CN111283010B - An automatic control device and method for ingot withdrawal of an extruder - Google Patents
An automatic control device and method for ingot withdrawal of an extruder Download PDFInfo
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- CN111283010B CN111283010B CN202010181046.3A CN202010181046A CN111283010B CN 111283010 B CN111283010 B CN 111283010B CN 202010181046 A CN202010181046 A CN 202010181046A CN 111283010 B CN111283010 B CN 111283010B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C33/00—Feeding extrusion presses with metal to be extruded ; Loading the dummy block
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C31/00—Control devices, e.g. for regulating the pressing speed or temperature of metal; Measuring devices, e.g. for temperature of metal, combined with or specially adapted for use in connection with extrusion presses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C35/00—Removing work or waste from extruding presses; Drawing-off extruded work; Cleaning dies, ducts, containers, or mandrels
- B21C35/02—Removing or drawing-off work
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Abstract
本发明提供了一种挤压机铸锭回退自动控制装置及方法，包括退锭机构、上料机械手、承锭台和PLC控制系统，退锭机构和上料机械手均与PLC控制系统电信号连接，退锭机构和上料机械手配合将铸锭回退至承锭台，PLC控制系统电信号连接有HMI，PLC控制系统用于根据HMI输入的铸锭长度运算得到退锭机构需退锭到承锭台的预停位置L1和上料机械手随动跟随打开的起始位置L2，并实时监测退锭机构、上料机械手的位置以在相应位发送指令进行控制。本发明在退锭过程中实时调使退锭臂和上料机械手活动伸缩臂的相对位置始终维持一种动态的平衡，实现挤压机退锭全自动化进行，无需人工干预，加快生产节奏，减少了人工运输引起的安全隐患。
The present invention provides an automatic control device and method for the withdrawal of ingots from an extruder, including an ingot withdrawal mechanism, a feeding robot, an ingot support platform, and a PLC control system. The ingot withdrawal mechanism and the feeding robot are both electrically connected to the PLC control system by signals. The ingot withdrawal mechanism and the feeding robot cooperate to withdraw the ingot to the ingot support platform. The PLC control system is electrically connected to an HMI by signals. The PLC control system is used to calculate the ingot length input by the HMI to obtain the pre-stop position L1 of the ingot withdrawal mechanism to withdraw the ingot to the ingot support platform and the starting position L2 of the feeding robot to follow and open, and to monitor the positions of the ingot withdrawal mechanism and the feeding robot in real time to send instructions at the corresponding positions for control. The present invention adjusts the relative positions of the ingot withdrawal arm and the movable telescopic arm of the feeding robot in real time during the withdrawal process to always maintain a dynamic balance, thereby realizing full automation of the ingot withdrawal of the extruder without manual intervention, speeding up the production rhythm, and reducing the safety hazards caused by manual transportation.
Description
Technical Field
The invention belongs to the technical field of metallurgical equipment aluminum extruder equipment, and particularly relates to an extruder ingot backing automatic control device and method.
Background
Before the extrusion of the aluminum profile of the extruder is prepared, the heated cast ingot is required to be subjected to length measurement and performance detection operation, the condition that the performance indexes such as the temperature, the size and the length of the cast ingot cannot meet the technological requirements is often met, or the cast ingot is conveyed to an extrusion station by a feeding manipulator, the phenomena such as extrusion failure and the like are met at the moment, the cast ingot is required to be extruded again after failure treatment, and ingot withdrawal treatment is required to be carried out under the conditions.
At present, the operation of rolling back the extruded ingot is basically carried out manually, and the ingot is hoisted away through a travelling crane and a lifting appliance. The traditional conveying mode not only occupies manpower and material resources and increases the manpower cost, but also has slower rhythm and low automation degree, and has certain potential safety hazard.
Disclosure of Invention
The invention aims to provide an automatic control device for ingot backing of an extruder, which overcomes the technical problems in the prior art.
The invention further aims to provide an automatic control method for ingot backing of the extruder, which realizes the automation of ingot backing for extrusion, reduces labor intensity and labor cost, improves production efficiency and accelerates production rhythm.
Therefore, the technical scheme provided by the invention is as follows:
The utility model provides an extruder ingot casting automatic control device that falls back, includes withdrawal spindle mechanism, material loading manipulator, holds spindle platform and PLC control system, withdrawal spindle mechanism and material loading manipulator all are connected with PLC control system electric signal, withdrawal spindle mechanism and material loading manipulator cooperation fall back the ingot casting to holding the spindle platform, PLC control system electric signal is connected with HMI man-machine interface.
The PLC control system is used for calculating and obtaining a pre-stopping position L1 from the ingot withdrawing mechanism to the ingot bearing platform and a starting position L2 where the feeding manipulator follows and opens according to the ingot length input by the HMI human-machine interface, and monitoring the positions of the ingot withdrawing mechanism and the feeding manipulator in real time so as to send instructions at corresponding positions for control.
The ingot withdrawing mechanism comprises an ingot withdrawing arm, an ingot withdrawing variable frequency motor and a first travel detector, wherein the ingot withdrawing variable frequency motor is used for driving the ingot withdrawing arm to linearly move, the first travel detector is electrically connected with the PLC control system, the first travel detector is used for detecting the position of the ingot withdrawing arm in real time, and the ingot withdrawing arm, the feeding manipulator and the ingot bearing table are positioned on the same straight line.
The feeding manipulator comprises a fixed arm, a movable telescopic arm, a movable arm telescopic variable frequency motor and a stroke detector II, wherein the movable telescopic arm is close to one side of the ingot bearing table, a linear guide rail is arranged between the fixed arm and the movable telescopic arm, and manipulator fingers for clamping the cast ingot 6 are arranged on the fixed arm and the movable telescopic arm;
The movable arm telescopic variable frequency motor is used for driving the movable telescopic arm to perform linear telescopic motion along the linear guide rail, the second stroke detector is electrically connected with the PLC control system, and the second stroke detector is used for detecting the position of the ingot withdrawing arm in real time.
The spindle of the spindle withdrawing variable frequency motor is connected with a synchronous pulley, and the spindle withdrawing arm is fixedly arranged on a synchronous belt of the synchronous pulley.
The first stroke detector is a displacement sensor or an ingot withdrawal rotary encoder, the displacement sensor is arranged on an ingot withdrawal arm, the ingot withdrawal rotary encoder is fixedly arranged on a rotating shaft of an ingot withdrawal variable frequency motor, an ingot withdrawal arm backward polar limit inductive switch is arranged in front of the ingot withdrawal arm, and the ingot withdrawal arm backward polar limit inductive switch is connected with a PLC control system through an electric signal.
The linear guide rail is a ball screw, the movable telescopic arm is fixedly connected with a nut sleeved on the ball screw, and a rotating shaft of the movable arm telescopic variable frequency motor is connected with the ball screw.
The second stroke detector is a displacement sensor or a movable arm rotary encoder, the displacement sensor is arranged on the movable telescopic arm, and the movable arm rotary encoder is arranged on the movable arm telescopic variable frequency motor.
An automatic control method for ingot backing of an extruder is provided, which comprises the following steps:
step 1), inputting ingot casting length of ingot withdrawal through an HMI human-machine section, and calculating by a PLC control system to obtain a pre-stop position L1 of the ingot withdrawal mechanism, from which the ingot is withdrawn to a ingot bearing table, and a starting position L2 of a feeding manipulator, from which the ingot withdrawal mechanism is opened in a follow-up mode;
step 2), the PLC control system sends an instruction to start the ingot withdrawing mechanism, an ingot withdrawing arm of the ingot withdrawing mechanism pushes an ingot to advance towards the ingot bearing table, and when the ingot withdrawing arm moves to a starting position L2 where the feeding manipulator follows to be opened, the PLC control system sends an instruction to start a movable arm telescopic variable frequency motor of the feeding manipulator, so that the movable telescopic arm moves towards the ingot bearing table along a linear guide rail along with the ingot withdrawing arm, and the movable telescopic arm is opened;
Step 3), the movable telescopic arm continuously moves along the direction of the ingot withdrawing arm towards the ingot supporting table until the movable telescopic arm moves to the end of the linear guide rail, at the moment, the movable telescopic arm is opened to the maximum position, and the PLC control system sends an instruction to stop the movable arm telescopic variable frequency motor;
And 4) continuously pushing the ingot to the direction of the ingot bearing table by the ingot withdrawing arm until the ingot withdrawing arm moves to the pre-stop position L1, withdrawing the ingot to the ingot bearing table, and sending an instruction by the PLC control system to stop the ingot withdrawing variable frequency motor of the ingot withdrawing mechanism.
In the step 2), the movable telescopic arm moves along the linear guide rail along the ingot withdrawing arm towards the ingot bearing table, the PLC control system monitors the displacement data change of the first stroke detector of the ingot withdrawing mechanism and the second stroke detector of the feeding manipulator in real time, and adjusts the movement speed and the movement position of the ingot withdrawing arm and the upper movable telescopic arm in real time, so that the relative positions of the ingot withdrawing arm and the upper movable telescopic arm are kept in dynamic balance.
The beneficial effects of the invention are as follows:
According to the ingot retraction automatic control device and method for the extruder, provided by the invention, the electric signals of the ingot retraction mechanism and the feeding manipulator are connected through the PLC control system, so that the movement speed and the movement position of the ingot retraction arm and the movement position of the feeding manipulator telescopic arm are adjusted in real time, closed-loop control is formed, the relative positions of the movable telescopic arm of the ingot retraction arm and the movable telescopic arm of the feeding manipulator are always kept in a dynamic balance, and the smooth ingot retraction is ensured.
The invention has reasonable design, simple structure, excellent process and high automation degree, and is simultaneously applicable to single-action and double-action extruders. The full automation of the ingot withdrawal of the extruder is realized, manual intervention is not needed, the manual and production costs are greatly reduced, the production rhythm is quickened, and the potential safety hazard caused by manual transportation is reduced.
In order to make the above-mentioned objects of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
FIG. 1 is a schematic diagram of one embodiment of the present invention;
fig. 2 is a flow chart of the method of the present invention.
In the figure:
Reference numerals illustrate:
1. the ingot withdrawing device comprises an ingot withdrawing mechanism, a feeding manipulator, a ingot bearing table, an HMI human-machine interface, a PLC control system, an ingot 101, an ingot withdrawing arm, a ingot withdrawing variable frequency motor, an ingot withdrawing rotary encoder, an ingot withdrawing arm backward limit inductive switch, a movable telescopic arm, a movable arm telescopic variable frequency motor, a fixed arm, a linear guide rail, a movable arm rotary encoder and an ingot withdrawing limit inductive switch, wherein the ingot withdrawing mechanism, the ingot bearing table, the HMI human-machine interface, the PLC control system, the ingot withdrawing variable frequency motor, the ingot withdrawing variable frequency encoder, the ingot withdrawing limit inductive switch, the movable arm and the movable arm telescopic variable frequency motor are respectively.
Detailed Description
Further advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present specification, by describing the embodiments of the present invention with specific examples.
In the present invention, the upper, lower, left, and right directions in the drawing are regarded as the upper, lower, left, and right directions of the automatic extruder ingot back control device described in the present specification.
The exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, however, the present invention may be embodied in many different forms and is not limited to the examples described herein, which are provided to fully and completely disclose the present invention and fully convey the scope of the invention to those skilled in the art. The terminology used in the exemplary embodiments illustrated in the accompanying drawings is not intended to be limiting of the invention. In the drawings, like elements/components are referred to by like reference numerals.
Unless otherwise indicated, terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art. In addition, it will be understood that terms 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 an extruder ingot backing automatic control device, including withdrawing spindle mechanism 1, material loading manipulator 2, hold spindle platform 3 and PLC control system 5, withdrawing spindle mechanism 1 and material loading manipulator 2 all are connected with PLC control system 5 electric signal, withdrawing spindle mechanism 1 and material loading manipulator 2 cooperation is with the ingot 6 backing to hold spindle platform 3, PLC control system 5 electric signal is connected with HMI human-computer interface 4.
Specifically, the working process or the application process of the automatic control device for ingot backing of the extruder provided by the embodiment is as follows:
In the back process of the extruding machine ingot 6, the HMI human-machine interface 4 inputs the length of the ingot 6 of the current ingot to be returned, the PLC control system 5 calculates to obtain a pre-stop position L1 of the ingot returning mechanism 1 to the ingot bearing table 3 and a starting position L2 of the feeding manipulator 2 which is opened in a follow-up mode, then the calculated corresponding control values are fed back to the running control devices of the ingot returning mechanism 1 and the feeding manipulator 2, in the back process, the PLC control system 5 monitors the change of displacement data of the ingot returning mechanism 1 and the feeding manipulator 2 in real time, and adjusts the movement speed and the position of the ingot returning mechanism 1 and the feeding manipulator 2 in real time to form closed-loop control, so that the relative positions of the ingot returning mechanism 1 and the feeding manipulator 2 always maintain dynamic balance, and smooth ingot returning is ensured.
The invention has high automation degree and is simultaneously suitable for single-action and double-action extruders. The full automation of the ingot withdrawal of the extruder is realized, manual intervention is not needed, the manual and production costs are greatly reduced, the production rhythm is quickened, and the potential safety hazard caused by manual transportation is reduced.
Example 2:
On the basis of embodiment 1, this embodiment provides an extruder ingot backing automatic control device, the PLC control system 5 is used for obtaining the pre-stop position L1 of the ingot withdrawing mechanism 1 needing to withdraw the ingot to the ingot bearing platform 3 and the starting position L2 of the feeding manipulator 2 which follows and opens according to the length operation of the ingot 6 input by the HMI human-computer interface 4, and monitoring the positions of the ingot withdrawing mechanism 1 and the feeding manipulator 2 in real time so as to send instructions at corresponding positions for control.
The ingot withdrawing mechanism 1 comprises an ingot withdrawing arm 101, an ingot withdrawing variable frequency motor 102 and a travel detector I, wherein the ingot withdrawing variable frequency motor 102 is used for driving the ingot withdrawing arm 101 to linearly move, the travel detector I is electrically connected with the PLC control system 5, the travel detector I is used for detecting the position of the ingot withdrawing arm 101 in real time, and the ingot withdrawing arm 101, the feeding manipulator 2 and the ingot bearing table 3 are positioned on the same straight line.
The ingot withdrawing arm 101 is driven by the ingot withdrawing variable frequency motor 102 to carry out reciprocating conveying, and the ingot 6 is pushed to the ingot bearing table 3 by the ingot withdrawing arm 101. In the process that the ingot withdrawing arm 101 pushes the ingot 6 to withdraw, the PLC control system 5 monitors the displacement value of the first stroke detector in real time, when the ingot withdrawing arm 101 moves to the starting position L2 where the feeding manipulator 2 follows to be opened, the PLC control system 5 sends an instruction to start the feeding manipulator 2, and when the ingot withdrawing arm 101 moves to the pre-stopping position L1 where the ingot is required to be withdrawn to the ingot bearing platform 3, the PLC control system 5 sends an instruction to stop withdrawing the ingot variable frequency motor 102.
Example 3:
On the basis of embodiment 2, this embodiment provides an automatic control device for retraction of an extruder ingot, as shown in fig. 1, the feeding manipulator 2 includes a fixed arm 203, a movable telescopic arm 201, a movable arm telescopic variable frequency motor 202 and a stroke detector II, the movable telescopic arm 201 is close to one side of the ingot bearing table 3, a linear guide rail 204 is arranged between the fixed arm 203 and the movable telescopic arm 201, and manipulator fingers for clamping the ingot 6 are arranged on the fixed arm 203 and the movable telescopic arm 201;
The movable arm telescopic variable frequency motor 202 is used for driving the movable telescopic arm 201 to perform linear telescopic motion along the linear guide rail 204, the second stroke detector is electrically connected with the PLC control system 5, and the second stroke detector is used for detecting the position of the ingot withdrawing arm 101 in real time.
When the ingot 6 needs to be retracted, the feeding manipulator 2 walks to the ingot withdrawal position, at this time, the feeding manipulator 2 is not opened, namely, the movable telescopic arm 201 is located on one side of the linear guide 204, which is close to the fixed arm 203, the ingot 6 is clamped by the manipulator fingers of the fixed arm 203 and the movable telescopic arm 201, and then the ingot withdrawal arm 101 of the ingot withdrawal mechanism 1 pushes the ingot 6 to move towards the ingot bearing table 3. During the whole retraction process, the fingers of the manipulator are clamped, and the ingot withdrawing arm 101 can pass through the fingers of the manipulator of the fixed arm 203.
When the ingot withdrawing arm 101 moves to the starting position L2 where the movable telescopic arm 201 of the feeding manipulator 2 follows to be opened, the PLC control system 5 sends an instruction to start the movable arm telescopic variable frequency motor 202, drives the movable telescopic arm 201 to move towards the ingot bearing table 3 along the linear guide rail 204 until the movable telescopic arm 201 is opened to the maximum position (namely, moves to the rightmost end of the linear guide rail 204), and then the ingot withdrawing arm 101 pushes the ingot 6 to continue to move towards the ingot bearing table 3 until the ingot is required to be withdrawn to the pre-stop position L1 of the ingot bearing table 3.
In this process, in order to maintain a dynamic balance between the relative positions of the ingot withdrawing mechanism 1 and the feeding manipulator 2 all the time, the PLC control system 5 monitors displacement values of the first stroke detector of the estimation mechanism and the second stroke detector of the feeding manipulator 2 in real time, so as to realize real-time adjustment of the movement speeds and positions of the ingot withdrawing mechanism 1 and the feeding manipulator 2 by adjusting and controlling the rotation speeds of the movable arm telescopic variable frequency motor 202 and the ingot withdrawing variable frequency motor 102.
The determination of the start position L2 and the pre-stop position L1 is related to the distance between the fixed arm 203 and the movable telescopic arm 201 of the feeding manipulator 2 and the distance between the movable telescopic arm 201 and the ingot supporting table when the movable telescopic arm 201 is opened maximally, and for a device implemented on a certain site, the distances are determined and can be set in advance on the HMI human-machine interface.
Example 4:
on the basis of embodiment 2, this embodiment provides an extruder ingot backing automatic control device, the pivot of withdrawal variable frequency motor 102 is connected with synchronous pulley, withdrawal arm 101 sets firmly on synchronous belt of synchronous pulley.
In this embodiment, the ingot withdrawing variable frequency motor 102 drives the synchronous pulley to rotate, the synchronous pulley drives the synchronous belt to move, and the synchronous belt drives the ingot withdrawing arm 101 to reciprocate so as to push the ingot 6 to withdraw.
Example 5:
On the basis of embodiment 2, this embodiment provides an extruder ingot backing automatic control device, the pivot of withdrawal variable frequency motor 102 is connected with the gear, gear engagement has the rack, withdrawal arm 101 sets firmly on the rack.
In this embodiment, the ingot withdrawing variable frequency motor 102 drives a gear to rotate, the gear is meshed with a rack, and the rack drives the ingot withdrawing arm 101 to reciprocate to push the ingot 6 to withdraw.
Example 6:
On the basis of embodiment 2, this embodiment provides an extruder ingot backing automatic control device, travel detector one is displacement sensor or withdrawal rotary encoder 103, displacement sensor locates on withdrawing spindle arm 101, withdrawal rotary encoder 103 sets firmly in withdrawing spindle inverter motor 102 pivot, withdrawal arm 101 front is equipped with withdrawal arm withdrawal limit inductive switch 104, withdrawal arm withdrawal limit inductive switch 104 and PLC control system 5 electrical signal connection.
The displacement of the withdrawal arm 101 is detected by a displacement sensor or a withdrawal rotary encoder 103. In order to avoid deviation of the displacement sensor or the ingot withdrawing rotary encoder 103, the initial movement positions of the ingot withdrawing arm 101 and the feeding manipulator 2 are zero points of the ingot withdrawing arm backward limit sensing switch 104.
Example 7:
On the basis of embodiment 3, this embodiment provides an extruder ingot backing automatic control device, the linear guide 204 is a ball screw, the movable telescopic arm is fixedly connected with a nut sleeved on the ball screw, and the rotating shaft of the movable arm telescopic variable frequency motor 202 is connected with the ball screw.
The ball screw is driven by the movable arm telescopic variable frequency motor 202 to rotate so as to drive the movable telescopic arm to perform linear telescopic motion on the linear guide rail 204.
The second stroke detector is a displacement sensor or a movable arm rotary encoder 205, the displacement sensor is arranged on the movable telescopic arm, and the movable arm rotary encoder 205 is arranged on the movable arm telescopic variable frequency motor 202.
Example 8:
the embodiment provides an automatic control method for ingot backing of an extruder, which adopts the automatic control device for ingot backing of the extruder of the embodiment 3, as shown in fig. 2, and comprises the following steps:
Step 1), inputting the length of an ingot 6 for ingot withdrawal through an HMI human-machine section, and calculating by a PLC control system 5 to obtain a pre-stop position L1 of the ingot withdrawal mechanism 1 from the ingot withdrawal to the ingot bearing table 3 and a starting position L2 of a feeding manipulator 2 which is opened in a follow-up mode;
step 2), the PLC control system 5 sends an instruction to start the ingot withdrawing mechanism 1, an ingot withdrawing arm 101 of the ingot withdrawing mechanism 1 pushes an ingot 6 to advance towards the ingot bearing table 3, when the ingot withdrawing arm 101 moves to a starting position L2 where the feeding manipulator 2 follows to be opened, the PLC control system 5 sends an instruction to start a movable arm telescopic variable frequency motor 202 of the feeding manipulator 2, so that the movable telescopic arm 201 moves towards the ingot bearing table 3 along a linear guide rail 204 along the ingot withdrawing arm 101, and the movable telescopic arm 201 is opened;
Step 3), the movable telescopic arm 201 continues to move towards the ingot bearing table 3 along with the ingot withdrawing arm 101 until the movable telescopic arm 201 moves to the end of the linear guide rail 204, at the moment, the movable telescopic arm 201 is opened to the maximum position, and the PLC control system 5 sends an instruction to stop the movable arm telescopic variable frequency motor 202;
Step 4), the ingot withdrawing arm 101 continues to push the ingot 6 towards the ingot bearing table 3 until the ingot withdrawing arm 101 moves to the pre-stop position L1, the ingot 6 is withdrawn to the ingot bearing table 3, and the PLC control system 5 sends an instruction to stop the ingot withdrawing variable frequency motor 102 of the ingot withdrawing mechanism 1.
Example 9:
On the basis of embodiment 8, the embodiment provides an automatic control method for retraction of an extruder ingot, firstly, a feeding manipulator 2 walks to an ingot retraction position, a manipulator clamps an ingot 6, an HMI human-machine interface 4 inputs the length of the ingot 6 needing to be retracted currently, a PLC control system 5 calculates an optimal pre-stop position L1 of a corresponding ingot retraction arm 101 needing to push the ingot to a ingot bearing platform 3 and a starting position L2 of the feeding manipulator 2 where a movable telescopic arm 201 follows to be opened. The calculated corresponding control values are fed back to the variable-frequency walking control of the movable telescopic arm 201 of the ingot withdrawing arm 101 and the feeding manipulator 2. In the ingot withdrawal process, the PLC control system 5 monitors the displacement data change of the ingot pushing rotary encoder and the movable arm rotary encoder 205 in real time, adaptively adjusts the movement speed of the movable telescopic arm 201 of the ingot withdrawal arm and the movable telescopic arm 201 of the feeding manipulator 2 in real time and follows the position change quantity to form closed loop control, so that the relative positions of the movable telescopic arm of the ingot withdrawal arm and the movable telescopic arm of the feeding manipulator 2 are always kept in dynamic balance, and the smooth ingot withdrawal is ensured.
Example 10:
On the basis of embodiment 8, the embodiment provides an automatic control method for ingot retraction of an extruder, in step 2), in the process that a movable telescopic arm 201 moves along a linear guide rail 204 along with an ingot withdrawal arm 101 towards a direction of an ingot bearing table 3, a PLC control system 5 monitors displacement data changes of a stroke detector I of the ingot withdrawal mechanism 1 and a stroke detector II of a feeding manipulator 2 in real time, and adjusts movement speeds and positions of the ingot withdrawal arm 101 and the upper movable telescopic arm 201 in real time, so that relative positions of the two keep dynamic balance.
In the above embodiments, the PLC control system is the prior art. The PLC control system comprises a PLC controller (model 1756-L72), a signal input module (model 1734-SSI), a digital quantity output module (model 1794-OB 32) and a digital quantity input module (model 1794-IB 32). The PLC calculates and compares the positions of the encoders in real time, and connects the parts in series into a network through a TCP/IP Ethernet communication mode to share data. The plurality of encoders or displacement sensors respectively transmit the measured continuous change displacement value signals to signal input modules 1734-SSI of the PLC controller, trigger signals of the withdrawal limit inductive switch of the withdrawal arm are connected with digital quantity input modules 1794-IB32 in the PLC control system, and the operation parameters of each variable frequency motor are interacted with TCP/IP communication data between the PLC controller through the frequency converter.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples of carrying out the invention and that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (7)
1. The automatic ingot retraction control device of the extruder is characterized by comprising an ingot retraction mechanism (1), a feeding manipulator (2), an ingot bearing table (3) and a PLC (programmable logic controller) control system (5), wherein the ingot retraction mechanism (1) and the feeding manipulator (2) are electrically connected with the PLC (5), the ingot retraction mechanism (1) and the feeding manipulator (2) cooperate to retract an ingot (6) to the ingot bearing table (3), and the PLC (5) is electrically connected with an HMI (human-machine interface) (4);
The PLC control system (5) is used for calculating according to the length of the ingot (6) input by the HMI (human-machine interface) (4) to obtain a pre-stop position L1 from the ingot withdrawing mechanism (1) to the ingot bearing table (3) and a starting position L2 from which the feeding manipulator (2) follows to be opened, and monitoring the positions of the ingot withdrawing mechanism (1) and the feeding manipulator (2) in real time so as to send instructions at corresponding positions for control;
The ingot withdrawing mechanism (1) comprises an ingot withdrawing arm (101), an ingot withdrawing variable frequency motor (102) and a travel detector I, wherein the ingot withdrawing variable frequency motor (102) is used for driving the ingot withdrawing arm (101) to linearly move, the travel detector I is electrically connected with a PLC (programmable logic controller) control system (5), the travel detector I is used for detecting the position of the ingot withdrawing arm (101) in real time, and the ingot withdrawing arm (101), the feeding manipulator (2) and the ingot bearing table (3) are positioned on the same straight line;
The feeding manipulator (2) comprises a fixed arm (203), a movable telescopic arm (201), a movable arm telescopic variable frequency motor (202) and a stroke detector II, wherein the movable telescopic arm (201) is close to one side of the ingot bearing table (3), a linear guide rail (204) is arranged between the fixed arm (203) and the movable telescopic arm (201), and manipulator fingers for clamping the cast ingot (6) are arranged on the fixed arm (203) and the movable telescopic arm (201);
The movable arm telescopic variable frequency motor (202) is used for driving the movable telescopic arm (201) to perform linear telescopic motion along the linear guide rail (204), the second stroke detector is connected with the PLC control system (5) through an electric signal, and the second stroke detector is used for detecting the position of the ingot withdrawing arm (101) in real time.
2. The automatic control device for ingot backing of the extruder of claim 1, wherein a rotating shaft of the ingot backing variable frequency motor (102) is connected with a synchronous pulley, and the ingot backing arm (101) is fixedly arranged on a synchronous belt of the synchronous pulley.
3. The automatic control device for ingot backing of the extruder is characterized in that the travel detector I is a displacement sensor or an ingot backing rotary encoder (103), the displacement sensor is arranged on an ingot backing arm (101), the ingot backing rotary encoder (103) is fixedly arranged on a rotating shaft of an ingot backing variable frequency motor (102), an ingot backing arm backing limit switch (104) is arranged in front of the ingot backing arm (101), and the ingot backing arm backing limit switch (104) is connected with a PLC control system (5) through an electric signal.
4. The automatic control device for ingot backing of the extruder of claim 1, wherein the linear guide rail (204) is a ball screw, the movable telescopic arm is fixedly connected with a nut sleeved on the ball screw, and a rotating shaft of the movable arm telescopic variable frequency motor (202) is connected with the ball screw.
5. The automatic control device for ingot backing of the extruder of claim 1, wherein the second stroke detector is a displacement sensor or a movable arm rotary encoder (205), the displacement sensor is arranged on a movable telescopic arm, and the movable arm rotary encoder (205) is arranged on a movable arm telescopic variable frequency motor (202).
6. An automatic control method for the retraction of an extruder ingot, which adopts the automatic control device for the retraction of the extruder ingot according to claim 1, and is characterized by comprising the following steps:
step 1), inputting the length of an ingot casting (6) for ingot withdrawal through an HMI human-machine section, and calculating by a PLC control system (5) to obtain a pre-stop position L1 from the ingot withdrawal mechanism (1) to the ingot bearing table (3) and a starting position L2 for a feeding manipulator (2) to follow and open;
Step 2), a PLC control system (5) sends an instruction to start an ingot withdrawing mechanism (1), an ingot withdrawing arm (101) of the ingot withdrawing mechanism (1) pushes an ingot (6) to advance towards the ingot bearing table (3), when the ingot withdrawing arm (101) moves to a starting position L2 where the feeding manipulator (2) follows to be opened, the PLC control system (5) sends the instruction to start a movable arm telescopic variable frequency motor (202) of the feeding manipulator (2), so that the movable telescopic arm (201) moves towards the ingot bearing table (3) along a linear guide rail (204) along the ingot withdrawing arm (101), and the movable telescopic arm (201) is opened;
step 3), the movable telescopic arm (201) continues to move towards the ingot bearing table (3) along with the ingot withdrawing arm (101) until the movable telescopic arm (201) moves to the end of the linear guide rail (204), at the moment, the movable telescopic arm (201) is opened to the maximum position, and the PLC control system (5) sends an instruction to stop the movable arm telescopic variable frequency motor (202);
Step 4), the ingot withdrawing arm (101) continues to push the ingot (6) towards the ingot bearing table (3) until the ingot withdrawing arm (101) moves to the pre-stop position L1, the ingot (6) is withdrawn to the ingot bearing table (3), and the PLC control system (5) sends an instruction to stop the ingot withdrawing variable frequency motor (102) of the ingot withdrawing mechanism (1).
7. The method for automatically controlling the retraction of the ingot casting of the extruder according to claim 6, wherein in the step 2), the movable telescopic arm (201) moves along the linear guide rail (204) along the direction of the ingot withdrawal arm (101) towards the ingot bearing table (3), the PLC control system (5) monitors the change of displacement data of the stroke detector I of the ingot withdrawal mechanism (1) and the stroke detector II of the feeding manipulator (2) in real time, and adjusts the movement speed and the movement position of the ingot withdrawal arm (101) and the upper movable telescopic arm (201) in real time so as to keep the relative positions of the two in dynamic balance.
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| CN1293957C (en) * | 2004-09-17 | 2007-01-10 | 太原重型机械集团有限公司 | Short path aluminium extrusion machine front feeding system and its gripping pliers type adaptive ingot supply device |
| CN101704033A (en) * | 2009-11-11 | 2010-05-12 | 太原重工股份有限公司 | Self-adaptive ingot supply method for aluminum alloy extruder |
| JP6447626B2 (en) * | 2014-03-26 | 2019-01-09 | 宇部興産機械株式会社 | Extruded material extrusion method |
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