阅读说明：本技术 汽车轮毂直径测量定位输送装置及其控制方法 (Automobile hub diameter measuring, positioning and conveying device and control method thereof ) 是由 李炳岐 赵志强 王堃 李春华 李君毅 夏中雷 牛泰然 张月媛 于 2020-05-27 设计创作，主要内容包括：本发明公开了一种汽车轮毂直径测量定位输送装置及该装置的控制方法,该装置包括横向输送装置、纵向输送装置、上位机和控制系统,所述横向输送装置的入口设置入口光电,其上侧设置有用于轮毂直径测量及定位的测量光幕,横向输送装置将轮毂输送至一定位置,纵向输送装置将轮毂输送移出,所述纵向输送装置的出口设置有出口光电。本发明的汽车轮毂直径测量定位输送装置具有轮毂直径测量精度高、测量速度快,轮毂定位准确、定位位置可根据工艺任意设定,控制算法模块化、智能化、多样化、控制鲁棒性好,机械结构简单、成本低、输送轮毂效率高等特点。(The invention discloses an automobile hub diameter measuring, positioning and conveying device and a control method of the device. The automobile hub diameter measuring, positioning and conveying device has the advantages of being high in hub diameter measuring precision, high in measuring speed, accurate in hub positioning, capable of setting positioning positions optionally according to the process, modular in control algorithm, intelligent, diversified, good in control robustness, simple in mechanical structure, low in cost, high in efficiency of conveying hubs and the like.)

1. Automobile wheel hub diameter measurement location conveyor, its characterized in that includes transverse conveying device, vertical conveyor, host computer and control system, transverse conveying device's entry sets up the entry photoelectricity, and its upside is provided with the measurement light curtain that is used for wheel hub diameter to measure and fix a position, and transverse conveying device carries wheel hub to a certain position, and vertical conveyor carries wheel hub to shift out, vertical conveyor's export is provided with the export photoelectricity.

2. The automobile hub diameter measuring, positioning and conveying device according to claim 1, wherein the transverse conveying device comprises a first variable frequency motor for providing driving force, a chain for transmitting the driving force, and a roller for bearing and conveying a hub;

the longitudinal conveying device comprises a second variable frequency motor for providing driving force, a belt for transmitting the driving force and bearing a conveying hub, and a lifting device for driving the belt to move up and down.

3. The automobile hub diameter measuring, positioning and conveying device according to claim 2, characterized in that: the first variable frequency motor is in signal connection with the control system through a first motor encoder and is used for measuring the chain position of the transverse conveying device, and the second variable frequency motor is in signal connection with the control system through a second motor encoder and is used for measuring the belt position of the longitudinal conveying device.

4. The control method of the automobile hub diameter measuring, positioning and conveying device is realized according to any one of claims 1-3, and comprises the following steps:

s1, starting the system, performing self-checking on the system, and entering a standby mode after confirming that no abnormity exists;

s2, the upper computer sends out a wheel output request signal, the system continues to execute the unfinished program step of the previous period, after the previous period is finished, the system sends out a wheel output request signal to the previous process, the transverse conveying device is started, and the position origin X of the conveying chain is calibrated_refStarting a new execution cycle;

s3, the hub transversely moves and penetrates through the measuring light curtain, the current hub diameter D is calculated, the stop position value X of the hub on the transverse conveying device is determined according to the alignment mode of the outlet wheel indicated by the upper computer, and when the hub runs to the position X, the transverse conveying device stops running;

s4, lifting the longitudinal conveying device, and calibrating the original point position value Y of the conveying belt_refAnd starting the belt to rotate, so that the hub moves longitudinally along with the belt until the hub comes out of the wheel.

5. The method for controlling the device for measuring, positioning and conveying the diameter of the automobile hub according to claim 4, wherein the step S2 specifically comprises:

s21, after receiving a wheel-out request signal sent by an upper computer, a control system firstly retrieves the program step state of the current control system, if a wheel waits on a longitudinal conveying device, a belt of the longitudinal conveying device is started to rotate, and when an outlet photoelectric device at the outlet of the longitudinal conveying device detects that a hub passes through, the system transmits a current hub diameter value D, a current hub wheel-out alignment mode and a wheel-out completion signal to the upper computer and lowers the longitudinal conveying device; during the period, if the upper computer does not send a pause or stop wheel-out signal, the conveying belt continuously runs for N seconds, and the outlet photoelectricity still does not detect the wheel passing, the control system sends an alarm and pauses, and the alarm needs to be confirmed manually and cleared;

s22, executing the step S21, simultaneously, controlling the system to send an in-out wheel request signal to the previous process and start the roller of the transverse conveying device to rotate, when a wheel hub enters the transverse conveying device and triggers the inlet photoelectricity of the inlet of the transverse conveying device, the system clears the in-out wheel request signal and marks the original point position of the current conveying chain, X_ref＝0。

6. The method for controlling the device for measuring, positioning and conveying the diameter of the automobile hub according to claim 4, wherein the step S3 specifically comprises:

s31, the hub moves forward under the action of the rotary roller, and when the front edge of the hub enters the signal area of the measuring light curtain, the control system records the current position value X of the conveying chain₁＝P₁And starting the hub scanning, and when the rear edge of the hub leaves the signal area of the measuring light curtain, the control system records the current position value X of the conveying chain again₂＝P₂Calculating the current hub diameter according to the formula (1);

D＝P₂-P₁-C₀(1)

wherein, C₀Measuring a light curtain scanning deviation compensation value which is a constant;

s32, when the upper computer sets that the centers of the wheel outlets are aligned, calculating a target position value of the wheel hub stopping on the transverse conveying device according to the formula (2);

X₃＝C₁-D/2+P₂＝C₁+P₂/2+P₁/2+C₀/2 (2)

wherein, C₁The distance between the transverse center point of the longitudinal conveying device and the edge of the measured light curtain is constant;

when the hub moves to X₃When the position is reached, the rotation of the conveying roller is stopped.

7. The method for controlling the automobile hub diameter measuring, positioning and conveying device according to claim 6, wherein in step S32, when the upper computer sets "the right edge of the output wheel is aligned", the target position value of the hub stopping on the transverse conveying device is calculated according to equation (3);

X₄＝C₂-D+P₂＝C₂-P₂+P₁+C₀(3)

wherein, C₂The distance between the transverse right edge point of the longitudinal conveying device and the outlet edge of the measuring light curtain is constant; when the hub moves to X₄When the position is reached, the rotation of the conveying roller is stopped.

8. The method for controlling the device for measuring, positioning and conveying the diameter of the automobile hub according to claim 4, wherein the step S4 specifically comprises:

s41, lifting the belt of the longitudinal conveying device, supporting the current hub, and calibrating the origin position, Y, of the current belt_ref＝0；

And S42, starting the belt of the longitudinal conveying device to rotate forwards, detecting a wheel-out request signal of the upper computer system when the hub runs to the middle position of the belt, stopping the rotation of the conveying belt if the wheel-out request signal does not exist, jumping to a program step S1, and waiting for a wheel-out request.

Technical Field

The invention relates to the technical field of automobile hubs, in particular to an automobile hub diameter measuring, positioning and conveying device and a control method of the device.

Background

At present, in the production process of automobile hubs, hubs formed by die casting need to be sent into a solid melting furnace for heat treatment, because of the limitation of hearth space and process requirements, the diameter of each hub needs to be measured, the number of the hubs fed into the furnace in the same batch is calculated according to the diameter of the hubs, and the hubs need to be aligned according to a certain alignment mode before being fed into the furnace, so that a manipulator can smoothly hold up the hubs in the batch, and meanwhile, the hubs can synchronously and orderly move in parallel to an outlet of the solid melting furnace in the furnace.

At present, each automobile wheel hub production plant generally adopts machinery to block, and the cylinder steps up to the mode of cooperation stay cord encoder, accomplishes wheel hub location, diameter measurement and yard neat technology, rises the stopper promptly on transverse conveying device, and wheel hub is by its interception back, and the cylinder promotes to step up the device and once steps up the action of loosening to the wheel hub, calculates the wheel hub diameter through the stay cord encoder that steps up on the device, then transmits wheel hub to income stove manipulator position through vertical conveyor. The prior art has the following disadvantages: the mechanical mechanism is complicated, the failure rate is high, the action time is long, in the tightening and loosening process, the hub and the roller way are rubbed to damage the surfaces of the hub and the roller way, a large amount of metal dust is generated, and meanwhile, the outlet wheel can only be aligned on one side of the stopper side, so that the inlet mode is single, the internal space of the solid melting furnace cannot be fully utilized, the comprehensive efficiency is low, and the like.

Disclosure of Invention

In view of the above problems in the prior art, the invention aims to provide a brand-new, simple and efficient automobile hub diameter measuring, positioning and conveying device and a control method thereof, which can meet the requirements of measuring, positioning and conveying an upper wheel before an automobile hub enters a solid melting furnace, have the advantages of simple mechanical structure, modularized and diversified control algorithm, high-precision measurement light curtain flow measurement, high measurement precision and high measurement speed, can meet various requirements of entering the furnace, fully utilize the space of the solid melting furnace and greatly improve the comprehensive efficiency.

In order to realize the purpose, the invention is realized by adopting the following technical scheme:

the invention provides a device for measuring, positioning and conveying the diameter of an automobile hub, which comprises the following components: the wheel hub diameter measuring and positioning device comprises a transverse conveying device, a longitudinal conveying device, an upper computer and a control system, wherein an inlet of the transverse conveying device is provided with an inlet photoelectricity, a measuring light curtain used for measuring and positioning the diameter of a wheel hub is arranged on the upper side of the transverse conveying device, the transverse conveying device conveys the wheel hub to a certain position, the longitudinal conveying device conveys the wheel hub out, and an outlet photoelectricity is arranged at an outlet of the longitudinal conveying device.

As a preferred technical scheme, the hub transverse conveying device comprises a first variable frequency motor for providing driving force, a chain for transmitting the driving force and a roller for bearing and conveying a hub;

the wheel hub longitudinal conveying device comprises a second variable frequency motor for providing driving force, a belt for transmitting the driving force and bearing and conveying the wheel hub, and a lifting device for driving the belt to move up and down.

As a preferred technical scheme, the first variable frequency motor is in signal connection with the control system through a first motor encoder and is used for measuring the position of a chain of the wheel hub transverse conveying device, and the second variable frequency motor is in signal connection with the control system through a second motor encoder and is used for measuring the position of a belt of the wheel hub longitudinal conveying device.

The invention also provides a control method of the automobile hub diameter measuring, positioning and conveying device, which is realized according to any one of the automobile hub diameter measuring, positioning and conveying devices, and the method comprises the following steps:

s1, starting the system, performing self-checking on the system, and entering a standby mode after confirming that no abnormity exists;

s2, the upper computer sends out a wheel output request signal, the system continues to execute the unfinished program step of the previous period, after the previous period is finished, the system sends out a wheel output request signal to the previous process, the transverse conveying device is started, and the position origin X of the conveying chain is calibrated_refStarting a new execution cycle;

s3, the hub transversely moves and penetrates through the measuring light curtain, the current hub diameter D is calculated, the stop position value X of the hub on the transverse conveying device is determined according to the alignment mode of the outlet wheel indicated by the upper computer, and when the hub runs to the position X, the transverse conveying device stops running;

s4, lifting the longitudinal conveying device, and calibrating the original point position value Y of the conveying belt_refAnd starting the belt to rotate, so that the hub moves longitudinally along with the belt until the hub comes out of the wheel.

As a preferred technical solution, the step S2 specifically includes:

s21, after receiving a wheel-out request signal sent by an upper computer, a control system firstly retrieves the program step state of the current control system, if a wheel waits on a longitudinal conveying device, a belt of the longitudinal conveying device is started to rotate, and when an outlet photoelectric device at the outlet of the longitudinal conveying device detects that a hub passes through, the system transmits a current hub diameter value D, a current hub wheel-out alignment mode and a wheel-out completion signal to the upper computer and lowers the longitudinal conveying device; during the period, if the upper computer does not send a pause or stop wheel-out signal, the conveying belt continuously runs for N seconds, and the outlet photoelectricity still does not detect the wheel passing, the control system sends an alarm and pauses, and the alarm needs to be confirmed manually and cleared;

s22, executing step S21, at the same time, the control system sends the input and output wheel request signal to the previous process and starts the roller of the transverse conveying device to rotate, when a wheel hub enters the transverse conveying device and triggers the inlet of the transverse conveying deviceWhen the entrance is photoelectric, the system clears the entrance wheel request signal and marks the origin position of the current conveying chain, X_ref＝0。

As a preferred technical solution, the step S3 specifically includes:

s31, the hub moves forward under the action of the rotary roller, and when the front edge of the hub enters the signal area of the measuring light curtain, the control system records the current position value X of the conveying chain₁＝P₁And starting the hub scanning, and when the rear edge of the hub leaves the signal area of the measuring light curtain, the control system records the current position value X of the conveying chain again₂＝P₂Calculating the current hub diameter according to the formula (1);

D＝P₂-P₁-C₀(1)

wherein, C₀Measuring a light curtain scanning deviation compensation value which is a constant;

s32, when the upper computer sets that the centers of the wheel outlets are aligned, calculating a target position value of the wheel hub stopping on the transverse conveying device according to the formula (2);

X₃＝C₁-D/2+P₂＝C₁+P₂/2+P₁/2+C₀/2(2)

wherein, C₁The distance between the transverse center point of the longitudinal conveying device and the edge of the measured light curtain is constant;

when the hub moves to X₃When the position is reached, the rotation of the conveying roller is stopped.

In step S32, when the upper computer is set to "the right edge of the exit wheel is aligned", calculating a target position value of the hub stopping on the lateral conveying device according to equation (3);

X₄＝C₂-D+P₂＝C₂-P₂+P₁+C₀(3)

wherein, C₂The distance between the transverse right edge point of the longitudinal conveying device and the outlet edge of the measuring light curtain is constant; when the hub moves to X₄When the position is reached, the rotation of the conveying roller is stopped.

As a preferred technical solution, the step S4 specifically includes:

s41, lifting the belt of the longitudinal conveying device, supporting the current hub, and calibrating the origin position, Y, of the current belt_ref＝0；

And S42, starting the belt of the longitudinal conveying device to rotate forwards, detecting a wheel-out request signal of the upper computer system when the hub runs to the middle position of the belt, stopping the rotation of the conveying belt if the wheel-out request signal does not exist, jumping to a program step S1, and waiting for a wheel-out request.

Compared with the prior art, the invention has the beneficial effects that:

1. the wheel hub diameter measurement and wheel hub positioning functions are realized by adopting the high-precision measurement light curtain, the structure is simple, frequent and complex mechanical actions are reduced, and the use amount of compressed air is reduced.

2. The control algorithm is simple, the control program is unitized and modularized, the man-machine interaction function is friendly, the process flow and parameters can be set and modified at any time according to the requirements of process change, the control method is more intelligent, and various requirements can be met.

3. The control steps are simple, various wheel outlet alignment modes can be realized, the arrangement mode and the density of the wheel hubs in the solid smelting furnace can be conveniently planned by an upper computer system, the internal space of the solid smelting furnace is fully utilized, and the energy utilization rate and the heat treatment efficiency are improved.

4. The device and the control method are not only suitable for controlling the process and the working procedure before the hub is subjected to heat treatment, but also suitable for the working procedures of positioning and matching with a robot before the hub enters a machining unit or a spraying unit and the like.

Drawings

FIG. 1 is a schematic structural view of an automobile hub diameter measuring, positioning and conveying device of the invention;

FIG. 2 is a flow chart of the program control of the automobile hub diameter measuring, positioning and conveying device of the present invention;

reference numerals: 1. entrance photoelectricity SQ₁(ii) a 2. Measuring a light curtain SC; 3. a drum; 4. a first variable frequency motor; 5. a belt; 6. a second variable frequency motor; 7. outlet photoelectricity SQ₂(ii) a A. A transverse conveying device; B. and a longitudinal conveying device.

Detailed Description

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the technical solutions of the present invention, but are not intended to limit the scope of the present invention.

As shown in fig. 1, the device for measuring, positioning and conveying the diameter of the automobile hub provided by the invention comprises: a transverse conveying device A, a longitudinal conveying device B, an upper computer and a control system, wherein an inlet photoelectric device SQ is arranged at the inlet of the transverse conveying device A₁1, a measuring light curtain SC2 for measuring and positioning the diameter of the hub is arranged on the upper side of the wheel hub, the hub is conveyed to a certain position by a transverse conveying device A, the hub is conveyed and moved out by a longitudinal conveying device B, and an outlet photoelectricity SQ is arranged at an outlet of the longitudinal conveying device B₂7。

In the invention, the control system is based on the entrance photoelectricity SQ for detecting the wheel of the transverse conveying device₁Judging whether the hub moves into the transverse conveying device or not; calculating the diameter of the hub and the stop position of the hub on the transverse hub conveying device according to a measuring light curtain SC for measuring and positioning the diameter of the hub; according to the outlet photoelectricity SQ for detecting the wheel outlet of the longitudinal conveying device₂And judging whether the hub moves out of the longitudinal conveying device or not.

As a specific embodiment of the present invention, the transverse conveying device a includes a first variable frequency motor 4 providing a driving force, a chain transmitting the driving force, and a roller 3 carrying a conveying hub; the first variable frequency motor 4 drives a roller bearing and conveying a hub to rotate through a chain for transmitting driving force, so that the hub transversely moves on the transverse conveying device;

the wheel hub longitudinal conveying device comprises a second variable frequency motor 6 for providing driving force, a belt 5 for transmitting the driving force and bearing the conveying wheel hub, and a lifting device for driving the belt to move up and down; the lifting device drives the belt bearing the conveying hub to move up and down so as to realize that the hub is moved into the transverse conveying device and smoothly transferred onto the longitudinal conveying belt; and a second variable frequency motor 6 for providing driving force drives the belt for bearing the conveying hub to rotate, so that the hub is longitudinally moved out of the longitudinal conveying device.

As an originalAccording to a specific implementation mode of the invention, the first variable frequency motor is in signal connection with the control system through the first motor encoder and is used for measuring the position of a chain of the hub transverse conveying device, and the second variable frequency motor is in signal connection with the control system through the second motor encoder and is used for measuring the position of a belt of the hub longitudinal conveying device. The control system calculates a position value of a transverse conveying chain according to a first motor encoder for measuring the position of the chain of the transverse conveying device, and calculates the diameter of the hub and the stop position of the hub on the transverse conveying device by matching with a measuring light curtain for measuring and positioning the diameter of the hub; calculating the position value of the longitudinal conveyor belt according to a second motor encoder for measuring the position of the longitudinal conveyor belt, and matching the second motor encoder with an outlet photoelectricity SQ for detecting the outlet wheel of the longitudinal conveyor₂And judging whether the hub moves out of the hub longitudinal conveying device or not.

As shown in fig. 2, the control method of the automobile hub diameter measuring, positioning and conveying device according to the embodiment of the present invention includes:

step 1, starting a system, performing self-checking on the system, and entering a standby mode after confirming that no abnormity exists;

step 2, the upper computer sends out a wheel output request signal, the system continues to execute the unfinished program step in the previous period, after the previous period is finished, the upper computer sends out a wheel output request signal to the previous process, the transverse conveying device is started, and the position origin X of the conveying chain is calibrated_refAnd starting a new execution cycle.

Specifically, the step 2 includes:

step 2.1, after receiving a wheel output request signal sent by an upper computer, the control system firstly searches the program step state of the current control system, if the longitudinal conveying device has wheels to wait, a belt of the longitudinal conveying device is started to rotate, and when an outlet photoelectric SQ at the outlet of the longitudinal conveying device is detected₂When the hub is detected to pass through, the system transmits a current hub diameter value D, a current hub wheel outlet alignment mode and a wheel outlet completion signal to the upper computer, and lowers the longitudinal conveying device. During the period, if the upper computer does not send out a pause or stop wheel-out signal, the conveying belt continuously runs for N seconds, and the photoelectric SQ of the outlet₂If the wheel passing is not detected yet, the control system sends outAlarming and pausing, and manually confirming and clearing the alarm;

step 2.2, when the step 2.1 is executed, the control system sends an in-out wheel request signal to the previous process and starts a roller of the transverse conveying device to rotate, and when a wheel hub enters the transverse conveying device and triggers an inlet photoelectric device SQ of an inlet of the transverse conveying device₁Then, the system clears the wheel-entering request signal and calibrates the current conveying chain origin position, X_ref＝0；

And 3, the hub transversely moves and penetrates through a measuring light curtain SC2, the current hub diameter D is calculated, the stop position value X of the hub on the transverse conveying device is determined according to the alignment mode of the outlet wheel indicated by the upper computer, and when the hub runs to the position X, the rotation of the roller is stopped.

Specifically, the method comprises the following steps: the step 3 comprises the following steps:

step 3.1, the wheel hub moves forwards under the action of the rotary roller, and when the front edge of the wheel hub enters a signal area of the measuring light curtain SC, the control system records the current position value X of the conveying chain₁＝P₁And starting the hub scanning, and when the rear edge of the hub leaves the signal area of the measuring light curtain SC, the control system records the current position value X of the conveying chain again₂＝P₂Calculating the current hub diameter according to the formula (1);

D＝P₂-P₁-C₀(1)

wherein, C₀Is a light curtain scanning deviation compensation value which is a constant;

3.2, when the upper computer is set to align the centers of the outlet wheels, calculating a target position value of the stopping of the hub on the transverse conveying device roller according to the formula (2);

X₃＝C₁-D/2+P₂＝C₁+P₂/2+P₁/2+C₀/2(2)

wherein, C₁The distance between the transverse center point of the longitudinal conveying belt device and the edge of the outlet of the measuring light curtain SC is constant;

when the hub moves to X₃When the position is reached, the rotation of the conveying roller is stopped;

optionally, when the upper computer is set to "the right edge of the output wheel is aligned" (the function of "the left edge of the output wheel is aligned" can be expanded, and is not described in detail here), calculating a target position value of the stopping of the hub on the transverse conveying roller according to the formula (3);

X₄＝C₂-D+P₂＝C₂-P₂+P₁+C₀)(3)

wherein, C₂The distance between the transverse right edge point of the longitudinal conveying device and the outlet edge of the measuring light curtain SC is constant; when the hub moves to X₄When the position is reached, the rotation of the conveying roller is stopped;

step 4, lifting the longitudinal conveying belt, and calibrating the original point position value Y of the conveying belt_refAnd starting the belt to rotate, so that the hub moves longitudinally along with the belt until the hub comes out of the wheel.

Specifically, the method comprises the following steps: step 4 comprises the following steps:

step 4.1, lifting the belt of the longitudinal conveying device, supporting the current hub, and calibrating the origin position, Y, of the current belt_ref＝0；

And 4.2, starting the longitudinal conveying belt to rotate forwards, detecting a wheel outlet request signal of the upper computer system when the hub runs to the middle position of the belt, stopping the rotation of the conveying belt if the wheel outlet request signal does not exist, skipping to the program step 1, and waiting for a wheel outlet request.

The automobile hub diameter measuring, positioning and conveying device and the control method thereof are mainly applied to a series of technological processes of diameter measurement, positioning, wheel feeding and the like before the automobile hub enters a solid melting furnace after being die-cast and molded, and have the characteristics of simple mechanical structure, modularized and diversified control algorithm, high measurement precision, high measurement speed, good robustness, capability of meeting various furnace entering requirements, full utilization of the space of the solid melting furnace, great improvement of comprehensive efficiency and the like.