assembly sends the pressure values of the energy accumulator to the servo driver, and the servo driver transmits the pressure values of the energy accumulator to the analog input module; the pressure detection assembly sends the pressure values of the plurality of top cylinders to the motion controller through the analog input module; the analog quantity output module is used for receiving and converting and outputting the calculated output value of the motion controller so as to control the oil inlet quantity and the pressure of the plurality of top cylinders; the servo driver controls the servo pump through the servo motor, and the servo pump is connected with an oil tank; the servo pump is used for supplying oil to the energy accumulator, and the energy accumulator is used for supplying oil to the plurality of top cylinders.
Further, the servo driver can drive the servo pump to convey hydraulic oil into the energy accumulator; the motion controller and servo drive are capable of maintaining the accumulator pressure at P.
Further, an outlet end of the energy accumulator is connected with an A oil port of the CZ1 two-way cartridge valve, and an X oil port of the CZ1 two-way cartridge valve is connected with a YV1 electromagnetic valve; the oil port B of the CZ1 two-way cartridge valve is respectively connected with the oil ports P of a plurality of servo valves; the oil ports B of the servo valves are respectively connected with the plug cavities of the top cylinders; the oil ports A of the servo valves are respectively connected with rod cavities of the top cylinders; and the T oil ports of the servo valves are respectively connected with the oil tank.
Further, the pressure detection assembly comprises an XP0 pressure sensor for detecting the pressure value of the energy accumulator, an XP1 pressure sensor, an XP2 pressure sensor and an XP3 pressure sensor … XPn pressure sensors for detecting the pressure values of a plurality of top cylinders; the displacement sensor comprises an LX0 displacement sensor for detecting the displacement of the master cylinder, an LX1 displacement sensor, an LX2 displacement sensor and an LX3 displacement sensor … LXn displacement sensor for detecting the pressure values of a plurality of top cylinders, and n represents an nth top cylinder.
In order to achieve the above purpose, the present invention further provides a technical solution: a control method using the full-automatic multi-station hydraulic press demoulding control system comprises the following steps:
s1: the number of the top cylinders is n, demolding forces P 1、P2、P3…Pn of the n top cylinders are respectively arranged on a human-computer interface touch screen, demolding in-place positions X 1、X2、X3…Xn of the n top cylinders are arranged, clamping jaw grabbing positions X 11、X21、X31…Xn1 of the n top cylinders are arranged, target pressure values P which are required to be kept by an energy accumulator are arranged, and demolding speed v of a master cylinder is arranged;
S2: the motion controller outputs a target pressure value P of the energy accumulator and an operation signal of the servo driver to the servo driver through the analog quantity output module, the servo driver drives the servo pump to rotate through the servo motor, hydraulic oil enters the energy accumulator through the servo pump, the XP0 pressure sensor monitors the pressure value of the energy accumulator in real time and transmits the pressure value to the servo driver, the servo driver transmits the pressure value signal to the motion controller through the analog quantity input module, and when the pressure value detected by the XP0 pressure sensor is close to P, the servo driver reduces or stops rotating speed through controlling the servo motor, so that the pressure of the energy accumulator is kept to be dynamically stable in P;
S3: the master cylinder descends to press the workpiece, after the pressing is finished, the pressure relief and die opening are started, the master cylinder ascends at a set die release speed v, the LX0 displacement sensor detects the displacement of the master cylinder in real time and transmits the displacement to the motion controller, and the motion controller calculates the actual running speed v 0 of the master cylinder; the motion controller controls the YV1 electromagnetic valve to work in a power-on mode; the motion controller enables n top cylinders to be ejected upwards at the speed of v 0 by controlling the opening size of each servo valve respectively, and always ensures that the demolding forces of the n top cylinders are respectively kept as P 1、P2、P3…Pn, and ejection is stopped when the ejection positions of the n top cylinders respectively reach the set demolding in-place position X 1、X2、X3…Xn;
s4: after the n top cylinders are respectively ejected to the demolding in-place positions, the master cylinder ascends at a speed V which is larger than V, the n top cylinders are continuously ejected upwards to each set clamping jaw grabbing position, and the motion controller ensures that the n top cylinders simultaneously reach the corresponding clamping jaw grabbing positions by controlling the opening sizes of the servo valves;
s5: when n top cylinders reach the corresponding clamping jaw grabbing positions at the same time, the motion controller sends a signal to the manipulator controller, each clamping jaw is requested to grab materials, after the clamping jaw grabs a workpiece, the n top cylinders are retracted, and each clamping jaw transfers the workpiece to the next station.
Further, in step S3, the method for controlling the opening size of each servo valve by the motion controller is as follows: according to the formulaCalculating the theoretical opening size of the servo valve, wherein K is the opening size, v is the set speed, S is the sectional area of the top cylinder, alpha is the characteristic coefficient of the servo valve, and p Feeding in -p Out of is the pressure difference between an oil inlet and an oil outlet of the servo valve; bringing in a known variable, calculating the theoretical opening size/>, of the servo valveWherein D n is the plug cavity cylinder diameter of each top cylinder, P 0 is the oil inlet pressure value of each servo valve, and P n is the oil outlet pressure value of each servo valve, namely the plug cavity pressure value of each top cylinder; and performing pressure closed-loop control by using a PID algorithm, calculating a fine tuning opening K 'n of the servo valve, and finally outputting the fine tuning opening K' n to an opening K n＝K′n+K″n of the servo valve, wherein the motion controller sends the opening of each servo valve to each servo valve through an analog output module, hydraulic oil sequentially passes through an A oil port of an energy accumulator, a B oil port of a CZ1 two-way cartridge valve, a P oil port of each servo valve, a B oil port of each servo valve and a plug cavity of each top cylinder, and hydraulic oil in a rod cavity of each top cylinder sequentially passes through the A oil port of each servo valve and a T oil port of each servo valve to return to an oil tank, so that the top cylinder is ejected upwards until the top cylinder is ejected to a set demoulding position.
Further, in step S4, the method for controlling the opening size of each servo valve by the motion controller is as follows: in this stage, the ejection stroke of each top cylinder is ΔX1＝X11-X1、ΔX2＝X21-X2、ΔX3＝X31-X3…ΔXn＝Xn1-Xn;, and the flow distribution coefficients alpha 1、α2、α3…αn of a plurality of top cylinders are calculated by using the flow distribution principle, Calculating a theoretical opening K' nn＝F*vA1*D0 2*αn of the servo valve according to a formula, wherein v A1 is the maximum working speed of the accumulator leather bag, D 0 is the cylinder diameter of the accumulator, F is a conversion constant coefficient, and obtaining through an actual test; performing position closed-loop control by using a PID algorithm, calculating a fine tuning opening K 'nn of the servo valve, and finally outputting the fine tuning opening K' nn to the opening K nn＝K′nn+K″nn of the servo valve; the motion controller sends the opening size of each servo valve to each servo valve through an analog output module, hydraulic oil sequentially passes through an energy accumulator, an A oil port of a CZ1 two-way cartridge valve, a B oil port of the CZ1 two-way cartridge valve, a P oil port of each servo valve, a B oil port of each servo valve and a plug cavity of each top cylinder, and hydraulic oil in each top cylinder rod cavity sequentially passes through an A oil port of each servo valve and a T oil port of each servo valve to return to an oil tank, so that the top cylinder is ejected upwards until the top cylinder is ejected to a set clamping jaw grabbing position.
The beneficial effects of this technical scheme lie in: ① In the scheme, the demolding forces of a plurality of top cylinders are guaranteed by controlling the opening sizes of the servo valves, so that the workpiece is prevented from being pulled or deformed during demolding. ② In this scheme, carry out flow distribution and position closed-loop control through the opening size of each servo valve of control for each top jar can reach the clamping jaw simultaneously accurately and grasp the material position that corresponds, makes the clamping jaw snatch more reliably, and has improved production efficiency.
Drawings
FIG. 1 is a connection diagram of a demolding control system of a full-automatic multi-station hydraulic machine;
fig. 2 is a control diagram of a demoulding control system of a full-automatic multi-station hydraulic machine.
Detailed Description
The following is a further detailed description of the embodiments:
Reference numerals in the drawings of the specification include: the device comprises a motion controller 1, a manipulator controller 2, a human-computer interface touch screen 3, an analog input module 4, an SSI signal access module 5, an analog output module 6, a servo driver 7, a servo motor 8, an LX0 displacement sensor 9, an LX1 displacement sensor 10, an LX2 displacement sensor 11, an LX3 displacement sensor 12, an XP1 pressure sensor 13, an XP2 pressure sensor 14, an XP3 pressure sensor 15, a BY1 servo valve 16, a BY2 servo valve 17, a BY3 servo valve 18, a master cylinder 19, a top cylinder 20, a rod cavity 21, a plug cavity 22, an accumulator 23, a servo pump 24, an oil tank 25, a YV1 electromagnetic valve 26, an XP0 pressure sensor 27 and a CZ1 two-way cartridge valve 28.
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Substantially as shown in figures 1 and 2: a demoulding control system of a full-automatic multi-station hydraulic machine is used for controlling the operation of a main cylinder 19 and a plurality of top cylinders 20, and in the embodiment, 3 top cylinders 20 are taken as an example; the device comprises a human-computer interface touch screen 3, a manipulator controller 2, a motion controller 1, an analog input module 4, an analog output module 6, an SSI signal access module 5, a displacement detection assembly, a pressure detection assembly, a servo pump 24, a servo motor 8, a servo driver 7 and an energy accumulator 23; the human-computer interface touch screen 3 is used for setting and displaying control parameters of the motion controller 1 in real time; the manipulator controller 2 is used for controlling 4 clamping jaws to realize carrying control on workpieces; the human-computer interface touch screen 3, the manipulator controller 2, the SSI signal access module 5, the analog input module 4 and the analog output module 6 are respectively connected with the motion controller 1.
The displacement detection assembly is used for detecting displacement amounts of the master cylinder 19 and the 3 top cylinders 20 and sending the displacement amounts to the motion controller 1 through the SSI signal access module 5. The pressure detection component is used for detecting the pressure values of the accumulator 23 and the 3 top cylinders 20, the pressure detection component sends the pressure value of the accumulator 23 to the servo driver 7, and the servo driver 7 then transmits the pressure value of the accumulator 23 to the analog input module 4; the pressure detection assembly also sends the pressure values of the 3 top cylinders 20 to the motion controller 1 via the analog input module 4. The analog quantity output module 6 is used for receiving and converting and outputting the calculated output value of the motion controller 1, so as to control the oil inlet quantity and the pressure of the 3 top cylinders 20, control the motion speed of the 3 top cylinders 20 by controlling the oil inlet quantity, and ensure that the pressure of the 3 top cylinders 20 is kept stable by controlling the pressure, thereby ensuring that no strain occurs when the workpiece is demolded.
The servo driver 7 controls a servo pump 24 through a servo motor 8, and the servo pump 24 is connected with an oil tank 25; the servo driver 7 can drive the servo pump 24 to feed the hydraulic oil into the accumulator 23; the motion controller 1 and the servo drive 7 are able to maintain the pressure of the accumulator 23 at P, the accumulator 23 being used for supplying oil to the 3 top cylinders 20. The outlet end of the energy accumulator 23 is connected with an A oil port of the CZ1 two-way cartridge valve 28, and an X oil port of the CZ1 two-way cartridge valve 28 is connected with a YV1 electromagnetic valve 26; the oil port B of the CZ1 two-way cartridge valve 28 is respectively connected with the oil ports P of 3 servo valves, and the 3 servo valves are respectively BY1 servo valve 16, BY2 servo valve 17 and BY3 servo valve 18; the oil ports B of the 3 servo valves are respectively connected with the plug cavities 22 of the 3 top cylinders 20; the oil ports A of the 3 servo valves are respectively connected with rod cavities 21 of the 3 top cylinders 20; the T oil ports of the 3 servo valves are respectively connected with the oil tank 25.
The pressure detection assembly comprises an XP0 pressure sensor 27 for detecting the pressure value of the accumulator 23, and XP1 pressure sensors 13, XP2 pressure sensors 14 and XP3 pressure sensors 15 for detecting the pressure values of the 3 top cylinders 20; the displacement sensors include LX0 displacement sensor 9 for detecting the displacement amount of the master cylinder, LX1 displacement sensors 10, LX2 displacement sensors 11, LX3 displacement sensors 12 for detecting the pressure values of the 3 top cylinders 20.
Example two
As shown in fig. 1 and 2, a demolding control method of a full-automatic multi-station hydraulic machine, which uses a control system of an embodiment, includes the following steps:
S1: 3 top cylinders 20 are arranged, a demolding force P 1、P2、P3 of the 3 top cylinders 20 is respectively arranged on a human-computer interface touch screen 3, demolding in-place positions X 1、X2、X3 of the 3 top cylinders 20 are arranged, clamping jaw grabbing positions X 11、X21、X31 of the 3 top cylinders 20 are arranged, a target pressure value P required to be kept by an energy accumulator 23 is arranged, and demolding speed v of a master cylinder 19 is arranged;
S2: the motion controller 1 outputs a target pressure value P of the accumulator 23 and an operation signal of the servo driver 7 to the servo driver 7 through the analog output module 6, the servo driver 7 drives the servo pump 24 to rotate through the servo motor 8, hydraulic oil enters the accumulator 23 through the servo pump 24, the XP0 pressure sensor 27 monitors the pressure value of the accumulator 23 in real time and transmits the pressure value to the servo driver 7, the servo driver 7 transmits the pressure value signal to the motion controller 1 through the analog input module 4, and when the pressure value detected by the XP0 pressure sensor 27 is close to P, the servo driver 7 reduces or stops the rotating speed through controlling the servo motor 8, so that the pressure of the accumulator 23 is kept to be dynamically stable;
S3: the master cylinder 19 descends to press a workpiece, after the pressing is finished, the pressure relief and die opening are started, the master cylinder 19 ascends at a set demolding speed v, the LX0 displacement sensor 9 detects the displacement of the master cylinder 19 in real time and transmits the displacement to the motion controller 1, and the motion controller 1 calculates the actual running speed v 0 of the master cylinder 19 and can be calculated by a formula physical formula v=deltas/deltat; the motion controller 1 controls the YV1 electromagnetic valve 26 to work electrically; the motion controller 1 enables the 3 top cylinders 20 to be ejected upwards at the speed of v 0 by respectively controlling the opening size of each servo valve, and always ensures that the demolding forces of the 3 top cylinders 20 are respectively kept as P 1、P2、P3, and when the ejection positions of the 3 top cylinders 20 respectively reach the set demolding in-place positions X 1、X2、X3, the ejection action is stopped; the method for controlling the opening size of each servo valve by the motion controller 1 comprises the following steps: according to the formula Calculating the theoretical opening size of the servo valve, wherein K is the opening size, V is the set speed, S is the sectional area of the top cylinder 20, alpha is the characteristic coefficient of the servo valve, and p Feeding in -p Out of is the pressure difference between an oil inlet and an oil outlet of the servo valve; taking in the known variable, calculating the theoretical opening size of the servo valveWherein D n is the cylinder diameter of the plug cavity 22 of each top cylinder 20, the oil inlet pressure value of each servo valve of P 0 is subjected to pressure closed loop control by using a PID algorithm, a fine tuning opening K "n of the servo valve is calculated and finally output to the opening size K n＝K′n+K″n of the servo valve, the opening size of each servo valve is sent to each servo valve by the motion controller 1 through the analog output module 6, hydraulic oil sequentially passes through the oil port a of the accumulator 23 and the CZ1 two-way cartridge valve 28, the oil port B of the CZ1 two-way cartridge valve 28, the oil port P of each servo valve, the oil port B of each servo valve and the plug cavity 22 of each top cylinder 20, and hydraulic oil in the rod cavity 21 of each top cylinder 20 sequentially passes through the oil port a of each servo valve and the oil port T of each servo valve to return to the oil tank 25, so that the top cylinder 20 is ejected upwards until the set demoulding position is reached;
S4: after the 3 top cylinders 20 are respectively ejected to the demoulding position, the main cylinder 19 is lifted upwards at the speed V, V is larger than V, the 3 top cylinders 20 are continuously ejected upwards to each set clamping jaw material grabbing position, and the motion controller 1 ensures that the 3 top cylinders 20 simultaneously reach the corresponding clamping jaw material grabbing positions by controlling the opening sizes of the servo valves; the method for controlling the opening size of each servo valve by the motion controller 1 comprises the following steps: in this stage, the ejection strokes of the respective top cylinders 20 are ΔX1＝X11-X1、ΔX2＝X21-X2、ΔX3＝X31-X3;, respectively, calculated to obtain the flow distribution coefficients a 1、α2、α3 of the 3 top cylinders using the flow distribution principle, Calculating a theoretical opening K 'nn＝F*vA1*D0 2*αn of the servo valve according to a formula, wherein v A1 is the maximum working speed of the leather bag operation of the accumulator 23, D 0 is the cylinder diameter of the accumulator 23, F is a conversion constant coefficient, and the theoretical opening K' nn＝F*vA1*D0 2*αn is obtained through an actual test; performing position closed-loop control by using a PID algorithm, calculating a fine tuning opening K 'nn of the servo valve, and finally outputting the fine tuning opening K' nn to the opening K nn＝K′nn+K″nn of the servo valve; the motion controller 1 sends the opening size of each servo valve to each servo valve through the analog output module 6, hydraulic oil sequentially passes through an A oil port of the energy accumulator 23 and the CZ1 two-way cartridge valve 28, a B oil port of the CZ1 two-way cartridge valve 28, a P oil port of each servo valve, a B oil port of each servo valve and a plug cavity 22 of each top cylinder 20, and hydraulic oil in a rod cavity 21 of each top cylinder 20 sequentially passes through an A oil port of each servo valve and a T oil port of each servo valve to return to the oil tank 25, so that the top cylinder 20 is ejected upwards until the set clamping jaw grabbing position is ejected;
S5: after the 3 top cylinders 20 reach the corresponding clamping jaw grabbing positions at the same time, the motion controller 1 sends a signal to the manipulator controller 2 to request each clamping jaw to grab materials, after the clamping jaw grabs a workpiece, the 3 top cylinders 20 retract, and each clamping jaw transfers the workpiece to the next station.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The foregoing is merely an embodiment of the present application, and a specific structure and characteristics of common knowledge in the art, which are well known in the scheme, are not described herein, so that a person of ordinary skill in the art knows all the prior art in the application date or before the priority date, can know all the prior art in the field, and has the capability of applying the conventional experimental means before the date, and a person of ordinary skill in the art can complete and implement the present embodiment in combination with his own capability in the light of the present application, and some typical known structures or known methods should not be an obstacle for a person of ordinary skill in the art to implement the present application. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present application, and these should also be considered as the scope of the present application, which does not affect the effect of the implementation of the present application and the utility of the patent. The protection scope of the present application is subject to the content of the claims, and the description of the specific embodiments and the like in the specification can be used for explaining the content of the claims.
Claims (3)
1. The demolding control system of the full-automatic multi-station hydraulic machine is used for controlling the operation of a main cylinder and a plurality of top cylinders; the method is characterized in that: the device comprises a human-computer interface touch screen, a manipulator controller, a motion controller, an analog input module, an analog output module, an SSI signal access module, a displacement detection assembly, a pressure detection assembly, a servo pump, a servo motor, a servo driver and an energy accumulator; the human-computer interface touch screen, the manipulator controller, the SSI signal access module, the analog input module and the analog output module are respectively connected with the motion controller; the human-computer interface touch screen is used for setting and displaying control parameters of the motion controller in real time; the manipulator controller is used for controlling the clamping jaws to realize carrying control on the workpiece; the displacement detection assembly is used for detecting displacement amounts of the main cylinder and the plurality of top cylinders and sending the displacement amounts to the motion controller through the SSI signal access module; the pressure detection assembly is used for detecting pressure values of the energy accumulator and the plurality of top cylinders, the pressure detection assembly sends the pressure values of the energy accumulator to the servo driver, and the servo driver transmits the pressure values of the energy accumulator to the analog input module; the pressure detection assembly sends the pressure values of the plurality of top cylinders to the motion controller through the analog input module; the analog quantity output module is used for receiving and converting and outputting the calculated output value of the motion controller so as to control the oil inlet quantity and the pressure of the plurality of top cylinders; the servo driver controls the servo pump through the servo motor, and the servo pump is connected with an oil tank; the servo pump is used for supplying oil to the energy accumulator, and the servo driver can drive the servo pump to convey hydraulic oil into the energy accumulator; the motion controller and servo drive are capable of maintaining the accumulator pressure at P; the energy accumulator is used for supplying oil to the plurality of top cylinders;
The outlet end of the energy accumulator is connected with an A oil port of a CZ1 two-way cartridge valve, and an X oil port of the CZ1 two-way cartridge valve is connected with a YV1 electromagnetic valve; the oil port B of the CZ1 two-way cartridge valve is respectively connected with the oil ports P of a plurality of servo valves; the oil ports B of the servo valves are respectively connected with the plug cavities of the top cylinders; the oil ports A of the servo valves are respectively connected with rod cavities of the top cylinders; the T oil ports of the servo valves are respectively connected with the oil tank;
The pressure detection assembly comprises an XP0 pressure sensor for detecting the pressure value of the energy accumulator, an XP1 pressure sensor, an XP2 pressure sensor and an XP3 pressure sensor … XPn pressure sensors for detecting the pressure values of a plurality of top cylinders; the displacement detection assembly comprises an LX0 displacement sensor for detecting the displacement of the master cylinder, an LX1 displacement sensor, an LX2 displacement sensor and an LX3 displacement sensor … LXn displacement sensor for detecting the pressure values of a plurality of top cylinders, and n represents an nth top cylinder;
the control method of the full-automatic multi-station hydraulic press demoulding control system comprises the following steps:
s1: the number of the top cylinders is n, demolding forces P 1、P2 、P3…Pn of the n top cylinders are respectively arranged on a human-computer interface touch screen, demolding in-place positions X 1、X2、X3…Xn of the n top cylinders are arranged, clamping jaw grabbing positions X 11、X21、X31…Xn1 of the n top cylinders are arranged, target pressure values P which are required to be kept by an energy accumulator are arranged, and demolding speed v of a master cylinder is arranged;
S2: the motion controller outputs a target pressure value P of the energy accumulator and an operation signal of the servo driver to the servo driver through the analog quantity output module, the servo driver drives the servo pump to rotate through the servo motor, hydraulic oil enters the energy accumulator through the servo pump, the XP0 pressure sensor monitors the pressure value of the energy accumulator in real time and transmits the pressure value to the servo driver, the servo driver transmits the pressure value signal to the motion controller through the analog quantity input module, and when the pressure value detected by the XP0 pressure sensor is close to P, the servo driver reduces or stops rotating speed through controlling the servo motor, so that the pressure of the energy accumulator is kept to be dynamically stable in P;
S3: the master cylinder descends to press the workpiece, after the pressing is finished, the pressure relief and die opening are started, the master cylinder ascends at a set die release speed v, the LX0 displacement sensor detects the displacement of the master cylinder in real time and transmits the displacement to the motion controller, and the motion controller calculates the actual running speed v 0 of the master cylinder; the motion controller controls the YV1 electromagnetic valve to work in a power-on mode; the motion controller enables n top cylinders to be ejected upwards at the speed of v 0 by controlling the opening size of each servo valve respectively, and always ensures that the demolding forces of the n top cylinders are respectively kept as P 1、P2 、P3…Pn, and ejection is stopped when the ejection positions of the n top cylinders respectively reach the set demolding in-place position X 1、X2、X3…Xn;
s4: after the n top cylinders are respectively ejected to the demolding in-place positions, the master cylinder ascends at a speed V which is larger than V, the n top cylinders are continuously ejected upwards to each set clamping jaw grabbing position, and the motion controller ensures that the n top cylinders simultaneously reach the corresponding clamping jaw grabbing positions by controlling the opening sizes of the servo valves;
s5: when n top cylinders reach the corresponding clamping jaw grabbing positions at the same time, the motion controller sends a signal to the manipulator controller, each clamping jaw is requested to grab materials, after the clamping jaw grabs a workpiece, the n top cylinders are retracted, and each clamping jaw transfers the workpiece to the next station.
2. The full-automatic multi-station hydraulic press demolding control system according to claim 1, wherein: in step S3, the method for controlling the opening size of each servo valve by the motion controller is as follows: according to the formulaCalculating the theoretical opening size of the servo valve, wherein K is the opening size, v is the set speed, S is the sectional area of the top cylinder,/>Is the characteristic coefficient of the servo valve,/>The pressure difference between an oil inlet and an oil outlet of the servo valve is obtained; bringing in a known variable, calculating the theoretical opening size/>, of the servo valveWherein D n is the plug cavity cylinder diameter of each top cylinder, P 0 is the oil inlet pressure value of each servo valve, and P n is the oil outlet pressure value of each servo valve, namely the plug cavity pressure value of each top cylinder; pressure closed-loop control is carried out by using a PID algorithm, and the fine tuning opening/>, of the servo valve is calculatedThe final output to the servo valve is the opening size/>The motion controller sends the opening size of each servo valve to each servo valve through an analog output module, hydraulic oil sequentially passes through an energy accumulator, an A oil port of a CZ1 two-way cartridge valve, a B oil port of the CZ1 two-way cartridge valve, a P oil port of each servo valve, a B oil port of each servo valve and a plug cavity of each top cylinder, and hydraulic oil in each top cylinder rod cavity sequentially passes through an A oil port of each servo valve and a T oil port of each servo valve to return to an oil tank, so that the top cylinder is ejected upwards until the top cylinder is ejected to a set demoulding position.
3. The full-automatic multi-station hydraulic press demolding control system according to claim 2, wherein: in step S4, the method for controlling the opening size of each servo valve by the motion controller is as follows: in this stage, the ejection strokes of the top cylinders are ΔX1=X11-X1、ΔX2=X21-X2、ΔX3=X31-X3…ΔXn=Xn1-Xn;, respectively, and the flow distribution coefficients of a plurality of top cylinders are calculated by using the flow distribution principle
、/>、/>…/>，
，/>，
，/>Calculating the theoretical opening of the servo valve according to a formula
Wherein/>For maximum operating speed of accumulator bellows operation,/>Is the cylinder diameter of the accumulator,/>The constant coefficient is converted and obtained through actual test; and then position closed-loop control is carried out by using a PID algorithm, and the fine tuning opening/>' of the servo valve is calculatedThe final output to the servo valve is the opening size/>; The motion controller sends the opening size of each servo valve to each servo valve through an analog output module, hydraulic oil sequentially passes through an energy accumulator, an A oil port of a CZ1 two-way cartridge valve, a B oil port of the CZ1 two-way cartridge valve, a P oil port of each servo valve, a B oil port of each servo valve and a plug cavity of each top cylinder, and hydraulic oil in each top cylinder rod cavity sequentially passes through an A oil port of each servo valve and a T oil port of each servo valve to return to an oil tank, so that the top cylinder is ejected upwards until the top cylinder is ejected to a set clamping jaw grabbing position. /(I)
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