CN104096820B - The tramline placing device of a kind of casting mould and method - Google Patents
The tramline placing device of a kind of casting mould and method Download PDFInfo
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- CN104096820B CN104096820B CN201310199179.3A CN201310199179A CN104096820B CN 104096820 B CN104096820 B CN 104096820B CN 201310199179 A CN201310199179 A CN 201310199179A CN 104096820 B CN104096820 B CN 104096820B
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- running gear
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- target
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Abstract
The tramline placing device of a kind of casting mould and method, this device includes running gear, the casting mould being provided with die cavity is arranged on this running gear, be arranged on the paw fixture of the arm front end of robot by a linking arm, the end of tramline is controlled in metallic solution melted in this paw fixture is positioned over this die cavity by this robot；For detecting the tracing-positioning system of the deviations of this running gear, including target and laser range sensor, this target is arranged on this running gear, this laser range sensor is arranged on outside the moving region of this running gear corresponding to this target, and has an angle α between the vertical line of the direction of motion of this laser range sensor and this running gear；For revising the deviations of this running gear and controlling this robot and lay the master controller of this tramline, it is connected with this robot and this laser range sensor respectively.The invention also discloses the tramline setting method of a kind of casting mould corresponding to said apparatus.
Description
Technical field
The present invention relates to a kind of positioner and method, a kind of essence being applied to casting industry casting and pouring dolly
Determine that tramline placing device and the method for the high-precision casting mould of tramline are laid to casting dolly by the robot of position.
Background technology
In nickel metal smelt industry, through the nickel casting of metals smelted in a mold, then in the nickel metal hot melt stage,
Through artificial flat-die (removing hot melt nickel oxidation on metal surface thing), manually inserting tramline (is in order to electrowinning process will be thick afterwards
The nickel pole plate smelted is suspended on electrode).Finally, it is that (artificial crowbar is incited somebody to action in tramline in artificial molding after the metal has cooled
The nickel pole plate of cooling prizes mould).The move mode of mould is distinguished from mechanical angle to be had: chain type vehicle structure and rotating disc type knot
Structure, distinguishes from electrically driven angle and has: common electric machine drives and driven by servomotor.And chain type vehicle structure+common electric machine drives
Dynamic is a kind of conventional casting mold type of drive, as the nickel pole plate continuous casting product line of a kind of artificial participation, and relevant skill
Art index is enough.But, if the contour precision production equipment of robot gets involved this nickel pole plate continuous casting product line, former
Some nickel pole plate continuous casting product line positioning precision errors form relatively greatly serious contravention in high precision and conflict with robot.For
For die casting, nickel pole plate continuous casting product line positioning precision is acceptable at ± 50mm.Robot is led to
Crossing paw once catches 4 tramlines to be placed to be full of in liquid molten state nickel liquation mould, then require that nickel pole plate casts continuously
The positioning precision of production line is surveyed and is reached ± about 3mm, and in the impact plus other position errors, the final of guarantee tramline is determined
Position precision reaches ± 7mm.If the positioning requirements requiring chain type dolly+common electric machine drive scheme brings up to grade precision,
Technically, the most uneconomical, the most unrealistic.Accordingly, it would be desirable to use new technology to solve to lay the positioning precision of tramline
Problem.I.e. solve positioning precision difference in the prior art of chain type dolly+common electric machine drive scheme and insert ear with robot
The contradiction that line precision prescribed is high.Two problems firstly the need of solving: one is that original drive scheme puies forward high-precision difficulty, and two are
The restriction that the technology of measurement is used by casting site environment.Affect the one of chain type dolly+common electric machine drive scheme precision raising
It is difficult to the reason overcome a bit: inertia huge after 100 meters of chain type dollies composition loop wires of length, measures the metering system of little truck position
With the control program of driving motor, the gap between chain type dolly, the uncertainty etc. of chain type dolly pitch.Although having a lot
Method of testing can measure the position of chain type dolly, but, the environment at casting scene is extremely severe, and some measuring methods are this
It is difficult to play under environment.Influence factor has: casting hot environment and the high temperature of casting dolly, the sputtering of melted nickel liquid, casting is watered
The injection of note cooling water, the impact of environment dust.
Summary of the invention
The technical problem to be solved is to provide one can solve chain type dolly of the prior art at foudry line
The highest automated production equipment caused of middle positioning precision cannot play the tramline peace of the casting mould of the problem of made with high precision
Put device and method.
To achieve these goals, the invention provides the tramline placing device of a kind of casting mould, wherein, including:
For loading the running gear of casting mould, described casting mould is arranged on described running gear, described casting
Die cavity it is provided with on mould；
For clamping the paw fixture of tramline, before described paw fixture is arranged on the arm of robot by a linking arm
End, the end of described tramline controls metallic solution melted in described paw fixture is positioned over described die cavity by described robot
In；
For detecting the tracing-positioning system of the deviations of described running gear, sense including target and laser ranging
Device, described target is arranged on described running gear, and described laser range sensor is arranged on described row corresponding to described target
Outside the moving region of walking apparatus, and have between the vertical line of the direction of motion of described laser range sensor and described running gear
One angle α；
For revising the deviations of described running gear and controlling described robot and lay the master controller of described tramline,
It is connected with described robot and described laser range sensor respectively.
Above-mentioned tramline placing device, wherein, described running gear is vertically mounted on described for casting dolly, described target
The side of the vehicle frame of casting dolly.
Above-mentioned tramline placing device, wherein, the laser beam of described laser range sensor and the irradiation of described target
Having an incident angle between plane, described incident angle is less than 90 degree.
Above-mentioned tramline placing device, wherein, described tracing-positioning system also includes protective cover, and described laser ranging senses
Device is arranged in described protective cover.
Above-mentioned tramline placing device, wherein, also includes cooling and heating system, and described cooling and heating system are arranged on
In described protective cover and it is connected with described master controller.
Above-mentioned tramline placing device, wherein, also includes the temperature sensor for detecting ambient temperature, and described temperature passes
Sensor is connected with described master controller.
Above-mentioned tramline placing device, wherein, described master controller connects described laser by data/address bus or analog quantity
Distance measuring sensor.
Above-mentioned tramline placing device, wherein, described master controller includes:
For storing the memory element of the datum length of described angle α and described target；
Receive for receiving the signal of the distance value with described running gear that described laser range sensor measurement obtains
Unit；
The reality of described running gear is calculated for the datum length according to described distance value, described angle α and described target
The signature computation unit of the deviation value of the reference position of position, border and described running gear；
For exporting the signal output unit of described deviation value；
In standard plug wire path that described deviation value is added to and control the actual plug wire path root of described robot
The error correction unit being compensated by according to described deviation value.
Above-mentioned tramline placing device, wherein, described angle α is 45～90 degree.
Above-mentioned tramline placing device, wherein, the distance between described laser range sensor and described running gear is
0.1～30 meter.
In order to above-mentioned purpose is better achieved, present invention also offers the tramline setting method of a kind of casting mould, wherein,
Comprise the steps:
Casting mould is set, casting mould is arranged on running gear, described casting mould is provided with die cavity；
Paw fixture is set, before being used for the paw fixture clamping tramline and be arranged on by a linking arm arm of robot
End, controls metal melted in the end of described tramline is positioned over described die cavity by described paw fixture by described robot molten
In liquid；
Arranging tracing-positioning system, for detecting the deviations of described running gear, this tracing-positioning system includes mark
Target and laser range sensor, described target is arranged on described running gear, and described laser range sensor is corresponding to described
Target is arranged on outside the moving region of described running gear, and the motion side of described laser range sensor and described running gear
To vertical line between there is an angle α；
Revise deviations and also lay tramline, by described robot and described laser range sensor and master controller company
Connecing, this master controller is used for revising the deviations of described running gear and controlling described robot laying described tramline.
The beneficial functional of the present invention is:
The present invention solves each factor impact on chain type dolly positioning precision in prior art, by having chain type dolly
Body position is accurately measured, and is processed by data, passes to lay the robot of tramline, machine by chain type dolly deviations value
What the deviations value of chain type dolly was added to standard by device people lays in tramline path, and the path of robot tramline is according to chain type
The particular location of dolly is revised, it is possible to achieve when chain type dolly positioning precision ± 50mm, high-precision to tramline of robot
Degree location and high accuracy are laid.
In a word, it is the highest that the present invention solves chain type dolly positioning precision in foudry line of the prior art, robot etc.
Automated production equipment cannot play the contradiction of made with high precision, it is possible to ensures that robot reduces chain type dolly when laying tramline
The adverse effect that position error is big, simultaneously advanced technology, good economical benefit.Maintain easily, considerably reduce artificial intensity, make
Chain type dolly+common electric machine drive scheme casting automatization is possibly realized, play bigger effect at casting field so that machine
Device people replaces the heaviest physical work to be possibly realized, and may participate in the continuous process of the follow-up work after casting and pouring.
Describe the present invention below in conjunction with the drawings and specific embodiments, but not as a limitation of the invention.
Accompanying drawing explanation
Fig. 1 is prior art tramline structural representation；
Fig. 2 is the working state schematic representation of one embodiment of the invention；
Fig. 3 is the tracing-positioning system structural representation of one embodiment of the invention；
Fig. 4 is the tracing-positioning system structural representation of another embodiment of the present invention；
Fig. 5 is the positioning compensation schematic diagram of the present invention；
Fig. 6 is that one embodiment of the invention transmits the topological diagram of data in fieldbus mode；
Fig. 7 is that another embodiment of the present invention transmits the topological diagram of data in analog quantity mode；
Fig. 8 is the tramline setting method flow chart of casting mould of the present invention；
Fig. 9 is the logic diagram of the Measurement and Data Processing transmission of the present invention.
Wherein, reference
1 robot 11 arm
2 running gear 3 casting moulds
31 die cavity 4 paw fixtures
5 linking arm 6 tramlines
7 tracing-positioning systems
71 targets
72 laser range sensors
73 protective covers
8 master controller 9 data/address bus
10 cooling and heating system 12 electromagnetic valves
13 electromagnetic valve 14 temperature sensors
Detailed description of the invention
Structural principle and operation principle to the present invention are described in detail below in conjunction with the accompanying drawings:
Seeing Fig. 1 and Fig. 2, Fig. 1 is prior art tramline structural representation, and Fig. 2 is the work shape of one embodiment of the invention
State schematic diagram.The tramline placing device of the casting die 3 of the present invention, including:
Running gear 2, is used for loading casting mould 3, and described casting mould 3 is arranged on described running gear 2, described casting
It is provided with die cavity 31 on modeling tool 3；
Paw fixture 4, is used for clamping tramline 6, and described paw fixture 4 is arranged on the arm of robot 1 by a linking arm 5
11 front ends, the end of described tramline 6 controls in described paw fixture 4 is positioned over described die cavity 31 melted by described robot 1
Metallic solution in, this robot 1 is with data/address bus 9 or analog input；
Tracing-positioning system 7, for detecting the deviations of described running gear 2, described tracing-positioning system 7 includes mark
Target 71 and laser range sensor 72, described target 71 is arranged on described running gear 2, and described laser range sensor 72 is right
Target 71 described in Ying Yu is arranged on outside the moving region of described running gear 2, and described laser range sensor 72 and described row
There is an angle α, to ensure the obstruction relation on the most not moving, institute between the vertical line of the direction of motion of walking apparatus 2
State angle α and be preferably 45～90 degree, most preferably 60～90 degree, between described laser range sensor 72 and described running gear 2
Distance be preferably 0.1～30 meter, most preferably 0.1～10 meter；See the track and localization system that Fig. 3, Fig. 3 are one embodiment of the invention
System structural representation.In the present embodiment, described running gear 2 preferably casts dolly, and described target 71 is vertically mounted on described
The side of vehicle frame of casting dolly, laser beam and the target 71(reflecting target of casting dolly) irradiated plane be not vertical pass
System, but there is an angle, this angle can exist in a horizontal plane, it is also possible to exists in vertical plane, or
Exist at horizontal plane and vertical plane simultaneously, angle exist principle have two: 1) laser range sensor 72 casting little
Beyond car motion path scope, the most do not move interference；2) laser beam that laser range sensor 72 sends
In the range of error that casting dolly stops, it being irradiated to cast the target 71(reflecting target of dolly all the time) on, it is achieved to casting dolly
Continuous position follow the tracks of.Have between laser beam and the irradiated plane of described target 71 of the most described laser range sensor 72
One incident angle, described incident angle is not equal to 90 degree, preferably smaller than 90 degree；Seeing Fig. 4, Fig. 4 is another embodiment of the present invention
Tracing-positioning system structural representation.Described tracing-positioning system 7 also includes protective cover 73, described laser range sensor 72
It is arranged in described protective cover 73, may also include cooling and heating system 10(sees Fig. 6, Fig. 7), described cooling and heating system
In 10 are arranged on described protective cover 73 and it is connected with described master controller 8, may also include the temperature for detecting ambient temperature and pass
Sensor 14(sees Fig. 6, Fig. 7), described temperature sensor is connected with described master controller 8.In the present embodiment, protective cover 73 is permissible
There is provided multiple preventive means, as anti-pounded, waterproof and dustproof.Protective cover 73 perforate below is used for cooling down water, cold wind and hot blast and swashing
Wearing of ligh-ranging sensor 72 power line and control line etc., can use water joint or corrugated tube to connect according to practical situation
Head.The master controller 8 measurement by temperature sensor 14, obtains ambient temperature.When ambient temperature is more than 0 degree, will compression sky
Gas F is blown out by certain flow from protective cover 73, can play the dust-proof and effect of cooling.When ambient temperature is less than 0 degree, will
Hot-air R blows out from protective cover 73, can blow down the target 71(reflecting target of casting dolly) the upper steam air mass produced, master control
Device 8 processed can be regulated control to this compressed air F with hot-air R by electromagnetic valve 12,13 respectively.Meanwhile, laser ranging passes
Sensor 72 itself can be with water jacket (not shown)；
Master controller 8, is used for revising the deviations of described running gear 2 and controlling described robot 1 laying described ear
Line 6, is connected with described robot 1 and described laser range sensor 72 respectively, and described master controller 8 can pass through data/address bus 9
(seeing Fig. 6) or analog quantity (seeing Fig. 7) connect described laser range sensor 72.See the measurement that Fig. 9, Fig. 9 are the present invention
Data process the logic diagram of transmission.In the present embodiment, described master controller 8 includes:
For storing the memory element of the datum length Lb of described angle α and described target 71；
The signal of the distance value L1 with described running gear 2 obtained is measured for receiving described laser range sensor 72
Receive unit；
Described walking dress is calculated for the datum length Lb according to described distance value L1, described angle α and described target 71
Put the signature computation unit of the physical location of 2 and inclined difference DELTA L of the reference position of described running gear 2；
For exporting the signal output unit of described inclined difference DELTA L；
In standard plug wire path that described inclined difference DELTA L is added to and control the actual plug wire road of described robot 1
The error correction unit that footpath is compensated by according to described inclined difference DELTA L.
As in figure 2 it is shown, one embodiment of the invention such as can once capture 4 tramlines 6, disposably it is inserted into one
Casting dolly casting mould 3 die cavity 31 in, this casting mould 3 has two die cavities 31, each die cavity 31 have two recessed
Face, for accommodating melted metallic solution in concave surface.The target 71(reflecting target of the present embodiment), it is installed on the vehicle frame of casting dolly
On, the target 71(reflecting target of casting dolly) select reflectance height, any surface finish corrosion resistant metal material, it is ensured that this target 71
Have the mutual alignment relation determined between (reflecting target) and casting mould 3, with ensure position relative to casting mould 3 detection with
The compensation of offset deviation.In the present embodiment, preferred package unit is stainless steel material structure, both can guarantee that the corrosion resistance of device,
Target 71(reflecting target can be met again) requirement steady in a long-term of surface reflection feature.Target 71(reflecting target) corrosion resistant plate material
Require surfacing, bright and clean, rustless, thickness uniform, and size is not less than 100x100mm.Target 71(reflecting target) it is arranged on casting
On the vehicle frame of dolly, should be solid and reliable, it is ensured that the target 71(reflecting target of casting dolly) keep under long-term adverse circumstances and casting
Modeling has 3 relative position relations, it is ensured that target 71(reflecting target) coplanar laser illumination and car frame's sidewall and the hanging down of horizontal plane
Straight degree.Angle α angle between laser range sensor 72 and casting moving of car route vertical line should be a suitable scope
In, α angle is excessive, and the installation site of laser range sensor 72 easily interferes with casting dolly, and α angle is too small, laser ranging
The laser beam that sensor 72 sends is easily separated from the target 71(reflecting target of casting dolly), cause laser range sensor 72 to survey
Weight range is narrow and small.Laser range sensor 72 to consider several factor apart from the installation site of casting dolly: 1) laser ranging passes
Sensor 72 measuring distance and Validity Test scope；2) shelter in laser beam path and installing space size.Laser ranging
The α angle of sensor 72 and the factor selecting most important consideration of mounting distance are this station castings after casting dolly loop wire braking stops
Make the range of error of dolly location, in the range of error of this casting dolly location, the laser light of laser range sensor 72
Bundle is irradiated to cast the target 71(reflecting target of dolly all the time), i.e. keep continuous print position tracking measurement.
It addition, the range measurement of the present invention can also use fork measuring method, this is the metering system of a kind of contact,
Do not repeat at this.
See the tramline setting method flow chart that Fig. 8, Fig. 8 are casting mould of the present invention.The ear of the casting mould of the present invention
Line setting method, comprises the steps:
Step S1: arrange casting mould 3, is arranged on casting mould 3 on running gear 2, and described casting mould 3 is arranged
There is die cavity 31；
Step S2: arrange paw fixture 4, is arranged on machine by the paw fixture 4 being used for clamping tramline 6 by a linking arm 5
Arm 11 front end of device people 1, controls described paw fixture 4 by described robot 1 and is positioned over by the end of described tramline 6 described
In metallic solution melted in die cavity 31；
Step S3: arrange tracing-positioning system 7, for detecting the deviations of described running gear 2, this track and localization system
System 7 includes that target 71 and laser range sensor 72, described target 71 are arranged on described running gear 2, described laser ranging
Sensor 72 is arranged on outside the moving region of described running gear 2 corresponding to described target 71, and described laser range sensor
72 and described running gear 2 the direction of motion vertical line between there is an angle α；
Step S4: revise deviations and also lay tramline 6, by described robot 1 and described laser range sensor 72 with
One master controller 8 connects, and this master controller 8 is used for revising the deviations of described running gear 2 and controlling described robot 1 pacifying
Put described tramline 6.
See the positioning compensation schematic diagram that Fig. 5, Fig. 5 are the present invention.The operation principle of the present invention is as follows:
First laser range sensor 72 is after casting dolly loop wire stops, the target 71(reflecting target to casting dolly) even
Continuous irradiation carries out range measurement, and by fieldbus or analog quantity, the distance value L1 value of measurement is uploaded to master controller 8；
The position that laser range sensor 72 is installed is known α angle with the angle of casting moving of car direction vertical line.Main
Controller 8 receives laser range sensor 72 by fieldbus or analog quantity and measures the distance value L1 obtained, and then counts
Calculate L2 value, then cast a length of along direction of motion distance 0 of dolly: L2=L1x sin α.In like manner, by calculating the acquisition of L1 value
The method of L2 value can also use look-up table, by a Groups List, specific input value inquires about specific output valve, and this mode is not
It is only applicable to linear function mode and is also applied for nonlinear function mode.It Fig. 5 is casting mould 3 dolly benchmark position shown in dotted line
Put (being also called normal place, it is zero that the plug wire position compensation value of this position is given tacit consent to by robot 1), in this reference position, cast little
The target 71(reflecting target of car) datum length (full-length) of distance 0 is Lb.It is real that master controller 8 continues to calculate casting dolly
Position, border with the deviation value of casting dolly reference position is: Δ L=L2 Lb.After master controller 8 obtains inclined difference DELTA L, by existing
Field data bus 9 or analog quantity mode pass to robot 1.In figure, the direction of arrow V is merely illustrative, it is also possible to there is its other party
To, the difference in the most described direction does not affect the measuring principle of this device.
Industrial robot 1, above casting mould 3 dolly, controls paw fixture 4 by robot 1, can be by tramline 6
In molten metal melted in being inserted into the 31 of casting mould 3.Inclined difference DELTA L, in the plug wire stage, is added to by industrial robot 1
In standard plug wire path so that the plug wire path of industrial robot 1 reality offsets according to inclined difference DELTA L, compensate casting little
Bigger position error after car parking.
For the proper use of present invention, the using method of one embodiment is described in detail as follows:
1) the target 71(reflecting target of dolly is first cast) it is assembled integrally with casting dolly；
2) laser range sensor 72 and protective cover 73 are arranged on relevant position, adjust the laser of laser range sensor 72
Light beam is radiated at the target 71(reflecting target of casting dolly) on, and in casting dolly parking range of error, laser beam is all the time
It is radiated at the target 71(reflecting target of casting dolly) on；
3) laser range sensor 72, master controller 8 and industrial robot 1 communication connect；
4) pipeline such as cold wind/hot blast is connected on protective cover 73；
5) connection of environment temperature sensor is debugged and is arranged；
6) connection of airduct electromagnetic valve and debugging.
The Precision Machining facility such as the error that the present invention solves conventional casting mould dolly location is relatively big, industrial robot 1
The problem that cannot participate in processes with line, this invention ensure that industrial robot 1 is to the height on casting mould dolly location
Required precision, and easy to use, production efficiency is high, maintain easily.This invention solves what location in casting automatization was forbidden
A difficult problem so that automation equipment gets involved Foundry Production and is possibly realized, it is possible to significantly alleviate the heavy physical work of people and break away from
Severe working environment, promotes automatization level, improves work efficiency, and structure is ingenious, operation and maintenance is convenient, is more suitable for
Automatization's casting industry uses.Present invention is mainly used for the tracking casting little truck position realized on casting streamline to mend
Repay, it is ensured that casting dolly is in the case of parking spot error is relatively big, and the Precision Machining facility such as industrial robot 1 can be to casting
Dolly carry out again be accurately positioned tracking, casting dolly on carry out some precision process operation or Precision Machining, have
Track and localization is accurate, without abrasion, raising Foundry Production automatization level, the artificial intensity that reduces, raising production efficiency.
Certainly, the present invention also can have other various embodiments, in the case of without departing substantially from present invention spirit and essence thereof, ripe
Know those skilled in the art to work as and can make various corresponding change and deformation according to the present invention, but these change accordingly and become
Shape all should belong to the protection domain of appended claims of the invention.
Claims (8)
1. the tramline placing device of a casting mould, it is characterised in that including:
Running gear, is used for loading casting mould, and described casting mould is arranged on described running gear, and described running gear is
Chain type casting dolly, described casting mould is provided with die cavity；
Paw fixture, is used for clamping tramline, and described paw fixture is arranged on the arm front end of robot by a linking arm, described
The end of tramline is controlled in metallic solution melted in described paw fixture is positioned over described die cavity by described robot；
Tracing-positioning system, for detecting the deviations of described running gear, including target and laser range sensor, described
Target is arranged on described running gear, and described laser range sensor is arranged on described running gear corresponding to described target
Outside moving region, and there is between the vertical line of the direction of motion of described laser range sensor and described running gear an angle α,
Described angle α is 45～90 degree；
Master controller, is connected with described robot and described laser range sensor respectively, for revising described running gear
Deviations also controls described robot and lays described tramline, and described master controller connects described by data/address bus or analog quantity
Laser range sensor, described master controller includes:
Memory element, for storing described angle α and the datum length of described target；
Signal receiving unit, for receiving the distance value with described running gear that described laser range sensor measurement obtains；
Signature computation unit, calculates described walking for the datum length according to described distance value, described angle α and described target
The deviation value of the reference position of the physical location of device and described running gear；
Signal output unit, is used for exporting described deviation value；
Error correction unit, in the standard plug wire path that described deviation value is added to and control the reality of described robot and insert
Thread path is compensated by according to described deviation value.
2. tramline placing device as claimed in claim 1, it is characterised in that described target is vertically mounted on the casting of described chain type
The side of the vehicle frame of dolly.
3. tramline placing device as claimed in claim 2, it is characterised in that the laser beam of described laser range sensor with
Having an incident angle between the irradiated plane of described target, described incident angle is less than 90 degree.
4. the tramline placing device as described in claim 1,2 or 3, it is characterised in that described tracing-positioning system also includes preventing
Guard shield, described laser range sensor is arranged in described protective cover.
5. tramline placing device as claimed in claim 4, it is characterised in that also include cooling and heating system, described cooling
It is connected in being arranged on described protective cover with heating system and with described master controller.
6. tramline placing device as claimed in claim 5, it is characterised in that also include that the temperature for detecting ambient temperature passes
Sensor, described temperature sensor is connected with described master controller.
7. the tramline placing device as described in claim 1,2,3,5 or 6, it is characterised in that described laser range sensor with
Distance between described running gear is 0.1～30 meter.
8. the tramline setting method of a casting mould, it is characterised in that comprise the steps:
Arranging casting mould, be arranged on running gear by casting mould, described running gear is that chain type casts dolly, described casting
It is provided with die cavity on modeling tool；
Paw fixture is set, the paw fixture clamping tramline will be used for is arranged on by a linking arm arm front end of robot,
Metallic solution melted in the end of described tramline is positioned over described die cavity by described paw fixture is controlled by described robot
In；
Tracing-positioning system is set, for detecting the deviations of described running gear, this tracing-positioning system include target and
Laser range sensor, described target is arranged on described running gear, and described laser range sensor corresponds to described target
It is arranged on outside the moving region of described running gear, and the direction of motion of described laser range sensor and described running gear
Having an angle α between vertical line, described angle α is 45～90 degree；
Revise deviations and also lay tramline, by described robot and described laser range sensor and master controller connection,
This master controller is used for revising the deviations of described running gear and controlling described robot laying described tramline, described master control
Device processed connects described laser range sensor by data/address bus or analog quantity, and described master controller includes:
Memory element, for storing described angle α and the datum length of described target；
Signal receiving unit, for receiving the distance value with described running gear that described laser range sensor measurement obtains；
Signature computation unit, calculates described walking for the datum length according to described distance value, described angle α and described target
The deviation value of the reference position of the physical location of device and described running gear；
Signal output unit, is used for exporting described deviation value；
Error correction unit, in the standard plug wire path that described deviation value is added to and control the reality of described robot and insert
Thread path is compensated by according to described deviation value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310199179.3A CN104096820B (en) | 2013-04-10 | 2013-05-24 | The tramline placing device of a kind of casting mould and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013201763487 | 2013-04-10 | ||
| CN201320176348.7 | 2013-04-10 | ||
| CN201320176348 | 2013-04-10 | ||
| CN201310199179.3A CN104096820B (en) | 2013-04-10 | 2013-05-24 | The tramline placing device of a kind of casting mould and method |
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| Publication Number | Publication Date |
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| CN104096820A CN104096820A (en) | 2014-10-15 |
| CN104096820B true CN104096820B (en) | 2016-08-31 |
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| CN2013202914094U Expired - Fee Related CN203281853U (en) | 2013-04-10 | 2013-05-24 | Ear line placing device for casting mold |
| CN201310199179.3A Expired - Fee Related CN104096820B (en) | 2013-04-10 | 2013-05-24 | The tramline placing device of a kind of casting mould and method |
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| CN2013202914094U Expired - Fee Related CN203281853U (en) | 2013-04-10 | 2013-05-24 | Ear line placing device for casting mold |
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|---|---|---|---|---|
| CN104808554B (en) * | 2015-04-20 | 2017-12-01 | 深圳市文鼎创数据科技有限公司 | One kind picks up card system and its picks up chucking method automatically |
| CN111942834A (en) * | 2020-08-03 | 2020-11-17 | 东华大学 | Bale handling and discharging device and method for straight-row bale plucker |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101372079A (en) * | 2008-09-26 | 2009-02-25 | 浙江大学 | Industrial robot cutting and processing system applied to auxiliary assembly of airplane as well as method |
| CN202041176U (en) * | 2011-05-06 | 2011-11-16 | 海克斯康测量技术(青岛)有限公司 | Industrial site tracking instrument and automatic robot measurement system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070185610A1 (en) * | 2005-11-10 | 2007-08-09 | Hugo Salamanca | Robot system and method for the application of dislodging material and pin positioning in casting wheels |
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2013
- 2013-05-24 CN CN2013202914094U patent/CN203281853U/en not_active Expired - Fee Related
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101372079A (en) * | 2008-09-26 | 2009-02-25 | 浙江大学 | Industrial robot cutting and processing system applied to auxiliary assembly of airplane as well as method |
| CN202041176U (en) * | 2011-05-06 | 2011-11-16 | 海克斯康测量技术(青岛)有限公司 | Industrial site tracking instrument and automatic robot measurement system |
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| CN203281853U (en) | 2013-11-13 |
| CN104096820A (en) | 2014-10-15 |
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