Clamping and forming shared device for dropper crimping pipe and control method of clamping and forming shared device

Abstract

The invention belongs to the technical field of high-speed rail overhead line system dropper automatic production, and particularly relates to a dropper pressing pipe clamping and forming shared device and a control method thereof.The shared device comprises a servo hydraulic station, a clamp set, a force sensor and a PLC, and the servo hydraulic station comprises a gear pump connected with a hydraulic oil tank; the servo motor is used for providing power for the gear pump, the clamp set is connected with the servo hydraulic station and comprises a fixed end clamp and a movable end clamp, each of the fixed end clamp and the movable end clamp comprises a fixed oil cylinder and a movable oil cylinder, and the force sensor is used for collecting force sensor data of the fixed end clamp and the movable end clamp; the force sensor is used for collecting force sensor data and feeding back the collected force sensor data to the PLC, and the PLC is used for controlling the servo motor through the motor controller according to a clamping or forming command and analyzing and judging the force sensor data collected by the force sensor, so that the rotating speed of the servo motor is adjusted in real time. The automatic production efficiency and quality of droppers can be improved.

Description

Technical Field

[0001] This invention belongs to the field of automated production technology of overhead contact line droppers for high-speed railways, specifically relating to a device for clamping and forming dropper pressing pipes and its control method. Background Technology

[0002] In the automated production line for the overhead contact line droppers of high-speed railways, according to the process characteristics, a relatively small pressure of 0.5-0.8T is needed to clamp the crimping tube parts during the threading process of the dropper wire to ensure that the position of the crimping tube parts is accurate and that the parts do not deform. After the automated production line successfully threads the wire, a much larger pressure of 5-6T is needed to extrude the crimping tube and dropper wire into shape to ensure that the forming dimensions meet the standards.

[0003] Most existing technologies use a high-low pressure switching solution with a hydraulic station. However, this solution has several drawbacks, such as cumbersome high-low pressure switching, the need to manually adjust the hydraulic valve to determine the hydraulic station pressure output, uncertainty in the adjustment target value, slow cylinder idling speed during high-low pressure switching, reliance on the operator's long-term experience, and inaccurate control of the end clamping and forming force data, resulting in an increased scrap rate. Summary of the Invention

[0004] The purpose of this invention is to solve the problems of inaccurate control of clamping force and forming force of press-fit parts in the automated production line of high-speed railway catenary droppers, and slow response of switching action, and to provide a common device for clamping and forming of dropper press-fit parts and its control method.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is: a device for clamping and forming a suspension wire crimping pipe, comprising: A servo hydraulic power unit, comprising a gear pump connected to a hydraulic oil tank and a servo motor for providing power to the gear pump; A fixture assembly is connected to the servo hydraulic station, and the fixture assembly includes a fixed end fixture and a movable end fixture, both of which include a fixed cylinder and a movable cylinder; A force sensor is used to collect force sensor data from the fixed-end fixture and the moving-end fixture, and to feed the collected force sensor data back to the PLC controller. The PLC controller is used to control the servo motor through the motor controller according to the clamping or forming command, and to analyze and judge the force sensor data collected by the force sensor, thereby adjusting the speed of the servo motor in real time.

[0006] Preferably, the PLC controller is connected to a touch screen interactive device, which is used to set the parameter formula table for the clamping force and forming force of the crimping tube, including the clamping force value. and the value of the forming force Clamping force mapping servo control voltage And forming force mapping servo control voltage Fine-tuning the clamping force PID parameters And fine-tuning PID parameters for molding force Clamping force application time threshold and the threshold of time of action of forming force Clamping force adjustment starting coefficient and molding force adjustment start coefficient Clamping force limit and molding force limit Clamping force and forming force, displacement voltage .

[0007] Preferably, the PLC controller constructs a mapping table between the input control voltage and the actual pressure value based on the actual pressure value and the experimental value of the input control voltage. This mapping table is used to obtain the control voltage value of the motor controller when receiving clamping or molding instructions.

[0008] Preferably, the pressure sensor is a spoke-type force sensor with a range of 0-10T, which is installed at the fixed cylinder of the fixed end clamp and the fixed cylinder of the moving end clamp, respectively.

[0009] A control method for both clamping and forming of a dropper compression fitting includes the following steps: S1. Construct a closed-loop hydraulic control device, such as the above-mentioned device for clamping and forming the lifting cable pressing pipe; S2. The clamping force and forming force parameters of the pressing tube are set by the touch screen interactive device, and the PLC controller constructs a mapping table between the input control voltage and the actual pressure value. S3, PLC controller controls the speed of servo motor through motor controller according to clamping or forming command, so as to realize the closed-loop control of hydraulic control device output according to set force parameters; S4, the PLC controller adjusts its analog output value based on the force sensor data collected in real time, thereby controlling the pressure output of the servo hydraulic station; S5. When the force sensor data exceeds the overpressure threshold, limit the maximum pressure output of the servo hydraulic station.

[0010] Preferably, when the PLC controller receives a clamping or forming command, the PLC controller will query the control mapping table of the corresponding instruction to obtain the control voltage value for the motor controller, and first use... The hydraulic cylinder of the fixed-end clamp outputs maximum speed. After the hydraulic cylinder of the fixed-end clamp reaches the desired position, then... The maximum speed output of the hydraulic cylinder of the moving end clamp, and the threshold time for the clamping force to be applied. Or the time threshold of the forming force Once the time is up, quickly adjust the servo control voltage to match the clamping force mapping servo control voltage. Or forming force mapping servo control voltage It begins monitoring force sensor data, and when the force reaches the respective threshold data of clamping force or forming force... When the PID control is activated, the fine-tuning value is calculated.

[0011] Preferably, under the clamping command, the trigger start pressure value of the PID adjustment is the value when the clamping force reaches a threshold data. Under the molding command, the trigger start pressure value of the PID adjustment is the molding force reaching the threshold data. .

[0012] Preferably, the fine-tuning value is obtained by PID closed-loop calculation to obtain the incremental pressure adjustment amount of each of the clamping force and forming force. and The final output voltage is calculated based on the clamping force and forming force. and ; Clamping force increment pressure adjustment amount: , Clamping force final output voltage ; Molding force increment pressure adjustment amount: , The final output voltage of the forming force ; in, Let be the error value of the system in the kth iteration.

[0013] Preferably, when the real-time force sensor data is within the target control range, the corresponding pressure is maintained; if it is not within the target control range, PID fine-tuning is initiated until the force sensor data is within the target control value range; if the force sensor data exceeds the clamping force limit... or molding force limit If the pressure is too high, stop increasing the pressure and maintain the current pressure.

[0014] After adopting the above technical solution, the present invention provides a device for clamping and forming a suspension wire crimping pipe and its control method, which has the following beneficial effects: This invention enables the sharing of two different levels of force for clamping and forming of crimped pipe parts in an automated production line for drop wires, simplifying the deployment space of components on the production line and reducing control costs. Utilizing a touchscreen interactive device for parameter setting, the magnitude of the clamping or forming force can be directly set, and converted through an internal mapping table, simplifying the operator's adjustment steps and improving the product changeover speed and digitalization level of the production line. A closed-loop judgment control logic is adopted, and the system adjustment response speed is accelerated by calling the parameters configured through the mapping table. This achieves high hydraulic control accuracy for frequent switching between small and large forces, enabling precise control of the clamping force in the crimped pipe clamping and forming processes in the automated drop wire production line. During clamping, the crimped pipe is prevented from deforming or shrinking; during forming, the crimped pipe is ensured to be properly formed and consistent, improving the overall operational reliability of the production line and reducing downtime and scrap rates. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the hydraulic system of a device for clamping and forming a suspension wire pressing pipe according to the present invention; Figure 2 This is a flowchart of a control method for clamping and forming a drop wire compression fitting according to the present invention; Figure 3 This is a control logic flowchart of a control method for clamping and forming a connecting pipe for a suspension wire pressing tube according to the present invention.

[0016] The components include: 1. Hydraulic oil tank; 2. Level gauge; 3. Gear pump; 4. Servo motor; 5. Suction filter; 6. Air filter; 7. Electric heater; 8. Level and temperature switch; 9. Check valve; 10. Return oil filter; 11. Air cooler; 12. Pressure gauge; 13. Electromagnetic pressure reducing valve; 14. Stacked throttle valve; 15. Stacked electromagnetic directional valve; 16. Stacked pressure reducing valve; 17. Stacked one-way throttle valve; 18. Force sensor; 19. Touch screen interactive device; 20. PLC controller; 21. Motor controller. Detailed Implementation

[0017] The present invention will now be described more clearly and completely with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0018] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0019] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0020] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0021] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0022] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0023] like Figure 1As shown, the present invention provides a combined clamping and forming device for a drop wire crimping tube, comprising a servo hydraulic station, a clamping assembly, a force sensor 18, and a PLC controller 20. The servo hydraulic station includes a gear pump 3 connected to a hydraulic oil tank 1, and a servo motor 4 for providing power to the gear pump 3. The clamping assembly is connected to the servo hydraulic station and includes a fixed-end clamp and a movable-end clamp. Both the fixed-end clamp and the movable-end clamp include a fixed cylinder and a movable cylinder. During clamping and forming actions, the two fixed cylinders extend first, and then the crimping tube part is placed in the mold at the end of the fixed cylinder by an automatic gripper or a robot gripper. Then, the two movable cylinders extend to clamp the crimping tube part. The force sensor 18 is used to collect force sensor data from the fixed-end clamp and the movable-end clamp and feeds the collected force sensor data back to the PLC controller 20. Since the clamping force is typically 0.5-1T and the forming force is typically 5-6T. Therefore, a spoke-type force sensor with a range of 0-10T and an accuracy of 0.03% is selected. Two force sensors 18 are provided, installed at the fixed cylinder of the fixed end clamp and the fixed cylinder of the moving end clamp, respectively. The PLC controller 20 communicates with the host computer controller via a network cable. Typically, the host computer is a PC with a TCP server program. It communicates with the host computer via a custom network protocol, receiving clamping or forming commands from the host computer controller. Based on these commands, it controls the servo motor 4 via the motor controller 21 and analyzes the force sensor data collected by the force sensors 18 to adjust the speed of the servo motor 4 in real time. Specifically, the PLC controller 20 is connected to a touchscreen interactive device 19, which is used to set the parameter formula table for the clamping force and forming force of the crimping tube, as shown in Table 1, including the clamping force value. and the value of the forming force Clamping force mapping servo control voltage And forming force mapping servo control voltage Fine-tuning the clamping force PID parameters And fine-tuning PID parameters for molding force Clamping force application time threshold and the threshold of time of action of forming force Clamping force adjustment starting coefficient and molding force adjustment start coefficient Clamping force limit and molding force limit Clamping force and forming force, displacement voltage .

[0024] Table 1. Mapping Table for Controlling Clamping Force and Forming Force Parameters of Press-fit Tubes

[0025] The PLC controller 20 has at least one analog input acquisition port and one analog output port for communicating with the host computer via command protocol, executing control logic shared by the clamping and forming precision of the compression fitting, and storing a mapping table between the input control voltage and the actual pressure value. This table is used to obtain the control voltage value of the motor controller 21 when receiving clamping or forming commands. Furthermore, the mapping table between the input control voltage and the actual pressure value is an empirical data correspondence table constructed manually. Due to the influence of mechanical resistance, cylinder resistance, pipeline loss, etc., the servo motor speed and the cylinder output pressure are not absolutely linearly related. Therefore, through preliminary detailed data experiments, the experimental values ​​of the actual pressure detection and the input control voltage of the motor controller are measured, and the control pressure is corrected by looking up the table.

[0026] It also includes a level gauge 2, installed on the outside of the hydraulic oil tank 1 and connected to the inside of the hydraulic oil tank 1, for observing the hydraulic oil level information in the hydraulic oil tank 1; an oil suction filter 5, installed inside the hydraulic oil tank 1 and connected to the gear pump 3, for filtering the hydraulic oil entering the gear pump 3 from inside the hydraulic oil tank 1 to ensure that the hydraulic oil entering the gear pump 3 is clean and free of impurities; an air filter 6, installed on top of the hydraulic oil tank 1, for filtering air impurities and maintaining air circulation in the hydraulic oil tank 1; an electric heater 7, installed inside the hydraulic oil tank 1, for heating the hydraulic oil in the hydraulic oil tank 1 to prevent the hydraulic oil from freezing in the northern winter environment at -10℃, which would prevent the entire hydraulic station from starting; and a level and temperature switch 8, installed on the top of the hydraulic oil tank 1, for detecting the hydraulic oil temperature in the hydraulic oil tank 1. When the hydraulic oil temperature exceeds 100℃ or the set temperature during normal operation, the switch is turned on to cut off the working power. The system includes: a check valve 9 installed on the main oil line above the hydraulic oil tank 1 to ensure the direction of the main oil line; a return oil filter 10 for filtering the hydraulic oil in the return oil line of the hydraulic system to prevent impurities such as rubber impurities and metal impurities in the cylinder and pipes from entering the hydraulic oil tank 1 through the return oil line; an air cooler 11 for cooling the hydraulic oil in the return oil line of the hydraulic system, which works by blowing air to quickly lower the oil temperature and maintain the stability of the system oil temperature; a pressure gauge 12 for indicating the pressure of the main oil line of the hydraulic system; an electromagnetic pressure reducing valve 13 that controls the solenoid coil to drive the valve core to change the throttling area of ​​the oil line and adjust the outlet pressure of the working oil line; a stacked throttle valve 14 and a stacked one-way throttle valve 17 for adjusting the execution speed of the working cylinder; a stacked electromagnetic directional valve 15 for switching the execution direction of the working cylinder; and a stacked pressure reducing valve 16 installed on the fixed end clamp and the moving end clamp.

[0027] like Figure 2 As shown, the present invention provides a control method for both clamping and forming of a dropper crimping pipe, comprising the following steps: S1. Construct a closed-loop hydraulic control device, namely, adopt the above-mentioned hanging wire pressing pipe clamping and forming shared device; S2. The clamping force and forming force parameters of the pressing tube are set by the touch screen interactive device, and the PLC controller constructs a mapping table between the input control voltage and the actual pressure value. S3, PLC controller controls the speed of servo motor through motor controller according to clamping or forming command, so as to realize the closed-loop control of hydraulic control device output according to set force parameters; S4, the PLC controller adjusts its analog output value based on the force sensor data collected in real time, thereby controlling the pressure output of the servo hydraulic station; S5. When the force sensor data exceeds the overpressure threshold, limit the maximum pressure output of the servo hydraulic station.

[0028] When the PLC controller receives a clamping or forming command, it will query the control mapping table of the corresponding instruction to obtain the control voltage value for the motor controller, and then... The hydraulic cylinder of the fixed-end clamp outputs maximum speed. After the hydraulic cylinder of the fixed-end clamp reaches the desired position, then... The maximum speed output of the hydraulic cylinder of the moving end clamp, and the threshold time for the clamping force to be applied. Or the time threshold of the forming force Once the time is up, quickly adjust the servo control voltage to match the clamping force mapping servo control voltage. Or forming force mapping servo control voltage It begins monitoring force sensor data, and when the force reaches the respective threshold data of clamping force or forming force... When the PID control is activated, the fine-tuning value is calculated.

[0029] Specifically, under the clamping command, the trigger start pressure value of the PID adjustment is the value when the clamping force reaches the threshold data. Under the molding command, the trigger start pressure value of the PID adjustment is the molding force reaching the threshold data. .

[0030] The fine-tuning value is calculated through a PID closed-loop system to obtain the incremental pressure adjustment amounts for both the clamping force and the forming force. and The final output voltage is calculated based on the clamping force and forming force. and ; Clamping force increment pressure adjustment amount: , Clamping force final output voltage ; Molding force increment pressure adjustment amount: , The final output voltage of the forming force ; in, Let be the error value of the system in the kth iteration.

[0031] If the real-time force sensor data is within the target control range, maintain the corresponding pressure; if it is outside the target control range, initiate PID fine-tuning until the force sensor data is within the target control range; if the force sensor data exceeds the clamping force limit... or molding force limit If the pressure is too high, stop increasing the pressure and maintain the current pressure.

[0032] like Figure 3 As shown, the control logic flow of the above control method includes the following steps: S301. Construct a mapping table between the actual pressure value and the input control voltage of the motor controller. This table is based on experience from actual testing and is stored in the PLC controller. S302. The touch screen interactive device sets the clamping force and forming force parameters. When using it, the operator sets the target control pressure through the touch screen interactive device or uses the default data. S303, Receive control commands, mainly receives control commands from the upper controller software, and waits for the upper controller to feed commands in a passive receiving manner; S304. After receiving the command, determine whether it is a clamping command. If it is, execute the corresponding process in S306; otherwise, check other commands. S305. After receiving the command, determine whether it is a molding command. If it is, execute the corresponding process in S307; otherwise, return to the receiving process. S306. Query the mapping table stored in the PLC controller to obtain the control voltage value corresponding to the clamping force. ; S307. Query the mapping table stored in the PLC controller to obtain the control voltage value corresponding to the molding force. ; S308, Control PLC to output idle control voltage to servo driver After obtaining the output control voltage value, it is output through the DA output port of the PLC controller; S309. When the servo hydraulic station receives a control command, it first controls the output fixed cylinder. S310: After the fixed cylinder is determined to be in position by the position sensor, the movable cylinder is controlled to be output. S311. Query the control mapping table to obtain the clamping force application time threshold. and the threshold of time of action of forming force Clamping force adjustment starting coefficient and molding force adjustment start coefficient ; S312. When the time of air movement exceeds the threshold of the clamping force application time. and the threshold of time of action of forming force Then proceed to the next step; S313, the output rapidly changes to the clamping force-mapping servo control voltage. And forming force mapping servo control voltage This changes the servo output speed of the system. S314. Calculate the respective PID trigger start pressure value and clamping force adjustment start threshold data. Molding force adjustment start threshold data Read the pressure sensor data at the fixed end of the hydraulic cylinder; S315. Monitor whether the pressure exceeds the respective PID start-up threshold data. and ; S316. Determine whether the current force data is within the control target range. If yes, execute S320 to maintain pressure; otherwise, execute the fine-tuning step S317. S317. Within the fine-tuning range, perform PID closed-loop calculations to obtain the respective incremental pressure regulation amounts. and Calculate the final output voltage and ; S318. Read the clamping force limit value in the mapping table. and molding force limit Apply clamping force and forming force Limit calculation, limit system output; S319. When the limit is exceeded, maintain the current pressure until the clamping or forming action command ends.

[0033] This invention provides a shared device and control method for clamping and forming of a dropper crimping tube. It can adjust the formula values ​​of the crimping force and forming force in an automated dropper production line through a parameter table, solving problems such as large ranges in clamping and forming forces, slow control response, and low precision. By parameterizing two sets of formula parameters in a segmented manner and utilizing the high response of a servo hydraulic station, threshold-triggered PID closed-loop regulation achieves precise control of key force data and action response speed for both processes. This improves the working efficiency and quality consistency of key process links in the automated dropper production line, and reduces common faults such as clamping overload deformation and incomplete forming of the crimping tube in this process.

[0034] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A device for clamping and forming a suspension wire pressing pipe, characterized in that, include: The servo hydraulic station includes a gear pump (3) connected to a hydraulic tank (1) and a servo motor (4) for providing power to the gear pump (3). A fixture assembly is connected to the servo hydraulic station, and the fixture assembly includes a fixed end fixture and a movable end fixture, both of which include a fixed cylinder and a movable cylinder; Force sensor (18), the force sensor (18) is used to collect force sensor data of the fixed end clamp and the moving end clamp, and feed back the collected force sensor data to the PLC controller (20). The PLC controller (20) is used to control the servo motor (4) through the motor controller (21) according to the clamping or forming command, and to analyze and judge the force sensor data collected by the force sensor (18) so as to adjust the speed of the servo motor (4) in real time.

2. The device for clamping and forming a suspension wire pressing pipe according to claim 1, characterized in that: The PLC controller (20) is connected to a touch screen interactive device (19), which is used to set the parameter formula table of the clamping force and forming force of the crimping tube, including the clamping force value. and the value of the forming force Clamping force mapping servo control voltage And forming force mapping servo control voltage Fine-tuning the clamping force PID parameters And fine-tuning the PID parameters of molding force Clamping force application time threshold and the threshold of time of action of forming force Clamping force adjustment starting coefficient and molding force adjustment start coefficient Clamping force limit and molding force limit Clamping force and forming force, displacement voltage .

3. The device for clamping and forming a suspension wire pressing pipe according to claim 1, characterized in that: The PLC controller (20) constructs a mapping table between the input control voltage and the actual pressure value based on the actual pressure value and the experimental value of the input control voltage. This table is used to obtain the control voltage value of the motor controller (21) when receiving clamping or molding instructions.

4. The device for clamping and forming a suspension wire pressing pipe according to claim 1, characterized in that: The pressure sensor (18) is a spoke-type force sensor with a range of 0-10T, which is installed at the fixed cylinder of the fixed end clamp and the fixed cylinder of the moving end clamp.

5. A control method for both clamping and forming of a suspension wire pressing pipe, characterized in that, Includes the following steps: S1. Construct a closed-loop hydraulic control device, which is the common device for clamping and forming the lifting wire pressing pipe as described in any one of claims 1-4; S2. The clamping force and forming force parameters of the pressing tube are set by the touch screen interactive device, and the PLC controller constructs a mapping table between the input control voltage and the actual pressure value. S3, PLC controller controls the speed of servo motor through motor controller according to clamping or forming command, so as to realize the closed-loop control of hydraulic control device output according to set force parameters; S4, the PLC controller adjusts its analog output value based on the force sensor data collected in real time, thereby controlling the pressure output of the servo hydraulic station; S5. When the force sensor data exceeds the overpressure threshold, limit the maximum pressure output of the servo hydraulic station.

6. The control method for clamping and forming a connecting pipe for a suspension wire pressing tube according to claim 5, characterized in that: When the PLC controller receives a clamping or forming command, it will query the control mapping table of the corresponding instruction to obtain the control voltage value for the motor controller, and then... The hydraulic cylinder of the fixed-end clamp outputs maximum speed. After the hydraulic cylinder of the fixed-end clamp reaches the desired position, then... The maximum speed output of the hydraulic cylinder of the moving end clamp, and the threshold time for the clamping force to be applied. Or the time threshold of the forming force Once the time is up, quickly adjust the servo control voltage to match the clamping force mapping servo control voltage. Or forming force mapping servo control voltage It begins monitoring force sensor data, and when the force reaches the respective threshold data of clamping force or forming force... When the PID control is activated, the fine-tuning value is calculated.

7. The control method for clamping and forming a connecting pipe for a suspension wire pressing tube according to claim 6, characterized in that: Under the clamping command, the trigger start pressure value of the PID adjustment is the value when the clamping force reaches the threshold data. Under the molding command, the trigger start pressure value of the PID adjustment is the molding force reaching the threshold data. .

8. The control method for clamping and forming a connecting pipe for a suspension wire pressing tube according to claim 6, characterized in that: The fine-tuning value is calculated through a PID closed-loop system to obtain the incremental pressure adjustment amounts for both the clamping force and the forming force. and The final output voltage is calculated based on the clamping force and forming force. and ; Clamping force increment pressure adjustment amount: ， Clamping force final output voltage ; Molding force increment pressure adjustment amount: ， The final output voltage of the forming force ; in, Let be the error value of the system in the kth iteration.

9. The control method for clamping and forming a connecting pipe for a suspension wire pressing tube according to claim 5, characterized in that: If the real-time force sensor data is within the target control range, maintain the corresponding pressure; if it is outside the target control range, initiate PID fine-tuning until the force sensor data is within the target control range; if the force sensor data exceeds the clamping force limit... or molding force limit If the pressure is too high, stop increasing the pressure and maintain the current pressure.

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