CN114179432A - Full-automatic multi-station hydraulic press demoulding control system and control method - Google Patents
Full-automatic multi-station hydraulic press demoulding control system and control method Download PDFInfo
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- B30B15/32—Discharging presses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
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Abstract
The invention belongs to the technical field of hydraulic press demoulding, and particularly discloses a full-automatic multi-station hydraulic press demoulding control system and a control method, wherein the system comprises a human-computer interface touch screen, a manipulator controller, a motion controller, an analog input module, an analog output module, an SSI signal access module, a displacement detection assembly, a pressure detection assembly, a servo pump, a servo motor, a servo driver and an energy accumulator; the displacement detection assembly is used for detecting displacement of the main cylinder and the plurality of jacking cylinders; the pressure detection assembly is used for detecting pressure values of the energy accumulator and the plurality of jacking cylinders; the analog output module is used for receiving and converting the calculation output value of the output motion controller, so that the oil inlet amount and the pressure of the top cylinders are controlled. The system is described above. The problems that in the prior art, the pressure of each station is difficult to distribute and the pulling or deformation is easy to occur in the workpiece demoulding process can be solved; and hardly guarantee that a plurality of stations accurately arrive the position that each manipulator snatched simultaneously, reduced production efficiency.
Description
Technical Field
The invention belongs to the technical field of hydraulic press demoulding, and particularly relates to a full-automatic multi-station hydraulic press demoulding control system and a control method.
Background
The hydraulic press is a machine which takes liquid as a working medium and is manufactured according to the Pascal principle for transferring energy to realize various processes, and is generally used for processing products such as metal, plastic, rubber, wood, powder and the like; commonly used in press processes and press forming processes, such as: forging, stamping, cold extruding, straightening, bending, flanging, sheet drawing, powder metallurgy, press fitting and the like. A typical workpiece forming process is: upsetting, first forming, second forming, … and nth forming. In order to improve the forming efficiency, a multi-station hydraulic press is generally adopted to form a plurality of workpieces in sequence, and a manipulator is adopted to transport the workpieces, and the production process is roughly as follows: after the workpiece n is formed at the first station, the No. 2 clamping jaw grabs the workpiece n to the second station, and the No. 1 clamping jaw grabs the workpiece n +1 to the first station; after the workpiece n is formed at the second station, the No. 3 clamping jaw grabs the workpiece n to the third station, meanwhile, the No. 2 clamping jaw grabs the workpiece n +1 to the second station, and the No. 1 clamping jaw grabs the workpiece n +2 to the first station; after the workpiece n is formed at the third station, the No. 4 clamping jaw grabs the fourth station of the workpiece, meanwhile, the No. 3 clamping jaw grabs the workpiece n +1 to the third station, the No. 2 clamping jaw grabs the workpiece n +2 to the second station, and the No. 1 clamping jaw grabs the workpiece n +3 to the first station; and the process is circulated. However, in the forming process of a plurality of stations, it is difficult to ensure that the stations accurately and simultaneously reach the positions where the clamping jaws grab, so that the clamping jaws which reach the positions first need to wait for the clamping jaws to reach the positions first, and therefore the production efficiency is reduced. And the pressure of each station is difficult to distribute, so that the workpiece is easy to be scratched or deformed in the demolding process.
Disclosure of Invention
The invention aims to provide a demoulding control system and a control method of a full-automatic multi-station hydraulic machine, which aim to solve the problems that the pressure of each station is difficult to distribute and is easy to generate strain or deformation in the demoulding process of a workpiece in the prior art; and hardly guarantee that a plurality of stations accurately arrive the position that each manipulator snatched simultaneously, reduced production efficiency.
In order to achieve the purpose, the technical scheme of the invention is as follows: a demoulding control system of a full-automatic multi-station hydraulic press is used for controlling the operation of a main cylinder and a plurality of jacking cylinders; the system comprises a human-computer interface touch screen, a manipulator controller, a motion controller, an analog input module, an analog output module, an SSI signal access module, a displacement detection assembly, a pressure detection assembly, a servo pump, a servo motor, a servo driver and an energy accumulator; the human-computer interface touch screen, the manipulator controller, the SSI signal access module, the analog quantity input module and the analog quantity output module are respectively connected with the motion controller; the human-computer interface touch screen is used for setting and displaying control parameters of the motion controller in real time; the manipulator controller is used for controlling the clamping jaws to realize the conveying control of the workpiece; the displacement detection assembly is used for detecting displacement of the main cylinder and the plurality of jacking cylinders and sending the displacement to the motion controller through the SSI signal access module; the pressure detection assembly is used for detecting the pressure values of the energy accumulator and the plurality of jacking cylinders, the pressure detection assembly sends the pressure value of the energy accumulator to the servo driver, and the servo driver transmits the pressure value of the energy accumulator to the analog quantity input module; the pressure detection assembly sends the pressure values of the plurality of jacking cylinders to the motion controller through the analog quantity input module; the analog quantity output module is used for receiving and converting the calculated output value of the output motion controller so as to control the oil inlet quantity and pressure of the plurality of top cylinders; the servo driver controls the servo pump through the servo motor, and the servo pump is connected with the oil tank; the servo pump is used for supplying oil to the energy accumulator, and the energy accumulator is used for supplying oil to the plurality of jacking cylinders.
Further, the servo driver can drive the servo pump to convey hydraulic oil into the energy accumulator; the motion controller and servo drive are capable of maintaining the pressure of the accumulator at P.
Further, the outlet end of the energy accumulator is connected with an oil port A of the CZ1 two-way cartridge valve, and an oil port X of the CZ1 two-way cartridge valve is connected with a YV1 electromagnetic valve; oil ports B of the CZ1 two-way cartridge valve are respectively connected with oil ports P of a plurality of servo valves; oil ports B of the servo valves are respectively connected with plug cavities of the jacking cylinders; oil ports A of the servo valves are respectively connected with rod cavities of the jacking cylinders; and the T oil ports of the plurality of servo valves are respectively connected with the oil tank.
Further, the pressure detection assembly comprises an XP0 pressure sensor for detecting the pressure value of the accumulator, an XP1 pressure sensor, an XP2 pressure sensor and an XP3 pressure sensor … XPn pressure sensor for detecting a plurality of jacking cylinder pressure values; the displacement sensor comprises an LX0 displacement sensor for detecting the displacement of the master cylinder, an LX1 displacement sensor, an LX2 displacement sensor and an LX3 displacement sensor … LXn displacement sensor for detecting a plurality of top cylinder pressure values, wherein n represents the nth top cylinder.
In order to achieve the above object, the present invention further provides a technical solution: a control method using the demoulding control system of the full-automatic multi-station hydraulic machine comprises the following steps:
s1: n top cylinders are provided, and the demoulding force P of the n top cylinders is respectively set on the human-computer interface touch screen1、P2、P3…PnSetting the demoulding in-place positions X of n top cylinders1、X2、X3…XnThe material grabbing position X of the clamping jaw provided with n top cylinders11、X21、X31…Xn1Setting a target pressure value P to be maintained by the energy accumulator and setting the demoulding speed v of the main cylinder;
s2: the motion controller outputs a target pressure value P of the energy accumulator and an operation signal of the servo driver to the servo driver through the analog quantity output module, the servo driver drives the servo pump to rotate through the servo motor, hydraulic oil enters the energy accumulator through the servo pump, the XP0 pressure sensor monitors the pressure value of the energy accumulator in real time and transmits the pressure value to the servo driver, the servo driver transmits the pressure value signal to the motion controller through the analog quantity input module, and when the pressure value detected by the XP0 pressure sensor is close to P, the servo driver controls the servo motor to reduce or stop the rotating speed, so that the pressure of the energy accumulator is kept at the dynamic stability of P;
s3: descending a main cylinder to press a workpiece, starting pressure relief and mold opening after the pressing is finished, ascending the main cylinder at a set demolding speed v, detecting the displacement of the main cylinder in real time by an LX0 displacement sensor and transmitting the displacement to a motion controller, and calculating the actual operation speed v of the main cylinder by the motion controller0(ii) a The motion controller controls the YV1 electromagnetic valve to work by electrifying; the motion controller controls the opening size of each servo valve respectively to enable the n jacking cylinders to be driven by v0Is ejected upwards and always ensures that the demoulding forces of n ejection cylinders are respectively kept as P1、P2、P3…PnWhen the ejection positions of the n ejection cylinders respectively reach the set demolding in-place positions X1、X2、X3…XnStopping the ejection action;
s4: after the n ejection cylinders are respectively ejected to the demolding position, the main cylinder moves upwards at a speed V, V is larger than V, the n ejection cylinders are continuously ejected upwards to the set clamping jaw material grabbing positions, and the motion controller ensures that the n ejection cylinders simultaneously reach the corresponding clamping jaw material grabbing positions by controlling the opening size of each servo valve;
s5: after the n ejection cylinders reach the corresponding clamping jaw grabbing positions at the same time, the motion controller sends a signal to the manipulator controller to request each clamping jaw to grab the material, after the clamping jaws grab the workpiece, the n ejection cylinders return, and each clamping jaw transfers the workpiece to the next station.
Further, in step S3, the method for controlling the opening size of each servo valve by the motion controller is as follows: according to the formula
Calculating to obtain the theoretical opening size of the servo valve, wherein K is the opening size, v is the set speed, S is the sectional area of the top cylinder, alpha is the characteristic coefficient of the servo valve, and pInto-pGo outThe pressure difference between an oil inlet and an oil outlet of the servo valve is obtained; carry in known variables, calculateTheoretical opening size of outlet servo valve
Wherein D isnFor the bore of the plug chamber, P, of each jack cylinder0Pressure value of the inlet of each servo valve, PnThe pressure value of the oil outlet of each servo valve is the plug cavity pressure value of each top cylinder; the PID algorithm is used for carrying out pressure closed-loop control, and the fine adjustment opening K' of the servo valve is calculatednAnd the opening size K finally outputted to the servo valven＝K′n+K″nThe motion controller sends the opening size of each servo valve to each servo valve through the analog quantity output module, hydraulic oil sequentially passes through the energy accumulator, the oil port A of the CZ1 two-way cartridge valve, the oil port B of the CZ1 two-way cartridge valve, the oil port P of each servo valve, the oil port B of each servo valve and the plug cavity of each jacking cylinder, hydraulic oil in the rod cavity of each jacking cylinder sequentially passes through the oil port A of each servo valve and the oil port T of each servo valve and returns to the oil tank, and therefore the jacking cylinder is upwards jacked until the jacking cylinder is jacked to a set demoulding in-place position.
Further, in step S4, the method for controlling the opening size of each servo valve by the motion controller is as follows: in this stage, the ejection stroke of each ejection cylinder is Δ X1＝X11-X1、ΔX2＝X21-X2、ΔX3＝X31-X3…ΔXn＝Xn1-Xn(ii) a Calculating the flow distribution coefficient alpha of a plurality of jacking cylinders by using the flow distribution principle1、α2、α3…αn，
Calculating to obtain a theoretical opening K 'of the servo valve according to a formula'nn＝F*vA1*D0 2*αnWherein v isA1Maximum operating speed for the accumulator bladder operation, D0Is the cylinder diameter of the accumulator, and F is the conversion constant coefficientObtained through actual tests; and then position closed-loop control is carried out by using a PID algorithm, and a fine adjustment opening K' of the servo valve is calculatednnAnd the opening size K finally outputted to the servo valvenn＝K′nn+K″nn(ii) a The motion controller sends the opening size of each servo valve to each servo valve through an analog quantity output module, hydraulic oil sequentially passes through an energy accumulator, an oil port A of a CZ1 two-way cartridge valve, an oil port B of a CZ1 two-way cartridge valve, an oil port P of each servo valve, an oil port B of each servo valve and a plug cavity of each jacking cylinder, hydraulic oil in a rod cavity of each jacking cylinder sequentially passes through the oil port A of each servo valve and the oil port T of each servo valve and returns to an oil tank, and therefore the jacking cylinders are upwards jacked until jacking to a set clamping jaw material grabbing position.
The beneficial effects of this technical scheme lie in: the opening size of each servo valve is controlled in the scheme to guarantee the demolding force of the plurality of jacking cylinders, so that the workpiece is prevented from being pulled or deformed during demolding. According to the scheme, flow distribution and position closed-loop control are performed by controlling the opening size of each servo valve, so that each jacking cylinder can accurately reach the corresponding clamping jaw material grabbing position, the clamping jaw grabbing is more reliable, and the production efficiency is improved.
Drawings
FIG. 1 is a connection diagram of a demoulding control system of a full-automatic multi-station hydraulic press;
FIG. 2 is a control diagram of a demoulding control system of a full-automatic multi-station hydraulic press.
Detailed Description
The following is further detailed by way of specific embodiments:
reference numerals in the drawings of the specification include: the device comprises a motion controller 1, a manipulator controller 2, a human-computer interface touch screen 3, an analog input module 4, an SSI signal access module 5, an analog output module 6, a servo driver 7, a servo motor 8, an LX0 displacement sensor 9, an LX1 displacement sensor 10, an LX2 displacement sensor 11, an LX3 displacement sensor 12, an XP1 pressure sensor 13, an XP2 pressure sensor 14, an XP3 pressure sensor 15, a BY1 servo valve 16, a BY2 servo valve 17, a BY3 servo valve 18, a master cylinder 19, a top cylinder 20, a rod cavity 21, a plug cavity 22, an accumulator 23, a servo pump 24, an oil tank 25, a YV1 electromagnetic valve 26, an XP0 pressure sensor 27 and a CZ1 two-way cartridge valve 28.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Substantially as shown in the attached figures 1 and 2: a demoulding control system of a full-automatic multi-station hydraulic press is used for controlling the operation of a main cylinder 19 and a plurality of jacking cylinders 20, wherein 3 jacking cylinders 20 are taken as an example in the embodiment; the system comprises a human-computer interface touch screen 3, a manipulator controller 2, a motion controller 1, an analog input module 4, an analog output module 6, an SSI signal access module 5, a displacement detection assembly, a pressure detection assembly, a servo pump 24, a servo motor 8, a servo driver 7 and an energy accumulator 23; the human-computer interface touch screen 3 is used for setting and displaying the control parameters of the motion controller 1 in real time; the manipulator controller 2 is used for controlling the 4 clamping jaws to realize the conveying control of the workpiece; the human-computer interface touch screen 3, the manipulator controller 2, the SSI signal access module 5, the analog input module 4 and the analog output module 6 are respectively connected with the motion controller 1.
The displacement detection assembly is used for detecting the displacement of the main cylinder 19 and the 3 jacking cylinders 20 and sending the displacement to the motion controller 1 through the SSI signal access module 5. The pressure detection assembly is used for detecting the pressure values of the energy accumulator 23 and the 3 top cylinders 20, the pressure detection assembly sends the pressure value of the energy accumulator 23 to the servo driver 7, and the servo driver 7 transmits the pressure value of the energy accumulator 23 to the analog quantity input module 4; the pressure detection assembly also sends the pressure values of the 3 top cylinders 20 to the motion controller 1 through the analog input module 4. The analog quantity output module 6 is used for receiving and converting the calculation output value of the output motion controller 1, so that the oil inlet quantity and the pressure of the 3 jacking cylinders 20 are controlled, the motion speed of the 3 jacking cylinders 20 can be controlled by controlling the oil inlet quantity, the pressure of the 3 jacking cylinders 20 can be kept stable by controlling the pressure, and the situation that the workpiece is damaged by pulling during demolding is guaranteed.
The servo driver 7 controls a servo pump 24 through a servo motor 8, and the servo pump 24 is connected with an oil tank 25; the servo driver 7 can drive the servo pump 24 to convey hydraulic oil into the accumulator 23; the motion controller 1 and the servo driver 7 can keep the pressure of the accumulator 23 at P, the accumulator 23 being used to supply oil to the 3 top cylinders 20. The outlet end of the energy accumulator 23 is connected with an oil port A of the CZ1 two-way cartridge valve 28, and an oil port X of the CZ1 two-way cartridge valve 28 is connected with a YV1 electromagnetic valve 26; the B oil port of the CZ1 two-way cartridge valve 28 is respectively connected with the P oil ports of 3 servo valves, and the 3 servo valves are a BY1 servo valve 16, a BY2 servo valve 17 and a BY3 servo valve 18; oil ports B of the 3 servo valves are respectively connected with plug cavities 22 of the 3 jacking cylinders 20; oil ports A of the 3 servo valves are respectively connected with rod cavities 21 of the 3 jacking cylinders 20; the T oil ports of the 3 servo valves are respectively connected with an oil tank 25.
The pressure detection assembly comprises an XP0 pressure sensor 27 for detecting the pressure value of the accumulator 23, and an XP1 pressure sensor 13, an XP2 pressure sensor 14 and an XP3 pressure sensor 15 for detecting the pressure values of 3 jacking cylinders 20; the displacement sensors include an LX0 displacement sensor 9 for detecting the displacement amount of the master cylinder, and an LX1, LX2, LX3 displacement sensor 10 for detecting the pressure values of the 3 top cylinders 20.
Example two
As shown in fig. 1 and 2, a method for controlling demoulding of a fully-automatic multi-station hydraulic press, using a control system of an embodiment, includes the following steps:
s1: 3 top cylinders 20 are provided, and the demoulding force P of the 3 top cylinders 20 is respectively set on the human-computer interface touch screen 31、P2、P3Setting the demoulding position X of 3 top cylinders 201、X2、X3And 3 gripping jaw material grabbing positions X of the top cylinder 2011、X21、X31Setting a target pressure value P to be maintained by the accumulator 23, and setting a demoulding speed v of the main cylinder 19;
s2: the motion controller 1 outputs a target pressure value P of the energy accumulator 23 and a motion signal of the servo driver 7 to the servo driver 7 through the analog quantity output module 6, the servo driver 7 drives the servo pump 24 to rotate through the servo motor 8, hydraulic oil enters the energy accumulator 23 through the servo pump 24, the XP0 pressure sensor 27 monitors the pressure value of the energy accumulator 23 in real time and transmits the pressure value to the servo driver 7, the servo driver 7 transmits the pressure value signal to the motion controller 1 through the analog quantity input module 4, and when the pressure value detected by the XP0 pressure sensor 27 is close to P, the servo driver 7 controls the servo motor 8 to reduce or stop the rotating speed, so that the pressure of the energy accumulator 23 is kept at the dynamic stability of P;
s3: descending the main cylinder 19 to press the workpiece, starting pressure relief and mold opening after the pressing is finished, ascending the main cylinder 19 at a set demolding speed v, detecting the displacement of the main cylinder 19 by the LX0 displacement sensor 9 in real time and transmitting the displacement to the motion controller 1, and calculating the actual operation speed v of the main cylinder 19 by the motion controller 10The formula can be calculated by a formula physical formula v ═ Δ s/Δ t; the motion controller 1 controls the YV1 electromagnetic valve 26 to work by electrifying; the motion controller 1 controls the opening size of each servo valve so that each of the 3 lift cylinders 20 has a v value0Is ejected upwards and always ensures that the demoulding force of 3 ejection cylinders 20 is respectively kept as P1、P2、P3When the ejection positions of the 3 ejection cylinders 20 reach the set demolding in-place positions X respectively1、X2、X3Stopping the ejection action; the method for controlling the opening size of each servo valve by the motion controller 1 comprises the following steps: according to the formula
Calculating a theoretical opening size of the servo valve, wherein K is the opening size, V is the set speed, S is the sectional area of the top cylinder 20, alpha is the characteristic coefficient of the servo valve, and pInto-pGo outThe pressure difference between an oil inlet and an oil outlet of the servo valve is obtained; the theoretical opening size of the servo valve is calculated by introducing known variables
Wherein D isnThe bore diameter, P, of the plug chamber 22 of each top cylinder 200Each servo valveThe pressure value of the oil inlet is subjected to pressure closed-loop control by using a PID algorithm, and a fine adjustment opening K' of the servo valve is calculatednAnd the opening size K finally outputted to the servo valven＝K′n+K″nThe motion controller 1 sends the opening size of each servo valve to each servo valve through the analog quantity output module 6, hydraulic oil sequentially passes through the energy accumulator 23, the oil port A of the CZ1 two-way cartridge valve 28, the oil port B of the CZ1 two-way cartridge valve 28, the oil port P of each servo valve, the oil port B of each servo valve and the plug cavity 22 of each jacking cylinder 20, and the hydraulic oil in the rod cavity 21 of each jacking cylinder 20 sequentially passes through the oil port A of each servo valve and the oil port T of each servo valve and returns to the oil tank 25, so that the jacking cylinder 20 is jacked upwards until the hydraulic oil is jacked to a set demoulding in-place position;
s4: after the 3 jacking cylinders 20 are respectively ejected to the demolding position, the main cylinder 19 moves upwards at a speed V, V is larger than V, the 3 jacking cylinders 20 are continuously ejected upwards to the set clamping jaw material grabbing positions, and the motion controller 1 controls the opening size of each servo valve to ensure that the 3 jacking cylinders 20 simultaneously reach the corresponding clamping jaw material grabbing positions; the method for controlling the opening size of each servo valve by the motion controller 1 comprises the following steps: in this stage, the ejection stroke of each of the top cylinders 20 is Δ X1＝X11-X1、ΔX2＝X21-X2、ΔX3＝X31-X3(ii) a Calculating to obtain the flow distribution coefficient alpha of 3 jacking cylinders by using a flow distribution principle1、α2、α3，
Calculating to obtain a theoretical opening K 'of the servo valve according to a formula'nn＝F*vA1*D0 2*αnWherein v isA1Maximum operating speed for the operation of the accumulator 23 bladder, D0The cylinder diameter of the energy accumulator 23 is shown, and F is a conversion constant coefficient obtained through actual test; and then position closed-loop control is carried out by using a PID algorithm, and a fine adjustment opening K' of the servo valve is calculatednnAnd the opening size K finally outputted to the servo valvenn＝K′nn+K″nn(ii) a The motion controller 1 sends the opening size of each servo valve to each servo valve through the analog quantity output module 6, hydraulic oil sequentially passes through an oil port A of the energy accumulator 23, an oil port B of the CZ1 two-way cartridge valve 28, an oil port P of each servo valve, an oil port B of each servo valve and a plug cavity 22 of each jacking cylinder 20, and hydraulic oil in a rod cavity 21 of each jacking cylinder 20 sequentially passes through the oil port A of each servo valve and the oil port T of each servo valve and returns to the oil tank 25, so that the jacking cylinder 20 is upwards jacked until the jacking cylinder jacks to a set clamping jaw material grabbing position;
s5: after 3 jacking cylinders 20 reach the corresponding clamping jaw material grabbing positions at the same time, the motion controller 1 sends a signal to the manipulator controller 2 to request each clamping jaw to grab materials, after the clamping jaw grabs a workpiece, the 3 jacking cylinders 20 return, and each clamping jaw transfers the workpiece to the next station.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (7)
1. A demoulding control system of a full-automatic multi-station hydraulic press is used for controlling the operation of a main cylinder and a plurality of jacking cylinders; the method is characterized in that: the system comprises a human-computer interface touch screen, a manipulator controller, a motion controller, an analog input module, an analog output module, an SSI signal access module, a displacement detection assembly, a pressure detection assembly, a servo pump, a servo motor, a servo driver and an energy accumulator; the human-computer interface touch screen, the manipulator controller, the SSI signal access module, the analog quantity input module and the analog quantity output module are respectively connected with the motion controller; the human-computer interface touch screen is used for setting and displaying control parameters of the motion controller in real time; the manipulator controller is used for controlling the clamping jaws to realize the conveying control of the workpiece; the displacement detection assembly is used for detecting displacement of the main cylinder and the plurality of jacking cylinders and sending the displacement to the motion controller through the SSI signal access module; the pressure detection assembly is used for detecting the pressure values of the energy accumulator and the plurality of jacking cylinders, the pressure detection assembly sends the pressure value of the energy accumulator to the servo driver, and the servo driver transmits the pressure value of the energy accumulator to the analog quantity input module; the pressure detection assembly sends the pressure values of the plurality of jacking cylinders to the motion controller through the analog quantity input module; the analog quantity output module is used for receiving and converting the calculated output value of the output motion controller so as to control the oil inlet quantity and pressure of the plurality of top cylinders; the servo driver controls the servo pump through the servo motor, and the servo pump is connected with the oil tank; the servo pump is used for supplying oil to the energy accumulator, and the energy accumulator is used for supplying oil to the plurality of jacking cylinders.
2. The demolding control system of a full-automatic multi-station hydraulic machine as claimed in claim 1, wherein: the servo driver can drive the servo pump to convey hydraulic oil into the energy accumulator; the motion controller and servo drive are capable of maintaining the pressure of the accumulator at P.
3. The demolding control system of a full-automatic multi-station hydraulic machine as claimed in claim 2, wherein: the outlet end of the energy accumulator is connected with an oil port A of the CZ1 two-way cartridge valve, and an oil port X of the CZ1 two-way cartridge valve is connected with a YV1 electromagnetic valve; oil ports B of the CZ1 two-way cartridge valve are respectively connected with oil ports P of a plurality of servo valves; oil ports B of the servo valves are respectively connected with plug cavities of the jacking cylinders; oil ports A of the servo valves are respectively connected with rod cavities of the jacking cylinders; and the T oil ports of the plurality of servo valves are respectively connected with the oil tank.
4. The demolding control system of a full-automatic multi-station hydraulic machine as claimed in claim 3, wherein: the pressure detection assembly comprises an XP0 pressure sensor for detecting the pressure value of the accumulator, a XPl pressure sensor, an XP2 pressure sensor and an XP3 pressure sensor … XPn pressure sensor for detecting a plurality of jacking cylinder pressure values; the displacement sensor comprises an LX0 displacement sensor for detecting the displacement of the master cylinder, an LX1 displacement sensor, an LX2 displacement sensor and an LX3 displacement sensor … LXn displacement sensor for detecting a plurality of top cylinder pressure values, wherein n represents the nth top cylinder.
5. A control method using the full-automatic multi-station hydraulic press demoulding control system as claimed in claim 4, is characterized in that: the method comprises the following steps:
s1: n top cylinders are provided, and the demoulding force P of the n top cylinders is respectively set on the human-computer interface touch screen1、P2、P3…PnSetting the demoulding in-place positions X of n top cylinders1、X2、X3…XnThe material grabbing position X of the clamping jaw provided with n top cylinders11、X21、X31…Xn1Setting a target pressure value P to be maintained by the energy accumulator and setting the demoulding speed v of the main cylinder;
s2: the motion controller outputs a target pressure value P of the energy accumulator and an operation signal of the servo driver to the servo driver through the analog quantity output module, the servo driver drives the servo pump to rotate through the servo motor, hydraulic oil enters the energy accumulator through the servo pump, the XP0 pressure sensor monitors the pressure value of the energy accumulator in real time and transmits the pressure value to the servo driver, the servo driver transmits the pressure value signal to the motion controller through the analog quantity input module, and when the pressure value detected by the XP0 pressure sensor is close to P, the servo driver controls the servo motor to reduce or stop the rotating speed, so that the pressure of the energy accumulator is kept at the dynamic stability of P;
s3: descending a main cylinder to press a workpiece, starting pressure relief and mold opening after the pressing is finished, ascending the main cylinder at a set demolding speed v, detecting the displacement of the main cylinder in real time by an LX0 displacement sensor and transmitting the displacement to a motion controller, and calculating the actual operation speed v of the main cylinder by the motion controller0(ii) a The motion controller controls the YV1 electromagnetic valve to work by electrifying; the motion controller controls the opening size of each servo valve respectively to enable the n jacking cylinders to be driven by v0Is ejected upwards and always ensures that the demoulding forces of n ejection cylinders are respectively kept as P1、P2、P3…PnWhen the ejection positions of the n ejection cylinders respectively reach the set demolding in-place positions X1、X2、X3…XnStopping the ejection action;
s4: after the n ejection cylinders are respectively ejected to the demolding position, the main cylinder moves upwards at a speed V, V is larger than V, the n ejection cylinders are continuously ejected upwards to the set clamping jaw material grabbing positions, and the motion controller ensures that the n ejection cylinders simultaneously reach the corresponding clamping jaw material grabbing positions by controlling the opening size of each servo valve;
s5: after the n ejection cylinders reach the corresponding clamping jaw grabbing positions at the same time, the motion controller sends a signal to the manipulator controller to request each clamping jaw to grab the material, after the clamping jaws grab the workpiece, the n ejection cylinders return, and each clamping jaw transfers the workpiece to the next station.
6. The demolding control system and the demolding control method of the full-automatic multi-station hydraulic machine according to claim 5 are characterized in that: in step S3, the method for controlling the opening size of each servo valve by the motion controller is as follows: according to the formula
Calculating to obtain the theoretical opening size of the servo valve, wherein K is the opening size, v is the set speed, S is the sectional area of the top cylinder, alpha is the characteristic coefficient of the servo valve, and pInto-pGo outThe pressure difference between an oil inlet and an oil outlet of the servo valve is obtained; the theoretical opening size of the servo valve is calculated by introducing known variables
Wherein D isnFor the bore of the plug chamber, P, of each jack cylinder0Pressure value of the inlet of each servo valve, PnThe pressure value of the oil outlet of each servo valve is the plug cavity pressure value of each top cylinder; the PID algorithm is used for carrying out pressure closed-loop control, and the fine adjustment opening K' of the servo valve is calculatednAnd the opening size K finally outputted to the servo valven＝K′n+K″nThe motion controller sends the opening size of each servo valve to each servo valve through the analog quantity output module, hydraulic oil sequentially passes through the energy accumulator, the oil port A of the CZ1 two-way cartridge valve, the oil port B of the CZ1 two-way cartridge valve, the oil port P of each servo valve, the oil port B of each servo valve and the plug cavity of each jacking cylinder, hydraulic oil in the rod cavity of each jacking cylinder sequentially passes through the oil port A of each servo valve and the oil port T of each servo valve and returns to the oil tank, and therefore the jacking cylinder is upwards jacked until the jacking cylinder is jacked to a set demoulding in-place position.
7. The demolding control system and the demolding control method of the full-automatic multi-station hydraulic machine according to claim 5 are characterized in that:in step S4, the method for controlling the opening size of each servo valve by the motion controller is as follows: in this stage, the ejection stroke of each ejection cylinder is Δ X1＝X11-X1、ΔX2＝X21-X2、ΔX3＝X31-X3…ΔXn＝Xn1-Xn(ii) a Calculating the flow distribution coefficient alpha of a plurality of jacking cylinders by using the flow distribution principle1、α2、α3…αn，
Calculating to obtain a theoretical opening K 'of the servo valve according to a formula'nn＝F*vA1*D0 2*αnWherein v isA1Maximum operating speed for the accumulator bladder operation, D0The variable constant is the cylinder diameter of the energy accumulator, F is a conversion constant coefficient, and the variable constant is obtained through actual test; and then position closed-loop control is carried out by using a PID algorithm, and a fine adjustment opening K' of the servo valve is calculatednnAnd the opening size K finally outputted to the servo valvenn＝K′nn+K″nn(ii) a The motion controller sends the opening size of each servo valve to each servo valve through an analog quantity output module, hydraulic oil sequentially passes through an energy accumulator, an oil port A of a CZ1 two-way cartridge valve, an oil port B of a CZ1 two-way cartridge valve, an oil port P of each servo valve, an oil port B of each servo valve and a plug cavity of each jacking cylinder, hydraulic oil in a rod cavity of each jacking cylinder sequentially passes through the oil port A of each servo valve and the oil port T of each servo valve and returns to an oil tank, and therefore the jacking cylinders are upwards jacked until jacking to a set clamping jaw material grabbing position.
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