Patent ID: 11964349
Assignee: BEIHANG UNIVERSITY
Field: Control (Instruments)
Classification: CPC B  G  Y | IPC B

Claim 4:
5. The automatic press-fit control method according to claim 1, wherein in the step 6, the unloading task comprises:
step {circle around (1)}: turning on a solenoid valve controlling a three-jaw chuck to control the three-jaw chuck to open to release the workpiece;
step {circle around (2)}: sending a motion command to the industrial robot to control the industrial robot to move to a press loading position, and to control end air claws of the industrial robot to close to pick up the workpiece;
step {circle around (3)}: detecting, by an air claw magnetic sensor, whether a product is picked up successfully, wherein after the product is picked up successfully, the solenoid valve controlling a pallet lifting cylinder is turned on to lift up the material pallet;
step {circle around (4)}: sending, by a robot control cabinet, movement commands to the industrial robot to control the industrial robot to move to be above of the material pallet, and to control the end air jaws of the industrial robot to release to place a material;
step {circle around (5)}: detecting, by the air claw magnetic sensor, whether the end air jaws are open, wherein after the end air jaws are open, the solenoid valve controlling the pallet lifting cylinder is disconnected and the pallet lifting cylinder falls;
step {circle around (6)}: controlling a rotary motor to drive the material conveyor, and detecting, by an unloading proximity switch, whether the material pallet reaches an outlet;
step {circle around (7)}: stopping the rotary motor when the material pallet is detected by the unloading proximity switch; and
step {circle around (8)}: sending, by the loading and unloading control subsystem, the unloading completion signal to the control center to complete the unloading task.