Working mode calling and synchronous control method of powder forming servo press

Abstract

The invention discloses a method for calling and synchronously controlling a working mode of a powder forming servo press. When formulating a programming module, a realization module of a mode parameter is firstly carried out, and it is defined that all modes have a common calling entry and result exit. Before carrying out a functional program, two classification methods are adopted for classification: a first type of mode: a manual mode and an automatic mode, each mode has a bit identifier, and then combined with a word identifier for uniqueness distinction; a second type of mode, from the perspective of a control axis, is divided into: operation control of three axes, an upper punch axis, a middle die axis and a powder feeding axis, which can cooperate with the operation control of the manual mode or the automatic mode of the first type of mode, and the calling entry uses the same variable symbol, and a certain mode uses different state identifiers and the same mode identifier for AND logic, and then different modes are linked in parallel and output to the same result variable symbol; the two types of modes are combined to make a selection that can be selected and coordinated.

Description

Technical Field

[0001] The invention relates to the field of powder forming press technology, and in particular to a method for calling and synchronously controlling a working mode of a powder forming servo press. Background Art

[0002] Powder forming equipment is a kind of equipment that presses powder into a certain fixed shape of product. Powder forming equipment uses external pressure in the die to shape the powder, so it is also called powder molding equipment. The pressing process usually includes several steps: powder filling, pressing and demolding.

[0003] At present, the powder forming equipment on the market is generally produced by program-controlled automation, and its intelligence level is relatively high. However, in the actual powder forming process, there are still defects such as the processing quality stability of the powder forming equipment is not ideal. For example, when the powder forming press is working, the weight and size consistency of the products it produces are difficult to control, especially since the powder forming press is a continuous production equipment. If you are not careful, it will lead to batch defective products. Although some existing powder forming equipment is equipped with a weighing device at the discharge end to detect the weight of the product, if the product weight is found to be unqualified, the technician will stop the machine for inspection / adjustment. However, this method will produce a certain number of defective products when the weight is unqualified, which will also delay the effective use time of the powder forming equipment, thereby affecting the processing efficiency.

[0004] In addition, although powder molding equipment can be used to mold products of different shapes, the process design may be different for different products or even the same series of products. Process design is a key part of powder molding. Therefore, each link of the process design has a large number of parameters, and the parameters between each link have an inheritance relationship. Even experienced designers need to perform repeated "trial and error". In the process of formulating programming modules, the powder molding equipment program of the prior art adopts the priority formulation of functional programs. Before performing functional programs, they must be classified from manual and automatic perspectives: manual mode includes manual inching and manual single-step mode, and automatic mode includes automatic single and automatic continuous mode; therefore, different processes are switching modes, and the parameters in each mode need to be set separately. This results in a long design time and low design efficiency, and also causes the switchable call modes in the powder molding equipment program to be relatively fixed, which is difficult to meet flexible processing needs. When the process is iterated, it is necessary to redefine the programming module and burn the program, etc., which is more troublesome.

[0005] Therefore, it is necessary to study a new technical solution to solve the problem. Summary of the invention

[0006] In view of this, the present invention aims to address the deficiencies in the prior art, and its main purpose is to provide a method for calling and synchronously controlling the working modes of a powder molding servo press, which enables the powder molding servo press to have a variety of working modes. These working modes can exist independently and can be organically unified. The parameters debugged in this working mode can also be switched to another working mode, which better meets the customer's needs for process compatibility and process iteration, and is conducive to customers to produce more easily and stably.

[0007] To achieve the above-mentioned purpose, the present invention adopts the following technical solutions:

[0008] A method for calling and synchronously controlling the working modes of a powder forming servo press. When formulating a programming module, the realization module of the mode parameters is firstly carried out, and all modes are defined to have a common calling entry and result exit.

[0009] Before proceeding with the functional program, two methods are used for classification:

[0010] The first type of mode is divided into manual and automatic modes: the manual mode includes manual jog mode and manual single-step mode; the automatic mode includes automatic single mode and automatic continuous mode; each mode of the first type of mode has a bit identifier, which is combined with a word identifier to distinguish uniquely;

[0011] The second mode is divided from the perspective of controlling the axes: the operation control of the upper punch axis, the middle die axis, and the powder feeding axis;

[0012] Any one or any two of the three axes, the upper punch axis, the middle die axis, and the powder feeding axis, can cooperate to perform the operation control of the manual mode or the automatic mode of the first type of mode. The calling entry uses the same variable symbol. A certain mode uses different state identifiers and the same mode identifier to perform AND logic, and then different modes are linked in parallel and output to the same result variable symbol. The mode identifier can be used to distinguish the mode selection, and the state identifier is used for the state when different mode selections are made; combining the two types of modes, a selection that can be selected and coordinated is made.

[0013] As a preferred solution, in the first mode, the manual jog mode is a manual jog mode of a single axis, the manual single-step mode moves one step when double-starting, otherwise stops, the automatic single mode automatically pressure tests the product once after double-starting, and the automatic continuous mode automatically produces products continuously after double-starting.

[0014] As a preferred solution, the second mode includes at least two options: upper punch and middle die, and middle die powder box; wherein, for the upper punch and middle die option, during operation, only the upper punch and middle die are operated, and the manual single-step mode is used to observe the coordination of the pressing process; for the middle die powder box option, during operation, only the middle die and powder box are operated, and the manual single-step mode is used to observe the effect of the powder filling process.

[0015] As a preferred solution, other mode options are also included, and the other mode options include an idle running mode option and / or a button jog mode option.

[0016] As a preferred solution, the program uses a virtual axis as a standard reference. All modes are operations on this virtual axis, and the interpolation of any two axes is linked to the virtual axis. The mode status identifier is selected as the linkage request success flag and the linkage unlock flag with the virtual axis.

[0017] As a preferred solution, the virtual axis is displayed in angle.

[0018] As a preferred solution, the pressure value of the powder forming servo press is collected, compared with the set pressure, and the parameters are automatically adjusted to form a pressure closed-loop working mode.

[0019] As a preferred solution, by weighing the product in real time, collecting the product weight value, comparing it with the set weight range, and automatically adjusting the parameters, a weight closed-loop working mode is formed.

[0020] Compared with the prior art, the present invention has obvious advantages and beneficial effects. Specifically, it can be seen from the technical scheme that it is mainly based on the idea of ​​organic unity. In the process of formulating programming modules, unlike the previous priority formulation of functional programs, the implementation module of the mode parameters is first carried out, and all modes are defined to have a common call entry and result exit, to ensure that each mode uses the same implementation mode, to ensure that no matter which mode is used, the original parameters will not be inapplicable due to switching modes, so that the powder forming servo press can have a variety of working modes. These working modes can exist independently and can be organically unified. The parameters debugged in this working mode are also applicable when switched to another working mode, which better meets the customer's process compatibility and process iteration requirements, and is conducive to customers to produce more easily and stably.

[0021] In addition, by collecting the pressure value of the powder molding servo press and comparing it with the set pressure, the parameters are automatically adjusted to form a pressure closed-loop working mode. At the same time, by weighing the product in real time and collecting the product weight value, it is compared with the set weight range, and the parameters are automatically adjusted to form a weight closed-loop working mode, so that the processing quality stability of the powder molding equipment is better.

[0022] In order to more clearly illustrate the structural features and effects of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a simulated curve diagram of the position and angle of the upper punch shaft according to an embodiment of the present invention;

[0024] Figure 2 is a simulated curve diagram of the position and angle of the middle mold axis in an embodiment of the present invention;

[0025] Figure 3 It is a simulation curve diagram of the position and angle of the powder feeding shaft of the embodiment of the present invention. DETAILED DESCRIPTION

[0026] A powder forming device uses external pressure in a die to form powder. The forming process includes powder filling, pressing and demoulding (including robot unloading).

[0027] A method for calling and synchronously controlling the working modes of a powder forming servo press. In the process of formulating a programming module, the realization module of the mode parameters is firstly carried out, and all modes are defined to have a common calling entry and result exit;

[0028] Before proceeding with the functional program, two methods are used for classification:

[0029] The first type of mode is divided into manual and automatic modes: the manual mode includes manual jog mode and manual single-step mode; the automatic mode includes automatic single mode and automatic continuous mode; each mode of the first type of mode has a bit identifier, which is combined with a word identifier for uniqueness distinction; the first type of mode is the mainstream method on the market, which can intuitively meet the operation requirements;

[0030] The second mode is divided from the perspective of controlling the axes: the operation control of the upper punch axis, the middle die axis, and the powder feeding axis;

[0031] Any one or any two of the three axes of the upper punch axis, the middle die axis, and the powder feeding axis can cooperate to perform the operation control of the manual or automatic mode of the first type of mode. The second type of mode is divided by calling the same entrance and exit and the process in parallel, that is: the calling entrance uses the same variable symbol, a certain mode uses different state identifiers and the same mode identifier to perform AND logic, and then different modes are linked in parallel and output to the same result variable symbol. The mode identifier can be used to distinguish the mode selection, and the state identifier is used for the state when different mode selections are made; in this way, it is ensured that each mode uses the same implementation mode, and it is ensured that no matter which mode is used, the mode switching will not occur, which will cause the original parameters to be inapplicable;

[0032] Of course, the automatic continuous mode is meaningful only when the three axes are synchronized, otherwise it cannot be continuous in a closed-loop state unless it is carried out in dry-run mode. The second classification method can provide relevant personnel with a better model for process research; therefore, the two modes are integrated / combined to make a selection that can be selected and coordinated.

[0033] In the first category of mode options, the manual jog mode is the manual jog mode of a single axis, which is mainly used for single-axis debugging and standby position setting; the manual single-step mode moves one step when double-starting, otherwise stops, and is mainly used for stop-and-go observation during process parameter setting; the automatic single mode automatically pressure tests the product once after double-starting, which is mainly used for product trial production and inspection; the automatic continuous mode automatically produces products continuously after double-starting, which is mainly used for normal product production.

[0034] The second category of mode options includes at least two options: dual-axis upper punch and middle die, and dual-axis middle die powder box. Among them, for the dual-axis upper punch and middle die option, only the upper punch and the middle die are in operation, and combined with the manual single-step mode, it can be used to observe the coordination of the pressing process; for the dual-axis middle die powder box option, only the middle die and the powder box are in operation, and combined with the manual single-step mode, it can be used to observe the effect of the powder filling process, such as the key process of contour filling in powder filling.

[0035] Other mode options can also be set, including an idle run mode option and / or a button jog mode option. The idle run mode option can be arbitrarily combined with the first mode and the second mode, and can be used for single-axis testing and aging of the entire machine. Compared with the commonly used idle run mode, it has more complete functions. The button jog mode option can be combined with a button for jog operation, which can be used when it is inconvenient to operate the touch screen while wearing gloves.

[0036] Any two modes can be combined, which means that any mode or any axis cannot be used as unchanged. A standard reference needs to be found. The program uses a virtual axis (such as the instrument panel 0-360 degrees) as a standard reference, that is, all modes are operations on this virtual axis, and the interpolation of any two axes is linked with the virtual axis. Therefore, in the program implementation, the state identifier of the mode can be directly selected as the linkage request success flag and linkage unlock flag with the virtual axis. In order to make it simpler and more intuitive, the virtual axis is displayed in angle. This is the habit inherited by the electric servo press from the mechanical press.

[0037] A variety of mode options can be displayed on the screen, such as: three-axis linkage, single-axis linkage, empty run mode on, button-activated punching, automatic continuous operation, single-axis middle mold, shielded finished product sensing, button-activated middle mold, automatic single-shot operation, dual-axis punching middle mold, shielded buzzer, button-activated powder box, manual single-step operation, dual-axis middle mold powder box, shielded silo lack of material sensing, etc. In addition, the parameters in different modes contain default parameters, which can also be opened to users for free setting to meet more diverse working mode requirements.

[0038] When considering how to improve the stability of the equipment, the main thing is to make the weight, size and other variables of the product controllable. As a continuous production equipment, the powder forming servo press needs to detect the position, pressure and weight to obtain the corresponding parameters in addition to the functional modularization of the mode mentioned above, and then associate them to form a parameterized system, which can undoubtedly increase the stability control.

[0039] From the above, we can see that the whole program idea is based on the synchronous control of the virtual axis, which is specifically reflected in the hardware structure and software implementation of the synchronous module of the drive axis. The hardware guarantees the semi-closed loop position control, and the reference virtual axis of the synchronous control in the software is based on the angle as the standard. The synchronous control of a single axis is the relationship between the position and this angle. Therefore, the focus of the synchronous control is on the position of the axis at each angle.

[0040] Please refer to Figures 1 to 3 As shown, for example, according to an actual process, the simulation curve of the upper punch axis position and angle is as follows Figure 1 As shown, the simulation curves of the middle mold axis position and angle are as follows Figure 2 As shown in the figure, the simulated curves of the powder feeding shaft position and angle are as follows Figure 3 As shown, we can clearly see the relationship between the upper punch shaft position, the middle die shaft position, the powder feeding shaft position and the angle of the simulation curve. Therefore, the relationship between each position and angle determines the synchronous control. So where does the standard of position come from? The most intuitive thing about the servo press is pressure, which is also in line with the definition of a press. Through real-time pressure acquisition (real-time display on the display screen), the pressure is set for a single product comparison, and the parameters are automatically adjusted to form a pressure closed-loop working mode. This is the pressure mode. When the program is implemented, the pressure anchors the angle, collects data, saves data, and generates curves, which can accurately feedback the situation at each stage. For example, if the pressure before the start of pressing is too high, it means that the cavity formed to seal does not meet expectations. These provide a reference for customers to improve quality. Therefore, through the comparison of pressure values, the position value can be fed back accordingly, and then adjusted automatically.

[0041] Before the next process, the products are fragile. The easiest parameter to obtain is weight. Therefore, by weighing and comparing the set weight range, the parameters are automatically adjusted to form a weight closed-loop working mode, which is the weight mode. Set the upper and lower limits of the weight of good products. Within this range, set the adjustment threshold; outside the threshold and within the limit are the areas of automatic adjustment. When the program is implemented, the product weight and setting information are obtained through network communication, the weight data is saved, and the product weight trend chart is generated, which can intuitively understand the stability of production. Adjustment is not unlimited adjustment, but should be within a certain range, otherwise an alarm will be issued as soon as possible to remind manual intervention. Therefore, the adjustment parameters are opened, and the adjustment range is required to be set. The parameter to be adjusted is the cavity height parameter, m=ρV, that is: mass = density x volume, the cavity area can be regarded as fixed, and it can be seen that the weight and height parameters can be regarded as a linear relationship under the same density (same material). Therefore, the adjustment can be linearized.

[0042] Specific introduction on how to automatically adjust parameters: ①First set four range judgments, (from small to large) good product lower limit, adjustment lower limit, adjustment upper limit, good product upper limit; ②If the measured value is between good product lower limit and adjustment lower limit, additive adjustment can be performed; if the measured value is between adjustment lower limit and adjustment upper limit, no adjustment is required; if the measured value is between adjustment upper limit and good product lower limit, subtractive adjustment can be performed; ③You can set how many consecutive times (if the number of consecutive times is too large) before adjustment is made (in fact, it is usually set to make adjustments when the number of consecutive times is too large or too small); ④The adjustment amount is also open to customers to set; in this way, ensure that the product is within the good product range, and automatically adjust the parameters when the product is close to the good product parameter limit.

[0043] For the weight mode, when the product is close to the good product parameter limit, real-time adjustment is made to guide the powder filling of the next product to avoid the next product approaching the good product parameter limit or becoming a defective product. For abnormal situations, that is, when the feedback weight parameter exceeds the good product parameter limit, the system automatically alarms and requires staff to check / repair the machine. There are many alarm methods, including sound alarm, light alarm, remote alarm, etc., one or more of which are acceptable.

[0044] And which parameters are automatically adjusted: Adjust the powder filling height, which is a parameter that directly changes the product weight and pressure. For example: current powder filling height H, set standard powder filling height H0, single adjustment height h, set 2 consecutive adjustments; product standard weight M0, good product lower limit M1, adjustment lower limit M2, adjustment upper limit M3, good product upper limit M4; initially, H=H0; measured value M is in the interval (M1, M2) for 2 consecutive times, current powder filling height H=H0+h; measured value M is in the interval (M3, M4) for 2 consecutive times, current powder filling height H=H0-h; the above-mentioned automatic parameter adjustment of pressure mode and weight mode are based on the same principle.

[0045] The design focus of the present invention is that it is mainly based on the idea of ​​organic unity. In the process of formulating programming modules, unlike the previous priority formulation of functional programs, the implementation module of the mode parameters is first carried out, and all modes are defined to have a common call entry and result exit, to ensure that each mode uses the same implementation mode, to ensure that no matter which mode, the original parameters will not be inapplicable due to switching modes, so that the powder forming servo press can have a variety of working modes. These working modes can exist independently and be organically unified. The parameters debugged in this working mode are also applicable when switched to another working mode, which better meets the customer's process compatibility and process iteration requirements, and is conducive to customers to produce more easily and stably.

[0046] In addition, by collecting the pressure value of the powder molding servo press and comparing it with the set pressure, the parameters are automatically adjusted to form a pressure closed-loop working mode. At the same time, by weighing the product in real time and collecting the product weight value, it is compared with the set weight range, and the parameters are automatically adjusted to form a weight closed-loop working mode. The production status is displayed in real time, making the processing quality stability of the powder molding equipment better.

[0047] The above description is only a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any slight modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A method for calling and synchronously controlling working modes of a powder forming servo press, characterized in that: When developing a programming module, first implement the model parameter module and define that all models have a common call entry and result exit; Before proceeding with the functional program, two methods are used for classification: The first type of mode is divided into manual and automatic modes: the manual mode includes manual jog mode and manual single-step mode; the automatic mode includes automatic single mode and automatic continuous mode; each mode of the first type of mode has a bit identifier, which is combined with a word identifier to distinguish uniquely; The second mode is divided from the perspective of controlling the axes: the operation control of the upper punch axis, the middle die axis, and the powder feeding axis; Any one of the three axes, the upper punch axis, the middle die axis, and the powder feeding axis, or any two of them cooperate to perform the operation control of the manual mode or the automatic mode of the first type of mode, and the calling entry uses the same variable symbol. A certain mode uses different state identifiers and the same mode identifier to perform AND logic, and then different modes are linked in parallel and output to the same result variable symbol. The mode identifier is used to distinguish the mode selection, and the state identifier is used for the state when different mode selections are made; combining the two types of modes, a selection that can be selected and coordinated is made.

2. The method for calling and synchronously controlling the working mode of a powder forming servo press according to claim 1, characterized in that: In the first mode, The manual jog mode is a manual jog mode for a single axis, which is used for single-axis debugging and setting of the standby position; The manual single-step mode is double-start and moves one step, otherwise stops, which is used for on-the-go and stop observation during the process of process parameter setting; The automatic single mode is to automatically test the product once after double start, which is used for product trial production and inspection; The automatic continuous mode is to automatically and continuously produce products after dual start-up, and is used for normal production of products.

3. The method for calling and synchronously controlling the working mode of a powder forming servo press according to claim 1 or 2, characterized in that: The second mode includes at least two options: upper punch and middle die, and middle die powder box. Among them, when the upper punch and middle die option is in operation, only the upper punch and middle die are in operation, and the manual single-step mode is used to observe the coordination of the pressing process; when the middle die powder box option is in operation, only the middle die and powder box are in operation, and the manual single-step mode is used to observe the effect of the powder filling process.

4. The method for calling and synchronously controlling the working mode of a powder forming servo press according to claim 3, characterized in that: Other mode options are also included, including a dry run mode option and / or a button jog mode option.

5. The method for calling and synchronously controlling the working mode of a powder forming servo press according to claim 1, characterized in that: The program uses the virtual axis as the standard reference. All modes operate on this virtual axis, and the interpolation of any two axes is linked to the virtual axis. The state identifier of the mode is selected as the linkage request success flag and the linkage unlock flag with the virtual axis.

6. The method for calling and synchronously controlling the working mode of a powder forming servo press according to claim 5, characterized in that: The virtual axis is displayed in an angle manner.

7. The method for calling and synchronously controlling the working mode of a powder forming servo press according to claim 1, characterized in that: By collecting the pressure value of the powder forming servo press and comparing it with the set pressure, the parameters are automatically adjusted to form a pressure closed-loop working mode.

8. The method for calling and synchronously controlling the working mode of a powder forming servo press according to claim 1 or 7, characterized in that: By weighing the product in real time, collecting the product weight value, comparing it with the set weight range, and automatically adjusting the parameters, a weight closed-loop working mode is formed.

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