CN108687252A - A kind of Full-automatic telescopic clip control method - Google Patents
A kind of Full-automatic telescopic clip control method Download PDFInfo
- Publication number
- CN108687252A CN108687252A CN201810380521.2A CN201810380521A CN108687252A CN 108687252 A CN108687252 A CN 108687252A CN 201810380521 A CN201810380521 A CN 201810380521A CN 108687252 A CN108687252 A CN 108687252A
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- CN
- China
- Prior art keywords
- clamp
- conflict
- telescopic
- clip
- current
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/025—Fault detection, e.g. misfeed detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/11—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers for feeding sheet or strip material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D55/00—Safety devices protecting the machine or the operator, specially adapted for apparatus or machines dealt with in this subclass
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The present invention relates to machinery fields, and more particularly, to a kind of Full-automatic telescopic clip control method, in place whether the present invention is increased magnetism on telescopic cylinder by band and sensed in place first, can detect and stretch.It detects whether to stretch at any time during feeding control, in telescopic process in place, if there is flexible failure, system halt work, and alarm;Folder mistake is prevented secondly by whether tong chops increase clips sensing.Feeding operation is whole, and mistake is pressed from both sides if there is falling, system halt operation, and alarms.Finally, telescopic clamp automatic telescopic needs to handle respectively for mechanical back to zero, manual mode, automatic mode and instruction control model.The present invention only needs the several conflict associated limit parameters of manual measurement, participates in calculating without artificial.The algorithm can calculate telescopic clamp and walk site, automatically controls flexible and clamp, automatically control and stop punch automatically, significantly simplify control system operation.
Description
Technical field
The present invention relates to machinery fields, more particularly, to a kind of Full-automatic telescopic clip control method.
Background technology
In economical nc punching machine feeding control system, need to be automatically finished punching press after realizing a upper plate.Work as plate
When last row's blanking of material, clip, which may exist with mold in walking or punching course, to conflict, and needs to realize clip certainly
Dynamic evacuation mold.Flexible clamp is a kind of common automatic evacuation mould profile.In punching course clip be when front mold
No conflict by clip retracted position, the telescopic time, it is flexible whether in place, punching press flower pattern, punching press path, die size, mould
Having many factors such as position influences, and calculating process is very troublesome, than relatively time-consuming, is also very easy to error.If calculating mistake,
It is light then clip occur and hit mold clip fixing device or cylinder is caused to damage, it is serious clip occur by mould punching, it makes
It is damaged simultaneously at clip and mold.These can all cause larger economic loss.It needs a kind of algorithm to realize to press from both sides in punching course
Sub- automatic telescopic puts punching press automatically, to achieve the purpose that safety, automatic, efficiently realization clamp avoids mold.
The mode of conventional telescopic folder evacuation mold is by man-made chamber or to calculate how realization avoids, and how to be walked
's.Each mold exchange changes plank and must all re-start and manually adjusts and calculate, and workload is very big, often primary flexible journey
The debugging of sequence needs to consume the time.Execute-in-place quality of workers is also uneven, it is easy to clip occurs and be knocked and punching press thing
Therefore.
Invention content
The present invention is mainly the technical problem solved present in the prior art;Providing one kind only needs manual measurement several
Conflict associated limit parameter, participates in calculating without artificial.The algorithm can calculate automatically telescopic clamp walk site, automatically control it is flexible with
It clamps, automatically control and stop punch, significantly simplify a kind of Full-automatic telescopic folder control algolithm of control system operation.
The above-mentioned technical problem of the present invention is mainly to be addressed by following technical proposals:
A kind of Full-automatic telescopic clip control method, which is characterized in that define a conflict area:If mechanical coordinate is more than flexible
Range Y minimum values.Also, mechanical coordinate is then within the minimum X conflict ranges and maximum X conflict ranges of some clip
Conflict area specifically includes:
Step 1, as shown in Fig. 2, increasing magnetic transducing on telescopic cylinder by setting, detection is flexible whether in place.Feeding control
It detects whether to stretch at any time during system, in telescopic process in place, if there is flexible failure, system halt work, and alarm.
Step 2 prevents folder mistake by falling folder sensing in tong chops increase clamp as shown in Figure 3.When plank is clipped
When, plank pushes metallic rod to be sensed close to metal approach, and metal approach sensing output has signal.If clamp does not clip plank,
Metallic rod leaves metal approach sensing, sensing output no signal under the action of the spring.There is no signal defeated by metal approach sensing
Go out can be determined that whether plank clips.Feeding operation is whole, and mistake is pressed from both sides if there is falling, system halt operation, and alarms.
Step 3, telescopic clamp automatic telescopic are needed for mechanical back to zero, manual mode, automatic mode and instruction control model
It handles respectively.
Under mechanical back to zero pattern, to prevent from hitting clip during back to zero, first Y-axis back to zero is taken, then X-axis back to zero operates.
It is automatic to calculate whether walking path conflict with mold when each shifting axle under manual mode.Automatic mold
Under formula pattern, specifically include:
Step 3.1, according to algorithm requirements, measured by user and provided parameter, specifically include conflict range minimum Y, it is each flexible
Clamp conflict range mechanical coordinate minimum X and maximum X.
Step 3.2 judges whether Current mechanical coordinate is less than telescopic extensions minimum Y value, and is held according to judging result selection
Row:
Select step 1:If Current mechanical coordinate is less than telescopic extensions minimum Y value, whole clamps, which are in, stretches out clamped condition.
Step 2 is selected, if Current mechanical coordinate is greater than or equal to telescopic extensions minimum Y value, continues next step;
Step 3.3 judges whether Current mechanical coordinate is between current clamp conflict range minimum value X and maximum value X, and root
It is judged that result selection executes:
Select step 1:Current mechanical coordinate is not yet between current clamp conflict range minimum value X and maximum value X, then is judged
Whether current clamp is in stretching state, if so, judging to complete and carrying out next step;If it is not, current clamp stretches out, go forward side by side
Row next step;
Select step 2:Current mechanical coordinate is between current clamp conflict range minimum value X and maximum value X, then is judged current
Whether clamp is in stretching state, and step is a little rushed if so, being switched to, and walks after current clamp retraction, judges to complete and carry out
Next step;If it is not, judging to complete and carrying out next step;
Step 3.1 to 3.2 defines the decision rule that clamp conflicts with mold.When the conflict situation of clamp and mold changes
When, it is also necessary to increase some processing as follows.
Whether step 3.3 before walking every time, determines changing coordinates whether in conflict range, and is conflicting in next step
In range.Conflict area is gone to from non conflicting area row if there is some clip, which is handled by point punching, and such as
Fruit clip is in clamp clamping and cylinder stretches out state, then the clip must first carry out loose clamping connection and cylinders retract operation, so
After walk.
If step 3.4, clip are walked from conflict area to non conflicting region, stretched out after the completion of clip walking
Clamp operation.
In the case of remaining clamp does not change with mold conflict situation, punching press is handled by continuous punching, and clamp retracted position is protected
It holds constant.
Therefore, the invention has the advantages that:The present invention only needs the several conflict associated limit parameters of manual measurement, is not necessarily to
It is artificial to participate in calculating.The algorithm can calculate telescopic clamp and walk site, automatically controls flexible and clamp, automatically control and stop punch automatically,
Significantly simplify control system operation.
Description of the drawings
Attached drawing 1 is the flexible feeder schematic layout pattern of band of the present invention.
Attached drawing 2 is cylinder magnetic sensing layout of the present invention.
Attached drawing 3 is that clamp of the present invention falls to press from both sides detection device figure.
Attached drawing 4 is the telescopic clamp automatic telescopic algorithm flow chart of the present invention.
Specific implementation mode
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment:
As shown in Fig. 1 and Fig. 4, automatic telescopic specific implementation is as follows.
Conflict area decision rule first is as follows:
If mechanical coordinate is more than telescopic extensions Y minimum values.Also, mechanical coordinate some clip minimum X conflict ranges and
Within maximum X conflict ranges, then conflict area is in.Remaining situation is just all not belonging to conflict area.
Secondly, to ensure reliability, needing to open flexible and falling to press from both sides error detection, specific processing mode is as follows:
1, increase magnetism on telescopic cylinder by band to sense in place, can detect and whether in place stretch.During feeding control,
It detects whether to stretch at any time in telescopic process in place, if there is flexible failure, system halt work, and alarm.
2, by preventing folder mistake whether tong chops increase clips sensing.Feeding operation is whole, if there is falling folder
Mistake, system halt operation, and alarm.
Finally, telescopic clamp automatic telescopic is needed for mechanical back to zero, manual mode, automatic mode and instruction control model point
It manages in other places.
One, under mechanical back to zero pattern, to prevent from hitting clip during back to zero, first Y-axis back to zero is taken, then X-axis back to zero is grasped
Make.
Two, automatic to calculate whether walking path conflict with mold when each shifting axle under manual mode, it transports
When row:
(1)Automatic mode pattern:
1, it according to algorithm requirements, is measured by user and parameter is provided(Conflict range minimum Y, each stretch clamp conflict range machine
Tool coordinate minimum X and maximum X).
2, Current mechanical coordinate is less than telescopic extensions minimum Y value, then whole clamps, which are in, stretches out clamped condition.
3, before walking every time, changing coordinates are determined whether in conflict range, and in next step whether in conflict range.
Conflict area is gone to from non conflicting area row if there is some clip, which is handled by point punching, and the then clip
Retraction unclamping operation must be first carried out, is then walked.
If 4, clip is walked from conflict area to non conflicting region, carry out stretching out clamping behaviour after the completion of clip walking
Make.
5, in the case of remaining, punching press is handled by continuous punching, and clamp retracted position remains unchanged.
(2)Instruct control model:
Sometimes system needs forbid automatic telescopic temporarily, and control clip retracted position and clamped condition are forced by instructing.Such as
After the completion of plate punching press, all pine folder release plank is needed.This patent solves the problems, such as this using the instruction control of special clamp.Clamp refers to
When enabling control, automatic telescopic state is automatically closed, flexible and clamped condition is managed by clamp instruction, as long as but executing other and walking
Bit instruction reenters automatic telescopic state automatically.
Specific embodiment described herein is only an example for the spirit of the invention.Technology belonging to the present invention is led
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (1)
1. a kind of Full-automatic telescopic clip control method, which is characterized in that define a conflict area:It is stretched if mechanical coordinate is more than
Contracting range Y minimum values;Also, mechanical coordinate is then located within the minimum X conflict ranges and maximum X conflict ranges of some clip
In conflict area, specifically include:
Step 1 increases magnetic transducing by setting on telescopic cylinder, and in place whether detection flexible;During feeding control, stretch
It detects whether to stretch at any time in compression process in place, if there is flexible failure, system halt work, and alarm;
Step 2 prevents folder mistake by falling folder sensing in tong chops increase clamp as shown in Figure 3;When plank is clipped, plate
Material pushes metallic rod to be sensed close to metal approach, and metal approach sensing output has signal;If clamp does not clip plank, metallic rod
Metal approach sensing, sensing output no signal are left under the action of the spring;There is no signal output can be with by metal approach sensing
Whether judgement plank clips;Feeding operation is whole, and mistake is pressed from both sides if there is falling, system halt operation, and alarms;
Step 3, telescopic clamp automatic telescopic are needed for mechanical back to zero, manual mode, automatic mode and instruction control model difference
Processing;
Under mechanical back to zero pattern, to prevent from hitting clip during back to zero, first Y-axis back to zero is taken, then X-axis back to zero operates;
It is automatic to calculate whether walking path conflict with mold when each shifting axle under manual mode;Automatic mode mould
Under formula, specifically include:
Step 3.1, according to algorithm requirements, measured by user and provided parameter, specifically include conflict range minimum Y, it is each flexible
Clamp conflict range mechanical coordinate minimum X and maximum X;
Step 3.2 judges whether Current mechanical coordinate is less than telescopic extensions minimum Y value, and selects to execute according to judging result:
Select step 1:If Current mechanical coordinate is less than telescopic extensions minimum Y value, whole clamps, which are in, stretches out clamped condition;
Step 2 is selected, if Current mechanical coordinate is greater than or equal to telescopic extensions minimum Y value, continues next step;
Step 3.3 judges whether Current mechanical coordinate is between current clamp conflict range minimum value X and maximum value X, and root
It is judged that result selection executes:
Select step 1:Current mechanical coordinate is not yet between current clamp conflict range minimum value X and maximum value X, then is judged
Whether current clamp is in stretching state, if so, judging to complete and carrying out next step;If it is not, current clamp stretches out, go forward side by side
Row next step;
Select step 2:Current mechanical coordinate is between current clamp conflict range minimum value X and maximum value X, then is judged current
Whether clamp is in stretching state, and step is a little rushed if so, being switched to, and walks after current clamp retraction, judges to complete and carry out
Next step;If it is not, judging to complete and carrying out next step;
Whether step 3.3 before walking every time, determines changing coordinates whether in conflict range, and in next step in conflict range
It is interior;Conflict area is gone to from non conflicting area row if there is some clip, which if is pressed from both sides by point punching processing
Son is clamped in clamp and cylinder stretches out state, then the clip must first carry out loose clamping connection and cylinders retract operation, then walk
Position;
If step 3.4, clip are walked from conflict area to non conflicting region, stretching clamping is carried out after the completion of clip walking
Operation;
In the case of remaining clamp does not change with mold conflict situation, punching press is handled by continuous punching, and clamp retracted position is kept not
Become.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810380521.2A CN108687252B (en) | 2018-04-25 | 2018-04-25 | Full-automatic telescopic clamp control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810380521.2A CN108687252B (en) | 2018-04-25 | 2018-04-25 | Full-automatic telescopic clamp control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108687252A true CN108687252A (en) | 2018-10-23 |
| CN108687252B CN108687252B (en) | 2020-01-24 |
Family
ID=63845760
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810380521.2A Active CN108687252B (en) | 2018-04-25 | 2018-04-25 | Full-automatic telescopic clamp control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108687252B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203155872U (en) * | 2013-02-27 | 2013-08-28 | 青岛盛通机械科技有限公司 | Feeding mechanism with telescopic clamp |
| KR20160052049A (en) * | 2014-11-04 | 2016-05-12 | 주식회사 포스코 | Blank gripper for blank transporting robot and method for gripping blank using the same |
| CN106541039A (en) * | 2016-11-25 | 2017-03-29 | 武汉市工程科学技术研究院 | For the sheet material locating and clamping apparatus and method of digital stamping automatic charging |
| CN206122563U (en) * | 2016-08-31 | 2017-04-26 | 武汉立奥自动化有限公司 | Push away feed collet pincers and adopt plate shearing machine material loading that pushes away feed collet pincers to cut transfer machine |
| CN206731975U (en) * | 2017-04-05 | 2017-12-12 | 奇瑞汽车股份有限公司 | Air-actuated jaw error prevention device |
| CN107470489A (en) * | 2017-08-30 | 2017-12-15 | 武汉市工程科学技术研究院 | The flexible avoiding device of pneumatic gripping and method for plate digital control punching press |
| CN206779228U (en) * | 2017-06-06 | 2017-12-22 | 青岛盛通机械科技有限公司 | A kind of hydraulic pressure capstan head clamp avoiding-type slab punching |
-
2018
- 2018-04-25 CN CN201810380521.2A patent/CN108687252B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203155872U (en) * | 2013-02-27 | 2013-08-28 | 青岛盛通机械科技有限公司 | Feeding mechanism with telescopic clamp |
| KR20160052049A (en) * | 2014-11-04 | 2016-05-12 | 주식회사 포스코 | Blank gripper for blank transporting robot and method for gripping blank using the same |
| CN206122563U (en) * | 2016-08-31 | 2017-04-26 | 武汉立奥自动化有限公司 | Push away feed collet pincers and adopt plate shearing machine material loading that pushes away feed collet pincers to cut transfer machine |
| CN106541039A (en) * | 2016-11-25 | 2017-03-29 | 武汉市工程科学技术研究院 | For the sheet material locating and clamping apparatus and method of digital stamping automatic charging |
| CN206731975U (en) * | 2017-04-05 | 2017-12-12 | 奇瑞汽车股份有限公司 | Air-actuated jaw error prevention device |
| CN206779228U (en) * | 2017-06-06 | 2017-12-22 | 青岛盛通机械科技有限公司 | A kind of hydraulic pressure capstan head clamp avoiding-type slab punching |
| CN107470489A (en) * | 2017-08-30 | 2017-12-15 | 武汉市工程科学技术研究院 | The flexible avoiding device of pneumatic gripping and method for plate digital control punching press |
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| Publication number | Publication date |
|---|---|
| CN108687252B (en) | 2020-01-24 |
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