Bearings are an important part of contemporary machinery and equipment. Its main function is to support the mechanical rotating body, reduce the friction coefficient during its movement, and ensure its rotation accuracy.
Bearing production generally needs to go through the processes of raw materials, turning into inner sleeves, outer sleeves, bead blanks, heat treatment, cutting into finished materials (grinding processes include internal grinding, external grinding, centerless grinding), and assembling finished products. The specific process can be Refer to the picture below:
Figure 1 Bearing process flow chart
Bearing production needs to go through multiple processes, with a long interval between each process, and the bearing needs to be transported on the production line. The traditional handling is realized manually, which is not only low in efficiency, but also huge in labor costs. The following picture shows the on-site bearing handling line:
Figure 2 Bearing handling line
According to customer requirements, automatic manipulator handling of the on-site production process is carried out. Mitsubishi servo system MR-JE-40A and PLC are used to select Haiwell H32S0T host. The host supports 4 channels of 200K high-speed pulse input and 4 channels of 200K high-speed pulse output, which supports absolute Positioning, relative positioning, origin return, electrical origin definition, etc., meet the needs of on-site control of three-axis handling lines. The CPU comes with two communication ports and can be expanded with 7 modules. Meet customer requirements and system selection.
Figure 3 Haiwell H32S0T host and expansion module
Figure 4 Haiwell H32S0T host and Mitsubishi servo
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Configuration screen design. The configuration screen is divided into automatic screen, manual screen, servo setting, parameter setting, IO monitoring and alarm screen. It is used to monitor and control whether the on-site silo is ready, the robot cylinder is in place, the limit position monitoring of the X, Y, and Z axes, the feedback of the demagnetization signal, the cleaning, drying and other process control monitoring. The picture is as follows:
Figure 5 Automatic screen
Figure 6 Manual screen
Figure 7 Servo parameter setting
PLC programming. The sea-based program can be divided into blocks, and it is convenient to divide the programmed 3-axis origin return, 3-axis positioning program, servo parameter setting, automatic control program, manual control and alarm program into blocks to write. The program is easy to read and saves debugging time.
Figure 8 Block design of the main program
Process needs, need to carry on the jog control to the on-site servo, adopt Haiwell PLSR instruction to realize. This command has acceleration and deceleration time, and the servo starts and stops smoothly.
Figure 9 Servo jog program design
Return to origin design. The origin of the sea returns to the ZRN command, which is easy to use. It can return to electrical origin, mechanical origin and return to mechanical origin through external near-point signal. After setting the home return frequency, near-point frequency and pulse channel, when executed, it will use the near-point frequency as the initial frequency, accelerate to the home-return frequency and start to move, and decelerate to the near-point frequency when it approaches the origin. The online help of the instruction software is very clear, and it is clear at first glance.
Figure 10 Servo homing and positioning module program setting
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