CN105629944A - Cylindrical cabin section flexible docking device control system and method - Google Patents

Abstract

The invention discloses a control system and method for a flexible docking device of a cylindrical cabin section. Firstly, the process model of the flexible docking assembly of the cylindrical cabin section is determined, assembly parameters are configured, self-check and initialization are performed, and each assembly mechanism moves to a preset position. position; place the first cabin section on the support ring frame of the static platform; place the cabin section to be assembled on the support ring frame of the moving platform; start the automatic alignment device, and adjust the pose of the cabin section to be assembled on the moving platform so that it is in line with the The assembled compartment on the platform reaches the pre-assembled state; observe whether it is easy to assemble, if it is inconvenient to assemble, manually fine-tune until it is easy to assemble; flexible docking assembly; the traction motor of the cabin drags the docked and assembled part along the axial direction of the cabin All move to the static platform; judge whether all cabins are installed. The invention solves the problem that the labor intensity of workers is high, the automation degree of equipment is low, and the assembly depends entirely on the experience of workers in the existing assembly process, and realizes the automation of flexible tooling.

Description

A control system and method for a cylindrical compartment flexible docking device

technical field

The invention belongs to the technical field of automatic control, and in particular relates to a control system and method for a flexible docking device of a cylindrical cabin.

Background technique

Industry 4.0 and Made in China 2025 have all put forward the concept of advanced intelligent manufacturing and the requirements for the deep integration of industrialization and industrialization. Intelligent factories, intelligent products, intelligent equipment and intelligent production are important links. Information technology, control technology, software technology, analysis Technology is integrated into hardware equipment to make it a flexible intelligent assembly unit. Humans and machines, machines and machines, and machines can freely communicate and exchange information. The CyberPhysical System (CPS: CyberPhysicalSystem) is a brand new equipment and process. , The integration concept of personnel is also the development direction of intelligent manufacturing. In order to meet the high-speed and low-cost production of products, the required tooling needs to have the functions of modularization and reconfigurable configuration, and the new flexible tooling technology can meet this requirement. Flexible tooling is a coordination system based on product digital dimensions. It can reduce the special fastening fixtures used in the design and manufacture of various parts and components through a reconfigurable modular, digital, and automated tooling system. Flexible tooling can cope with changes in the size of workpiece types in production. Today, the design and development of flexible tooling has become a new development direction in the field of flexible assembly. In the field of flexible assembly of cylindrical cabins, domestic researches mainly focus on theoretical and experimental studies. The simulation conducted in-depth research and established a multi-body dynamics model of the flexible docking attitude adjustment system; Ma Jianfeng conducted an experimental study on the assembly system of the cylindrical cabin. The completion of the docking adopts the fixed movement mode, the pose of the cabin at the fixed end on the left remains unchanged, and the pose of the cabin at the moving end on the right is fixedly adjusted by the 6-DOF Stewart platform. This method has high requirements on measuring instruments and measurement accuracy, and requires forward and inverse solution operations, and the algorithm is complex.

There is still a certain gap between the existing cylindrical cabin assembly tooling line and assembly method and the modern digital factory. Specifically, there are the following outstanding problems:

1) During the assembly process, the labor intensity of the workers is high, and the degree of automation of the equipment is low, and the assembly is completely based on the experience of the workers.

2) It takes a long time to adjust and prepare the tooling on the cylindrical cabin carriage, and the operation is cumbersome and requires repeated operations.

3) During the assembly process, the docking assembly requires repeated debugging, alignment, and rotation, which takes a long time and causes damage to the frame due to repeated shaking.

4) The existing tooling cannot adapt to the assembly of multiple series and different types of missiles.

5) Tooling lacks digital information perception, exchange, storage, and integration capabilities, and is out of touch with information systems such as PDM\CAPP\MES. Tooling and assembly objects cannot be interconnected, and real-time and historical status information of equipment cannot be obtained.

6) Tooling lacks intelligent alignment, self-inspection, self-diagnosis, and health assessment capabilities, and cannot help operators intelligently focus and detect the condition and health level of equipment.

7) Information such as cabin assembly completion and working hours urgently needs to be fed back from the bottom layer to the upper system to provide a basis for production scheduling and planning.

8) Leaders, maintenance personnel, and dispatchers cannot make full use of the digital information of docking devices and assembly objects, and cannot realize the performance evaluation of equipment, health maintenance, and production task statistics.

Contents of the invention

The purpose of the present invention is to provide a control system and method for a flexible docking device of a cylindrical cabin, aiming at solving the problems of high labor intensity, low degree of automation, tool adjustment and preparation in the existing cylindrical cabin assembly tooling line and assembly method. It takes a long time, the operation is cumbersome and requires repeated operations, it cannot adapt to the assembly of multiple series and different types of missiles, and it cannot realize the problems of equipment performance evaluation, health maintenance and production task statistics.

The present invention is achieved in this way, a method for controlling a flexible docking device for a cylindrical cabin, the method for controlling the flexible docking device for a cylindrical cabin includes the following steps:

Step 1: First determine the process model for the flexible docking assembly of the cylindrical cabin section. The finalized process model is stored in the IPC background database of the host computer. The assembly parameters have been determined. The unfinalized process model can be modified in the software interface; the control system Carry out self-inspection and initialization, so that each assembly mechanism moves to the preset position; the self-inspection of the control system mainly inquires whether the PAC running status, the working status of each servo drive, and the status of each IO module are normal. If there is any abnormality, record the abnormal content and send out an alarm signal , if there is no abnormality, drive each moving part to the initial preset working position;

Step 2: Place the first cabin section on the support ring frame of the static platform, point the docking end to the moving platform and make it basically aligned with the edge of the static platform by visual inspection;

Step 3: Place the cabin section to be assembled on the support ring frame of the moving platform, point the docking end to the static platform, and make a visual inspection so that the distance between the docking end of the cylindrical cabin section on the static platform is about 50mm;

Step 4: Due to the different diameters, masses, and centroid positions of different cylindrical cabins, the axis centers of the two cabins to be docked on the static platform and the dynamic platform are not on a straight line, and cannot be directly docked and assembled. The automatic alignment device needs to be activated , control and adjust the motor, adjust the pose of the compartment to be assembled on the moving platform, so that it can reach the pre-assembled state with the assembled cabin on the static platform; the automatic alignment adjustment device is mainly composed of two sets of three free High-speed closed-loop control servo system, using grating ruler as displacement feedback sensor, using PID algorithm as control algorithm;

Step 5: Observe whether it is easy to assemble, if it is inconvenient to assemble, manually fine-tune until it is easy to assemble; the manual fine-tuning device is located on the panel of the control cabinet, and can adjust the open-loop jog of the three-degree-of-freedom servo system;

Step 6: Manually complete the flexible docking assembly;

Step 7: The traction motor of the cabin section moves the docked and assembled part along the axial direction of the cabin section to the static platform, and the movement displacement is the same as the length of the cabin section on the moving platform;

Step 8: Determine whether all cabin sections have been installed. If not, place the cabin section to be assembled on the supporting ring frame of the moving platform, and go to step 3. If it is completed, end the flexible docking assembly.

Another object of the present invention is to provide a control system for the control method of the flexible docking device of the cylindrical cabin, the control system is a servo control system, used to accurately follow or reproduce the feedback control of a certain process system. In many cases, a servo system refers specifically to a feedback control system in which the controlled quantity (the output of the system) is mechanical displacement or displacement velocity and acceleration, and its function is to make the output mechanical displacement (or rotation angle) accurately track the input displacement ( Or corner), the structural composition of the servo system is not different in principle from other forms of feedback control systems; specifically includes:

Computer-aided process planning system, which is used to realize the process information, operation instructions, process simulation and process file generation of flexible docking of cylindrical cabins;

The upper computer IPC communicates with the computer-aided process planning system through the Internet, and is used to receive the process data and assembly process data feedback of the computer-aided process planning system, and send the assembly process requirement data to the PAC control system and receive its assembly feedback data. Realize the visual operation of the assembly process;

The PAC control system communicates with the upper computer IPC through EthernetTCP/IP, and is used to plan the motion parameters of the servo system during the assembly process, and realize the control and detection of the flexible docking of the cylindrical cabin;

Compax3 intelligent servo drive communicates with the PAC control system through EtherCAT to receive the motion control commands of the PAC, convert them into electrical signals and output them to drive the motor;

EX explosion-proof motor, used to drive the transmission parts to realize the movement required by the assembly process;

The FAGOR grating scale is connected with the Compax3 intelligent servo driver to detect the pose of the moving table adjustment structure, including the opening and closing position of the V-shaped mechanism and the height of the vertical support, and feed back to the PAC controller to realize closed-loop control;

The limit switch is electrically connected with the digital input module, and is used for the safety limit of the movement mechanism and the initial zero point calibration;

The manual control panel is electrically connected with the digital input module, and is used to manually adjust the posture of the adjustment mechanism;

Sound and light alarm, electrically connected with the digital output module, used for various abnormal alarms in the flexible assembly process;

The digital input module is used to detect the state of the limit switch, the state of each button on the manual control panel, and exchange information with the PAC through the EtherCAT bus;

The digital output module is used to output the sound and light alarm switch value information, and exchange information with the PAC through the EtherCAT bus.

The control system and method of the cylindrical cabin section flexible docking device provided by the present invention, the selected PAC is a special control device with programmable software, which aims to automate the high-speed electromechanical process operated in the assembly line equipment; Under the temperature range, vibration, and electrical noise of the industrial environment, the PAC has been designed and modified to provide various inputs/outputs for fast motion control; the PAC adopts a modular design to make it a highly flexible solution; the PAC connection A series of PACIO modules can be selected according to specific application requirements; PAC includes Ethernet and EtherCAT communication ports. The PAC operating system and operating software reside on a standard Secure Digital (SD) memory card that fits into a slot on the top of the PAC. LED indicators on the front panel of the PAC help monitor and troubleshoot system status. The PAC provides a single, ESD protected EtherCAT port and operates at 100Mb/s. EtherCAT is one of the fastest and most powerful fieldbus systems based on Ethernet; EtherCAT can reach the speed of processing 1000 I/O in 30 microseconds; flexible topology and simple configuration make it very suitable for Control very fast processes.

The structural composition of the CAPP system of the present invention: the basic structure is composed of five modules such as part information acquisition, process decision-making, process database/knowledge base, man-machine interface, and process file management/output. It can provide enterprises with manufacturing data management, planning and scheduling management, production scheduling management, inventory management, quality management, human resource management, work center/equipment management, tool tooling management, procurement management, cost management, project Kanban management, production process Management modules such as control, underlying data integration and analysis, and upper-level data integration and decomposition create a solid, reliable, comprehensive, and feasible manufacturing collaborative management platform for enterprises.

The invention solves the problems of high labor intensity of workers in the existing assembly process, low degree of automation of equipment, and complete assembly by workers' experience, and realizes flexible work automation; the servo control system uses a PAC controller to realize control and detection, and the system volume Small size, low power consumption, and high integration; Compax3 servo driver and PACIO digital module are used to communicate with the PAC controller through the EtherCAT bus conveniently, which improves the reliability of system control and detection data transmission; the present invention applies CAPP technology In the cabin flexible docking device, it solves the lack of digital information perception, exchange, storage and integration capabilities in the existing assembly process.

The invention is used for the flexible butt joint assembly of cylindrical cabin sections. The innovative flexible structure in the invention is expandable and suitable for cabin sections with different projectile diameters and different numbers; it can realize computer-controlled rapid initial adjustment, range sensing closed-loop fine adjustment and Button-driven fine-tuning, flexible spring manual fine-tuning and docking; comprehensive heterogeneous information system data, status data, control parameters, physical location information, fault exceptions, etc. for statistical analysis of data processing, for production scheduling, capacity balance, equipment maintenance Provide decision-making basis; a set of intelligent cyber-physical system with digital information integration, perception, control and feedback, and deep integration capabilities can significantly improve the level of digitalization, intelligence and automation of cabin docking.

Description of drawings

Fig. 1 is a schematic structural diagram of a cylindrical cabin flexible docking device provided by an embodiment of the present invention;

In the figure: 1. Static platform; 2. Dynamic platform; 3. Storage platform; 4. Transport platform; 5. Console; 9. Support ring frame.

Fig. 2 is a flowchart of a control method for a flexible docking device for a cylindrical cabin provided by an embodiment of the present invention.

Fig. 3 is a schematic diagram of the overall structure of the servo control system provided by the embodiment of the present invention.

detailed description

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

The application principle of the present invention will be described in detail below in conjunction with the accompanying drawings.

As shown in Figure 1, the flexible docking device of the cylindrical cabin section in the embodiment of the present invention mainly includes: a static platform 1, a moving platform 2, a storage platform 3, a transport platform 4, a control console 5, an adjustment bracket 6, and an assembled cylindrical cabin. Section 7, cylindrical cabin section 8 to be assembled, support ring frame 9.

Static platform 1: used to place the first cabin section and subsequent installed cabin sections, as the benchmark for each subsequent docking cabin section.

Moving platform 2: adjust the height and horizontal position of the two adjustment brackets through motor control, so as to complete the flexible docking process of two adjacent compartments.

Rack 3: Store spare ring racks. There is a diameter reducing mechanism at the end of the storage platform, and for a designated cabin section, the four claws of the ring are moved to the designated position through the diameter reducing mechanism.

Transport platform 4: Complete the transportation of the ring frame between the storage platform and the static platform. It is mainly composed of a scissor-type lifting mechanism, which can slide along the bottom guide rail.

Console 5: It is mainly composed of industrial computer, touchable LCD screen, keyboard, mouse, etc., to complete the management of equipment and real-time monitoring of production tasks.

Adjusting bracket 6: There are two three-degree-of-freedom adjusting brackets installed on the moving platform, which can move along the axial, radial and height directions of the cabin. The adjustment bracket is mainly composed of a lifting and translation mechanism, a fine-tuning spring shaking mechanism, and a roller opening and closing mechanism. The lifting and translational mechanism includes a lifting motor and a translational motor. The lifting motor realizes the adjustment of the height of the cabin through the meshing transmission of the worm gear and the lifting movement of the vertical screw. The translational motor realizes the axial and radial movement of the adjustment bracket along the cabin section through the gear and the rack on the bottom surface.

Assembled cylindrical cabin section 7: the cabin section that has been assembled on the static platform;

Cylindrical cabin section 8 to be assembled: the cabin section to be assembled on the moving platform;

Supporting ring frame 9: used to support the installed cylindrical cabin and the cylindrical cabin to be installed. The entire cabin flexible automatic docking device has a total of 10 ring frames, including 1 active ring frame. The active ring frame always moves on the static platform and is in front of other passive ring frames to drive the rotation of the docked cabin and the movement along the axial direction of the cabin. The output shaft of the motor providing rotation is equipped with a gear, which is engaged with the gear groove on the outer edge of the corresponding ring for transmission; the output shaft of the motor providing drag is provided with a gear, which is engaged with the corresponding rack on the static table for transmission.

As shown in Figure 2, the control method of the cylindrical cabin flexible docking device according to the embodiment of the present invention includes the following steps:

Step 1: First determine the process model of the flexible docking assembly of the cylindrical cabin section, configure the assembly parameters, and the system performs self-inspection and initialization, so that each assembly mechanism moves to the preset position;

Step 2: Place the first section of the cabin on the support ring frame of the static platform;

Step 3: Place the cabin section to be assembled on the supporting ring frame of the moving platform;

Step 4: Start the automatic alignment device, control and adjust the motor, and adjust the posture of the compartment to be assembled on the moving platform, so that it can reach the pre-assembled state with the assembled compartment on the static platform;

Step 5: Observe whether it is easy to assemble, if it is inconvenient to assemble, manually fine-tune until it is easy to assemble;

Step 6: Flexible docking assembly;

Step 7: The traction motor in the cabin drags the part that has been docked and assembled to move all along the axial direction of the cabin to the static platform;

Step 8: Determine whether all cabin sections have been installed. If not, place the cabin section to be assembled on the supporting ring frame of the moving platform, and go to step 3. If it is completed, end the flexible docking assembly.

As shown in Figure 3, the control system of the cylindrical cabin flexible docking device in the embodiment of the present invention includes a servo control system:

The control system mainly consists of a computer-aided process planning (CAPP: Computer Aided Process Planning) system for planning the assembly process, an upper computer IPC for visually operating the assembly process, a Parker Automation Controller (PAC) PAC control system for servo control and detection, and Compax3 intelligence. Composed of type servo drive and EX explosion-proof motor.

The CAPP system is used to realize the functions of process information, operation instructions, process simulation, and process document generation for flexible docking of cylindrical cabins;

The upper computer IPC is used to receive the process data of CAPP and the feedback of the assembly process data, and send the assembly process requirement data to the PAC control system and receive its assembly feedback data, so as to realize the visual operation of the assembly process;

The PAC control system is used to plan the motion parameters of the servo system during the assembly process, and realize the control and detection of the flexible docking of the cylindrical cabin;

Compax3 intelligent servo driver is used to receive the motion control command of PAC, convert it into electrical signal output and drive the motor to run;

EX explosion-proof motor, used to drive the transmission parts to realize the movement required by the assembly process;

FAGOR grating scale is used to detect the pose of the moving table adjustment structure, mainly including the opening and closing position of the V-shaped mechanism and the height of the vertical support, which are fed back to the PAC controller to achieve closed-loop control;

The limit switch is used for the safety limit of the movement mechanism and the initial zero point calibration;

Manual control panel, used to manually adjust and adjust the posture of the mechanism;

Sound and light alarm, used for various abnormal alarms in the flexible assembly process;

Digital input module, used to detect the state of the limit switch and the state of each button on the manual control panel;

The digital output module is used to output the sound and light alarm switch value information.

The upper computer IPC communicates with the PAC controller through EthernetTCP/IP, and the PAC controller communicates with the 1#～9#Compax3 servo drivers and the digital input module and digital output module through EtherCAT , the grating scale used for measuring height is connected to the 6#/7#Compax3 servo drive, and the grating scale used to measure the horizontal position of the opening and closing of the V-shaped fixture is connected to the 8#/9#Compax3 servo drive connected, the limit switch and the manual adjustment control button are electrically connected to the digital input module, and the sound and light alarm is electrically connected to the digital output module.

The upper computer IPC communicates with the computer-aided process planning (CAPP: Computer Aided Process Planning) computer through the Internet. CAPP uses the computer to formulate the production process and assemble the pre-assembled parts into finished products required by the project. This process is called computer-aided process planning. It is a process in which the computer automatically outputs process documents such as the process route and process content by inputting the geometric information (shape, size, etc.) and process information (material, pretreatment, batch, etc.) of the parts to be assembled to the computer. The upper computer IPC obtains process information, operation instructions, process simulation, process documents and other information from CAPP to realize the flexible docking process of cylindrical cabins.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. within range.

Claims (2)

1. A control method of a cylindrical cabin flexible docking device, characterized in that, the control method of the cylindrical cabin flexible docking device comprises the following steps: Step 1: First determine the process model for the flexible docking assembly of the cylindrical cabin section. The finalized process model is stored in the IPC background database of the host computer. The assembly parameters have been determined. The unfinalized process model can be modified in the software interface; the control system Carry out self-inspection and initialization, so that each assembly mechanism moves to the preset position; the self-inspection of the control system mainly inquires whether the PAC running status, the working status of each servo drive, and the status of each IO module are normal. If there is any abnormality, record the abnormal content and send out an alarm signal , if there is no abnormality, drive each moving part to the initial preset working position; Step 2: Place the first cabin section on the support ring frame of the static platform, point the docking end to the moving platform and make it basically aligned with the edge of the static platform by visual inspection; Step 3: Place the cabin section to be assembled on the supporting ring frame of the moving platform, point the docking end to the static platform, and make a visual inspection so that the distance between the docking end of the cylindrical cabin section on the static platform is 50mm; Step 4: Since the diameters, masses, and centroid positions of different cylindrical cabins are different, start the automatic alignment device, control and adjust the motor, and adjust the pose of the cabin to be assembled on the moving platform to match the assembled cabin on the static platform. Reach the pre-assembled state; the automatic alignment adjustment device is composed of two sets of three-degree-of-freedom closed-loop control servo systems on the moving table, using a grating ruler as a displacement feedback sensor, and a PID algorithm as a control algorithm; Step 5: Observe whether it is easy to assemble, if it is inconvenient to assemble, manually fine-tune until it is easy to assemble; the manual fine-tuning device is located on the panel of the control cabinet, and adjust the open-loop jog of the three-degree-of-freedom servo system; Step 6: Manually complete the flexible docking assembly; Step 7: The traction motor of the cabin section moves the docked and assembled part along the axial direction of the cabin section to the static platform, and the movement displacement is the same as the length of the cabin section on the moving platform; Step 8: Determine whether all cabin sections have been installed. If not, place the cabin section to be assembled on the supporting ring frame of the moving platform, and go to step 3. If it is completed, end the flexible docking assembly. 2. A control system for the control method of the cylindrical cabin flexible docking device as claimed in claim 1, wherein the control system is a servo control system, specifically comprising: Computer-aided process planning system, which is used to realize the process information, operation instructions, process simulation and process file generation of flexible docking of cylindrical cabins; The upper computer IPC communicates with the computer-aided process planning system through the Internet, and is used to receive the process data and assembly process data feedback of the computer-aided process planning system, and send the assembly process requirement data to the PAC control system and receive its assembly feedback data. Realize the visual operation of the assembly process; The PAC control system communicates with the upper computer IPC through EthernetTCP/IP, and is used to plan the motion parameters of the servo system during the assembly process, and realize the control and detection of the flexible docking of the cylindrical cabin; Compax3 intelligent servo drive communicates with the PAC control system through EtherCAT to receive the motion control commands of the PAC, convert them into electrical signals and output them to drive the motor; EX explosion-proof motor, used to drive the transmission parts to realize the movement required by the assembly process; The FAGOR grating scale is connected with the Compax3 intelligent servo driver to detect the pose of the moving table adjustment structure, including the opening and closing position of the V-shaped mechanism and the height of the vertical support, and feed back to the PAC controller to realize closed-loop control; The limit switch is electrically connected with the digital input module, and is used for the safety limit of the movement mechanism and the initial zero point calibration; The manual control panel is electrically connected with the digital input module, and is used to manually adjust the posture of the adjustment mechanism; Sound and light alarm, electrically connected with the digital output module, used for various abnormal alarms in the flexible assembly process; The digital input module is used to detect the state of the limit switch, the state of each button on the manual control panel, and exchange information with the PAC through the EtherCAT bus; The digital output module is used to output the sound and light alarm switch value information, and exchange information with the PAC through the EtherCAT bus.