Curtain wall stand column automatic production line control system and method

Abstract

The curtain wall stand column automatic production line control system comprises a programmable logic controller (PLC), one end of the PLC is connected with an upper computer to receive an instruction, and the other end of the PLC is connected with various air cylinders for control through an IO module and an electromagnetic valve; an IO module of the truss robot controller controls an air cylinder of a mechanical arm clamping jaw through an electromagnetic valve, and the controller drives a servo motor through a servo driver. And the upper computer sends a control signal and obtains a feedback signal processed by the PLC and the controller. The communication stability and timeliness are guaranteed, the automation degree of curtain wall stand column production is improved, and automatic production of the processes of feeding, machining, discharging, loading and the like is achieved.

Description

Technical Field

[0001] The present invention relates to the field of automated production and assembly, and more specifically to a control system and method for an automated production line of curtain wall columns. Background Art

[0002] Curtain wall columns are the core components of building curtain walls, mainly in the form of long rods, with large volume and weight; during the processing process, equipment such as sawing machines, milling machines, and CNC machining centers are required. During the handling process, multiple workers need to cooperate. At the same time, at least two workers are required to operate each piece of equipment during the processing process; therefore, the entire production line has problems such as high manpower requirements, high costs, high labor intensity, long working hours, and low automation; at the same time, the equipment generates huge noise during use, causing damage to the human body in such an environment for a long time. Summary of the Invention

[0003] Aiming at the deficiencies of the prior art, the present invention provides a control system and method for an automated production line of curtain wall columns, aiming to improve the efficiency and automation level of the curtain wall column production line.

[0004] The technical solution adopted by the present invention to achieve the above object is as follows:

[0005] An automated production line control system for curtain wall columns, comprising

[0006] A Huichuan PLC, with one end connected to the upper computer to receive the control signal sent by the upper computer, and the other end connected to each cylinder through a solenoid valve to complete the control of the cylinder and receive the sensor signal;

[0007] A truss robot controller, with one end connected to the upper computer to receive the control signal, and the other end connected to the servo motor through a servo driver to complete the control of the servo motor. The IO module is connected to the cylinder through a solenoid valve to complete the control of the gripper cylinder of the robotic arm;

[0008] Each machine tool PLC receives the control signal from the upper computer and completes the control of the cylinder and motor of the machine tool through a solenoid valve and a driver.

[0009] There are six truss robotic arms, respectively including

[0010] The first robotic arm mainly has two sets of servo motors and two sets of cylinders, which are used to transport the wooden strips on the material cart in the loading area to the unloading area and can move freely in the X-axis direction and the Z-axis direction;

[0011] The second robotic arm mainly consists of three sets of servo motors and two sets of cylinders, can move in the Y-axis direction and the Z-axis direction, and the robotic arm gripper can rotate 180°, which is used to transport the column raw materials from the material cart in the loading area to the sawing machine to complete the loading work;

[0012] The third robotic arm is mainly composed of three sets of servo motors and two sets of cylinders, and can move in the Y-axis direction and the Z-axis direction. The robotic arm gripper can rotate 180°, and is used to transport the semi-finished column from the sawing machine to the milling machine to complete the loading and unloading work;

[0013] The fourth robotic arm is mainly composed of three sets of servo motors and two sets of cylinders, and can move in the Y-axis direction and the Z-axis direction. The robotic arm gripper can rotate 180°, and is used to transport the semi-finished column from the sawing machine to the conveyor line to complete the unloading work;

[0014] The fifth robotic arm is mainly composed of three sets of servo motors and two sets of cylinders, and can move in the Y-axis direction and the Z-axis direction. The robotic arm gripper can rotate 180°, and is used to transport the semi-finished column from the conveyor line to the machining center to complete the loading work;

[0015] The sixth robotic arm is mainly composed of three sets of servo motors and two sets of cylinders, and can move in the Y-axis direction and the Z-axis direction. The robotic arm gripper can rotate 180°, and is used to transport the finished column from the machining center to the unloading area trolley to complete the unloading work.

[0016] There are a total of seventeen sets of the servo drivers and servo motors, including

[0017] The first servo motor is connected to the first servo driver, and the second servo motor is connected to the second servo driver, which is used for the first robot to move in the X-axis direction and the Z-axis direction;

[0018] The third servo motor is connected to the third servo driver, and the fourth servo motor is connected to the fourth servo driver, which is used for the second robotic arm to move in the Y-axis and Z-axis directions;

[0019] The fifth servo motor is connected to the fifth servo driver, which is used for the gripper of the second robotic arm to rotate 180°;

[0020] The functions of the remaining servo motors and servo drivers are the same as those of the third, fourth, and fifth groups.

[0021] It also includes a solenoid valve connected to the IO module of the Inovance PLC and the truss robot controller, which is used for the air circuit control of each cylinder.

[0022] It also includes a laser displacement sensor connected to the Inovance PLC and the truss robot controller, which is used for the position detection of each mechanism.

[0023] A control method for an automated production line of curtain wall columns includes the following steps:

[0024] Step 1: Detect the arrival of the trolley in the loading area. The second robotic arm transports the column raw materials in the trolley to the sawing machine, and completes the labeling work on the way until the transportation of one layer of raw materials is completed;

[0025] Step 2: After the first robotic arm removes the isolation wooden strips on the feeding area trolley, the second robotic arm continues to execute actions;

[0026] Step 3: The third robotic arm transports the semi-finished column processed on the sawing machine to the milling machine;

[0027] Step 4: The fourth robotic arm transports the semi-finished column processed on the milling machine to the conveyor line;

[0028] Step 5: The fifth robotic arm transports the semi-finished column conveyed on the conveyor line to the machining center;

[0029] Step 6: The sixth robotic arm transports the finished column from the machining center to the discharging area trolley, completing the production of the column.

[0030] The present invention has the following effects and advantages:

[0031] 1. The present invention ensures the stability and real-time nature of communication, and improves the automation degree of the curtain wall column production process, realizing the automated production of the curtain wall column production line from processes such as sawing, end milling, and drilling;

[0032] 2. The present invention is designed with an automatic labeling machine, and the printer in the labeling machine can automatically obtain column information to print labels, enabling accurate positioning of each column with labels.

[0033] The host computer of the present invention is equipped with a central control system, which can realize the communication between each robotic arm and each machine tool to complete linkage actions, and at the same time connect to the information management system to realize intelligent production. Description of the Drawings

[0034] Figure 1 is the structural block diagram of the present invention.

[0035] Figure 2 is the method flow chart of the present invention.

[0036] Figure 3 is the method flow chart of the automatic labeling machine of the present invention. Embodiment

[0037] The present invention will be further described in detail in combination with the drawings and embodiments.

[0038] As Figure 1 shown is the structural block diagram of the present invention.

[0039] The controlled objects of the control system of the curtain wall column automatic production line include the first robotic arm, the second robotic arm, the third robotic arm, the fourth robotic arm, the fifth robotic arm, the sixth robotic arm, the automatic labeling machine and each machine tool. The control system includes a truss robot controller and a PLC controller. The truss robot controller is connected to the upper computer, the servo driver and the servo motor. The digital IO module of the truss robot controller is connected to the cylinder and the laser displacement sensor. The digital I / O port of the PLC controller is connected to the cylinder and the laser displacement sensor. The digital serial port of the PLC is connected to the touch screen. The port of the truss robot controller is connected to the teach pendant.

[0040] The first robotic arm is driven by the first servo driver and the first servo motor, and moves in the X-axis direction through the gear, rack and slider. The movement in the Z-axis direction is achieved through the lead screw mechanism, the second servo driver and the second servo motor, and at the same time, it is equipped with a pneumatic slide table and a cylinder finger to grab the wooden strip. The truss robot controller communicates with the servo driver and cooperates with two groups of laser displacement sensors to complete the positioning of the wooden strip.

[0041] The second robotic arm is driven by the third servo driver and the third servo motor, and moves in the Y-axis direction through the gear, rack and slider. The movement in the Z-axis direction is achieved through the fourth servo driver and the fourth servo motor in cooperation with the gear rack and slider. The gripper is completed by two three-bar cylinders for clamping. The rotation of 180° is completed by the fifth servo driver and the fifth servo motor. The truss robot controller communicates with the servo driver and cooperates with two groups of laser displacement sensors to complete the positioning.

[0042] The control methods of the third robotic arm to the sixth robotic arm are the same as those of the second robotic arm.

[0043] The automatic labeling machine completes the labeling work between the second robotic arm and the third robotic arm. The PLC controller receives signals by connecting to the upper computer through Ethernet, and then connects to the solenoid valve through the I / O port of the PLC. The lid cylinder, rotary cylinder, suction cup cylinder and material taking cylinder connected to the solenoid valve realize the transmission. The printer connects to the upper computer through Ethernet to obtain part information and complete the printing. The digital serial port of the PLC is connected to the touch screen.

[0044] The PLC touch screen provides a man-machine interface. The interface displays the states of each cylinder of the automatic labeling machine, fault alarm information, the number of labels, and a series of actions such as zero return, start, and emergency stop. At the same time, it provides a manual mode.

[0045] The host computer is equipped with a central control system that communicates with the truss robot controller and the PLC controller, providing a management interface for the curtain wall column automated production line. The interface can control the actions of each robotic arm and the labeling machine, provide real-time status displays and fault alarm information for each functional mechanism, and at the same time connect to the enterprise ERP production system to manage various production information.

[0046] Figure 2 This is the method flow chart of the present invention.

[0047] After the material cart is transported to the loading area by the AGV cart, the central control system receives the in-place signal, transmits the signal to the truss robot controller. After checking the status of each device, click the start button on the teach pendant. The truss robot controller controls the servo motor and laser displacement sensor on the second robotic arm, and starts grasping the material after reaching the specified position.

[0048] After the second robotic arm transports the part above the automatic labeling machine, the truss robot controller feeds back the signal to the central control system. The central control system transmits the print label instruction and the labeling instruction to the PLC controller and the printer to complete the printing task.

[0049] After the second robotic arm moves the part above the sawing machine, the truss robot control feeds back the signal to the central control system. The central control system transmits the processing instruction to the PLC controller of the sawing machine to complete the sawing process, and the PLC controller feeds back the completion signal to the central control system.

[0050] The central control system transmits the transportation instruction to the truss robot controller to control the third robotic arm to transport the part to the milling machine. At the same time, it feeds back the completion signal to the central control system. The central control system transmits the processing instruction to the PLC controller of the milling machine to complete the end milling process, and the PLC feeds back the completion signal to the central control system.

[0051] The central control system transmits the transportation instruction to the truss robot controller to control the fourth robotic arm to transport the part to the roller line. The laser displacement sensor detects the signal and transmits the signal to the PLC controller to control the servo motor to convey the part to the other end. After reaching the position, the laser displacement sensor feeds back the signal to the central control system.

[0052] The central control system transmits the transportation instruction to the truss robot controller to control the fifth robotic arm to transport the part to the CNC machining center. At the same time, it feeds back the completion signal to the central control system. The central control system transmits the processing instruction to the PLC controller of the machining center to complete processes such as drilling, and the PLC feeds back the completion signal to the central control system.

[0053] The central control system transmits the transportation instruction to the truss robot controller to control the sixth robotic arm to transport the part into the material cart in the unloading area.

[0054] After the second robotic arm grabs a layer of materials from the material cart in the loading area, it feeds back a signal to the central control system. The central control system transmits the wooden strip grabbing command to the truss robot controller to control the first robotic arm to complete the task of grabbing the wooden strips. When the sixth robotic arm transports the parts to fill a layer in the unloading area material cart, it feeds back a signal to the central control system. The central control system transmits the wooden strip placement command to the truss robot controller to control the first robotic arm to complete the wooden strip placement.

[0055] Figure 3 It is the method flowchart of the automatic labeling machine of the present invention.

[0056] System initialization scan and detection: After turning on the power, the system starts waiting for signal input. Click the automatic mode in the human-machine interface, click the production page, and then click to power on the printer. If it is found that the system alarms because the cylinder is not in the standby position, click the reset button, and the alarm signal will be eliminated.

[0057] Labeling preparation work: Click start in the production page, and the system waits for the printing signal sent by the central control. After the signal is sent, the printer prints the label. The laser sensor located below the label detects the label signal, then the material taking cylinder descends, the suction cup sucks air, the air blowing port blows air, and the material taking cylinder rises to complete the preparation work.

[0058] Labeling is carried out: The central control sends a signal that the robotic arm arrives above the labeling machine, the lid cylinder retracts, and the top lid of the machine is opened. Then the rotating cylinder rotates 180°, the suction cup cylinder extends, and the suction cup closes to suck air. Finally, the suction cup cylinder retracts, the rotating cylinder turns back, and the top lid closes to complete the labeling work.

[0059] Two modes, manual mode and automatic mode, are set. When the automatic mode is selected, the labeling machine automatically repeats the labeling work. When a fault occurs, select the manual mode. After solving the problem, re-select the automatic mode and click reset to start.

Claims

1. An automatic production line control system for curtain wall columns, characterized in that: It includes a Hitech PLC, with one end connected to the host computer to receive the control signals sent by the host computer, and the other end connected to each cylinder through solenoid valves to complete the control of the cylinders and receive sensor signals; a truss robot controller, with one end connected to the host computer to receive control signals, and the other end connected to a servo motor through a servo driver to complete the control of the servo motor. The IO module is connected to the cylinder through a solenoid valve to complete the control of the gripper cylinder of the robotic arm; each machine tool PLC receives the control signals from the host computer and controls the cylinders and motors of the machine tool through solenoid valves and drivers; there are six truss robotic arms, which respectively include: The first robotic arm mainly has two sets of servo motors and two sets of cylinders, and is used to transport the wooden strips on the trolley in the loading area to the unloading area, and can move freely in the X-axis direction and the Z-axis direction; The second robotic arm mainly consists of three sets of servo motors and two sets of cylinders, and can move in the Y-axis direction and the Z-axis direction. The gripper of the robotic arm can rotate 180°, and is used to transport the column raw materials from the trolley in the loading area to the sawing machine to complete the loading work; The third robotic arm mainly consists of three sets of servo motors and two sets of cylinders, and can move in the Y-axis direction and the Z-axis direction. The gripper of the robotic arm can rotate 180°, and is used to transport the semi-finished column from the sawing machine to the milling machine to complete the loading and unloading work; The fourth robotic arm mainly consists of three sets of servo motors and two sets of cylinders, and can move in the Y-axis direction and the Z-axis direction. The gripper of the robotic arm can rotate 180°, and is used to transport the semi-finished column from the sawing machine to the conveyor line to complete the unloading work; The fifth robotic arm mainly consists of three sets of servo motors and two sets of cylinders, and can move in the Y-axis direction and the Z-axis direction. The gripper of the robotic arm can rotate 180°, and is used to transport the semi-finished column from the conveyor line to the machining center to complete the loading work; The sixth robotic arm mainly consists of three sets of servo motors and two sets of cylinders, and can move in the Y-axis direction and the Z-axis direction. The gripper of the robotic arm can rotate 180°, and is used to transport the finished column from the machining center to the trolley in the unloading area to complete the unloading work; It also includes a laser displacement sensor, which is connected to the Hitech PLC and the truss robot controller respectively, and is used to cooperate in detecting the position of the trolley, the position of the semi-finished column in the conveyor line, and the position of the gripper of the robotic arm.

2. The column automatic production line control system according to claim 1, characterized in that: There are a total of seventeen sets of the servo drivers and servo motors, which respectively include The first servo motor is connected to the first servo driver, and the second servo motor is connected to the second servo driver, and is used for the first robot to move in the X-axis direction and the Z-axis direction; The third servo motor is connected to the third servo driver, and the fourth servo motor is connected to the fourth servo driver, and is used for the second robotic arm to move in the Y-axis and Z-axis directions; The fifth servo motor is connected to the fifth servo driver, and is used for the gripper of the second robotic arm to rotate 180°; The functions of the remaining servo motors and servo drivers are the same as those of the third, fourth, and fifth groups.

3. The column automatic production line control system according to claim 1, characterized in that: It also includes an IO module that connects the solenoid valve to the Inovance PLC and the truss robot controller, and is used for the air circuit control of each cylinder.

4. The column automatic production line control system according to claim 1, characterized in that: It also includes a laser displacement sensor connected to the Inovance PLC and the truss robot controller, and is used for the position detection of each mechanism.

5. The control method of the column automatic production line of the system according to any one of claims 1 to 4, characterized in that it includes the following steps: Step 1: Detect that the material truck in the loading area is in place, and the second robotic arm transports the column raw materials in the material truck to the sawing machine until the transportation of one layer of raw materials is completed; Step 2: After the first robot removes the isolation wooden strips on the material truck in the loading area, the second robotic arm continues to execute the action; Step 3: The third robotic arm transports the semi-finished column processed on the sawing machine to the milling machine; Step 4: The fourth robotic arm transports the semi-finished column processed on the milling machine to the conveyor line; Step 5: The fifth robotic arm transports the semi-finished column transported on the conveyor line to the machining center; Step 6: The sixth robotic arm transports the finished column in the machining center to the material truck in the unloading area to complete the production of the column.

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