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

Claim 1:
2. The automatic press-fit control method according to claim 1, wherein in the step 2, the loading task performed by the loading and unloading control subsystem comprises:
step a: controlling, by the loading and unloading control subsystem, a rotary motor driver to drive a rotary motor of the material conveyor, and thus driving the material conveyor, wherein the material pallet moves with the material conveyor, and a loading side proximity switch detects whether the material pallet reaches a specified position;
step b: when the material pallet is detected by the loading side proximity switch, stopping, by the rotary motor driver, driving the rotary motor, and turning on a solenoid valve controlling a pallet lifting cylinder to control the pallet lifting cylinder to lift the material pallet;
step c: sending, by the control center, motion commands to the industrial robot to control the industrial robot to move to be above the material pallet, then to control end air claws of the industrial robot to close to pick up the workpiece, and to control an air claw magnetic sensor to detect whether the picking is successful;
step d: after detecting that the workpiece is successfully picked up, disconnecting the solenoid valve controlling the pallet lifting cylinder, wherein the pallet lifting cylinder falls down at this time;
step e: sending the motion commands to the industrial robot to control the industrial robot to move to a press loading position, and at the same time to control the industrial robot to release end air jaws to place the workpiece on the turntable, and detecting whether the air jaws are released by the air jaw magnetic sensor;
step f: after the air jaws are released, the motion command is given to the industrial robot to control the movement of the industrial robot away from the press loading position to a waiting position;
step g: turning on a solenoid valve controlling a three-jaw chuck to control the three-jaw chuck to clamp the workpiece; and
step h: sending, by the loading and unloading control subsystem, a loading-completion signal to the control center to complete the loading task.