Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Self-adaptive centering control system and method for clamp rods of large manipulator

A centering control system and technology of the control system, applied in the field of adaptive centering control system of the tong bar of a large manipulator, can solve the problem of low self-adaptability and automation of forging control, low accuracy and stability, and shortened equipment use Life expectancy and other issues, to achieve the effect of high degree of intelligence and self-adaptation, improve the level of intelligence, and excellent workmanship

Pending Publication Date: 2021-01-15
CHINA NAT HEAVY MACHINERY RES INSTCO
View PDF0 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In the past, the operator's experience was used to tentatively send instructions to the clamp rod position control device to control the clamp rod position. This operation is cumbersome, with low accuracy and stability, and its forging control self-adaption ability and degree of automation are relatively low. Low, if the position of the tong lever of the operating machine cannot adapt to the change of the center of the forging in time, it may cause damage to the equipment or damage to the forging, or greatly shorten the service life of the equipment itself

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Self-adaptive centering control system and method for clamp rods of large manipulator
  • Self-adaptive centering control system and method for clamp rods of large manipulator

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0037]This embodiment provides an adaptive centering control system for the clamp bar of a large-scale manipulator, which includes a large-scale manipulator, and also includes a PLC control system 5, an HMI human-machine interface 6, a clamp bar tilting unit 3, a clamp bar lifting unit 1 and a clamp The lever translation unit 2, the HMI man-machine interface 6 is connected to the PLC control system 5 through communication, the clamp lever tilting unit 3, the clamp lever lifting unit 1 and the clamp lever translation unit 2 are all electrically connected to the PLC control system 5; The HMI human-machine interface 6 stores the forging models and the centering position data of each pass of the clamp bar corresponding to each forging model.

[0038] The applicable forgings of the present invention include round shaft workpieces and special-shaped workpieces. The tilting unit 3 of the clamp rod is used to control the up and down tilting of the clamp rod. For special-shaped parts, ...

Embodiment 2

[0041] On the basis of Embodiment 1, this embodiment provides an adaptive centering control system for the tong bar of a large-scale manipulator. The large-scale manipulator includes a hanging device, a car body 9 and a tong bar. The hanging device is hinged Installed on the beam in front of the car body 9, the front of the clamp rod is hingedly mounted on the suspension device, the front end of the clamp rod is a jaw 405, and the jaw 405 clamps a forging;

[0042] The clamp lever lifting unit 1 is arranged below the middle part of the vehicle body 9 and is connected with the vehicle body 9, the clamp lever translation unit 2 is connected with the beam 15 of the vehicle body 9, and the clamp lever tilting units 3 are two, respectively symmetrical It is arranged on both sides below the tail portion of the vehicle body 9 and connected with the vehicle body 9 .

[0043] Such as figure 1 As shown, the tong bar is hinged on the car body 9 by a suspension device. The forging workp...

Embodiment 3

[0045] On the basis of Embodiment 2, this embodiment provides an adaptive centering control system for the tong rod of a large-scale manipulator. The rod tilt displacement sensor 303, the clamp rod tilt cylinder 301 communicates with the hydraulic pump station 10 through the pipeline, the clamp rod tilt pressure sensor 304 is connected in series on the pipeline, the clamp rod tilt displacement sensor 303 is fixedly installed on the clamp rod tilt On the outside of the oil cylinder 301, the clamp bar tilt displacement sensor 303 is a stay rope displacement sensor, and its stay rope is connected to the movable plunger of the clamp bar tilt oil cylinder 301. bottom connection;

[0046] The pincer bar tilt cylinder 301 , pincer bar tilt proportional directional valve 302 , pincer bar tilt pressure sensor 304 and pincer bar tilt displacement sensor 303 are all connected to the PLC control system 5 with electrical signals.

[0047] Such as figure 1 As shown, the tilting cylinder 3...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides a self-adaptive centering control system and method for clamp rods of a large manipulator. The system comprises a large manipulator body, a PLC control system, an HMI man-machine interface, clamp rod inclination units, a clamp rod lifting unit and a clamp rod translation unit, wherein the HMI man-machine interface is in communication connection with the PLC control system; the clamp rod inclination units, the clamp rod lifting unit and the clamp rod translation unit are in electric signal connection with the PLC control system; and the HMI human-machine interface storesforge piece models and centering position data, corresponding to the forge piece models, of the clamp rods of all passes. According to the self-adaptive centering control system and the method for theclamp rods of the large manipulator, the PLC control system is used for determining the centering range in each direction required by the clamp rods under the current pass according to the model parameters of forge piece products and the current forging pass, so that the centering positions between the clamp rods and the forge pieces in batch forging can be kept in real time in a self-adaptive manner, accuracy of performance quality of the forge pieces and stability of mechanical equipment are guaranteed, and the intelligent level of forging control of the large manipulator body is greatly improved.

Description

technical field [0001] The invention belongs to the technical field of automatic control of manipulators for free forging, and in particular relates to an adaptive centering control system and method for a large-scale manipulator clamp bar. Background technique [0002] The large-scale forging manipulator is the basic equipment in the field of modern high-end forging, which is especially critical for improving forging efficiency and forging quality. In the forging process of each pass of large forgings, due to the unevenness of the force on the forgings and the ductility of the forging press during forging, the relative position of the clamp rod of the large manipulator that clamps the forgings and the body of the manipulator is in a certain position. in the process of dynamic change. This requires that the position of the clamp rod of the manipulator can be adjusted in real time to meet the requirement that the center position of the forging is always within the range of t...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): B21J9/20
CPCB21J9/20
Inventor 苏振华张营杰冯东晓王红涛柴星
Owner CHINA NAT HEAVY MACHINERY RES INSTCO
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com