CN104772250A - Automatic spraying electric control system and method for roller tractor chassis - Google Patents
Automatic spraying electric control system and method for roller tractor chassis Download PDFInfo
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- CN104772250A CN104772250A CN201510143129.2A CN201510143129A CN104772250A CN 104772250 A CN104772250 A CN 104772250A CN 201510143129 A CN201510143129 A CN 201510143129A CN 104772250 A CN104772250 A CN 104772250A
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Abstract
The invention discloses an automatic spraying electric control system and method for roller tractor chassis. The method comprises the steps of recording the complete machine number of each tractor chassis by using RFID (radio frequency identification devices) equipment, screening spraying track numbers of four major parts of the chassis by a database, combining respective spraying tracks into an automatic spraying track of the chassis according to the spraying track numbers, and controlling a robot to automatically spray in a partition manner, wherein the spraying track combined spraying manner is high in adaptivity, and meets the timeliness of producing thousands of machine models with the same line. In addition, interlock, monitoring and error-proof measures are arranged between the chassis spraying track automatic combined data and automatic partition spraying electric control of the robot, the problem of equipment damage caused by collision of a sprayer and a chassis workpiece due to wrong chassis spraying track automatic combined data is effectively solved, the work method is simple and feasible, the performance is safe and reliable, and a good use value is realized.
Description
[technical field]
The present invention relates to technical field of industrial automatic control, particularly relate to a kind of for taking turns the automatic coating electric-control system and method that drag chassis, the wheel being specifically related to a kind of track combination drags chassis automatic coating electric-control system and method.
[background technology]
Known, wheeled tractor, drag referred to as wheel, in China, wheel drags chassis paint line mostly to adopt first to have assembled basic chasisis assembly and carries out overall antirust spraying again, the technological process mode of last installation chassis annex, wherein each chassis assembly carries out unsettled 360 ° of hand sprays according to technological requirement.
But, along with the development of the development of society and the changes in demand in market and science and technology, the requirement of people to environmental protection improves day by day, in order to comply with environmental regulation and the energy-saving and emission-reduction requirement of increasingly stringent, reduce the harm to operator's health, reduce environmental pollution etc., needing that the robot automatic coating technology used in automobile industry is incorporated into wheel drags in the spraying operation of chassis, by utilizing the advantage of robot automatic coating technology, utilization efficiency of coatings is improved greatly, significantly reduce the risk that workman suffers from occupational disease, robot can adapt to harmful paint spraying simultaneously, can accomplish that human body is difficult to the high strength adapted to, fast beat is worked continuously, spraying process can be made meticulousr, realize more economical coating consumption etc.But, drag in the spraying operation of chassis automobile industry robot automatic coating technology is incorporated into wheel, due to both sides' production model and production status difference excessive, realize wheel and drag chassis automatic coating to there is following difficulty:
1, automobile industry spraying production model is the technique that part spraying is carried out assembling again, cause spraying workpiece and kind relatively single etc., and wheel drags chassis to spray because combination orderization production now causes wheel to drag the large parts in chassis four " to comprise sole, gearbox, rear transmission case, power take-off module " in hundreds of number of element types, carry out independent assortment according to the operating mode difference of user's use, wheel drags the large parts in chassis four to determine the shape that wheel drags chassis, the change of often kind of number of element types will cause taking turns the change of dragging chassis assembly shape difference, can not meet wheel according to automobile industry robot automatic coating track teaching preparation method drags chassis to spray the promptness of producing.
2, automobile industry robot automatic coating technology is mainly used in automobile panel spraying operation, and automobile panel shape is relatively regular, and spraying profile mostly is overall track linear reciprocation.And wheel drags in the spraying operation of chassis, chassis assembly profile convex-concave is random, drags in the spraying operation of chassis, shower nozzle and wheel will be caused to drag chassis workpiece to collide, production development accident if overall for the robot of existing automobile industry automatic coating mode is applied to wheel.
In order to overcome the problems referred to above, the automatic coating electric-control system that urgent need provides a kind of applicable wheel to drag chassis and method.
[summary of the invention]
In order to overcome the deficiency existed in background technology, the invention provides a kind of for taking turns the automatic coating electric-control system and method that drag chassis, the present invention utilizes each wheel of RFID device record to drag the complete machine on chassis to number, the four large parts spraying profile numberings on chassis are filtered out by database, according to spraying profile numbering, each several part spraying profile is combined into the automatic coating track on this chassis, control auto-partition sprays, spraying profile combination spraying method strong adaptability, meet the promptness of thousands of kinds of type mixed productions, method of work simple possible of the present invention, performance safety is reliable, there is good use value.
For realizing goal of the invention as above, the present invention adopts technical scheme as described below:
A kind of for taking turns the automatic coating electric-control system dragging chassis, comprise PLC, RFID device ECU, manual operation ECU, spraying profile establishment ECU, observing and controlling input block and state indication unit, the DP communication module of described PLC self and RFID device ECU, guidance panel in manual operation ECU, machine fortune system control unit and robot control unit carry out information exchange, the PN communication module of PLC self and spraying profile are worked out ECU and are carried out information exchange, the On-off signal termination of PLC self receives joint control A optoelectronic switch in observing and controlling input block, joint control B optoelectronic switch, joint control C optoelectronic switch, joint control D optoelectronic switch, the on-off model of system emergency stop switch in joint control E optoelectronic switch and manually operation ECU, the output switch parameter end of PLC self is formed described for taking turns the automatic coating electric-control system dragging chassis to state indication unit transmit button amount signal.
Described for taking turns the automatic coating electric-control system dragging chassis; described PLC is master controller, to rfid interrogator equipment in RFID device ECU implement automatically controlled, robot control unit carried out to information exchange and rfid interrogator equipment and robot control unit and machine and transports interlock protection between system control unit.
Described for taking turns the automatic coating electric-control system dragging chassis, described RFID device ECU comprises rfid interrogator equipment and RFID label tag, RFID device ECU to the automatic reading function of chassis workpiece information and machine transport system interlock defencive function and and robot control unit timing communication function, by rfid interrogator equipment, RFID label tag, joint control A optoelectronic switch, joint control B optoelectronic switch, joint control C optoelectronic switch, joint control D optoelectronic switch and joint control E optoelectronic switch realize, described joint control A optoelectronic switch, joint control B optoelectronic switch, joint control C optoelectronic switch, joint control D optoelectronic switch and joint control E optoelectronic switch are reflector reflective photoelectric switch, and be configured with reflector respectively, described rfid interrogator equipment is arranged on rail assembly, described rail assembly is arranged on the side of machine fortune system track, rfid interrogator equipment distance doorway, paint spray booth outer wall dimension is 3000 ~ 6000mm, RFID label tag is arranged on machine fortune system hanger beam, keep the same side of transporting system track with rfid interrogator equipment at machine, rfid interrogator equipment and RFID label tag are responsible for the automatic reading function of chassis workpiece information jointly, joint control A optoelectronic switch and joint control B optoelectronic switch and reflector thereof, track both sides transported by the machine on the outer wall of doorway, paint spray booth that all connects firmly and the light beam that joint control A optoelectronic switch and joint control B optoelectronic switch send is returned by reflector, joint control A optoelectronic switch is 40 ~ 100mm apart from ground level, joint control A optoelectronic switch is less than all hanging workpiece minimum terrain clearance altitudes apart from the value of ground level, device security interlock protection is responsible for by joint control A optoelectronic switch, joint control B optoelectronic switch is 3000 ~ 3500mm apart from ground level, joint control C optoelectronic switch, joint control D optoelectronic switch and joint control E optoelectronic switch are arranged in transmitting terminal columns assemblies respectively, joint control C optoelectronic switch, the reflector of joint control D optoelectronic switch and joint control E optoelectronic switch is arranged in reflector columns assemblies respectively, transmitting terminal columns assemblies and reflector transport track both sides with columns assemblies is vertical respectively with machine, and joint control C optoelectronic switch, the light beam that joint control D optoelectronic switch and joint control E optoelectronic switch send is returned by reflector, 3000 ~ 3500mm is apart from ground level, joint control C optoelectronic switch distance doorway, paint spray booth outer wall is of a size of 150 ~ 4000mm, joint control D optoelectronic switch distance doorway, paint spray booth outer wall dimension is 150 ~ 4000mm, joint control E optoelectronic switch distance doorway, paint spray booth outer wall dimension is 150 ~ 4000mm, joint control B optoelectronic switch, joint control C optoelectronic switch, joint control D optoelectronic switch is responsible for and robot control unit's timing communication function.
Described for taking turns the automatic coating electric-control system dragging chassis, described spraying profile establishment ECU comprises server and switch, one end of switch is connected with the network interface of server, the PN communication module of the other end and PLC of switch self is connected, spraying profile establishment ECU is by receiving RFID device ECU or the manual complete machine numbering data running ECU, automatic generation chassis spraying profile combined information, guidance machine people control unit automatic coating, described switch and server are placed on the inside of electrical control cubicles.
Described for taking turns the automatic coating electric-control system dragging chassis, described manual operation ECU comprises system emergency stop switch and guidance panel, and described guidance panel is arranged in the operating table surface of electrical control cubicles.
Described for taking turns the automatic coating electric-control system dragging chassis, described state indication unit comprises system cloud gray model indicator lamp, system standby indicator lamp and system failure indicator lamp, and system cloud gray model indicator lamp, system standby indicator lamp and system failure indicator lamp are arranged on the upper end of electrical control cubicles.
For taking turns the automatic painting method dragging chassis, specifically comprise the steps:
1), switch on power:
First switch on power, make automatic coating electric-control system in running order, PLC sends signal and makes system standby indicator lamp Chang Liang;
2) before, suspender being walked to rfid interrogator equipment:
Connect step, before suspender walks to rfid interrogator equipment, make automatic coating electric-control system start workflow;
3), rfid interrogator equipment reads the data of RFID label tag:
Connect step, the suspender of machine fortune system is hung chassis to be sprayed workpiece and is completed the preparation before spraying according to operation, then before walking to rfid interrogator equipment successively, rfid interrogator equipment read continuously RFID label tag repeatedly and by read repeatedly complete machine numbering data input PLC;
4), judge that whether the repeatedly data read are consistent:
Connect step, unanimously whether read repeatedly complete machine numbering data carry out contrasting by PLC, performs by following two kinds of situations:
4-1), as complete machine numbering Data Comparison result is consistent, complete machine numbering data are sent to spraying profile and work out ECU by PLC, send signal and the system cloud gray model indicator lamp in state indication unit is glimmered once, then enter step 8;
4-2), as inconsistent in complete machine numbering Data Comparison result, will wait for that PLC makes next step judgement process;
5), whether RFID label tag leaves rfid interrogator equipment read-write scope:
Meet step 4-2), whether monitoring RFID label tag leaves rfid interrogator equipment read-write scope, performs by following two kinds of situations:
5-1), as do not left rfid interrogator equipment read-write scope, the course of work after step 3 is repeated;
5-2), as left rfid interrogator equipment read-write scope, after error signal being inputted PLC judgement process, send system standby indicator lamp, the flicker of system failure indicator lamp that signal makes state indication unit, wait for that PLC makes next step judgement process;
6), manual work pattern is entered:
Meet step 5-2, the other operator of electrical control cubicles is by the chassis workpiece complete machine numbering steel seal of hanging under read failure suspender and by the steel seal input operation panel of chassis workpiece complete machine numbering;
7), the input completing complete machine numbering is at the appointed time judged whether, point following two kinds of situations:
7-1), before suspender walks to joint control E optoelectronic switch, complete the input of complete machine numbering, complete machine numbering data are sent to spraying profile establishment ECU by PLC, sending signal makes the system standby indicator lamp Chang Liang of state indication unit, the extinguishing of system failure indicator lamp, system cloud gray model indicator lamp glimmer once, then enters step 8;
7-2), before suspender walks to joint control E optoelectronic switch, do not complete the input of complete machine numbering or manually cannot input when pressing system emergency stop switch, corresponding signal will be had to be sent to PLC judgement process after, send corresponding information machine fortune system to machine fortune system control unit out of service, send that signal makes that the system standby indicator lamp of state indication unit extinguishes, system failure indicator lamp glimmers;
8), spraying profile establishment ECU work:
Spraying profile establishment ECU receives the complete machine numbering that PLC sends;
9) corresponding four large parts spraying profile numberings, have been judged whether:
Connect step, spraying profile establishment ECU is numbered conditional information retrieval database with complete machine, in two kinds of situation:
9-1), corresponding four large parts spraying profile numberings are not found, after error signal being inputted PLC judgement process, send corresponding information machine fortune system to machine fortune system control unit out of service, send signal and make the extinguishing of system standby indicator lamp, the flicker of system failure indicator lamp;
9-2), corresponding four large parts spraying profile numberings are found, above-mentioned information is compiled into chassis spraying profile combined information by spraying profile establishment ECU and is sent to PLC, wait for that PLC makes next step judgement process;
10), suspender walks to joint control E optoelectronic switch:
Meet step 9-2), when suspender walks to joint control E optoelectronic switch, block signal input PLC and start timing;
11), suspender walks to joint control D optoelectronic switch:
Connect step, when suspender walks to joint control D optoelectronic switch, block signal input PLC and complete timing, judge, after process, to send chassis spraying profile combined information and workpiece speed of service parameter to robot control unit through PLC;
12), suspender walks to joint control C optoelectronic switch:
Connect step, when suspender walks to joint control C optoelectronic switch, PLC sends request feedback information and the feedback data of welding robot control unit to robot control unit, will send chassis spraying profile combined information and workpiece speed of service parameter and feedback data contrast to robot control unit;
13) whether unanimously, judge to send Information and feedback information:
Connect step, whether PLC judges at suspender by consistent with the data that robot control unit feeds back with workpiece speed of service parameter to robot control unit chassis spraying profile combined information during joint control D optoelectronic switch, performs by following two kinds of situations:
13-1), send and the data fed back inconsistent, after error signal being inputted PLC judgement process, send corresponding information machine fortune system to machine fortune system control unit automatically out of service, send signal and make the extinguishing of system standby indicator lamp, the flicker of system failure indicator lamp;
If 13-2) to send and the data consistent that feeds back, wait for that PLC makes next step judgement process;
14), suspender walks to joint control B optoelectronic switch:
Meet step 13-2), when suspender walks to joint control B optoelectronic switch, block signal input PLC, judge after process through PLC, send to robot control unit and start to spray instruction, robot control unit will implement subregion spraying according to chassis spraying profile combined information and workpiece speed of service parameter.
Described for taking turns the automatic painting method dragging chassis, in described 3rd step, rfid interrogator equipment reads the number of times of RFID label tag is three times.
Adopt technical scheme as above, the present invention has following beneficial effect:
1, of the present invention a kind of for taking turns the automatic coating electric-control system and method that drag chassis, by the automatically controlled signal of native system machine transported the automatically controlled part of equipment and robot controlling automatically controlled partly integrated one overall while, floor data in conjunction with the collection of observing and controlling input block gives the function of artificial intelligence of the present invention, novel, be methodically arranged, rationally distributed, reliable in function;
2, the present invention utilizes each wheel of RFID device record to drag the complete machine on chassis to number, the four large parts spraying profile numberings on chassis are filtered out by database, according to spraying profile numbering, each several part spraying profile is combined into the automatic coating track on this chassis, control auto-partition sprays, spraying profile combination spraying method strong adaptability, meets the promptness of thousands of kinds of type mixed productions; Automatically can be downgraded to " double mode hot standby " function of manual mode of operation by systems axiol-ogy and judgement when breaking down, reduce the system failure as far as possible to the impact of producing;
3, the present invention's also setting data redundancy check measure, reliably can solve the integrity problem of system cloud gray model under the operating mode that painting workshop is severe;
4, simple possible of the present invention, performance safety, reliable, and automaticity is high and easy to maintenance, effectively can solve technical bottleneck problem existing when different type of machines kind wheel drags chassis conllinear spraying, and can greatly enhance productivity, there is good use value etc.
[accompanying drawing explanation]
Fig. 1 is the theory diagram of automatic coating electric-control system of the present invention;
Fig. 2 is the electrical schematic diagram of automatic coating electric-control system of the present invention;
Fig. 3 is the workflow diagram of automatic coating electric-control system of the present invention;
Fig. 4 is automatic coating course of work schematic diagram of the present invention;
In the drawings: 1, RFID device ECU; 2, observing and controlling input block; 3, PLC; 4, manually ECU is run; 5, spraying profile establishment ECU; 6, state indication unit; 7, system emergency stop switch; 8, joint control A optoelectronic switch; 9, joint control B optoelectronic switch; 10, joint control C optoelectronic switch; 11, joint control D optoelectronic switch; 12, joint control E optoelectronic switch; 13, guidance panel; 14, machine fortune system control unit; 15, robot control unit; 16, system cloud gray model indicator lamp; 17, system standby indicator lamp; 18, system failure indicator lamp, 19, RFID label tag; 20, rfid interrogator equipment; 21, server; 22, switch; 23, suspender; 24, chassis workpiece.
[detailed description of the invention]
Can explain the present invention in more detail by the following examples, the present invention is not limited to the following examples;
A kind of for taking turns the automatic coating electric-control system dragging chassis by reference to the accompanying drawings described in 1 ~ 4, comprise RFID device ECU 1, observing and controlling input block 2, PLC 3, manual operation ECU 4, spraying profile establishment ECU 5 and state indication unit 6, the DP communication module of described PLC 3 self and RFID device ECU 1, guidance panel 13 in manual operation ECU 4, machine fortune system control unit 14 and robot control unit 15 carry out information exchange, the PN communication module of PLC 3 self and spraying profile are worked out ECU 5 and are carried out information exchange, the On-off signal termination of PLC 3 self receives joint control A optoelectronic switch 8 in observing and controlling input block 2, joint control B optoelectronic switch 9, joint control C optoelectronic switch 10, joint control D optoelectronic switch 11, the on-off model of system emergency stop switch 7 in joint control E optoelectronic switch 12 and manually operation ECU 4, the output switch parameter end of PLC 3 self is formed described for taking turns the automatic coating electric-control system dragging chassis to state indication unit 6 transmit button amount signal.
Wherein said PLC 3 is master controller, be arranged on electrical control cubicles inside, model preferentially selects Siemens Company S7 315-2PN/DP, to rfid interrogator equipment 20 in RFID device ECU implement automatically controlled, robot control unit 15 carried out to information exchange and rfid interrogator equipment 20 and robot control unit 15 and machine and transports interlock protection between system control unit 14, described RFID device ECU 1 comprises rfid interrogator equipment 20 and RFID label tag 19, the automatic reading function of RFID device ECU 1 pair of chassis workpiece information and machine transport system interlock defencive function and and robot control unit 15 timing communication function, by rfid interrogator equipment 20, RFID label tag 19, joint control A optoelectronic switch 8, joint control B optoelectronic switch 9, joint control C optoelectronic switch 10, joint control D optoelectronic switch 11 and joint control E optoelectronic switch 12 realize, described joint control A optoelectronic switch 8, joint control B optoelectronic switch 9, joint control C optoelectronic switch 10, joint control D optoelectronic switch 11 and joint control E optoelectronic switch 12 are reflector reflective photoelectric switch, and be configured with reflector respectively, described rfid interrogator equipment 20 is arranged on rail assembly, described rail assembly is arranged on the side of machine fortune system track, rfid interrogator equipment 20 is 800 ~ 2000mm apart from doorway, paint spray booth outer wall distance, RFID label tag 19 is arranged on machine fortune system suspender 23 crossbeam, keep the same side of transporting system track with rfid interrogator equipment 20 at machine, rfid interrogator equipment 20 and RFID label tag 19 are responsible for the automatic reading function of chassis workpiece information jointly, joint control A optoelectronic switch 8 and joint control B optoelectronic switch 9 and reflector thereof, track both sides transported by the machine on the outer wall of doorway, paint spray booth that all connects firmly and the light beam that joint control A optoelectronic switch 8 and joint control B optoelectronic switch 9 send is returned by reflector, joint control A optoelectronic switch 8 is 40 ~ 100mm apart from ground level, joint control A optoelectronic switch 8 is less than all hanging workpiece minimum terrain clearance altitudes apart from the value of ground level, device security interlock protection is responsible for by joint control A optoelectronic switch 8, joint control B optoelectronic switch 9 is 3000 ~ 3500mm apart from ground level, joint control C optoelectronic switch 10, joint control D optoelectronic switch 11 and joint control E optoelectronic switch 12 are arranged in transmitting terminal columns assemblies respectively, joint control C optoelectronic switch 10, the reflector of joint control D optoelectronic switch 11 and joint control E optoelectronic switch 12 is arranged in reflector columns assemblies respectively, transmitting terminal columns assemblies and reflector transport track both sides with columns assemblies is vertical respectively with machine, and joint control C optoelectronic switch 10, the light beam that joint control D optoelectronic switch 11 and joint control E optoelectronic switch 12 send is returned by reflector, 3000 ~ 3500mm is apart from ground level, joint control C optoelectronic switch 10 is of a size of 150 ~ 4000mm apart from doorway, paint spray booth outer wall, joint control D optoelectronic switch 11 is 150 ~ 4000mm apart from doorway, paint spray booth outer wall dimension, joint control E optoelectronic switch 12 is 150 ~ 4000mm apart from doorway, paint spray booth outer wall dimension, joint control B optoelectronic switch 9, joint control C optoelectronic switch 10, joint control D optoelectronic switch 11 is responsible for and robot control unit 15 timing communication function, described spraying profile establishment ECU 5 comprises switch 22 and server 21, one end of switch 22 is connected with the network interface of server 21, the PN communication module of the other end and PLC 3 of switch 22 self is connected, spraying profile establishment ECU 5 is by receiving RFID device ECU 1 or the manual complete machine numbering data running ECU 4, automatic generation chassis spraying profile combined information, guidance machine people control unit 15 automatic coating, described switch 22 and server 21 are placed on the inside of electrical control cubicles, the person that is not like this convenient to operation safeguards, management whole system, described switch 22 model preferentially selects Siemens Company product SCALANCE X212-2, described manual operation ECU comprises system emergency stop switch 7 and guidance panel 13, Siemens Company's product preferentially selected by described guidance panel 13, model is 6AV66430DD011AX1, guidance panel 13 is arranged in the operating table surface of electrical control cubicles, the person that is not convenient to operation like this adjustment or typing " chassis " information data, described state indication unit comprises system cloud gray model indicator lamp 16, system standby indicator lamp 17 and system failure indicator lamp 18, system cloud gray model indicator lamp 16, system standby indicator lamp 17 and system failure indicator lamp 18 is " three looks " indicator lamp, place is showed off in the upper end being arranged on electrical control cubicles, to facilitate the transmission of system cloud gray model, debugging and fault-signal.
Of the present invention a kind of for taking turns the automatic painting method dragging chassis, specifically comprise the steps:
1, switch on power:
First switch on power, make automatic coating electric-control system in running order, PLC 3 sends signal and makes system standby indicator lamp 17 Chang Liang;
2, before suspender 23 being walked to rfid interrogator equipment 20:
Connect step, before suspender 23 walks to rfid interrogator equipment 20, make automatic coating electric-control system start workflow;
3, rfid interrogator equipment 20 reads the data of RFID label tag 19:
Connect step, the suspender 23 of machine fortune system is hung chassis to be sprayed workpiece 24 and is completed the preparation before spraying according to operation, then, before walking to rfid interrogator equipment 20 successively, rfid interrogator equipment 20 reads RFID label tag 19 3 times continuously and No. read three complete machine numbering data is inputted PLC 3;
4, judge that whether three secondary data read are consistent:
Connect step, unanimously whether No. read three complete machine numbering data carry out contrasting by PLC 3, performs by following two kinds of situations:
4-1, as consistent in complete machine numbering Data Comparison result, complete machine numbering data are sent to spraying profile establishment ECU by PLC 3, send signal and make the system cloud gray model indicator lamp 16 in state indication unit 6 glimmer once, then enter step 8);
4-2, as inconsistent in complete machine numbering Data Comparison result, will wait for that PLC 3 makes next step judgement process;
5, whether RFID label tag 19 is left rfid interrogator equipment 20 and is read and write scope:
Meet step 4-2), whether monitoring RFID label tag 19 leaves rfid interrogator equipment 20 is read and write scope, performs by following two kinds of situations:
5-1, reading and writing scope as do not left rfid interrogator equipment 20, repeating the course of work after step 3;
5-2, read and write scope as left rfid interrogator equipment 20, error signal is inputted PLC 3 judge process after, send signal and make that the system standby indicator lamp 17 of state indication unit 6 extinguishes, system failure indicator lamp 18 glimmers, wait for that PLC 3 makes next step judgement process;
6, manual work pattern is entered:
Connect step 5-2, the other operator of electrical control cubicles is by the chassis workpiece complete machine numbering steel seal of hanging under read failure suspender and by the steel seal input operation panel 13 of chassis workpiece complete machine numbering;
7, the input completing complete machine numbering is at the appointed time judged whether, point following two kinds of situations:
7-1, complete before suspender capable 23 to joint control E optoelectronic switch 12 complete machine numbering input, complete machine numbering data are sent to spraying profile establishment ECU by PLC 3, signal makes system standby indicator lamp 17 Chang Liang of state indication unit, system failure indicator lamp 18 extinguishes, system cloud gray model indicator lamp 16 glimmers once, then enters step 8) in transmission;
7-2, do not complete before suspender walks to joint control E optoelectronic switch 12 complete machine numbering input or manually cannot input when pressing system emergency stop switch 7, to have corresponding signal be sent to PLC 3 judge process after, send corresponding information machine fortune system to machine fortune system control unit 14 out of service, send signal and make that the system standby indicator lamp 17 of state indication unit extinguishes, system failure indicator lamp 18 glimmers;
8, spraying profile establishment ECU 5 works:
Spraying profile establishment ECU 5 receives the complete machine numbering that PLC 3 sends;
9, corresponding four large parts spraying profile numberings have been judged whether:
Connect step, spraying profile establishment ECU 5 is numbered conditional information retrieval database with complete machine, in two kinds of situation:
9-1, do not find corresponding four large parts spraying profiles numberings, error signal is inputted PLC 3 judge process after, send corresponding information machine fortune system to machine fortune system control unit 14 out of service, send signal and make that system standby indicator lamp 17 extinguishes, system failure indicator lamp 18 glimmers;
9-2, find corresponding four large parts spraying profiles numberings, above-mentioned information is compiled into chassis spraying profile combined information by spraying profile establishment ECU 5 and is sent to PLC 3, wait for that PLC 3 makes next step judgement process;
10, suspender 23 walks to joint control E optoelectronic switch 12:
Connect step 9-2, when suspender 23 walks to joint control E optoelectronic switch 12, block signal input PLC 3 start timing;
11, suspender 23 walks to joint control D optoelectronic switch 11:
Connect step, when suspender 23 walks to joint control D optoelectronic switch 11, block signal input PLC 3 and complete timing, judge, after process, to send chassis spraying profile combined information and workpiece speed of service parameter to robot control unit 15 through PLC 3;
12, suspender 23 walks to joint control C optoelectronic switch 10:
Connect step, when suspender 23 walks to joint control C optoelectronic switch 10, PLC 3 sends request feedback information and the feedback data of welding robot control unit 15 to robot control unit 15, will send chassis spraying profile combined information and workpiece speed of service parameter and feedback data contrast to robot control unit 15;
13, whether unanimously judge to send Information and feedback information:
Connect step, whether PLC 3 judges at suspender 23 by consistent with the data that robot control unit 15 feeds back with workpiece speed of service parameter to robot control unit 15 chassis spraying profile combined information during joint control D optoelectronic switch 11, performs by following two kinds of situations:
13-1, send and the data fed back inconsistent, error signal is inputted PLC 3 judge process after, send corresponding information machine fortune system to machine fortune system control unit 14 automatically out of service, send signal and make that system standby indicator lamp 17 extinguishes, system failure indicator lamp 18 glimmers;
If the data consistent that 13-2 sends and feeds back, wait for that PLC 3 makes next step judgement process;
14, suspender 23 walks to joint control B optoelectronic switch 9:
Connect step 13-2, when suspender 23 walks to joint control B optoelectronic switch 9, block signal input PLC 3, judge after process through PLC 3, send to robot control unit 15 and start to spray instruction, robot control unit 15 will implement subregion spraying according to chassis spraying profile combined information and workpiece speed of service parameter.
In the present invention PLC 3 control software design in be provided with the interlock protection program between paint spray booth attendant and machine fortune system, that is: when joint control A optoelectronic switch 8(also can be described as joint control optoelectronic switch A8, other is in like manner) light beam the sending thing (as human body a part) that is blocked blocks, block signal input PLC 3, judge after process through it, send instruction, machine fortune system is automatically out of service, when the light beam that joint control A optoelectronic switch 8 sends normally is returned by reflector time, path signal input PLC 3, judge after process through it, send instruction, machine fortune system can be resumed operation automatically.
In the present invention PLC 3 control software design in be provided with the complete machine of the chassis workpiece 24 hung in the machine fortune system numbering automatic fetch program, that is: when the machine fortune system suspender 23 carrying RFID label tag 19 walk to rfid interrogator equipment 20 read and write in scope time, rfid interrogator equipment 20 will read RFID label tag continuously 19 3 times and three read secondary data input PLC 3 is judged comparison, if consistent PLC 3 sends data to spraying profile establishment ECU, otherwise repeat above-mentioned work until after the machine fortune system suspender 23 that carries RFID label tag 19 leaves rfid interrogator equipment 20 read-write scope, error signal is inputted PLC 1 judge process after, send instruction, the system failure indicator lamp 18 of state instruction ECU glimmers.
In the present invention PLC 3 control software design in be provided with manual input program numbered to the complete machine of the chassis workpiece 24 hung in machine fortune system, that is: when receiving the automatic fetch program error signal of complete machine numbering, on guidance panel 13, LED screen ejects fault suspender number, complete machine numbering input frame and input countdown and shows t1, t1 span between 30 ~ 120s; The chassis complete machine numbering steel seal that operator hangs under ejecting fault suspender read failure suspender according to LED screen on guidance panel 13 input operation panel 13, data are inputted PLC 3 and judge process by guidance panel 13, if operator can not complete the input service of complete machine numbering again in the t1 time, manual working procedure error signal is inputted PLC 3 judge process after, send instruction, machine fortune system is automatically out of service.
In the present invention PLC 3 control software design in be provided with Control During Paint Spraying by Robot track programmed, that is: when after the complete machine numbering data receiving PLC 3 transmission, the condition that data is defined as enters database examination and obtains corresponding sole, gearbox, rear transmission case, power take-off module spraying profile numbering, four numberings is organized into the array input PLC 3 that one group of robot control system can identify etc. pending; Superimpose data is defined as condition and enters database examination and do not obtain corresponding data, and inputted by error signal after PLC 3 judges process, send instruction, machine fortune system is automatically out of service;
In the present invention PLC 3 control software design in be provided with wheel and drag timing communication program between chassis automatic coating electric-control system and robot control system, that is: the light beam sent when joint control E optoelectronic switch 12 is blocked thing (as hanger beam) when blocking, block signal input PLC 3 and start timing, when the light beam that joint control D optoelectronic switch 11 sends be blocked thing (as hanger beam) block time, block signal input PLC 3 and complete timing, judge after process through PLC 3, spraying profile array and machine fortune speed of service parameter is sent to robot control system, when the light beam that joint control C optoelectronic switch 10 sends be blocked thing (as hanger beam) block time, block signal input PLC 3, judge after process through PLC 3, feedback information is sent request to robot control system, receive the feedback data of robot control system, PLC 3 will send spraying profile array and machine fortune speed of service parameter and feedback data to robot control system and contrast, if inconsistent, error signal is inputted PLC 3 judge process after, send instruction, machine fortune system is automatically out of service, if contrast is consistent, wait for that PLC 3 makes next step judgement process, when the light beam that joint control B optoelectronic switch 9 sends be blocked thing (as hanger beam) block time, block signal input PLC 3, judge after process through PLC 3, send to robot control system and start to spray instruction, robot control system implements auto-partition spraying by according to the spraying profile array received and machine fortune speed of service parameter.
Specific embodiments of the invention are as follows:
The suspender 23 of machine fortune system is hung chassis to be sprayed workpiece 24 and is completed the preparation before spraying according to operation, to walk in automatic coating electric-control system before rfid interrogator equipment 20, rfid interrogator equipment 20 monitors the read range that suspender 23 enters into rfid interrogator equipment 20, start to read RFID label tag 19 3 times continuously and No. read three complete machine numbering data are inputted PLC 3, server 21 receives the complete machine numbering that PLC 3 sends, conditional information retrieval database is numbered with complete machine, find corresponding four large parts spraying profile numberings, four numberings are organized into the array input PLC 3 that one group of robot control system can identify,
The suspender 23 of machine fortune system is hung when chassis to be sprayed workpiece 24 walks to joint control E optoelectronic switch 12, be arranged on the light beam that the joint control E optoelectronic switch 12 in a transmitting terminal columns assemblies of these machine fortune track both sides, place, reflector columns assemblies sends, suspender 23 crossbeam having been hung chassis to be sprayed workpiece blocks, namely light beam be blocked block signal input PLC 3 start timing;
The suspender 23 of machine fortune system is hung when chassis to be sprayed workpiece 24 walks to joint control D optoelectronic switch 11, be arranged on the light beam that the joint control D optoelectronic switch 11 in a transmitting terminal columns assemblies of these machine fortune track both sides, place, reflector columns assemblies sends, the hanger beam having been hung chassis to be sprayed workpiece blocks, block signal input PLC 3 and complete timing, judge after process through PLC 3, send spraying profile array and machine fortune speed of service parameter to robot control system;
The suspender 23 of machine fortune system is hung when chassis to be sprayed workpiece 24 walks to joint control C optoelectronic switch 10, be arranged on a transmitting terminal columns assemblies of these machine fortune track both sides, place, the light beam that joint control C optoelectronic switch 10 in reflector columns assemblies sends, suspender 23 crossbeam having been hung chassis to be sprayed workpiece 24 blocks, block signal input PLC 3, send request feedback information to robot control system and receive the feedback data of robot control system, spraying profile array and machine fortune speed of service parameter and feedback data will be sent to robot control unit 15 to contrast,
The suspender 23 of machine fortune system is hung when chassis to be sprayed workpiece 24 walks to joint control B optoelectronic switch 9, be arranged on a transmitting terminal columns assemblies on these outer wall both sides, doorway, paint spray booth of place, the light beam that joint control B optoelectronic switch 9 in reflector columns assemblies sends, suspender 23 crossbeam having been hung chassis to be sprayed workpiece 24 blocks, block signal input PLC 3, judge after process through PLC 3, send to robot control unit 15 and start to spray instruction, robot control unit 15 implements auto-partition spraying by according to the spraying profile array received and machine fortune speed of service parameter, then send to robot control unit 15 and start to spray instruction, robot control unit 15 implements auto-partition spraying by according to the spraying profile array received and machine fortune speed of service parameter, get ready for entering next round chassis workpiece automatic coating.
Tool of the present invention has the following advantages:
1, the present invention by the judgement of the PLC Programmable Logic Controller 3 of native system and signal export organically machine is transported the automatically controlled part of equipment and robot controlling automatically controlled partly integrated one overall while, floor data in conjunction with the collection of observing and controlling input block gives the function of artificial intelligence of the present invention, novel, be methodically arranged, rationally distributed, reliable in function;
2, the present invention not only utilizes the realization of RFID device ECU to " automatically reading " function of chassis workpiece information, to be exported by the judgement of PLC Programmable Logic Controller 3 and signal and joint control A photoelectric switching signal 8 achieves " interlock protection " function with the machine system of fortune, the chassis to be painted workpiece of complex configuration is carried out decomposition module according to design feature simultaneously, " chassis spraying profile is automatically generated to combine " function in conjunction with database retrieval functional realiey, meet the automatic coating requirement that multi items wheel drags mixed production, ECU 4 can be downgraded to manual mode of operation automatically " double mode hot standby " function when breaking down manually is run by adding, reduce the system failure as far as possible to the impact of producing,
3, the present invention sprays also setting data redundancy check measure in the process of data at RFID label tag 19 digital independent and transmission, reliably can solve the integrity problem of system cloud gray model under the operating mode that painting workshop is severe;
4, simple possible of the present invention, performance safety, reliable, and automaticity is high and easy to maintenance, effectively can solve technical bottleneck problem existing when different type of machines kind wheel drags chassis conllinear spraying, and can greatly enhance productivity, there is good use value etc.
Part not in the detailed description of the invention is prior art.
The embodiment selected in this article in order to open object of the present invention, currently thinks to be suitable for, but it is to be understood that the present invention is intended to comprise all changes belonging to the embodiment in this design and invention scope and improvement.
Claims (8)
1. the automatic coating electric-control system for taking turns to drag chassis, comprise PLC (3), RFID device ECU (1), manual operation ECU (4), spraying profile establishment ECU (5), observing and controlling input block (2) and state indication unit (6), it is characterized in that: the DP communication module of described PLC (3) self and RFID device ECU (1), guidance panel (13) in manual operation ECU (4), machine fortune system control unit (14) and robot control unit (15) carry out information exchange, the PN communication module of PLC (3) self and spraying profile are worked out ECU (5) and are carried out information exchange, the On-off signal termination of PLC (3) self receives joint control A optoelectronic switch (8) in observing and controlling input block (2), joint control B optoelectronic switch (9), joint control C optoelectronic switch (10), joint control D optoelectronic switch (11), joint control E optoelectronic switch (12) and manually run the on-off model of system emergency stop switch (7) in ECU (4), the output switch parameter end of PLC (3) self is formed described for taking turns the automatic coating electric-control system dragging chassis to state indication unit (6) transmit button amount signal.
2. according to claim 1 for taking turns the automatic coating electric-control system dragging chassis; it is characterized in that: described PLC (3) is master controller, to rfid interrogator equipment (20) in RFID device ECU (1) implement automatically controlled, robot control unit (15) carried out to information exchange and rfid interrogator equipment (20) and robot control unit (15) and machine and transports interlock protection between system control unit (14).
3. according to claim 1 for taking turns the automatic coating electric-control system dragging chassis, it is characterized in that: described RFID device ECU (1) comprises rfid interrogator equipment (20) and RFID label tag (19), RFID device ECU (1) to the automatic reading function of chassis workpiece information and machine transport system interlock defencive function and and robot control unit (15) timing communication function, by rfid interrogator equipment (20), RFID label tag (19), joint control A optoelectronic switch (8), joint control B optoelectronic switch (9), joint control C optoelectronic switch (10), joint control D optoelectronic switch (11) and joint control E optoelectronic switch (12) realize, described joint control A optoelectronic switch (8), joint control B optoelectronic switch (9), joint control C optoelectronic switch (10), joint control D optoelectronic switch (11) and joint control E optoelectronic switch (12) are reflector reflective photoelectric switch, and be configured with reflector respectively, described rfid interrogator equipment (20) is arranged on rail assembly, described rail assembly is arranged on the side of machine fortune system track, rfid interrogator equipment (20) distance doorway, paint spray booth outer wall dimension is 3000 ~ 6000mm, RFID label tag (19) is arranged on machine fortune system suspender (23) crossbeam, keep the same side of transporting system track with rfid interrogator equipment (20) at machine, rfid interrogator equipment (20) and RFID label tag (19) are responsible for the automatic reading function of chassis workpiece (24) information jointly, joint control A optoelectronic switch (8) and joint control B optoelectronic switch (9) and reflector thereof, track both sides transported by the machine on the outer wall of doorway, paint spray booth that all connects firmly and the light beam that joint control A optoelectronic switch (8) and joint control B optoelectronic switch (9) send is returned by reflector, joint control A optoelectronic switch (8) is 40 ~ 100mm apart from ground level, joint control A optoelectronic switch (8) is less than all hanging workpiece minimum terrain clearance altitudes apart from the value of ground level, device security interlock protection is responsible for by joint control A optoelectronic switch (8), joint control B optoelectronic switch (9) is 3000 ~ 3500mm apart from ground level, joint control C optoelectronic switch (10), joint control D optoelectronic switch (11) and joint control E optoelectronic switch (12) are arranged in transmitting terminal columns assemblies respectively, joint control C optoelectronic switch (10), the reflector of joint control D optoelectronic switch (11) and joint control E optoelectronic switch (12) is arranged in reflector columns assemblies respectively, transmitting terminal columns assemblies and reflector transport track both sides with columns assemblies is vertical respectively with machine, and joint control C optoelectronic switch (10), the light beam that joint control D optoelectronic switch (11) and joint control E optoelectronic switch (12) send is returned by reflector, 3000 ~ 3500mm is apart from ground level, joint control C optoelectronic switch (10) distance doorway, paint spray booth outer wall is of a size of 150 ~ 4000mm, joint control D optoelectronic switch (11) distance doorway, paint spray booth outer wall dimension is 150 ~ 4000mm, joint control E optoelectronic switch (12) distance doorway, paint spray booth outer wall dimension is 150 ~ 4000mm, joint control B optoelectronic switch (9), joint control C optoelectronic switch (10), joint control D optoelectronic switch (11) is responsible for and robot control unit (15) timing communication function.
4. according to claim 1 for taking turns the automatic coating electric-control system dragging chassis, it is characterized in that: described spraying profile establishment ECU (5) comprises server (21) and switch (22), one end of switch (22) is connected with the network interface of server (21), the PN communication module of the other end and PLC (3) of switch (22) self is connected, spraying profile establishment ECU (5) is by reception RFID device ECU (1) or the complete machine numbering data manually running ECU (4), automatic generation chassis spraying profile combined information, guidance machine people control unit (15) automatic coating, described switch (22) and server (21) are placed on the inside of electrical control cubicles.
5. according to claim 1 for taking turns the automatic coating electric-control system dragging chassis, it is characterized in that: described manual operation ECU (4) comprises system emergency stop switch (7) and guidance panel (13), and described guidance panel (13) is arranged in the operating table surface of electrical control cubicles.
6. according to claim 1 for taking turns the automatic coating electric-control system dragging chassis, it is characterized in that: described state indication unit (6) comprises system cloud gray model indicator lamp (16), system standby indicator lamp (17) and system failure indicator lamp (18), system cloud gray model indicator lamp (16), system standby indicator lamp (17) and system failure indicator lamp (18) are arranged on the upper end of electrical control cubicles.
7. a kind of for taking turns a kind of for taking turns the automatic painting method dragging chassis of the automatic coating electric-control system that drags chassis according to the arbitrary claim of claim 1 ~ 6, is characterized in that: specifically comprise the steps:
1), switch on power:
First switch on power, make automatic coating electric-control system in running order, PLC (3) sends signal and makes system standby indicator lamp (17) Chang Liang;
2), suspender (23) is walked to rfid interrogator equipment (20) front:
Connect step, it is front that suspender (23) walks to rfid interrogator equipment (20), makes automatic coating electric-control system start workflow;
3), rfid interrogator equipment (20) reads the data of RFID label tag (19):
Connect step, the suspender (23) of machine fortune system is hung chassis to be sprayed workpiece (24) and is completed the preparation before spraying according to operation, then walk to rfid interrogator equipment (20) successively front, rfid interrogator equipment (20) read continuously RFID label tag (19) repeatedly and by read repeatedly complete machine numbering data input PLC (3);
4), judge that whether the repeatedly data read are consistent:
Connect step, unanimously whether read repeatedly complete machine numbering data carry out contrasting by PLC (3), performs by following two kinds of situations:
4-1), as consistent in complete machine numbering Data Comparison result, complete machine numbering data are sent to spraying profile establishment ECU (5) by PLC (3), sending signal makes the system cloud gray model indicator lamp (16) in state indication unit (6) glimmer once, then enters step 8;
4-2), as inconsistent in complete machine numbering Data Comparison result, will wait for that PLC (3) makes next step judgement process;
5), whether RFID label tag (19) leaves rfid interrogator equipment (20) read-write scope:
Meet step 4-2, whether monitoring RFID label tag (19) leaves rfid interrogator equipment (20) read-write scope, performs by following two kinds of situations:
5-1), as do not left rfid interrogator equipment (20) read-write scope, the course of work after step 3 is repeated;
5-2), as left rfid interrogator equipment (20) read-write scope, after error signal being inputted PLC (3) judgement process, send system standby indicator lamp (17), system failure indicator lamp (18) flicker that signal makes state indication unit (6), wait for that PLC (3) makes next step judgement process;
6), manual work pattern is entered:
Meet step 5-2, the other operator of electrical control cubicles is by chassis workpiece (24) the complete machine numbering steel seal of hanging under read failure suspender (23) and by the steel seal input operation panel (13) of chassis workpiece (24) complete machine numbering;
7), the input completing complete machine numbering is at the appointed time judged whether, point following two kinds of situations:
7-1), the front input completing complete machine numbering of joint control E optoelectronic switch (12) is walked at suspender (23), complete machine numbering data are sent to spraying profile establishment ECU (5) by PLC (3), sending signal makes system standby indicator lamp (17) Chang Liang of state indication unit (6), system failure indicator lamp (18) extinguishing, system cloud gray model indicator lamp (16) glimmer once, then enters step 8;
7-2), not suspender (23) walk to joint control E optoelectronic switch (12) front complete complete machine numbering input or manually cannot input press system emergency stop switch (7) time, corresponding signal will be had to be sent to PLC (3) judgement process after, send corresponding information machine fortune system to machine fortune system control unit (14) out of service, send that signal makes that the system standby indicator lamp (17) of state indication unit (6) extinguishes, system failure indicator lamp (18) glimmers;
8), spraying profile establishment ECU work:
Spraying profile establishment ECU (5) receives the complete machine numbering that PLC (3) sends;
9) corresponding four large parts spraying profile numberings, have been judged whether:
Connect step, spraying profile establishment ECU (5) is numbered conditional information retrieval database with complete machine, in two kinds of situation:
9-1), corresponding four large parts spraying profile numberings are not found, after error signal being inputted PLC (3) judgement process, send corresponding information machine fortune system to machine fortune system control unit (14) out of service, send signal and make system standby indicator lamp (17) extinguishing, system failure indicator lamp (18) flicker;
9-2), corresponding four large parts spraying profile numberings are found, above-mentioned information is worked out ECU (5) by spraying profile be compiled into chassis spraying profile combined information and be sent to PLC (3), wait for that PLC (3) makes next step judgement process;
10), suspender (23) walks to joint control E optoelectronic switch (12):
Meet step 9-2), when suspender (23) walks to joint control E optoelectronic switch (12), block signal input PLC (3) and start timing;
11), suspender (23) walks to joint control D optoelectronic switch (11):
Connect step, when suspender (23) walks to joint control D optoelectronic switch (11), block signal input PLC (3) and complete timing, judge, after process, to send chassis spraying profile combined information and workpiece speed of service parameter to robot control unit (15) through PLC (3);
12), suspender (23) walks to joint control C optoelectronic switch (10):
Connect step, when suspender (23) walks to joint control C optoelectronic switch (10), PLC (3) sends request feedback information and the feedback data of welding robot control unit (15) to robot control unit (15), will send chassis spraying profile combined information and workpiece speed of service parameter and feedback data contrast to robot control unit (15);
13) whether unanimously, judge to send Information and feedback information:
Connect step, whether PLC (3) judges at suspender (23) consistent by the data fed back to robot control unit (15) chassis spraying profile combined information and workpiece speed of service parameter and robot control unit (15) time joint control D optoelectronic switch (11), performs by following two kinds of situations:
13-1), send and the data fed back inconsistent, after error signal being inputted PLC (3) judgement process, send corresponding information machine fortune system to machine fortune system control unit (14) automatically out of service, send signal and make system standby indicator lamp (17) extinguishing, system failure indicator lamp (18) flicker;
If 13-2) to send and the data consistent that feeds back, wait for that PLC (3) makes next step judgement process;
14), suspender (23) walks to joint control B optoelectronic switch (9):
Meet step 13-2), when suspender (23) walks to joint control B optoelectronic switch (9), block signal input PLC (3), judge after process through PLC (3), send to robot control unit (15) and start to spray instruction, robot control unit (15) will implement subregion spraying according to chassis spraying profile combined information and workpiece speed of service parameter.
8. according to claim 7 for taking turns the automatic painting method dragging chassis, it is characterized in that: in described 3rd step, rfid interrogator equipment (20) reads the number of times of RFID label tag (19) is three times.
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| CN109609961A (en) * | 2018-12-20 | 2019-04-12 | 广州从化精密钣金制造有限公司 | The automatic preprocessing system of sheet metal and method |
| CN110216672A (en) * | 2019-05-17 | 2019-09-10 | 广东博智林机器人有限公司 | Information interacting method, server and construction robot |
| CN112275483A (en) * | 2020-09-07 | 2021-01-29 | 惠州市德赛西威汽车电子股份有限公司 | Multifunctional three-proofing paint coating equipment and control method thereof |
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