Transferring, fixing and welding integrated equipment for fuel gas tank butt welding

Abstract

The transferring, fixing and welding integrated equipment for fuel gas tank butt welding comprises a conveying mechanism, a feeding and discharging clamping mechanism and a three-station welding mechanism, the three-station welding mechanism is of a U-shaped structure, and the feeding and discharging clamping mechanism is arranged in the center of a square area defined by the three-station welding mechanism and the conveying mechanism; the feeding and discharging clamping mechanism sequentially clamps three sets of butt-spliced half tanks to be machined from the conveying mechanism, the three sets of butt-spliced half tanks are fed to three welding stations of the three-station welding mechanism, and then the three sets of welded tank bodies are sequentially discharged from the welding stations of the three-station welding mechanism and transferred to the conveying mechanism. According to the equipment, automatic feeding and discharging are matched with three-station welding, the welding time and the feeding and discharging transfer time are effectively utilized and matched through step design, the machining efficiency is improved, the workload of workers is reduced, and meanwhile continuous and automatic procedure operation is achieved in cooperation with program control reciprocating sequence actions of the conveying mechanism.

Description

Technical Field

[0001] The invention relates to the field of equipment on a gas tank production line, and in particular to a transfer, fixation and welding integrated equipment for butt welding of gas tanks. Background Art

[0002] The manufacturing process of two-section gas tanks is to first manufacture the two half tank bodies, punch the valve hole in one of the two sections, and then weld the two sections together. The existing welding method requires manual loading and unloading (loading is to feed the two half tanks into the welding machine and align the seams, and unloading is to lift the welded tank body to the conveyor or downstream process). The whole process takes a long time, is inefficient, and has a large workload. In addition, due to the mismatch with the conveying efficiency of the conveyor, it is impossible to achieve continuous and automatic online operation, and the conveyor needs to stop and wait in the middle. Summary of the invention

[0003] The technical problem to be solved by the present invention is: to overcome the defects of the existing two-stage gas tank production and processing line, such as the long time-consuming center seam welding step, low efficiency, large workload, and inability to achieve continuous and automatic online operation, and to provide a transfer, fixation, and welding integrated equipment for gas tank butt welding, which automatically loads and unloads materials in conjunction with three-station welding, and utilizes step design to effectively utilize and match welding time and loading and unloading transfer time, while improving processing efficiency and reducing workload, and cooperating with the program-controlled reciprocating sequence action of the conveying mechanism to achieve continuous and automatic process operation.

[0004] The integrated transfer, fixation and welding equipment for gas tank butt welding comprises a conveying mechanism, a loading and unloading clamping mechanism arranged on one side of the conveying mechanism, and a three-station welding mechanism arranged on the periphery of the loading and unloading clamping mechanism, wherein the three-station welding mechanism has a U-shaped structure, and the loading and unloading clamping mechanism is arranged at the center of a square area surrounded by the three-station welding mechanism and the conveying mechanism; the loading and unloading clamping mechanism sequentially clamps three groups of half-tanks to be processed from the conveying mechanism, and respectively loads the three groups of half-tanks to the three welding stations of the three-station welding mechanism, and then sequentially unloads the three groups of welded tank bodies from the welding stations of the three-station welding mechanism, and transfers them to the conveying mechanism.

[0005] Specifically, the three-station welding mechanism includes a U-shaped welding table, three groups of fixture cabinets arranged on the welding table, a gantry arranged behind each group of fixture cabinets, and a main control cabinet; a track is arranged in the fixture cabinet, and a fixture pulley for pushing and clamping the half-cans transferred by the clamping mechanism is arranged in the fixture cabinet; the fixture pulley is slid on the track, and a main cylinder for pushing and pulling the fixture pulley is arranged in the fixture cabinet, and the side wall of the fixture pulley is rotatably connected to a turntable through a bearing, and an annular tank frame is installed on the turntable, and a servo motor for driving the turntable to rotate is arranged in the fixture pulley carriage.

[0006] Furthermore, the turntable is mounted on the inner ring of the bearing, the outer ring of the bearing is fixed on the opening of the side wall of the clamp pulley, and the turntable is equipped with a push-out cylinder in the clamp pulley carriage, and the cylinder rod of the push-out cylinder passes through the turntable and connects to the inner side of the tank frame.

[0007] Furthermore, a welding gun frame is provided on the gantry, and a welding cylinder is installed on the welding gun frame. The cylinder rod of the welding cylinder passes downward through the welding gun frame and is connected to the welding gun. The lower end of the welding gun frame is provided with infrared leveling light strips on both sides of the welding gun.

[0008] Specifically, the loading and unloading clamping mechanism includes a main machine, a mechanical arm rotatably connected to the main machine, and a pick-and-place gripper rotatably connected to the mechanical arm. The pick-and-place gripper includes a rectangular cylinder frame and two pairs of grippers arranged on both sides of the cylinder frame. Two pairs of cylinder groups are symmetrically arranged on the two long sides of the cylinder frame, and the inner end of each gripper is fixed on a cylinder group; the outer side of the gripper is an L-shaped strip plate, and a through hole is opened on the plane of the gripper for the outer wall of the half can to be processed.

[0009] Furthermore, the cylinder group includes two cylinders, and the cylinder rod ends of the two cylinders are obliquely fixed on the diagonal of the inner plane of the gripper; the robotic arm includes a front long arm and a rear long arm connected by a third servo motor, the third servo motor is fixed at the rear end of the front long arm, and the output shaft of the third servo motor is connected and fixed to the front end of the rear long arm; a motor slot is provided at the front end of the front long arm, a fifth servo motor is rotatably connected in the motor slot, a fourth servo motor is fixed outside the motor slot, the output shaft of the fourth servo motor passes through the motor slot and is fixed to the body of the fifth servo motor, and the output shaft of the fifth servo motor is connected and fixed to the back side of the cylinder frame.

[0010] Furthermore, the main machine includes a base, a control box fixed on the base, and a mechanical arm base rotatably connected to the base; a first PLC programmable controller and a first servo motor are provided in the base, and a second servo motor is provided on the base; the output shaft of the first servo motor is fixedly connected to the bottom of the mechanical arm base, and the output shaft of the second servo motor is connected to the rear end of the rear long arm.

[0011] Specifically, the conveying mechanism includes a scraper conveyor belt, a program-controlled servo motor, an infrared incoming material sensor and a second PLC controller.

[0012] Furthermore, the input and output ends of the second PLC controller are connected to the infrared incoming material sensor and the program-controlled servo motor respectively.

[0013] The invention discloses a transfer, fixation and welding integrated device for gas tank butt welding, which overcomes the defects of the existing two-stage gas tank production and processing line, such as the long time required for the middle seam welding step, low efficiency, large workload for personnel, and inability to achieve continuous and automatic online operation, and has the following beneficial effects:

[0014] (1) This integrated transfer, fixing and welding equipment for gas tank butt welding uses automatic loading and unloading to coordinate three-station welding. It uses step design to effectively utilize and match welding time and loading and unloading transfer time, thereby improving processing efficiency and reducing personnel workload;

[0015] (2) This integrated equipment for transferring, fixing and welding gas tanks is used in conjunction with a conveying mechanism to utilize program-controlled sequence actions to achieve continuous and automatic process operation of three pieces in a group and reciprocating loading and unloading. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The following is a further description of a transfer, fixing and welding integrated device for gas tank butt welding of the present invention in conjunction with the accompanying drawings:

[0017] Figure 1 This is a top plan view of the structure of the transfer, fixation and welding integrated equipment for gas tank butt welding;

[0018] Figure 2 It is a three-dimensional structural diagram of the loading and unloading clamping mechanism of the transfer, fixing and welding integrated equipment for gas tank butt welding;

[0019] Figure 3 It is a three-dimensional structural diagram of the three-station welding mechanism of the transfer, fixation and welding integrated equipment for gas tank butt welding;

[0020] Figure 4 yes Figure 3 A perspective view of the internal structure of part A in the middle.

[0021] In the figure:

[0022] 0-half a can.

[0023] 1- conveying mechanism; 11- scraper conveyor belt, 12- program-controlled servo motor, 13- infrared incoming material sensor, 14- second PLC controller.

[0024] 2-loading and loading clamping mechanism; 21-main machine, 22-mechanical arm, 23-pick-up and place gripper, 24-third servo motor, 25-fifth servo motor, 26-fourth servo motor, 27-second servo motor; 210-first PLC programmable controller, 211-base, 212-control box, 213-mechanical arm seat; 221-front long arm, 222-rear long arm, 231-cylinder frame, 232-gripper, 233-through hole.

[0025] 3-three-station welding mechanism; 31-U-shaped welding table, 32-fixture cabinet, 33-gantry, 34-main control cabinet, 35-fixture pulley; 321-track, 322-main cylinder, 331-welding rack, 332-welding cylinder, 333-welding gun, 334-infrared leveling light bar, 351-turntable, 352-tank frame, 353-servo motor, 354-push cylinder. DETAILED DESCRIPTION

[0026] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] In the description of the present invention, it should be understood that the terms "left", "right", "front", "back", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0028] The technical solution of the present invention is further described below with specific embodiments, but the protection scope of the present invention is not limited to the following embodiments.

[0029] Implementation method 1: Figures 1 to 3 As shown, the integrated transfer, fixation and welding equipment for gas tank butt welding includes a conveying mechanism 1, a loading and unloading clamping mechanism 2 arranged on one side of the conveying mechanism 1, and a three-station welding mechanism 3 arranged on the periphery of the loading and unloading clamping mechanism 2, wherein the three-station welding mechanism 3 has a U-shaped structure, and the loading and unloading clamping mechanism 2 is arranged in the center of a square area surrounded by the three-station welding mechanism 3 and the conveying mechanism 1; the loading and unloading clamping mechanism 2 sequentially clamps three groups of half tanks 0 to be processed from the conveying mechanism 1, and respectively loads the three groups of half tanks to the three welding stations of the three-station welding mechanism 3, and then sequentially unloads the three groups of welded tank bodies from the welding stations of the three-station welding mechanism 3, and transfers them to the conveying mechanism 1.

[0030] Implementation method 2: Figure 3 , 4As shown, the three-station welding mechanism 3 of the transfer, fixation and welding integrated equipment for gas tank butt welding includes a U-shaped welding table 31, three groups of fixture cabinets 32 arranged on the welding table 31, a gantry 33 arranged behind each group of fixture cabinets 32, and a main control cabinet 34; a track 321 is arranged in the fixture cabinet 32, and a fixture pulley 35 for pushing and clamping the assembled half tank 0 transferred by the clamping mechanism 2 is arranged in the fixture cabinet 32; the fixture pulley 35 is slidably mounted on the track 321, and a main cylinder 322 for pushing and pulling the fixture pulley 35 is arranged in the fixture cabinet 32, and the side wall of the fixture pulley 35 is rotatably connected to a turntable 351 through a bearing, and an annular tank frame 352 is installed on the turntable 351, and a servo motor 353 for driving the turntable 351 to rotate is arranged in the carriage of the fixture pulley 35. The turntable 351 is mounted on the inner ring of the bearing, and the outer ring of the bearing is fixed on the opening of the side wall of the clamp pulley 35. The turntable 351 is installed with a push-up cylinder 354 in the carriage of the clamp pulley 35. The cylinder rod of the push-up cylinder 354 passes through the turntable 351 and is connected to the inner side of the tank frame 352. The gantry 33 is provided with a welding gun frame 331, and a welding cylinder 332 is installed on the welding gun frame 331. The cylinder rod of the welding cylinder 332 passes through the welding gun frame 331 downward and is connected to the welding gun 333. The lower end of the welding gun frame 331 is provided with an infrared leveling light bar 334 on both sides of the welding gun 33. When the two halves of the tank are loaded onto the welding table, the main cylinder pushes the clamp trolley inward to put the two parts of the gas tank into the tank frame. After the infrared leveling lamp shines downward on the light lines of the two parts of the gas tank to level the axis, the push-up cylinder pushes the tank frame inward to clamp the gas tank. After the welding gun sprays, the servo motor drives the turntable to rotate, so that the weld runs one circle to complete the welding; the loading and unloading clamping mechanism clamps the tank body welded together again, the push-up cylinder recovers the loosened gas tank, the main cylinder pulls the clamp trolley back to the furniture cabinet on both sides, and the loading and unloading clamping mechanism sends the tank body back to the conveying mechanism. The remaining structures and components are as described in Implementation 1 and will not be described again.

[0031] Implementation method 3: Figure 3As shown, the loading and unloading clamping mechanism 2 of the transfer, fixing and welding integrated equipment for gas tank butt welding includes a main machine 21, a mechanical arm 22 rotatably connected to the main machine 21, and a pick-up and placement gripper 23 rotatably connected to the mechanical arm 22, wherein the pick-up and placement gripper 23 includes a rectangular cylinder frame 231 and two pairs of grippers 232 arranged on both sides of the cylinder frame 231, two pairs of cylinder groups are symmetrically arranged on the two long sides of the cylinder frame 231, and the inner end of each gripper 232 is fixed on a cylinder group; the outer side of the gripper 232 is an L-shaped strip plate, and a through hole 233 for the outer wall of the half tank to be processed is opened on the plane of the gripper 232. The cylinder group includes two cylinders, and the cylinder rod ends of the two cylinders are obliquely fixed on the diagonal of the inner plane of the gripper 232; the mechanical arm 22 includes a front long arm 221 and a rear long arm 222 connected by a third servo motor 24, the third servo motor 24 is fixed at the rear end of the front long arm 221, and the output shaft of the third servo motor 24 is connected and fixed to the front end of the rear long arm 222; a motor slot is provided at the front end of the front long arm 221, and a fifth servo motor 25 is rotatably connected in the motor slot, and a fourth servo motor 26 is fixed on the outside of the motor slot, and the output shaft of the fourth servo motor 26 passes through the motor slot and is fixed on the body of the fifth servo motor 25, and the output shaft of the fifth servo motor 25 is connected and fixed to the back side of the cylinder frame 231. The main machine 21 includes a base 211, a control box 212 fixed on the base 211, and a mechanical arm base 213 rotatably connected to the base 211. A first PLC programmable controller 210 and a first servo motor are arranged in the base 211, and a second servo motor 27 is arranged on the base 211; the output shaft of the first servo motor is fixedly connected to the bottom of the mechanical arm base 213, and the output shaft of the second servo motor 27 is connected to the rear end of the rear long arm 222.The gas tank to be processed after the upper and lower tanks are assembled is placed on the conveying mechanism and conveyed to the opening direction of the three-station welding structure for alignment. Under the control of the first PLC programmable controller, the second and third servo motors drive the mechanical arm to retract, the cylinder group drives the gripper to open outward, the first servo motor drives the mechanical arm seat to turn to the direction of the conveyor, the second and third servo motors drive the mechanical arm to extend forward, the fourth and fifth servo motors drive the pick-and-place gripper to be vertical, the cylinder group drives the two groups of grippers to retract and clamp the upper and lower tank bodies of the gas tank at the same time, the second and third servo motors drive the mechanical arm to retract, the first servo motor drives the mechanical arm seat to turn to the direction of the first welding station of the welding machine, the fourth and fifth servo motors drive the pick-and-place gripper to be horizontal, and the second and third servo motors drive the mechanical arm to retract. The servo motor drives the mechanical arm to extend forward, and the fourth and fifth servo motors drive the pick-and-place gripper to be horizontal. When the first welding station completes the inward push and clamping of the gas tank from both sides horizontally, the cylinder group drives the gripper to open outward, and the second and third servo motors drive the mechanical arm to retract. The first servo motor drives the mechanical arm seat to turn to the conveyor direction again to load the second and third welding stations. After the third welding station is loaded, the welding of the first welding station is completed, and the loading and unloading clamping mechanism turns to the first welding station to clamp the processed tank body and turn it to the conveying mechanism to complete the unloading of the first welding station, and then complete the unloading of the second and third welding stations in turn, and then carry out the next round of loading of the three welding stations. The remaining structures and components are as described in Implementation 1 and will not be repeated.

[0032] Implementation 4: Figure 1 As shown, the conveying mechanism 1 of the transfer, fixing and welding integrated equipment for gas tank butt welding includes a scraper conveyor belt 11, a program-controlled servo motor 12, an infrared incoming material sensor 13 and a second PLC controller 14. The input and output ends of the second PLC controller 14 are respectively connected to the infrared incoming material sensor 13 and the program-controlled servo motor 12. The second PLC controller receives the material removal signal of the infrared incoming material sensor, moves forward to move the next pair of half cans to the removal position, and after continuously taking away three pairs of half cans of materials, the second PLC controller controls the program-controlled servo motor to reverse, returns the three scraper vacancies to the reverse position, and moves forward according to the material unloading and incoming material signal of the infrared sensor to move the next scraper vacancies to the incoming material position. After the three groups of unloading are completed, the next round of material unloading and unloading is carried out. The remaining structures and components are as described in Implementation 1 and will not be described again.

[0033] During operation: the loading and unloading clamping mechanism sequentially clamps three groups of half-cans to be processed from the conveying mechanism, and respectively loads the three groups of half-cans to the three welding stations of the three-station welding mechanism. During this process, the conveying mechanism moves forward step by step, and then returns to its reverse position. The loading and unloading clamping machine then sequentially unloads the three groups of welded can bodies from the welding stations of the three-station welding mechanism, and transfers them to the conveying mechanism. The conveying mechanism moves forward step by step again. After completion, the conveying mechanism moves forward three stations, thereby realizing automatic loading and unloading and reciprocating continuous operation of center seam welding.

[0034] The integrated transfer, fixation and welding equipment for gas tank butt welding overcomes the defects of the existing two-stage gas tank production and processing line, such as the long time-consuming center seam welding step, low efficiency, heavy workload, and inability to achieve continuous and automatic online operation. It realizes continuous and automatic process operation by automatically loading and unloading materials in conjunction with three-station welding and effectively utilizing and matching welding time and loading and unloading transfer time through step design. While improving processing efficiency and reducing workload, it cooperates with the program-controlled reciprocating sequence action of the conveying mechanism to achieve continuous and automatic process operation.

[0035] The above description shows the main features, basic principles, and advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments or embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, the above embodiments or embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the attached claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0036] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A transfer, fixation and welding integrated equipment for gas tank butt welding, characterized by: It comprises a conveying mechanism (1), a loading and unloading clamping mechanism (2) arranged on one side of the conveying mechanism (1), and a three-station welding mechanism (3) arranged on the periphery of the loading and unloading clamping mechanism (2), wherein: The three-station welding mechanism (3) has a U-shaped structure, and the loading and unloading clamping mechanism (2) is arranged in the center of a square area surrounded by the three-station welding mechanism (3) and the conveying mechanism (1); the loading and unloading clamping mechanism (2) sequentially clamps three groups of half-cans (0) to be processed from the conveying mechanism (1), and respectively loads the three groups of half-cans to the three welding stations of the three-station welding mechanism (3), and then sequentially unloads the three groups of welded can bodies from the welding stations of the three-station welding mechanism (3), and transfers them to the conveying mechanism (1).

2. The integrated transfer, fixing and welding equipment for gas tank butt welding according to claim 1 is characterized by: The three-station welding mechanism (3) comprises a U-shaped welding table (31), three sets of fixture cabinets (32) arranged on the welding table (31), a gantry (33) arranged behind each set of fixture cabinets (32), and a main control cabinet (34); a track (321) is arranged in the fixture cabinet (32), and a fixture pulley (321) is arranged in the fixture cabinet (32) for pushing and clamping the half-tank (0) transferred by the clamping mechanism (2). 5); the clamp pulley (35) is slidably mounted on the track (321); a main cylinder (322) for pushing and pulling the clamp pulley (35) is provided in the clamp cabinet (32); a turntable (351) is rotatably connected to the side wall of the clamp pulley (35) through a bearing, and an annular tank frame (352) is installed on the turntable (351); a servo motor (353) for driving the turntable (351) to rotate is provided in the carriage of the clamp pulley (35).

3. The integrated transfer, fixing and welding equipment for gas tank butt welding according to claim 2 is characterized by: The rotating disk (351) is mounted on the inner ring of the bearing, and the outer ring of the bearing is fixed on the opening of the side wall of the clamp pulley (35). The rotating disk (351) is equipped with a push-out cylinder (354) in the carriage of the clamp pulley (35), and the cylinder rod of the push-out cylinder (354) passes through the rotating disk (351) and is connected to the inner side of the tank frame (352).

4. The integrated transfer, fixing and welding equipment for gas tank butt welding according to claim 3 is characterized by: A welding gun frame (331) is provided on the gantry (33), and a welding cylinder (332) is installed on the welding gun frame (331). The cylinder rod of the welding cylinder (332) passes through the welding gun frame (331) downward and is connected to a welding gun (333). The lower end of the welding gun frame (331) is provided with infrared leveling light strips (334) on both sides of the welding gun (33).

5. The integrated transfer, fixation and welding equipment for gas tank butt welding according to claim 1 is characterized by: The loading and unloading clamping mechanism (2) comprises a main machine (21), a mechanical arm (22) rotatably connected to the main machine (21), and a pick-and-place gripper (23) rotatably connected to the mechanical arm (22); the pick-and-place gripper (23) comprises a rectangular cylinder frame (231) and two pairs of grippers (232) arranged on both sides of the cylinder frame (231); two pairs of cylinder groups are symmetrically arranged on the two long sides of the cylinder frame (231); the inner end of each gripper (232) is fixed to a cylinder group; the outer side of the gripper (232) is an L-shaped strip plate, and a through hole (233) for processing the outer wall of the half can to be processed is opened on the plane of the gripper (232).

6. The integrated transfer, fixing and welding equipment for gas tank butt welding according to claim 5 is characterized by: The cylinder group comprises two cylinders, the cylinder rod ends of the two cylinders are obliquely fixed on the diagonal line of the inner plane of the gripper (232); the mechanical arm (22) comprises a front long arm (221) and a rear long arm (222) connected by a third servo motor (24), the third servo motor (24) is fixed to the rear end of the front long arm (221), and the output shaft of the third servo motor (24) is connected and fixed to the front end of the rear long arm (222); a motor slot is provided at the front end of the front long arm (221), a fifth servo motor (25) is rotatably connected in the motor slot, a fourth servo motor (26) is fixed outside the motor slot, the output shaft of the fourth servo motor (26) passes through the motor slot and is fixed to the body of the fifth servo motor (25), and the output shaft of the fifth servo motor (25) is connected and fixed to the back side of the cylinder frame (231).

7. The integrated transfer, fixing and welding equipment for gas tank butt welding according to claim 6 is characterized by: The host (21) comprises a base (211), a control box (212) fixed on the base (211), and a mechanical arm base (213) rotatably connected to the base (211); a first PLC programmable controller (210) and a first servo motor are arranged in the base (211); a second servo motor (27) is arranged on the base (211); an output shaft of the first servo motor is fixedly connected to the bottom of the mechanical arm base (213), and an output shaft of the second servo motor (27) is connected to the rear end of the rear long arm (222).

8. The integrated transfer, fixation and welding equipment for gas tank butt welding according to claim 1 is characterized by: The conveying mechanism (1) comprises a scraper conveyor belt (11), a program-controlled servo motor (12), an infrared incoming material sensor (13) and a second PLC controller (14).

9. The integrated transfer, fixation and welding equipment for gas tank butt welding according to claim 8 is characterized by: The input and output ends of the second PLC controller (14) are respectively connected to the infrared incoming material sensor (13) and the program-controlled servo motor (12).

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