CN212733995U - Large-scale operation machine tong self-adaptation centering control system - Google Patents
Large-scale operation machine tong self-adaptation centering control system Download PDFInfo
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- CN212733995U CN212733995U CN202022180549.7U CN202022180549U CN212733995U CN 212733995 U CN212733995 U CN 212733995U CN 202022180549 U CN202022180549 U CN 202022180549U CN 212733995 U CN212733995 U CN 212733995U
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Abstract
The utility model provides a large-scale operation machine tong pole self-adaptation centering control system, including large-scale operation machine, PLC control system, HMI man-machine interface, tong pole slope unit, tong pole lifting unit and tong pole translation unit, HMI man-machine interface is connected with PLC control system communication, tong pole slope unit, tong pole lifting unit and tong pole translation unit all with PLC control system electric signal connection; and the HMI human-machine interface stores the forging model and the centering position data of each pass of the clamping bar corresponding to each forging model. The utility model discloses a PLC control system confirms each direction centering scope that the tong pole needs under this pass according to the model parameter of forging product and current forged pass, can self-adaptation keep the centering position in real time between tong pole and the forging in realizing forging in batches. The accuracy of the performance quality of the forge piece and the stability of mechanical equipment are guaranteed, and the intelligent level of the forging control of the large-scale manipulator is greatly improved.
Description
Technical Field
The utility model belongs to the technical field of the automated control of free forging with the operation machine, concretely relates to large-scale operation machine tong pole self-adaptation centering control system.
Background
The large forging manipulator is basic equipment in the field of modern high-precision forging, and is particularly key for improving forging efficiency and forging quality. In the forging process of each pass of the large-scale forge piece, due to the non-uniformity of the stress of the forge piece and the ductility of the forge piece when the forging press forges, the relative position of a clamp rod of a large-scale manipulator for clamping the forge piece and a manipulator body is in a dynamic change process. This requires that the position of the jaw lever of the manipulator be adjustable in real time to meet the requirement that the center position of the forging is always within the range of the center line position of the anvil of the forging press.
In the past, the position of the clamp lever is controlled by tentatively sending an instruction to the clamp lever position control device by depending on the experience of an operator, the operation is complicated, the accuracy and the stability are not high, the forging control self-adaptive capacity and the automation degree are relatively low, and if the position of the clamp lever of the operator cannot be self-adaptive to the change of the center of a forge piece in time, the equipment or the forge piece can be damaged, or the service life of the equipment is greatly shortened.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a large-scale operation machine tong pole self-adaptation centering control system overcomes the above-mentioned technical problem that exists among the prior art, makes the forging forge piece forge when beginning and forge in each pass the change real-time dynamic self-adaptation of tong pole can match the centering position of this pass according to section bar model.
Therefore, the utility model provides a technical scheme as follows:
a large-scale operation machine clamp rod self-adaptive centering control system comprises a large-scale operation machine, a PLC control system, an HMI (human machine interface), a clamp rod tilting unit, a clamp rod lifting unit and a clamp rod translation unit, wherein the HMI human machine interface is in communication connection with the PLC control system, and the clamp rod tilting unit, the clamp rod lifting unit and the clamp rod translation unit are all in electric signal connection with the PLC control system; and the HMI human-machine interface stores the forging model and the centering position data of each pass of the clamping bar corresponding to each forging model.
The large-scale manipulator comprises a hanging device, a vehicle body and a clamp rod, wherein the hanging device is hinged to a cross beam in front of the vehicle body, the clamp rod is hinged to the hanging device in front, a jaw is arranged at the front end of the clamp rod, and a forge piece is clamped by the jaw;
the clamp rod lifting units are arranged below the middle of the vehicle body and connected with the vehicle body, the clamp rod translation units are connected with a cross beam of the vehicle body, and the two clamp rod inclination units are symmetrically arranged on two sides below the tail of the vehicle body and connected with the vehicle body respectively.
The clamp rod tilting unit comprises a clamp rod tilting oil cylinder, a clamp rod tilting proportional directional valve and a clamp rod tilting displacement sensor, the clamp rod tilting oil cylinder is communicated with a hydraulic pump station through a pipeline, a clamp rod tilting pressure sensor is connected to the pipeline in series, the clamp rod tilting displacement sensor is fixedly installed on the outer side of the clamp rod tilting oil cylinder, the clamp rod tilting displacement sensor is a pull rope displacement sensor, a pull rope of the pull rope displacement sensor is connected to a movable plunger of the clamp rod tilting oil cylinder, and a movable plunger of the clamp rod tilting oil cylinder is connected with the lower end face of the tail of a vehicle body;
the clamp rod tilting oil cylinder, the clamp rod tilting proportional direction valve, the clamp rod tilting pressure sensor and the clamp rod tilting displacement sensor are all in electric signal connection with the PLC control system.
The clamp rod lifting unit comprises a clamp rod lifting oil cylinder, a clamp rod lifting proportional directional valve and a clamp rod lifting displacement sensor, the clamp rod lifting oil cylinder is communicated with a hydraulic pump station through a pipeline, a clamp rod lifting pressure sensor is connected to the pipeline in series, the clamp rod lifting displacement sensor is fixedly installed on the outer side of the clamp rod lifting oil cylinder, the clamp rod lifting displacement sensor is a pull rope displacement sensor, a pull rope of the pull rope displacement sensor is connected to a movable plunger of the clamp rod lifting oil cylinder, and the movable plunger of the clamp rod lifting oil cylinder is connected with the lower end face of the middle part of the vehicle body;
the clamp rod lifting oil cylinder, the clamp rod lifting proportional direction valve, the clamp rod lifting pressure sensor and the clamp rod lifting displacement sensor are all in electric signal connection with the PLC control system.
The hydraulic power unit comprises a clamp rod translation unit, a clamp rod translation proportional directional valve and a clamp rod translation displacement sensor, wherein the clamp rod translation unit is communicated with a hydraulic pump station through a pipeline, a clamp rod translation pressure sensor is connected to the pipeline in series, the clamp rod translation displacement sensor is fixedly installed on the outer side of the clamp rod translation cylinder, the clamp rod translation displacement sensor is a pull rope displacement sensor, a pull rope of the pull rope displacement sensor is connected to a movable plunger of the clamp rod translation cylinder, and a movable plunger of the clamp rod translation cylinder is connected with a cross beam on the front side of a vehicle body;
the clamp rod translation oil cylinder, the clamp rod translation proportional direction valve, the clamp rod translation pressure sensor and the clamp rod translation displacement sensor are all in electric signal connection with the PLC control system.
The PLC control system comprises a PLC controller, an analog quantity output module and an analog quantity input module, wherein the analog quantity output module and the analog quantity input module are both in electric signal connection with the PLC controller.
The jaw rotating unit is connected with the jaws and comprises a jaw hydraulic motor, a jaw rotating proportional direction valve and a jaw rotating pressure sensor, wherein the jaw hydraulic motor is provided with a jaw rotating encoder and is communicated with a hydraulic pump station through a pipeline, the jaw rotating proportional direction valve is arranged on the pipeline, and the rotating pressure sensor is arranged on the pipeline;
the jaw hydraulic motor, the jaw rotary encoder, the jaw rotary proportional directional valve and the jaw rotary pressure sensor are all in electric signal connection with the PLC.
The forging pattern includes a height, a width, and a thickness of the forged workpiece.
The utility model has the advantages that:
the utility model provides a control system of this kind of large-scale operation machine tong pole self-adaptation centering, confirm each direction centering scope that the tong pole needs under this pass through PLC control system according to the model parameter of forging product and current forged pass, realize in forging in batches can self-adaptation keep the centering position in real time between tong pole and the forging. The accuracy of the performance quality of the forge piece and the stability of mechanical equipment are guaranteed, and the intelligent level of the forging control of the large-scale manipulator is greatly improved.
The utility model provides a control method of this kind of large-scale operation machine tong pole self-adaptation centering makes the forging forge piece forge at each pass and in forging the tong pole can match the centering position of this pass according to the real-time dynamic self-adaptation of change of section bar model when beginning and, guarantees the accuracy and the stability of forging quality and forging control of forging production, improves the intelligent level that large-scale operation machine matches in forging control by a wide margin.
Compared with the prior art, the utility model has the advantages of reasonable design, excellent process, intellectuality and degree of self-adaptation height. The center line of the forge piece is kept in the center range of the anvil in real time in the forging process, the production efficiency of the forging manipulator and the performance quality of a workpiece product are improved, and the labor cost and the production cost are greatly reduced.
The following will be described in further detail with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention;
fig. 2 is a functional block diagram of a PLC control system.
In the figure: 1. a clamp lever lifting unit; 2. a clamp rod translation unit; 3. a clamp lever tilting unit; 4. a jaw rotating unit; 5. a PLC control system 5; 6. HMI human-machine interface; 7. forging a workpiece; 8. an anvil; 9. a vehicle body; 10. a hydraulic pump station; 11. a PLC controller; 12. a counter module; 13. an analog input module; 14. an analog quantity output module; 15. a cross beam; 101. a clamp rod lifting oil cylinder; 102. a lifting proportional direction valve of a clamp lever; 103. a clamp rod lifting displacement sensor; 104. a clamp rod lifting pressure sensor; 201. the clamp rod translation oil cylinder; 202. the clamp rod translates the proportional direction valve; 203. a clamp rod translation displacement sensor; 204. the clamp rod translation pressure sensor; 301. the clamp rod tilts the cylinder; 302. a clamp lever inclination proportional direction valve; 303. a clamp rod inclination displacement sensor; 304. a clamp lever inclination pressure sensor; 401. a jaw hydraulic motor; 402. the jaw rotation proportional direction valve; 403. a jaw rotation encoder; 404. a jaw rotation pressure sensor; 405. and (4) clamping jaws.
Detailed Description
The following description is provided for illustrative embodiments of the present invention, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein.
The exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, which, however, may be embodied in many different forms and are not limited to the embodiments described herein, which are provided for complete and complete disclosure of the present invention and to fully convey the scope of the invention to those skilled in the art. The terminology used in the exemplary embodiments presented in the accompanying drawings is not intended to be limiting of the invention. In the drawings, the same units/elements are denoted by the same reference numerals.
Unless otherwise defined, terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Further, it will be understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense.
Example 1:
the embodiment provides a large-scale operation machine clamp rod self-adaptive centering control system, which comprises a large-scale operation machine, a PLC (programmable logic controller) control system 5, an HMI (human machine interface) 6, a clamp rod tilting unit 3, a clamp rod lifting unit 1 and a clamp rod translation unit 2, wherein the HMI 6 is in communication connection with the PLC control system 5, and the clamp rod tilting unit 3, the clamp rod lifting unit 1 and the clamp rod translation unit 2 are all in electric signal connection with the PLC control system 5; the HMI human-computer interface 6 stores forging models and corresponding centering position data of each pass of clamping bar of each forging model.
The utility model discloses the forging that is suitable for includes round axle class work piece and dysmorphism class work piece. The clamp rod tilting unit 3 is used for controlling the upward and downward tilting action of the clamp rod, and for a special-shaped piece, the clamp rod needs to be tilted by a certain angle for forging; the clamp rod lifting unit 1 is used for controlling the upper and lower lifting actions of the clamp rod; the clamp rod translation unit 2 is used for controlling the left and right movement of the clamp rod.
The utility model discloses a PLC control system 5 confirms each direction centering scope that the tong pole needs under this pass according to the model parameter of forging product and current forged pass, can self-adaptation keep the centering position in real time between tong pole and the forging in realizing forging in batches.
Example 2:
on the basis of embodiment 1, the embodiment provides a large-scale operation machine self-adaptive centering control system for a clamp lever, the large-scale operation machine comprises a hanging device, a vehicle body 9 and a clamp lever, the hanging device is hinged and installed on a cross beam in front of the vehicle body 9, the front of the clamp lever is hinged and installed on the hanging device, the front end of the clamp lever is a clamp mouth 405, and a forge piece is clamped by the clamp mouth 405;
the clamp rod lifting units 1 are arranged below the middle of the car body 9 and connected with the car body 9, the clamp rod translation units 2 are connected with a cross beam 15 of the car body 9, and the two clamp rod tilting units 3 are symmetrically arranged on two sides below the tail of the car body 9 and connected with the car body 9.
As shown in fig. 1, the clamp lever is hinged to the vehicle body 9 by a hanger. A forging workpiece 7 (called as a forge piece for short) is clamped by the jaw 405, the centering adjustment of the clamp rod is realized by controlling the clamp rod tilting unit 3, the clamp rod lifting unit 1 and the clamp rod translation unit 2 through the PLC control system 5, and the requirement that the center position of the forge piece is always in the position range of the center line of the anvil 8 of the forging press is met.
Example 3:
on the basis of embodiment 2, the present embodiment provides a large-scale operation machine gripper bar self-adaptive centering control system, where the gripper bar tilting unit 3 includes a gripper bar tilting cylinder 301, a gripper bar tilting proportional directional valve 302, and a gripper bar tilting displacement sensor 303, the gripper bar tilting cylinder 301 is communicated with the hydraulic pump station 10 through a pipeline, the pipeline is connected in series with a gripper bar tilting pressure sensor 304, the gripper bar tilting displacement sensor 303 is fixedly installed at the outer side of the gripper bar tilting cylinder 301, the gripper bar tilting displacement sensor 303 is a pull rope displacement sensor, a pull rope thereof is connected to a movable plunger of the gripper bar tilting cylinder 301, and the movable plunger of the gripper bar tilting cylinder 301 is connected to the lower end face of the tail portion of the vehicle body 9;
the clamp lever tilt oil cylinder 301, the clamp lever tilt proportional directional valve 302, the clamp lever tilt pressure sensor 304 and the clamp lever tilt displacement sensor 303 are all in electric signal connection with the PLC control system 5.
As shown in fig. 1, the clamp lever tilt cylinder 301 is communicated with the hydraulic pump station 10 through a pipeline, the clamp lever tilt cylinder 301 drives the tail of the vehicle body 9 to move up and down through the up-and-down movement of the movable plunger, so that a height difference is generated between the front and the back of the vehicle body 9, thereby realizing the up-and-down tilt action of the clamp lever, the clamp lever tilt pressure sensor 304 mounted on the pipeline is used for monitoring the change of the tilt pressure in real time, the tilt displacement sensor fixedly mounted on the outer side of the clamp lever tilt cylinder 301 is used for sensing the change of the position of the tilt cylinder in real time, and the clamp lever tilt pressure sensor 304 and the clamp lever tilt displacement sensor 303 are electrically connected with the PLC control system 5, so as to realize the real-time control and adjustment of the.
Example 4:
on the basis of embodiment 2, the embodiment provides a large-scale operation machine gripper bar self-adaptive centering control system, the gripper bar lifting unit 1 includes a gripper bar lifting cylinder 101, a gripper bar lifting proportional directional valve 102 and a gripper bar lifting displacement sensor 103, the gripper bar lifting cylinder 101 is communicated with a hydraulic pump station 10 through a pipeline, a gripper bar lifting pressure sensor 104 is connected in series on the pipeline, the gripper bar lifting displacement sensor 103 is fixedly installed at the outer side of the gripper bar lifting cylinder 101, the gripper bar lifting displacement sensor 103 is a pull rope displacement sensor, a pull rope thereof is connected to a movable plunger of the gripper bar lifting cylinder 101, and the movable plunger of the gripper bar lifting cylinder 101 is connected with the lower end face of the middle part of the vehicle body 9;
the clamp rod lifting oil cylinder 101, the clamp rod lifting proportional directional valve 102, the clamp rod lifting pressure sensor 104 and the clamp rod lifting displacement sensor 103 are all in electric signal connection with the PLC control system 5.
As shown in fig. 1, the pin lifting cylinder 101 is communicated with the hydraulic pump station 10 through a pipeline, a movable plunger of the pin lifting cylinder 101 acts on a central point of the car body 9, the movable plunger moves up and down to drive the whole car body to ascend or descend, so as to control ascending and descending actions of the pin, a pin lifting pressure sensor 104 mounted on the pipeline is used for monitoring the change of lifting pressure in real time to prevent the lifting pressure from damaging equipment due to overlarge lifting pressure, a pin lifting displacement sensor 103 is inserted and fixed in the lifting cylinder and used for monitoring the change of the upper and lower lifting positions of the pin in real time, and the lifting position can be controlled and adjusted in real time through the electrical signal connection of the pin lifting cylinder 101, the pin lifting displacement sensor 103 and a pin lifting proportion one-way valve with the PLC control system 5.
Example 5:
on the basis of embodiment 2, this embodiment provides a large-scale operation machine gripper bar self-adaptive centering control system, where the gripper bar translation unit 2 comprises a gripper bar translation cylinder 201, a gripper bar translation proportional directional valve 202, and a gripper bar translation displacement sensor 203, the gripper bar translation cylinder 201 is communicated with the hydraulic pump station 10 through a pipeline, the pipeline is connected in series with a gripper bar translation pressure sensor 204, the gripper bar translation displacement sensor 203 is fixedly installed on the outer side of the gripper bar translation cylinder 201, the gripper bar translation displacement sensor 203 is a pull rope displacement sensor, a pull rope thereof is connected to a movable plunger of the gripper bar translation cylinder 201, and the movable plunger of the gripper bar translation cylinder 201 is connected to the cross beam 15 on the front side of the vehicle body 9;
the clamp rod translation oil cylinder 201, the clamp rod translation proportional directional valve 202, the clamp rod translation pressure sensor 204 and the clamp rod translation displacement sensor 203 are all in electric signal connection with the PLC control system 5.
As shown in fig. 1, the clamp lever translation cylinder 201 is communicated with the hydraulic pump station 10 through a pipeline, a movable plunger of the clamp lever translation cylinder 201 acts on a cross beam 15 of a vehicle body 9, the vehicle body 9 is driven to move left and right through the expansion and contraction of the movable plunger, so as to control the left and right movement of the clamp lever, a clamp lever translation pressure sensor 204 mounted on the pipeline is used for monitoring the pressure change in the clamp lever translation in real time so as to prevent the equipment from being damaged by overlarge pressure in the translation, a clamp lever translation displacement sensor 203 is fixed on the outer side of the translation cylinder and is used for monitoring the change of the left and right translation positions of the clamp lever in real time, the clamp lever translation cylinder 201, the clamp lever translation displacement sensor 203 and the clamp lever translation proportion one-way valve are all connected with an electric signal of a PLC control system 5, and the real.
Example 6:
on the basis of embodiment 1, the present embodiment provides a large-scale manipulator tong self-adaptive centering control system, where the PLC control system 5 includes a PLC controller 11, an analog output module 14, and an analog input module 13, and both the analog output module 14 and the analog input module 13 are electrically connected to the PLC controller 11.
As shown in fig. 2, the PLC controller 11 and the HMI human-machine interface 6 perform data interaction through TCP/IP communication; the PLC control system 5 monitors data of the clamp lever lifting pressure sensor 104, the clamp lever translation pressure sensor 204, the clamp lever inclination pressure sensor 304, the clamp lever lifting displacement sensor 103, the clamp lever translation displacement sensor 203, and the clamp lever inclination displacement sensor 303 in real time through the analog input module 13, and outputs analog quantity through the analog output module 14 to control and adjust opening directions and opening degrees of the clamp lever lifting proportional directional valve 102, the clamp lever translation proportional directional valve 202, and the clamp lever inclination proportional directional valve 302.
Example 7:
on the basis of the embodiment 2, the embodiment provides a large-scale manipulator jaw self-adaptive centering control system, which further includes a jaw rotating unit 4, the jaw rotating unit 4 is connected with a jaw 405, the jaw rotating unit 4 includes a jaw hydraulic motor 401, a jaw rotation proportional directional valve 402 and a jaw rotation pressure sensor 404, a jaw rotation encoder 403 is installed on the jaw hydraulic motor 401, the jaw hydraulic motor is communicated with the hydraulic pump station 10 through a pipeline, the jaw rotation proportional directional valve 402 is arranged on the pipeline, and the rotation pressure sensor is installed on the pipeline;
the jaw hydraulic motor 401, the jaw rotary encoder 403, the jaw rotary proportional directional valve 402 and the jaw rotary pressure sensor 404 are all in electrical signal connection with the PLC controller 11.
The jaw rotating unit 4 drives the jaws 405 to rotate forward or reversely through the jaw hydraulic motor 401, so that the forging of different positions of the forge piece is met. The jaw hydraulic motor 401 is used for driving the jaw 405 to rotate, the jaw rotary encoder 403 is used for realizing positioning by measuring the number of rotation turns of the jaw hydraulic motor 401, the jaw rotary pressure sensor 404 is used for monitoring the pressure change when the jaw 405 rotates in real time, and when the pressure is too large or too small, the opening direction and the opening degree of the jaw rotary proportional directional valve 402 are adjusted through the PLC 11.
Example 8:
on the basis of embodiment 1, the present embodiment provides a large-scale operation machine and a jaw self-adaptive centering control system, as shown in fig. 1, including a large-scale operation machine, a PLC control system 5, an HMI human-machine interface 6, a jaw tilting unit 3, a jaw lifting unit 1, a jaw translating unit 2, and a jaw rotating unit 4.
The large-scale manipulator is provided with a hanging device, a vehicle body 9, a clamp rod and a clamp rod translation and inclination lifting control device, wherein the hanging device is hinged on the vehicle body 9, and the clamp rod is hinged on the hanging device. The front end of the clamp rod is provided with a clamp opening 405, and a forge piece is clamped by the clamp opening 405.
The PLC control system 5 comprises a PLC controller 11, an analog quantity output module 14 and an analog quantity input module 13, wherein the analog quantity output module 14 and the analog quantity input module 13 are both in electric signal connection with the PLC controller 11. The HMI 6 stores a forge piece model and a corresponding process database of each pass centering position. The forging model comprises the width, the thickness and the height of the workpiece 7 to be forged and the centering position relation of the corresponding clamp rod. The HMI human-computer interface 6 and the PLC 11 carry out data interaction through TCP/IP communication.
The clamp lever inclination unit 3 comprises a clamp lever inclination oil cylinder 301, a clamp lever inclination proportional directional valve 302 and a clamp lever inclination displacement sensor 303, wherein the clamp lever inclination oil cylinder 301 is communicated with the hydraulic pump station 10 through a pipeline and is used for controlling the upper and lower inclination actions of the clamp lever, a clamp lever inclination pressure sensor 304 mounted on the pipeline is used for monitoring the change of the inclination pressure in real time, and the clamp lever inclination displacement sensor 303 is fixedly mounted on the outer side of the clamp lever inclination oil cylinder 301 and is used for sensing the change of the position of the inclination oil cylinder in real time. The clamp lever tilt oil cylinder 301, the clamp lever tilt proportional directional valve 302, the clamp lever tilt pressure sensor 304 and the clamp lever tilt displacement sensor 303 are all in electrical signal connection with the PLC control system 5.
The clamp lever lifting unit 1 comprises a clamp lever lifting oil cylinder 101, a clamp lever lifting proportional directional valve 102 and a clamp lever lifting displacement sensor 103, wherein the clamp lever lifting oil cylinder 101 is communicated with a hydraulic pump station 10 through a pipeline and used for controlling the upper lifting action and the lower lifting action of a clamp lever, a clamp lever lifting pressure sensor 104 mounted on the pipeline is used for monitoring the change of lifting pressure in real time so as to prevent the lifting pressure from damaging equipment, and the clamp lever lifting displacement sensor 103 is fixedly mounted on the outer side of the clamp lever lifting oil cylinder 101 and used for monitoring the change of the upper lifting position and the lower lifting position of the clamp lever in real time. The clamp rod lifting oil cylinder 101, the clamp rod lifting proportional directional valve 102, the clamp rod lifting pressure sensor 104 and the clamp rod lifting displacement sensor 103 are all in electric signal connection with the PLC control system 5.
2 claw beam translation hydro-cylinders 201 of claw beam translation unit, claw beam translation proportion direction valve 202 and claw beam translation displacement sensor 203, claw beam translation hydro-cylinder 201 passes through the pipeline and communicates with hydraulic power unit 10, a left side for controlling the claw beam, the action is removed to the right side, the change of pressure when the claw beam translation pressure sensor 204 of installation is used for real-time supervision claw beam translation is too big damage equipment of pressure when preventing the translation, claw beam translation displacement sensor 203 fixed mounting is used for the change of real-time supervision claw beam left and right translation position in the claw beam translation hydro-cylinder 201 outside. The clamp rod translation oil cylinder 201, the clamp rod translation proportional directional valve 202, the clamp rod translation pressure sensor 204 and the clamp rod translation displacement sensor 203 are all in electric signal connection with the PLC control system 5.
The jaw rotation unit 4 includes a jaw hydraulic motor 401, a jaw rotation proportional directional valve 402, and a jaw rotation pressure sensor 404, and the jaw rotation unit 4 is used to control the jaw 405 to rotate in a forward direction or a reverse direction. The jaw hydraulic motor 401 is used for driving the jaws 405 to rotate, the jaw rotary encoder 403 mounted on the jaw hydraulic motor 401 realizes positioning by measuring the number of rotation turns of the jaw hydraulic motor 401, the jaw rotary proportional directional valve 402 is communicated with the hydraulic pump station 10 through a pipeline, the rotary pressure sensor is mounted on the pipeline and used for monitoring the pressure change of the jaw 405 during rotation in real time, and when the pressure is too large or too small, the opening direction and the opening degree of the jaw rotary proportional directional valve 402 are adjusted through the PLC 11. The jaw hydraulic motor 401, the jaw rotary encoder 403, the jaw rotary proportional directional valve 402 and the jaw rotary pressure sensor 404 are all in electrical signal connection with the PLC controller 11.
In the present embodiment, as shown in fig. 2, the PLC control system 5 further includes a counter module 12, and the counter module 12 can monitor the rotation position of the jaw 405 in real time. When the PLC control system 5 monitors that the pressure of the jaw rotation pressure sensor 404 is too high, an analog signal is sent to the jaw rotation proportional directional valve 402 to adjust the opening direction and the opening degree.
Example 9:
the embodiment provides a self-adaptive centering control method for a large-scale operation machine tong, which adopts a self-adaptive centering control system for the large-scale operation machine tong and comprises the following steps:
step 1) inputting the height, width and thickness of a workpiece 7 to be forged on an HMI (human machine interface) 6, screening out the times required by forging the workpiece by a PLC (programmable logic controller) control system 5, and selecting a range value of a lifting centering position of a clamp lever, a range value of a translation centering position of the clamp lever and a range value of an inclined centering position of the clamp lever;
step 2), the PLC control system 5 respectively feeds back the range value of the lifting and centering position of the clamp rod, the range value of the translation and centering position of the clamp rod and the range value of the tilting and centering position of the clamp rod to the control values of the lifting oil cylinder 101 of the clamp rod lifting unit 1, the translation oil cylinder 201 of the clamp rod translation unit 2 and the tilting oil cylinder 301 of the clamp rod tilting unit 3;
and step 3) the PLC control system 5 firstly controls the lifting position of the clamp lever, judges whether the left and right direction translation positions of the clamp lever are within the centering range value when the lifting position of the clamp lever is determined to be within the centering range value, adjusts the opening direction and the opening degree of the clamp lever proportional direction valve of the clamp lever translation unit 2 in real time when the left and right direction translation positions of the clamp lever are determined to be false, and adjusts the opening direction and the opening degree of the clamp lever inclined proportional direction valve 302 of the clamp lever inclination unit 3 in real time when the PLC control system 5 judges whether the value of the clamp lever inclined direction displacement sensor is within the centering range value when the left and right direction translation positions of the clamp lever are determined to be false, so that the clamp lever is within the central position range in the inclined direction and the position centering before the forging of the current pass is completed.
When the jaw 405 needs to rotate in the forging process, the PLC control system 5 controls and adjusts the centering range of the rotation angle of the jaw 405 in real time.
The utility model discloses it is intelligent and self-adaptation degree high. The center line of the forge piece is kept in the central range of the anvil 8 in real time in the forging process, the production efficiency of the forging manipulator and the performance quality of a workpiece product are improved, and the labor cost and the production cost are greatly reduced.
Example 10:
on the basis of the embodiment 9, the embodiment further provides a self-adaptive centering control method for a large-scale manipulator clamp rod, further comprising the steps that in the forging process of the workpiece 7 to be forged, the PLC control system 5 respectively judges the clamp rod lifting centering position, the clamp rod translation centering position and the clamp rod lifting inclination middle position in real time through the clamp rod lifting displacement sensor 103, the clamp rod translation displacement sensor 203 and the clamp rod inclination displacement sensor 303, and adjusts and controls the opening direction and the opening degree of each proportional directional valve in real time, so that the clamp rod is kept centered.
The utility model discloses make the forging forge piece forge at each pass when beginning and forge in the jawset can be according to the real-time dynamic self-adaptation of the change of section bar model and match the centering position of this pass, guarantee the accuracy and the stability of the forging quality of forging production and forging control, improve the intelligent level that large-scale operation machine matches in the forging control by a wide margin.
The above illustration is merely an illustration of the present invention, and does not limit the scope of the present invention, and all designs identical or similar to the present invention are within the scope of the present invention.
Claims (8)
1. A large-scale operation machine tong self-adaptation centering control system, includes large-scale operation machine, its characterized in that: the clamp rod lifting device is characterized by further comprising a PLC control system (5), an HMI (human machine interface) 6, a clamp rod tilting unit (3), a clamp rod lifting unit (1) and a clamp rod translation unit (2), wherein the HMI 6 is in communication connection with the PLC control system (5), and the clamp rod tilting unit (3), the clamp rod lifting unit (1) and the clamp rod translation unit (2) are all in electric signal connection with the PLC control system (5); the HMI (6) stores forging models and corresponding centering position data of each pass of clamp lever of each forging model.
2. The self-adaptive centering control system for the large-scale operation machine tong of claim 1, characterized in that: the large-scale manipulator comprises a hanging device, a vehicle body (9) and a clamp rod, wherein the hanging device is hinged to a cross beam (15) in front of the vehicle body (9), the clamp rod is hinged to the hanging device in front, a jaw (405) is arranged at the front end of the clamp rod, and a forge piece is clamped by the jaw (405);
the clamp rod lifting unit (1) is arranged below the middle of the vehicle body (9) and connected with the vehicle body (9), the clamp rod translation unit (2) is connected with a cross beam (15) of the vehicle body (9), the two clamp rod inclination units (3) are symmetrically arranged on two sides below the tail of the vehicle body (9) respectively and connected with the vehicle body (9).
3. The large-scale operation machine tong-rod self-adaptive centering control system according to claim 2, characterized in that: the clamp rod tilting unit (3) comprises a clamp rod tilting oil cylinder (301), a clamp rod tilting proportional directional valve (302) and a clamp rod tilting displacement sensor (303), the clamp rod tilting oil cylinder (301) is communicated with a hydraulic pump station (10) through a pipeline, a clamp rod tilting pressure sensor (304) is connected to the pipeline in series, the clamp rod tilting displacement sensor (303) is fixedly installed on the outer side of the clamp rod tilting oil cylinder (301), the clamp rod tilting displacement sensor (303) is a pull rope displacement sensor, a pull rope of the pull rope is connected to a movable plunger of the clamp rod tilting oil cylinder (301), and a movable plunger of the clamp rod tilting oil cylinder (301) is connected with the lower end face of the tail of the vehicle body (9);
the clamp rod tilting oil cylinder (301), the clamp rod tilting proportional directional valve (302), the clamp rod tilting pressure sensor (304) and the clamp rod tilting displacement sensor (303) are all in electric signal connection with the PLC control system (5).
4. The large-scale operation machine tong-rod self-adaptive centering control system according to claim 2, characterized in that: the clamp rod lifting unit (1) comprises a clamp rod lifting oil cylinder (101), a clamp rod lifting proportional directional valve (102) and a clamp rod lifting displacement sensor (103), the clamp rod lifting oil cylinder (101) is communicated with a hydraulic pump station (10) through a pipeline, a clamp rod lifting pressure sensor (104) is connected to the pipeline in series, the clamp rod lifting displacement sensor (103) is fixedly installed on the outer side of the clamp rod lifting oil cylinder (101), the clamp rod lifting displacement sensor (103) is a pull rope displacement sensor, a pull rope of the pull rope is connected to a movable plunger of the clamp rod lifting oil cylinder (101), and a movable plunger of the clamp rod lifting oil cylinder (101) is connected with the lower end face of the middle part of the vehicle body (9);
the clamp rod lifting oil cylinder (101), the clamp rod lifting proportional directional valve (102), the clamp rod lifting pressure sensor (104) and the clamp rod lifting displacement sensor (103) are all in electric signal connection with the PLC control system (5).
5. The large-scale operation machine tong-rod self-adaptive centering control system according to claim 2, characterized in that: the clamp rod translation unit (2) comprises a clamp rod translation oil cylinder (201), a clamp rod translation proportional directional valve (202) and a clamp rod translation displacement sensor (203), wherein the clamp rod translation oil cylinder (201) is communicated with a hydraulic pump station (10) through a pipeline, a clamp rod translation pressure sensor (204) is connected to the pipeline in series, the clamp rod translation displacement sensor (203) is fixedly installed on the outer side of the clamp rod translation oil cylinder (201), the clamp rod translation displacement sensor (203) is a pull rope displacement sensor, a pull rope of the pull rope displacement sensor is connected to a movable plunger of the clamp rod translation oil cylinder (201), and a movable plunger of the clamp rod translation oil cylinder (201) is connected with a cross beam (15) on the front side of a vehicle body (9);
the clamp rod translation oil cylinder (201), the clamp rod translation proportional direction valve (202), the clamp rod translation pressure sensor (204) and the clamp rod translation displacement sensor (203) are all in electric signal connection with the PLC control system (5).
6. The self-adaptive centering control system for the large-scale operation machine tong of claim 1, characterized in that: the PLC control system (5) comprises a PLC controller (11), an analog quantity output module (14) and an analog quantity input module (13), wherein the analog quantity output module (14) and the analog quantity input module (13) are both connected with the PLC controller (11) through electric signals.
7. The large-scale operation machine tong-rod self-adaptive centering control system according to claim 2, characterized in that: the jaw rotating unit (4) is connected with a jaw (405), the jaw rotating unit (4) comprises a jaw hydraulic motor (401), a jaw rotating proportional directional valve (402) and a jaw rotating pressure sensor (404), a jaw rotating encoder (403) is installed on the jaw hydraulic motor (401), the jaw hydraulic motor is communicated with a hydraulic pump station (10) through a pipeline, the jaw rotating proportional directional valve (402) is arranged on the pipeline, and the rotating pressure sensor is installed on the pipeline;
the jaw hydraulic motor (401), the jaw rotary encoder (403), the jaw rotary proportional directional valve (402) and the jaw rotary pressure sensor (404) are all in electric signal connection with the PLC (11).
8. The self-adaptive centering control system for the large-scale operation machine tong of claim 1, characterized in that: the forging pattern includes the height, width and thickness of the forged workpiece (7).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022180549.7U CN212733995U (en) | 2020-09-29 | 2020-09-29 | Large-scale operation machine tong self-adaptation centering control system |
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|---|---|---|---|
| CN202022180549.7U CN212733995U (en) | 2020-09-29 | 2020-09-29 | Large-scale operation machine tong self-adaptation centering control system |
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