CN-122009819-A - Automatic feeding equipment for aluminum ingot processing

CN122009819ACN 122009819 ACN122009819 ACN 122009819ACN-122009819-A

Abstract

The invention relates to the technical field of industrial automation, and discloses automatic feeding equipment for aluminum ingot processing, the device comprises a space moving mechanism, a vacuum chuck arranged at the tail end of the space moving mechanism, and a vacuum chuck negative pressure threshold self-adaptive regulation and control system. The system calculates a dynamic load coefficient based on the weight of an aluminum ingot, the motion acceleration and the horizontal projection distance between a suction cup and the center of gravity of the aluminum ingot, calculates a vibration intensity coefficient based on the vibration frequency and the amplitude of a suction cup frame, calculates an adsorption margin coefficient based on the dynamic load coefficient, the vibration intensity coefficient, the leakage flow and the pressure of a compressed air source, calculates a surface contact coefficient based on the surface roughness, the flatness of the aluminum ingot and the effective adsorption area of the suction cup, calculates a dynamic negative pressure target value based on a reference negative pressure set value, the adsorption margin coefficient and the surface contact coefficient, and adjusts a suction cup negative pressure threshold value accordingly. The invention realizes the real-time self-adaptive adjustment of the negative pressure of the vacuum chuck, and remarkably improves the adsorption reliability and energy efficiency level of aluminum ingot transportation.

Inventors

LI XIAOGUO
WU RENYUAN
YOU MENGYUAN

Assignees

丰城市华龙金属制品有限公司

Dates

Publication Date: 20260512
Application Date: 20260324

Claims (7)

1. The utility model provides an aluminium ingot processing automatic feeding equipment, includes space moving mechanism to and the vacuum chuck of space moving mechanism end installation, space moving mechanism is used for driving vacuum chuck and removes, its characterized in that still includes: The vacuum chuck negative pressure threshold self-adaptive regulation and control system is used for adjusting the vacuum chuck negative pressure threshold in real time, and the vacuum chuck negative pressure threshold self-adaptive regulation and control system comprises: The dynamic load rate estimation module is used for calculating and acquiring a dynamic load coefficient based on the weight of the aluminum ingot, the motion acceleration and the horizontal projection distance between the center of the sucker and the center of gravity of the aluminum ingot; The vibration intensity estimation module is used for calculating and acquiring a vibration intensity coefficient based on the vibration frequency of the sucker frame and the vibration amplitude of the sucker frame; The adsorption margin evaluation module is used for calculating and acquiring an adsorption margin coefficient based on the leakage flow and the compressed air source pressure under the dynamic load coefficient and the vibration intensity coefficient; The contact efficiency analysis module is used for calculating and acquiring a surface contact coefficient based on the surface roughness of the aluminum ingot, the surface flatness of the aluminum ingot and the effective adsorption area of the sucker; the dynamic negative pressure decision module is used for calculating and acquiring a dynamic negative pressure target value based on the reference negative pressure set value, the adsorption margin coefficient and the surface contact coefficient, and adjusting the current vacuum chuck negative pressure threshold value to the dynamic negative pressure target value.
2. The automatic aluminum ingot processing feeding device according to claim 1, wherein the process of calculating and obtaining the adsorption margin coefficient is as follows: Acquiring a dynamic load coefficient, a vibration intensity coefficient, leakage flow and compressed air source pressure; performing ratio processing on the compressed air source pressure and the reference air supply pressure, and multiplying the ratio by the maximum pumping speed under the reference air supply pressure to obtain the maximum pumping speed under the current air supply pressure; Performing ratio processing on the current leakage flow and the maximum pumping speed under the current air supply pressure to obtain the pumping speed loss rate; Will be substituted into the formula Calculating and obtaining adsorption margin coefficient , , Comprehensively reflects the matching degree between the adsorption maintaining capacity and the demand of the system under the current load, vibration, leakage and air supply conditions, A value of 1 indicates that the capacity is far greater than the demand, A value of 0 indicates that the capability is completely incapable of meeting the demand, wherein, In order to achieve a rate of loss of pumping speed, To take on the comprehensive impact weight of the value range 0-2, In order for the dynamic load factor to be a function of, Is the vibration intensity coefficient.
3. The automatic aluminum ingot processing feeding device according to claim 2, wherein the process of calculating and obtaining the dynamic load factor is as follows: Obtaining the weight of the aluminum ingot acceleration of movement and center of suction cup the horizontal projection distance of the gravity center of the aluminum ingot; performing ratio processing on the horizontal projection distance between the center of the current sucker and the center of gravity of the aluminum ingot and the maximum allowable eccentricity to obtain a center of gravity offset index; And comparing the current dynamic load with a preset maximum dynamic load, and limiting amplitude to be between 0 and 1 to obtain a dynamic load coefficient representing the proportion of the current dynamic load relative to the maximum design load.
4. The automatic aluminum ingot processing feeding device according to claim 2, wherein the process of calculating and obtaining the vibration intensity coefficient is as follows: Acquiring the vibration frequency and the vibration amplitude of the sucker frame; performing ratio processing on the vibration amplitude of the sucker frame and the maximum vibration amplitude to obtain a vibration amplitude index; substituting the vibration frequency and vibration amplitude index of the sucker frame into a formula Calculating and obtaining vibration intensity coefficient , , Indicating the proportion of the current vibration acceleration to the maximum allowable vibration acceleration, A value of 0 indicates no vibration, A value of 1 indicates that the vibration has reached a limit, wherein, Is the vibration frequency of the sucker frame, At the maximum frequency of vibration to be achieved, Is the vibration amplitude index.
5. The automatic aluminum ingot processing feeding device according to claim 1, wherein the process of calculating and obtaining the surface contact coefficient is as follows: acquiring the surface roughness of the aluminum ingot, the surface flatness of the aluminum ingot and the effective adsorption area of the sucker; the method comprises the steps of performing ratio processing on the surface roughness of an aluminum ingot, the surface flatness of the aluminum ingot and the effective adsorption area of a sucker, respectively, with the maximum allowable roughness, the maximum allowable flatness error and the reference sucker effective area, and obtaining a roughness influence factor, a flatness influence factor and an effective area ratio after adopting a min function limiting ratio; And combining the roughness influence factor, the flatness influence factor and the effective area ratio according to a product rule to obtain a surface contact coefficient representing the actual contact efficiency of the sucker and the surface of the aluminum ingot.
6. The automatic aluminum ingot processing feeding device according to claim 1, wherein the process of calculating and obtaining the dynamic negative pressure target value is as follows: Acquiring a reference negative pressure set value, an adsorption margin coefficient and a surface contact coefficient; Performing ratio processing on the product of the reference negative pressure set value, the adsorption margin coefficient and the surface contact coefficient to obtain a preliminary target negative pressure; And taking the smaller value of the primary target negative pressure and the maximum allowable negative pressure of the system as a dynamic negative pressure target value.
7. The automatic aluminum ingot processing feeding equipment according to claim 1, wherein the space moving mechanism comprises a frame, a lifting frame is vertically and slidably connected to the frame, the lifting frame is horizontally arranged, a first driving module for driving the lifting frame to move up and down is arranged on the frame, an X axial moving frame is arranged on the lifting frame along the length direction of the lifting frame, a second driving module for driving the X axial moving frame to move is horizontally arranged on the lifting frame, a Y axial moving frame is arranged on the X axial moving frame along the length direction of the X axial moving frame, the vacuum chuck is arranged at the bottom of the Y axial moving frame, and a third driving module for driving the Y axial moving frame to move is arranged on the X axial moving frame.

Description

Automatic feeding equipment for aluminum ingot processing Technical Field The invention belongs to the technical field of industrial automation, and particularly relates to automatic feeding equipment for aluminum ingot processing. Background In the current aluminum ingot processing automation line, a mechanical arm is generally adopted in a feeding link to be matched with a vacuum chuck so as to realize the grabbing and carrying of the aluminum ingot. The vacuum chuck is widely applied to the carrying scenes of metal blanks such as aluminum ingots and the like due to the advantages of simple structure, quick response, small damage to the surface of a workpiece and the like. However, when an aluminum ingot is used as a casting blank, uneven surface quality often exists in oxide skin, greasy dirt or rugged surface, and meanwhile, the high-speed movement of the mechanical arm in the feeding process can cause the suction cup to bear variable dynamic load and vibration interference. Most of the existing vacuum adsorption systems adopt fixed negative pressure threshold values or simple switch type control, and the negative pressure values cannot be dynamically adjusted according to real-time working conditions such as aluminum ingot weight, motion acceleration, eccentric center of gravity, vibration intensity, surface contact state and the like, so that material dropping caused by insufficient adsorption force or unnecessary energy consumption and equipment abrasion caused by excessive negative pressure are easy to occur. Although partial high-end equipment introduces a pressure sensor to carry out closed-loop regulation, the pressure sensor is usually only compensated based on a single feedback quantity (such as a current negative pressure value), the influence of multi-factor coupling effect on adsorption stability cannot be comprehensively considered, and accurate and energy-saving adsorption control is difficult to realize in a complex dynamic environment. Therefore, a feeding device capable of adaptively adjusting the negative pressure threshold of the vacuum chuck is needed to improve the reliability and energy efficiency of aluminum ingot handling. Disclosure of Invention The embodiment of the invention aims to provide automatic feeding equipment for aluminum ingot processing, and aims to solve the problems. The automatic aluminum ingot processing feeding equipment comprises a space moving mechanism, a vacuum chuck arranged at the tail end of the space moving mechanism, a vacuum chuck negative pressure threshold self-adaptive regulating and controlling system, a contact efficiency analyzing module and a dynamic negative pressure analyzing module, wherein the vacuum chuck negative pressure threshold self-adaptive regulating and controlling system is used for regulating a vacuum chuck negative pressure threshold in real time, the vacuum chuck negative pressure threshold self-adaptive regulating and controlling system comprises a dynamic load rate estimating module, a vibration intensity estimating module, an adsorption margin estimating module and a dynamic negative pressure analyzing module, the dynamic load coefficient is calculated and obtained based on the weight of an aluminum ingot, the motion acceleration and the horizontal projection distance between the center of the chuck and the center of gravity of the aluminum ingot, the vibration intensity estimating module is used for calculating and obtaining the vibration intensity coefficient based on the vibration frequency of a chuck frame and the vibration amplitude of the chuck frame, the adsorption margin coefficient is calculated and obtained based on the leakage flow rate and the pressure of a compressed air source under the vibration intensity coefficient, the adsorption margin coefficient is calculated and obtained, the contact efficiency analyzing module is used for calculating and obtaining the surface contact coefficient based on the surface roughness of the aluminum ingot, the surface smoothness of the aluminum ingot and the effective adsorption area of the chuck, and the dynamic negative pressure target value is calculated and obtained based on the reference negative pressure setting value, the adsorption margin coefficient and the surface contact coefficient is calculated and obtained and the dynamic negative pressure target value is adjusted to the dynamic negative pressure threshold. The further technical scheme is that the process of calculating and obtaining the adsorption margin coefficient comprises the steps of obtaining a dynamic load coefficient, a vibration intensity coefficient, leakage flow and compressed air source pressure, carrying out ratio processing on the compressed air source pressure and reference air supply pressure, multiplying the ratio by the maximum pumping speed under the reference air supply pressure to obtain the maximum pumping speed under the current air supply pressure, carrying out ratio processing on the cur