CN115625247B - A method and system for automatically removing metal rings in a spinning process - Google Patents

A method and system for automatically removing metal rings in a spinning process Download PDF

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Publication number
CN115625247B
CN115625247B CN202211325218.5A CN202211325218A CN115625247B CN 115625247 B CN115625247 B CN 115625247B CN 202211325218 A CN202211325218 A CN 202211325218A CN 115625247 B CN115625247 B CN 115625247B
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China
Prior art keywords
spinning machine
main shaft
notch
scissors
metal ring
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CN115625247A (en
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韩刚
尚尔哲
戴为民
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Japan Railway Software Shanghai Co ltd
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Japan Railway Software Shanghai Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
    • B21D22/14—Spinning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D45/00—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass
    • B21D45/06—Stripping-off devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
    • B23D31/00—Shearing machines or shearing devices covered by none or more than one of the groups B23D15/00 - B23D29/00; Combinations of shearing machines
    • B23D31/002—Breaking machines, i.e. pre-cutting and subsequent breaking
    • B23D31/003—Breaking machines, i.e. pre-cutting and subsequent breaking for rings

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Spinning Or Twisting Of Yarns (AREA)

Abstract

The invention discloses a spinning process metal ring automatic removing method and system, wherein the method comprises the steps that a spinning machine main shaft flange and a die connecting flange are provided with notches, the sizes of the notches are matched with scissors, and the rotation of the spinning machine main shaft is controlled; judging whether the notch rotates to a preset position, controlling the spindle of the spinning machine to stop rotating after the notch rotates to the preset position, controlling the scissor heads of the scissors to enter the notch and controlling the scissors to cut the metal ring, controlling the scissor heads to automatically clamp the cut metal ring after cutting the metal ring, and pulling the cut metal ring through a mechanical arm carrying the scissors in a preset track to remove the metal ring from the spindle of the spinning machine. According to the invention, the notches are formed, and after the two notches rotate to corresponding positions, the scissors are automatically driven to enter the notches to cut off the metal ring and clamp and remove the metal ring, so that unmanned waste treatment in the spinning production field is realized by an automatic and intelligent means, the physical input of personnel is reduced, the operation safety risk is reduced, and the production efficiency is improved.

Description

Automatic removal method and system for metal ring in spinning process
Technical Field
The invention relates to the technical field of metal spinning production, in particular to a method and a system for automatically removing a metal ring in a spinning process.
Background
At present, waste metal rings generated in the spinning field are mainly sheared by manually using metal scissors in the industry, and different scissors are used for shearing according to different processing materials. And after cutting, the metal ring is broken off by hands to remove. However, the method for removing the metal ring after spinning by using the manual cutting and manual breaking has the defects that (1) the ring cutting needs to be carried out with great force and has great labor consumption on personnel, (2) the cutting operation is carried out in the spinning machine, the collision danger exists, (3) the metal cutting with partial thick materials is very difficult (the manpower is limited), (4) the manual breaking of the ring has the risk of injury, (5) the manual operation has low working efficiency, and (6) the intelligent manufacturing implementation process becomes a serious bottleneck, so that the whole process unmanned can not be realized.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the defects that the shearing ring in the prior art needs to be carried out with large force and the labor intensity of personnel is huge, so as to provide the automatic removing method and the automatic removing system for the metal ring in the spinning process.
In order to achieve the above purpose, the present invention provides the following technical solutions:
In a first aspect, an embodiment of the invention provides an automatic removing method for a metal ring in a spinning process, wherein the metal ring is sleeved at a joint of a spinning machine spindle flange and a die connecting flange, the spinning machine spindle flange and the die connecting flange are provided with notches, the sizes of the notches are matched with those of scissors, the method comprises the steps of controlling the spinning machine spindle to rotate, judging whether the notches on the spinning machine spindle flange rotate to a preset position, controlling the spinning machine spindle to stop rotating after the notches on the spinning machine spindle flange rotate to the preset position, controlling the scissors heads of the scissors to enter the notches on the spinning machine spindle flange, and controlling the scissors to cut the metal ring.
In one embodiment, the process of controlling the scissor heads of the scissors to enter the notch on the spinning machine spindle flange comprises the steps of controlling the scissors to move to the notch on the spinning machine spindle flange according to a first preset movement track according to the current mould type, and controlling the scissor heads of the scissors to enter the notch on the spinning machine spindle flange.
In one embodiment, after the scissors are controlled to cut off the metal ring, the method further comprises the steps of pulling the metal ring, and placing the metal ring at a waste collection position according to a second preset movement track.
In one embodiment, after the rotation of the spinning machine main shaft is controlled, before judging whether the notch on the spinning machine main shaft flange rotates to the preset position, judging whether the rotation speed of the spinning machine main shaft reaches the preset rotation speed, and judging whether the notch on the spinning machine main shaft flange rotates to the preset position after the rotation speed of the spinning machine main shaft reaches the preset rotation speed.
In one embodiment, after the spinning machine spindle is controlled to stop rotating, before the scissors heads of the scissors enter the notch on the spinning machine spindle flange, judging whether the notch on the spinning machine spindle flange rotates to a preset position again, returning to the step of controlling the spinning machine spindle to rotate when the notch on the spinning machine spindle flange does not rotate to the preset position until the notch on the spinning machine spindle flange rotates to the preset position, and controlling the scissors heads of the scissors to enter the notch on the spinning machine spindle flange when the notch on the spinning machine spindle flange rotates to the preset position.
In one embodiment, before the step of returning to the step of controlling the rotation of the main shaft of the spinning machine, the method further comprises the steps of judging whether the current cycle number reaches the preset number, sending an alarm signal when the current cycle number reaches the preset number, and returning to the step of controlling the rotation of the main shaft of the spinning machine when the current cycle number does not reach the preset number.
In one embodiment, before controlling the rotation of the spinning machine spindle, the method further comprises adjusting the distance between the scissors and the spinning machine spindle and the die to be a preset distance.
The embodiment of the invention provides a spinning process metal ring automatic removing system which is characterized by comprising a controller, a mechanical arm, scissors and a first position sensor, wherein the controller is respectively connected with the mechanical arm and the first position sensor, the scissors are fixed on the mechanical arm, the controller controls a spinning machine main shaft to rotate, in the rotating process, the first position sensor obtains the notch position on the spinning machine main shaft flange, when the notch on the spinning machine main shaft flange rotates to a preset position, the first position sensor sends a stall signal to the spinning machine main shaft, the stall signal is used for controlling the spinning machine main shaft to stop rotating, and the controller controls the movement of the mechanical arm to control the scissors heads of the scissors to enter the notch on the spinning machine main shaft flange and control the scissors to cut off the metal ring.
In one embodiment, after the scissors are controlled to cut off the metal ring, the controller controls the mechanical arm to pull the metal ring, and the metal ring is placed at the waste collection position according to a second preset movement track.
In one embodiment, the automatic spinning process metal ring removing system further comprises a second position sensor and a third position sensor which are connected with the controller, wherein after the spinning machine main shaft is controlled to stop rotating, before the scissors heads of the scissors enter the notch on the spinning machine main shaft flange, the second position sensor and the third position sensor acquire whether the notch on the spinning machine main shaft rotates to a preset position or not again, and the judging result is sent to the controller.
The technical scheme of the invention has the following advantages:
The automatic removing method and system for the metal ring in the spinning process comprise the steps that a spinning machine main shaft flange and a die connecting flange are provided with notches, the sizes of the notches are matched with those of the scissors, the rotation of a spinning machine main shaft is controlled, whether the notches on the spinning machine main shaft flange rotate to a preset position is judged, when the notches on the spinning machine main shaft flange rotate to the preset position, the spinning machine main shaft is controlled to stop rotating, the scissors heads of the scissors are controlled to enter the notches on the spinning machine main shaft flange, and the scissors are controlled to cut the metal ring. According to the invention, the notches are formed, and after the two notches rotate to corresponding positions, the scissors are automatically driven to enter the notches to cut off the metal rings, so that unmanned waste treatment in the spinning production field is realized by an automatic and intelligent means, the physical input of personnel is reduced, the operation safety risk is reduced, and the production efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a spinning apparatus according to an embodiment of the present invention;
fig. 2 (a) -fig. 2 (c) are schematic diagrams of a notch according to an embodiment of the present invention;
FIG. 3 is a flowchart of an automatic removal method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an automatic removal system according to an embodiment of the present invention;
fig. 5 is a schematic diagram of an automatic removal system according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. 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.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected via an intermediate medium, and in communication with each other between two elements, and wirelessly connected, or wired. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
Example 1
The embodiment of the invention provides an automatic removing method for a metal ring in a spinning process, which is shown in fig. 1, wherein the metal ring is sleeved at the joint of a spinning machine spindle flange and a die connecting flange, and as shown in fig. 2 (a) -2 (c), the spinning machine spindle flange and the die connecting flange are provided with notches, the sizes of the notches are matched with that of scissors, and the scissors heads of the scissors are required to be penetrated into the notches to cut the metal ring, so that the sizes of the notches can be enough to accommodate the scissors heads, and the allowance is reserved. And the mould slotting part, if the product size is far larger than that of the mould connecting flange and the radius difference is larger than that of the shear head, the mould and the flange do not need to be modified (slotting), and the shear head has enough space to realize the shearing function.
As shown in fig. 3, the automatic removal method includes:
and S11, controlling the rotation of the spindle of the spinning machine.
According to the embodiment of the invention, the rotation of the main shaft of the spinning machine (the die connecting flange is fixed) is controlled to drive the notch on the flange of the spinning machine to rotate.
Optionally, before controlling the rotation of the spinning machine spindle, the embodiment of the invention further comprises adjusting the distance between the scissors and the spinning machine spindle and the die to be a preset distance respectively.
Specifically, according to the embodiment of the invention, when the model is matched according to different positions of different spinning products, the relative positions of the scissors, the spinning machine and the die are required to be taught so as to ensure that corresponding spinning waste can be obtained through repeated high-precision operation in the subsequent production process.
And S12, judging whether the notch on the main shaft flange of the spinning machine rotates to a preset position.
Specifically, the embodiment of the invention drives the notch on the spindle flange to rotate to a preset position by controlling the spindle of the spinning machine to rotate, wherein the preset position is a position corresponding to the notch on the die connecting flange, so that the two notches are ensured to be positioned on the same plane, and the aim of accommodating the scissor head is fulfilled.
Optionally, after the rotation of the spinning machine main shaft is controlled, before judging whether the notch on the spinning machine main shaft flange rotates to the preset position, the method further comprises the steps of (1) judging whether the rotation speed of the spinning machine main shaft reaches the preset rotation speed or not, and (2) judging whether the notch on the spinning machine main shaft flange rotates to the preset position or not after the rotation speed of the spinning machine main shaft reaches the preset rotation speed.
Specifically, in the rotation process of the spinning machine main shaft, the embodiment of the invention judges whether the rotation speed of the spinning machine main shaft reaches the preset rotation speed, and the spinning machine main shaft can be effectively stopped only after the rotation speed of the spinning machine main shaft is started and reaches the preset rotation speed.
And S13, controlling the spinning machine spindle to stop rotating after the notch on the spinning machine spindle flange rotates to a preset position.
Specifically, when the notch position on the spinning machine spindle flange is obtained, and the notch on the spinning machine spindle flange is determined to rotate to the preset position (namely, the notch on the spinning machine spindle flange and the notch on the die connecting flange are positioned on the same plane), the spinning machine spindle is controlled to stop rotating.
Optionally, after the spinning machine spindle is controlled to stop rotating, before the scissor heads of the control scissors enter the notch on the spinning machine spindle flange, (1) judging whether the notch on the spinning machine spindle flange rotates to a preset position again, (2) returning to the step of controlling the spinning machine spindle to rotate when the notch on the spinning machine spindle flange does not rotate to the preset position until the notch on the spinning machine spindle flange rotates to the preset position, and when the notch on the spinning machine spindle flange rotates to the preset position, controlling the scissor heads of the control scissors to enter the notch on the spinning machine spindle flange.
Specifically, after the spinning machine spindle stops rotating, the position of the notch on the spinning machine flange needs to be confirmed again, when the notch on the spinning machine flange is judged to rotate to the preset position again, the next step is carried out, but when errors occur between the stop position of the notch on the spinning machine spindle flange and the preset position due to some external factors, the step S11 is returned to control the spinning machine spindle to rotate again.
Optionally, external factors may cause errors between the stop position and the preset position of the notch on the spindle flange of the spinning machine, but these external factors may include equipment faults and other factors, so in order to avoid this situation, the embodiment of the invention further includes (1) judging whether the current cycle number reaches the preset number of times or not, (2) sending an alarm signal when the preset number of times is reached, and returning to the step of controlling the rotation of the spindle of the spinning machine when the preset number of times is not reached.
The method includes the steps that after a notch on a main shaft flange of a spinning machine rotates to a preset position, after the main shaft of the spinning machine is controlled to stop rotating, the position of the notch on the main shaft flange of the spinning machine is judged again, when the position of the notch on the main shaft flange of the spinning machine is judged to not rotate to the preset position again, the number of times of controlling the main shaft of the spinning machine to rotate is required to be judged currently, if the number of times of controlling the main shaft of the spinning machine to rotate currently reaches the preset number of times (for example, 3 times), equipment faults are judged, and an alarm signal is sent to perform manual intervention maintenance operation.
And S14, controlling the scissor heads of the scissors to enter the notch on the flange of the main shaft of the spinning machine, and controlling the scissors to cut off the metal ring.
Specifically, when the notch on the main shaft flange of the spinning machine reaches a preset position and stops rotating, the scissor head is controlled to enter the notch on the main shaft flange of the spinning machine, and then the scissor head is moved, so that after the metal ring enters the scissor head, the scissor is controlled to shear the metal ring.
Optionally, according to the current mould type, the embodiment of the invention controls the scissors to move to the notch on the main shaft flange of the spinning machine according to the first preset movement track, and controls the scissors heads of the scissors to enter the notch on the main shaft flange of the spinning machine.
Specifically, before automatic removal of the metal ring is performed, according to the size of the notch, the type of the die and the relative positions of the shears, the main shaft flange of the spinning machine and the die connecting flange, a first preset movement track of the shears is designed in advance, so that after the notch on the main shaft flange of the spinning machine reaches the preset position and stops rotating, the shears head enters the notch and the metal ring enters the shears head sequentially only by controlling the shears according to the first preset movement track.
In one embodiment, the control of the scissors after cutting the metal ring further comprises (1) pulling the metal ring and (2) placing the metal ring at a waste collection place according to a second preset motion track.
Specifically, the embodiment of the invention controls the scissors to pull the metal ring by a third preset motion track, and the third preset motion track needs to consider the following factors of ensuring that the pulling process does not contact the surface of the die, avoiding scratching the die, ensuring that the pulling force is moderate, avoiding increasing the pulling force due to angle problems, keeping lower mechanical arm load (the embodiment of the invention uses the mechanical arm to control the scissors), ensuring that the pulling process does not generate elasticity and avoiding damaging other field mechanical parts.
Specifically, the embodiment of the invention uses the mechanical arm to control the scissors, the scissors clamp the metal ring, the mechanical arm pulls the metal ring and then moves to the waste collection position according to the second preset movement track of the mechanical arm, and the scissors adopt a unique posture to loosen the metal ring, so that the metal ring can fall smoothly.
In order to realize that the shearing and pulling are completed in one action, the embodiment of the invention designs a unique scissor head, and the shearing moment is directly clamped through the V-shaped groove, so that the mechanical arm can remove the iron ring.
Example 2
The embodiment of the invention provides an automatic removal system for a metal ring in a spinning process, which is used for implementing the method in the embodiment 1, and as shown in fig. 4, the system comprises a controller 1, a mechanical arm 2, scissors 3 and a first position sensor 4.
Specifically, the controller 1 is connected to the mechanical arm 2 and the first position sensor 4, respectively, and the scissors 3 are fixed to the mechanical arm 2.
Specifically, the controller 1 of the embodiment of the invention can be a PLC, the mechanical arm 2 carrying hydraulic scissors can be changed into truss matching guide rails carrying hydraulic scissors, the same effects can be achieved, for example, products are fixed, the diameters of the products are consistent (the lengths of the products can be inconsistent), the hydraulic scissors can be replaced by electric scissors (soft materials such as aluminum and the like and occasions with low requirements on shearing pressure), the size and the weight of the end effector of the robot can be reduced, the flexibility of the system is increased, and the cost is reduced.
Specifically, the controller 1 controls the spinning machine spindle to rotate, the first position sensor 4 acquires the position of a notch on the spinning machine spindle flange in the rotating process, the first position sensor 4 sends a stall signal to the spinning machine spindle after the notch on the spinning machine spindle flange rotates to a preset position, the stall signal is used for controlling the spinning machine spindle to stop rotating, and the controller 1 controls the mechanical arm 2 to move so as to control the scissor heads of the scissors 3 to enter the notch on the spinning machine spindle flange and control the scissors 3 to cut off the metal ring.
Specifically, in the rotation process of the spinning machine spindle, the controller 1 needs to (1) judge whether the rotation speed of the spinning machine spindle reaches a preset rotation speed or not, and (2) judge whether the notch on the flange of the spinning machine spindle rotates to a preset position or not after the rotation speed of the spinning machine spindle reaches the preset rotation speed. When the rotation speed of the spinning machine main shaft reaches the preset rotation speed, the controller 1 powers on the first position sensor 4, and the first position sensor 4 acquires the position of the spinning machine main shaft in real time.
Specifically, after the first position sensor 4 determines that the notch on the spindle flange of the spinning machine is rotated to the preset position, the first position sensor 4 controls the spindle of the spinning machine to stop rotating. This process bypasses the controller 1, thereby avoiding signal transfer delays due to untimely refresh mechanisms of the controller 1.
Specifically, when the notch on the spindle flange of the spinning machine reaches the preset position and stops rotating, the controller 1 controls the scissor head to enter the notch on the spindle flange of the spinning machine by controlling the movement of the mechanical arm 2, and then the scissor head is moved by controlling the movement of the mechanical arm 2, so that after the metal ring enters the scissor head, the mechanical arm 2 controls the scissor 3 to cut off the metal ring.
Optionally, according to the current mold type, the controller 1 controls the mechanical arm 2 to drive the scissors 3 to move to the notch on the spindle flange of the spinning machine according to the first preset motion track, and controls the mechanical arm 2 to drive the scissors head of the scissors 3 to enter the notch on the spindle flange of the spinning machine.
Specifically, before automatically removing the metal ring, according to the size of the notch, the type of the die, and the relative positions of the scissors 3, the spindle flange of the spinning machine, and the die connecting flange, a first preset motion track of the scissors 3 is designed in advance, and the first preset motion track is stored in the controller 1.
In a specific embodiment, after the scissors 3 are controlled to cut off the metal ring, the controller 1 controls the mechanical arm 2 to pull the metal ring, and the metal ring is placed at the waste collection position according to a second preset movement track.
Specifically, the embodiment of the invention controls the mechanical arm 2 to drive the scissors 3 to pull the metal ring according to the third preset motion track, and the third preset motion track needs to consider several factors, namely ensuring that the pulling process does not contact the surface of the die to avoid scratching the die, ensuring moderate pulling force, not increasing the pulling force due to the angle problem, keeping lower load of the mechanical arm 2 (the embodiment of the invention uses the mechanical arm 2 to control the scissors 3), and ensuring that the pulling process does not generate elasticity and other on-site mechanical components are not damaged.
Specifically, the embodiment of the invention uses the mechanical arm 2 to control the scissors 3, the scissors 3 clamp the metal ring, the mechanical arm 2 pulls the metal ring and then goes to the waste collection position according to the second preset movement track of the mechanical arm 2, and the scissors 3 adopts a unique posture to loosen the metal ring, so that the metal ring can fall smoothly.
In order to realize that the shearing and pulling are completed in one action, the embodiment of the invention designs a unique scissor head, and the shearing moment is directly clamped through the V-shaped groove, so that the mechanical arm 2 can remove the iron ring.
In one embodiment, as shown in FIG. 5, the automated ring removal system for spinning process further comprises a second position sensor 5 and a third position sensor 6 connected to the controller 1.
Specifically, after the spinning machine spindle is controlled to stop rotating, before the scissor heads of the control scissors 3 enter the notch on the spinning machine spindle flange, the second position sensor 5 and the third position sensor 6 acquire whether the notch on the spinning machine spindle rotates to a preset position again, and send the judgment result to the controller 1.
When the spinning machine spindle stops rotating, the second position sensor 5 and the third position sensor 6 need to confirm the positions of the notches on the spinning machine flange again, when the notches on the spinning machine flange are judged to rotate to the preset positions again, the next step is carried out (the controller 1 executes the step S14), but when errors occur between the stop positions of the notches on the spinning machine spindle flange and the preset positions due to some external factors, the step S11 is returned, and the controller 1 controls the spinning machine spindle to rotate again.
Optionally, external factors may cause errors between the stop position of the notch on the spindle flange of the spinning machine and the preset position, but these external factors may include equipment faults, etc., so in order to avoid this situation, the embodiment of the present invention further includes (1) the controller 1 judging whether the current cycle number reaches the preset number or not, and (2) when the preset number is reached, the controller 1 sending an alarm signal, and when the preset number is not reached, returning to the step of "controlling rotation of the spindle of the spinning machine".
For example, after the gap on the spindle flange of the spinning machine rotates to the preset position and the spinning machine spindle is controlled to stop rotating, the second position sensor 5 and the third position sensor 6 determine the position of the gap on the spindle flange of the spinning machine again, when the position of the gap on the spindle flange of the spinning machine is determined to not rotate to the preset position again, the controller 1 needs to determine the current number of times of controlling the rotation of the spindle of the spinning machine, if the current number of times of controlling the rotation of the spindle of the spinning machine has reached the preset number of times (for example, 3 times), the controller 1 determines that the equipment is faulty, and the controller 1 sends an alarm signal to perform the manual intervention maintenance operation.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present invention.

Claims (10)

1.一种旋压工艺金属环自动移除方法，其特征在于，旋压机主轴法兰、模具连接法兰，金属环套在旋压机主轴法兰、模具连接法兰的连接处，所述旋压机主轴法兰及所述模具连接法兰开设缺口，所述缺口的尺寸与剪刀相适配，所述方法包括：1. A method for automatically removing a metal ring in a spinning process, characterized in that a spinning machine main shaft flange and a mold connecting flange are provided, and a metal ring is sleeved at the connection between the spinning machine main shaft flange and the mold connecting flange. The spinning machine main shaft flange and the mold connecting flange are provided with a notch, and the size of the notch is adapted to a pair of scissors. The method comprises: 控制旋压机主轴转动；Control the rotation of the main shaft of the spinning machine; 判断所述旋压机主轴法兰上的缺口是否转到预设位置；Determine whether the notch on the spindle flange of the spinning machine is turned to a preset position; 当所述旋压机主轴法兰上的缺口转到预设位置后，控制所述旋压机主轴停止转动；When the notch on the main shaft flange of the spinning machine is turned to a preset position, the main shaft of the spinning machine is controlled to stop rotating; 控制所述剪刀的剪刀头进入到所述旋压机主轴法兰上的缺口处，并控制所述剪刀剪断所述金属环。The scissors heads are controlled to enter the notch on the main shaft flange of the spinning machine, and the scissors are controlled to cut the metal ring. 2.根据权利要求1所述的旋压工艺金属环自动移除方法，其特征在于，所述控制所述剪刀的剪刀头进入到所述旋压机主轴法兰上的缺口处的过程，包括：2. The automatic removal method of a metal ring in a spinning process according to claim 1, characterized in that the process of controlling the scissor head of the scissors to enter the notch on the main shaft flange of the spinning machine comprises: 根据当前模具类型，控制所述剪刀按照第一预设运动轨迹移动到所述旋压机主轴法兰上的缺口处，控制所述剪刀的剪刀头进入到所述旋压机主轴法兰上的缺口处。According to the current mold type, the scissors are controlled to move to the notch on the main shaft flange of the spinning machine according to the first preset motion trajectory, and the scissor heads of the scissors are controlled to enter the notch on the main shaft flange of the spinning machine. 3.根据权利要求1所述的旋压工艺金属环自动移除方法，其特征在于，控制所述剪刀剪断所述金属环之后，还包括：3. The method for automatically removing a metal ring in a spinning process according to claim 1, characterized in that after controlling the scissors to cut the metal ring, it further comprises: 拉取所述金属环；Pulling the metal ring; 将所述金属环按照第二预设运动轨迹，放置在废料收集处。The metal ring is placed at a waste collection location according to a second preset motion trajectory. 4.根据权利要求1所述的旋压工艺金属环自动移除方法，其特征在于，在所述控制所述旋压机主轴转动之后，在所述判断所述旋压机主轴法兰上的缺口是否转到预设位置之前，还包括：4. The method for automatically removing a metal ring in a spinning process according to claim 1, characterized in that after controlling the spindle of the spinning machine to rotate and before determining whether the notch on the spindle flange of the spinning machine is turned to a preset position, it further comprises: 判断所述旋压机主轴的转速是否达到预设转速；Determine whether the rotation speed of the main shaft of the spinning machine reaches a preset rotation speed; 当所述旋压机主轴的转速达到预设转速后，判断所述旋压机主轴法兰上的缺口是否转到预设位置。When the rotation speed of the main shaft of the spinning machine reaches a preset rotation speed, it is determined whether the notch on the main shaft flange of the spinning machine is rotated to a preset position. 5.根据权利要求1所述的旋压工艺金属环自动移除方法，其特征在于，在所述控制所述旋压机主轴停止转动之后，在所述控制所述剪刀的剪刀头进入到所述旋压机主轴法兰上的缺口处之前还包括：5. The method for automatically removing a metal ring in a spinning process according to claim 1, characterized in that after controlling the spindle of the spinning machine to stop rotating and before controlling the scissor heads of the scissors to enter the notch on the spindle flange of the spinning machine, it also includes: 再次判断所述旋压机主轴法兰上的缺口是否转到预设位置；Determine again whether the notch on the spindle flange of the spinning machine has moved to a preset position; 当所述旋压机主轴法兰上的缺口未转到预设位置时，返回所述“控制所述旋压机主轴转动”的步骤，直到所述旋压机主轴法兰上的缺口转到预设位置为止；当所述旋压机主轴法兰上的缺口转到预设位置时，控制所述剪刀的剪刀头进入到所述旋压机主轴法兰上的缺口处。When the notch on the main shaft flange of the spinning machine has not turned to the preset position, return to the step of "controlling the rotation of the main shaft of the spinning machine" until the notch on the main shaft flange of the spinning machine turns to the preset position; when the notch on the main shaft flange of the spinning machine turns to the preset position, control the scissors head of the scissors to enter the notch on the main shaft flange of the spinning machine. 6.根据权利要求5所述的旋压工艺金属环自动移除方法，其特征在于，在返回所述“控制所述旋压机主轴转动”的步骤之前，还包括：6. The method for automatically removing a metal ring in a spinning process according to claim 5, characterized in that before returning to the step of "controlling the spindle of the spinning machine to rotate", it also includes: 判断当前循环次数是否达到预设次数；Determine whether the current number of cycles reaches the preset number; 当达到预设次数时，发出报警信号；当未达到预设次数时，返回所述“控制所述旋压机主轴转动”的步骤。When the preset number of times is reached, an alarm signal is issued; when the preset number of times is not reached, the process returns to the step of "controlling the rotation of the main shaft of the spinning machine". 7.根据权利要求1所述的旋压工艺金属环自动移除方法，其特征在于，在所述控制所述旋压机主轴转动之前，还包括：7. The method for automatically removing a metal ring in a spinning process according to claim 1, characterized in that before controlling the spinner main shaft to rotate, it further comprises: 调整所述剪刀分别与旋压机主轴、模具之间的距离为预设距离。The distances between the scissors and the main shaft of the spinning machine and the mold are adjusted to preset distances. 8.一种旋压工艺金属环自动移除系统，其特征在于，用于实施权利要求1-7任一项所述的方法，该系统包括：控制器、机械臂、剪刀及第一位置传感器，其中，8. A spinning process metal ring automatic removal system, characterized in that it is used to implement the method described in any one of claims 1 to 7, the system comprises: a controller, a robot arm, a scissors and a first position sensor, wherein: 所述控制器分别与机械臂及第一位置传感器连接，所述剪刀固定至所述机械臂上；The controller is connected to the mechanical arm and the first position sensor respectively, and the scissors are fixed to the mechanical arm; 所述控制器控制旋压机主轴转动；The controller controls the rotation of the main shaft of the spinning machine; 在转动过程中，所述第一位置传感器获取旋压机主轴法兰上的缺口位置，当所述旋压机主轴法兰上的缺口转到预设位置后，所述第一位置传感器发出停转信号至旋压机主轴，所述停转信号用于控制旋压机主轴停止转动；During the rotation process, the first position sensor obtains the position of the notch on the spindle flange of the spinning machine. When the notch on the spindle flange of the spinning machine is rotated to a preset position, the first position sensor sends a stop signal to the spindle of the spinning machine, and the stop signal is used to control the spindle of the spinning machine to stop rotating; 所述控制器通过控制机械臂运动，以控制所述剪刀的剪刀头进入到所述旋压机主轴法兰上的缺口处，并控制所述剪刀剪断所述金属环。The controller controls the movement of the mechanical arm to control the scissor heads of the scissors to enter the notch on the main shaft flange of the spinning machine, and controls the scissors to cut the metal ring. 9.根据权利要求8所述的旋压工艺金属环自动移除系统，其特征在于，9. The automatic removal system of metal rings in spinning process according to claim 8, characterized in that: 控制所述剪刀剪断所述金属环之后，所述控制器控制所述机械臂拉取所述金属环；将所述金属环按照第二预设运动轨迹，放置在废料收集处。After controlling the scissors to cut the metal ring, the controller controls the mechanical arm to pull the metal ring; and places the metal ring at a waste collection location according to a second preset motion trajectory. 10.根据权利要求8所述的旋压工艺金属环自动移除系统，其特征在于，还包括：10. The automatic removal system of metal rings in spinning process according to claim 8, characterized in that it also includes: 与所述控制器连接的第二位置传感器及第三位置传感器；a second position sensor and a third position sensor connected to the controller; 在所述控制所述旋压机主轴停止转动之后，在所述控制所述剪刀的剪刀头进入到所述旋压机主轴法兰上的缺口处之前，所述第二位置传感器及第三位置传感器再次获取所述旋压机主轴上的缺口是否转到预设位置，并将判断结果发送至所述控制器。After the spin forming machine main shaft is controlled to stop rotating and before the scissor heads of the scissors are controlled to enter the notch on the spin forming machine main shaft flange, the second position sensor and the third position sensor again obtain whether the notch on the spin forming machine main shaft is turned to the preset position, and send the judgment result to the controller.
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