阅读说明：本技术 一种挤压机铸锭喷粉润滑自适应控制系统及方法 (Self-adaptive control system and method for powder spraying lubrication of ingot casting of extruding machine ) 是由 苏振华 徐江 安利娟 曹文胜 谷瑞杰 吴量 于 2020-07-06 设计创作，主要内容包括：本发明提供了一种挤压机铸锭喷粉润滑自适应控制系统及方法,包括喷粉小车、路轨、上料机械手和PLC控制系统,上料机械手夹持有铸锭,喷粉小车设于路轨上,喷粉小车和上料机械手均与PLC控制系统电信号连接,PLC控制系统电信号连接有HMI人机界面。本发明通过PLC控制系统实时监测喷粉小车的编码器一和上料机械手的编码器二的位移数据变化,可以实时调整喷粉小车的位置以及运动速度的变化,使喷粉小车行走启停以及速度变化和电磁阀的启停始终维持一种动态的顺序平衡,保证铸锭喷粉润滑顺利进行。在不占用非挤压时间下,实现挤压机挤压工艺进行状态下不同的铸锭长度自适应完成铸锭喷粉润滑,降低劳动强度和人工成本,提高生产效率加快生产节奏。(The invention provides an extruder ingot casting powder spraying lubrication self-adaptive control system and method, which comprise a powder spraying trolley, a rail, a feeding mechanical arm and a PLC (programmable logic controller) control system, wherein the feeding mechanical arm clamps an ingot casting, the powder spraying trolley is arranged on the rail, the powder spraying trolley and the feeding mechanical arm are in electric signal connection with the PLC control system, and the PLC control system is in electric signal connection with an HMI (human machine interface). According to the invention, the PLC control system is used for monitoring the displacement data change of the first encoder of the powder spraying trolley and the second encoder of the feeding manipulator in real time, so that the position and the movement speed change of the powder spraying trolley can be adjusted in real time, the walking start and stop, the speed change and the start and stop of the electromagnetic valve of the powder spraying trolley are always kept in a dynamic sequential balance, and the smooth proceeding of ingot casting powder spraying lubrication is ensured. Under the condition of not occupying non-extrusion time, the self-adaption of different ingot lengths in the state of the extrusion process of the extruder is realized to finish ingot powder spraying lubrication, the labor intensity and the labor cost are reduced, the production efficiency is improved, and the production rhythm is accelerated.)

1. The utility model provides a lubricated self-adaptation control system of extruder ingot spraying powder which characterized in that: including powder spraying trolley (1), rail (109), material loading manipulator (2) and PLC control system (4), material loading manipulator (2) centre gripping has ingot casting (5), powder spraying trolley (1) is located on rail (109), powder spraying trolley (1) and material loading manipulator (2) all with PLC control system (4) signal connection, PLC control system (4) signal connection has HMI human-machine interface (6).

2. The adaptive control system for powder injection lubrication of the ingot of the extruder according to claim 1, wherein: the powder spraying trolley (1) comprises a trolley body, the trolley body is connected with a travelling mechanism, an induction mechanism and a powder spraying storage tank (3) are arranged on the trolley body, a spray head (103) is arranged at the front end of the trolley body, the powder spraying storage tank (3) is communicated with the spray head (103) through an air pipe and an electromagnetic valve, and the induction mechanism is used for inducing whether the powder spraying trolley (1) reaches a position for spraying powder to an ingot (5);

the walking mechanism comprises a powder spraying walking variable frequency motor (107) and a first encoder (108), the first encoder (108) is arranged on the powder spraying walking variable frequency motor (107), and the induction mechanism, the powder spraying walking variable frequency motor (107), the first encoder (108) and the electromagnetic valve are all in electric signal connection with the PLC control system (4).

3. The adaptive control system for powder injection lubrication of the ingot of the extruder according to claim 1, wherein: the feeding manipulator (2) comprises a fixed arm (203), a movable telescopic arm (201), a movable arm telescopic variable frequency motor (202) and a second encoder (205), the fixed arm (203) and the movable telescopic arm (201) are arranged in parallel, a linear guide rail (204) is arranged between the fixed arm and the movable telescopic arm, the movable telescopic arm (201) is close to one side of the powder spraying trolley (1), and manipulator fingers for clamping cast ingots (5) are arranged on the fixed arm (203) and the movable telescopic arm (201);

the linear guide rail (204) is parallel to the rail (109), and the movable arm telescopic variable frequency motor (202) and the encoder II (205) are both in electric signal connection with the PLC control system (4).

4. The adaptive control system for powder injection lubrication of the ingot of the extruder according to claim 2, wherein: powder spraying trolley (1) still includes safety cover (102), in safety cover (102) was located in shower nozzle (103), response mechanism included thimble (101), response piece (104), inductive switch (105) and spring (106), thimble (101) and shower nozzle (103) parallel arrangement just locate safety cover (102) in, thimble (101) rear end connects gradually response piece (104) and spring (106), inductive switch (105) are located the automobile body and are located the rear lower place or the back upper place of response piece (104), inductive switch (105) and PLC control system (4) signal connection.

5. The adaptive control system for powder injection lubrication of the ingot of the extruder according to claim 2, wherein: and a rotating shaft of the powder spraying walking variable frequency motor (107) is connected with a gear, and the gear is meshed with a rack on a track (109).

6. The adaptive control system for powder injection lubrication of the ingot of the extruder according to claim 3, wherein: the linear guide rail (204) is a ball screw, the movable telescopic arm is fixedly connected with a nut sleeved on the ball screw, and a rotating shaft of the movable arm telescopic variable frequency motor (202) is connected with the ball screw.

7. The adaptive control system for powder injection lubrication of the ingot of the extruder according to claim 4, wherein the adaptive control system comprises: the PLC control system (4) comprises a PLC controller, a digital quantity input module, a digital quantity output module and an analog quantity input module, the powder spraying walking variable frequency motor (107) is in communication connection with the PLC controller, the induction switch (105) is in signal connection with the digital quantity input module, the electromagnetic valve is in signal connection with the digital quantity output module, and the first encoder (108) is in signal connection with the analog quantity input module.

8. An adaptive control method for powder injection lubrication of an ingot of an extruder, which adopts the adaptive control system for powder injection lubrication of the ingot of the extruder as claimed in claim 4, and is characterized by comprising the following steps:

step 1), inputting the powder spraying time t of the cast ingot (5) and the length of the cast ingot (5) through an HMI (human machine interface) (6), and obtaining the closing position L1 of the movable telescopic arm (201) of the feeding manipulator (2) by the PLC control system (4) according to the length of the cast ingot (5);

step 2), the PLC control system (4) judges whether the powder spraying trolley (1) is at a rear limit position traveling along a rail (109) or not through the first encoder (108), when the judgment is true and the feeding manipulator (2) is at a powder spraying lubricating position, the movable telescopic arm (201) of the feeding manipulator (2) retracts to a closed position L1 along a linear guide rail (204), and meanwhile, the powder spraying trolley (1) advances to a position L2 from the rear limit position, wherein the distance between L2 and L1 is equal to the length of an ingot (5);

step 3), when the powder spraying trolley (1) travels to the position L2 and the movable telescopic arm (201) reaches the closed position L1, the PLC control system (4) controls the powder spraying trolley (1) to move forwards in a speed reducing mode, and when the ejector pin (101) of the powder spraying trolley (1) hits an ingot (5), the powder spraying trolley (1) continues to move forwards while the ejector pin (101) compresses the spring (106) to drive the induction block (104) to reach the position of the induction switch (105);

step 4), after the PLC control system (4) detects a feedback signal of the induction switch (105), controlling the powder spraying trolley (1) to stop moving forward, simultaneously, starting an electromagnetic valve by the PLC control system (4), spraying powder on the end face of the ingot (5) through a nozzle, closing the electromagnetic valve after the powder spraying time t, and stopping powder spraying;

and step 5), the PLC control system (4) controls the powder spraying trolley (1) to move back to a rear limit position, and automatic powder spraying of the cast ingot (5) is completed.

9. The adaptive control method for powder injection lubrication of the ingot of the extruder as claimed in claim 8, wherein the adaptive control method comprises the following steps: the walking motor and the rotary encoder of the feeding manipulator (2) are both connected with a PLC (programmable logic controller) control system (4) through electric signals, and the PLC control system (4) judges whether the feeding manipulator (2) is in a powder spraying lubricating position or not through the numerical value of the real-time monitoring rotary encoder.

10. The adaptive control method for powder injection lubrication of the ingot of the extruder as claimed in claim 8, wherein the adaptive control method comprises the following steps: the first encoder (108) takes the rear limit position of the powder spraying trolley (1) as a zero point, and the PLC control system (4) monitors the data of the first encoder (108) in real time in the walking process of the powder spraying trolley (1).

Technical Field

The invention belongs to the technical field of aluminum extruder equipment of metallurgical equipment, and particularly relates to an adaptive control system and method for powder spraying lubrication of an ingot of an extruder.

Background

When an extrusion process is carried out on an aluminum extrusion production line, powder spraying and lubrication are required to be carried out in advance so as to prevent the phenomenon of aluminum scraping between the extrusion rod walking and the extrusion cylinder from damaging equipment due to the fact that metal aluminum liquid wraps and is adhered to the head of the extrusion rod after extrusion is completed.

The existing extrusion production line has two main methods for powder spraying and lubrication, one method is to perform powder spraying and lubrication at an extrusion rod through a lubrication manipulator fixed on an extruder, the production line can continue to perform an ingot casting extrusion process only after the powder spraying and lubrication are completed, the extrusion process cannot be performed in the mode, extrusion can be performed after the completion of the extrusion process, and a large amount of non-extrusion time is occupied; in addition, the other mode is that the cast ingot end is manually coated with lubricating powder to lubricate before extrusion, so that the mode not only occupies manpower and material resources and increases the manpower cost, but also has slow rhythm, low automation degree and certain potential safety hazard.

Disclosure of Invention

The invention aims to provide an adaptive control system for powder spraying lubrication of an ingot of an extruder, which overcomes the technical problems in the prior art.

The invention further aims to provide an adaptive control method for powder spraying and lubricating of the ingot by the extruder, which can realize the adaptive completion of powder spraying and lubricating of the ingot by different ingot lengths under the condition that the extrusion process of the extruder is carried out under the condition of not occupying non-extrusion time, reduce the labor intensity and labor cost, improve the production efficiency and accelerate the production rhythm.

Therefore, the technical scheme provided by the invention is as follows:

the utility model provides a lubricated adaptive control system of extruder ingot dust injection, includes powder injection dolly, rail, material loading manipulator and PLC control system, material loading manipulator centre gripping has the ingot casting, the powder injection dolly is located on the rail, powder injection dolly and material loading manipulator all with PLC control system electric signal connection, PLC control system electric signal connection has HMI human-machine interface.

The powder spraying trolley comprises a trolley body, the trolley body is connected with a travelling mechanism, the trolley body is provided with an induction mechanism and a powder spraying storage tank, the front end of the trolley body is provided with a spray head, the powder spraying storage tank is communicated with the spray head through an air pipe and an electromagnetic valve, and the induction mechanism is used for inducing whether the powder spraying trolley reaches a position for spraying powder to an ingot;

the walking mechanism comprises a powder spraying walking variable frequency motor and a first encoder, the first encoder is arranged on the powder spraying walking variable frequency motor, and the induction mechanism, the powder spraying walking variable frequency motor, the first encoder and the electromagnetic valve are all in electric signal connection with the PLC control system.

The feeding manipulator comprises a fixed arm, a movable telescopic arm, a movable arm telescopic variable frequency motor and a second encoder, the fixed arm and the movable telescopic arm are arranged in parallel, a linear guide rail is arranged between the fixed arm and the movable telescopic arm, the movable telescopic arm is close to one side of the powder spraying trolley, and manipulator fingers for clamping cast ingots are arranged on the fixed arm and the movable telescopic arm;

the linear guide rail is parallel to the rail, and the movable arm telescopic variable frequency motor and the encoder II are both in electric signal connection with the PLC control system.

The powder spraying trolley further comprises a protective cover, the spray head is arranged in the protective cover, the induction mechanism comprises a thimble, an induction block, an induction switch and a spring, the thimble is arranged in parallel with the spray head and is arranged in the protective cover, the rear end of the thimble is sequentially connected with the induction block and the spring, the induction switch is arranged on the trolley body and is arranged below the rear portion or above the rear portion of the induction block, and the induction switch is in electric signal connection with the PLC control system.

And a gear is connected to a rotating shaft of the powder spraying walking variable frequency motor and meshed with a rack on the rail.

The linear guide rail is a ball screw, the movable telescopic arm is fixedly connected with a nut sleeved on the ball screw, and a rotating shaft of the movable arm telescopic variable frequency motor is connected with the ball screw.

The PLC control system comprises a PLC controller, a digital quantity input module, a digital quantity output module and an analog quantity input module, the powder spraying walking variable frequency motor is in communication connection with the PLC controller, the inductive switch is in signal connection with the digital quantity input module, the electromagnetic valve is in signal connection with the digital quantity output module, and the first encoder is in signal connection with the analog quantity input module.

The utility model provides a lubricated self-adaptation control method of extruder ingot powder injection, adopts extruder ingot powder injection lubricated self-adaptation control system, includes the following step:

step 1) inputting the time t of powder spraying of the cast ingot and the length of the cast ingot through an HMI (human machine interface), and obtaining a closed position L1 of a movable telescopic arm of a feeding manipulator by a PLC (programmable logic controller) control system according to the length of the cast ingot;

step 2) judging whether the powder spraying trolley is at a rear limit position of walking along a track or not by the PLC control system through the first encoder, and when the judgment is true and the feeding manipulator is at a powder spraying lubricating position, retracting the movable telescopic arm of the feeding manipulator to a closed position L1 along the linear guide rail, and simultaneously advancing the powder spraying trolley to a position L2 from the rear limit position, wherein the distance between L2 and L1 is equal to the length of an ingot;

step 3), when the powder spraying trolley travels to the position L2 and the movable telescopic arm reaches the closed position L1, the PLC control system controls the powder spraying trolley to move forwards in a decelerating manner, and when the ejector pin of the powder spraying trolley hits an ingot, the powder spraying trolley continues to move forwards while the ejector pin compression spring drives the induction block to reach an induction switch position;

step 4) after the PLC control system detects a feedback signal of the inductive switch, the powder spraying trolley is controlled to stop moving forward, meanwhile, the PLC control system opens the electromagnetic valve, powder is sprayed on the end face of the ingot through the nozzle, and after the powder spraying time t, the electromagnetic valve is closed to stop spraying powder;

and 5) controlling the powder spraying trolley to move backwards to a rear limit position by the PLC control system to finish automatic powder spraying of the cast ingot.

The walking motor and the rotary encoder of the feeding manipulator are both in electric signal connection with the PLC control system, and the PLC control system judges whether the feeding manipulator is in a powder spraying lubricating position or not through the numerical value of the real-time monitoring rotary encoder.

The first encoder takes the rear limit of the powder spraying trolley as a zero point, and the PLC control system monitors the data of the first encoder in real time in the walking process of the powder spraying trolley.

The invention has the beneficial effects that:

according to the self-adaptive control system for ingot powder spraying lubrication of the extruder, the PLC control system monitors the displacement data change of the first encoder of the powder spraying trolley and the second encoder of the feeding manipulator in real time, the position and the movement speed change of the powder spraying trolley can be adjusted in real time, the walking start and stop and the speed change of the powder spraying trolley and the start and stop of the electromagnetic valve are always kept in dynamic sequential balance, and the ingot powder spraying lubrication is guaranteed to be carried out smoothly.

The invention realizes the self-adaption of different ingot lengths to finish the powder spraying lubrication of the ingot under the condition that the extrusion process of the extruder is carried out without occupying non-extrusion time, thereby reducing the labor intensity and the labor cost, improving the production efficiency and accelerating the production rhythm.

The invention has high automation degree and is simultaneously suitable for single-action and double-action extruders. The full automation of the powder spraying and lubricating of the ingot casting of the extruder is realized, the manual intervention is not needed, and the potential safety hazard caused by manual transportation is reduced.

In order to make the aforementioned and other objects of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of the present invention;

FIG. 2 is a schematic structural view of one embodiment of the powder spraying trolley;

FIG. 3 is a functional block diagram of a PLC control system;

fig. 4 is a flow chart of a method of an embodiment of the invention.

In the figure:

description of reference numerals:

1. a powder spraying trolley; 2. a feeding manipulator; 3. a powder spraying storage tank; 4. a PLC control system; 5. casting ingots; 6. HMI human-machine interface; 101. a thimble; 102. a protective cover; 103. a spray head; 104. an induction block; 105. an inductive switch; 106. a spring; 107. powder spraying traveling variable frequency motor; 108. a first encoder; 109. a rail; 110. a drag chain; 201. a movable telescopic arm; 202. a movable arm telescopic variable frequency motor; 203. fixing the arm; 204. a linear guide rail; 205. and a second encoder.

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.

The exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, however, the present invention may be embodied in many different forms and is not limited to the embodiments described herein, which are provided for complete and complete disclosure of the present invention and to fully convey the scope of the present invention to those skilled in the art. The terminology used in the exemplary embodiments illustrated in the accompanying drawings is not intended to be limiting of the invention. In the drawings, the same units/elements are denoted by the same reference numerals.

Unless otherwise defined, terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Further, it will be understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense.