CN107774929A - A kind of Lost Wax Casting shell robot flexibility intelligent control method and system - Google Patents
A kind of Lost Wax Casting shell robot flexibility intelligent control method and system Download PDFInfo
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- CN107774929A CN107774929A CN201710851833.2A CN201710851833A CN107774929A CN 107774929 A CN107774929 A CN 107774929A CN 201710851833 A CN201710851833 A CN 201710851833A CN 107774929 A CN107774929 A CN 107774929A
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- lost wax
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- casting shell
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22C—FOUNDRY MOULDING
- B22C13/00—Moulding machines for making moulds or cores of particular shapes
- B22C13/08—Moulding machines for making moulds or cores of particular shapes for shell moulds or shell cores
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Mechanical Engineering (AREA)
- Robotics (AREA)
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Abstract
The present invention relates to a kind of Lost Wax Casting shell robot flexibility intelligent control method and system, its method comprises the following steps, and the title and original state of product are marked；Identify the mark, and the Flexible Control worked out offline instructs according to corresponding to calling the mark and in advance, instruct control Lost Wax Casting shell robot is coherent to perform the micromotion of multistage independence by the Flexible Control, and drive the product to complete a technique productions cycle in peripheral hardware；After the completion of a technique productions cycle, the original state of product described in the mark is rewritten automatically, is consistent state of the state of the revised product with the product after a technique productions cycle.The present invention realizes the flexibility of Product Process, it is possible to achieve a Lost Wax Casting shell robot application is in the production of the small lot of multi-assortment production using the coherent micromotion for performing multistage independence of Flexible Control instruction control Lost Wax Casting shell robot.
Description
Technical field
The present invention relates to Lost Wax Casting shell field, and in particular to a kind of Lost Wax Casting shell robot flexibility intelligent control
Method and system.
Background technology
It is highly developed that Lost Wax Casting shell robot is currently employed for high volume production process technology, but for medium and small
The robot application technology of enterprise and multi-varieties and small-batch flexible production is perfect not enough, i.e., a kind of Lost Wax Casting shell robot
A certain specific product is can be only applied to, for the product of production in enormous quantities, cost impact is little for this, but for small lot
For the product of production, the product of each small lot production is all individual to be needed to arrange a corresponding Lost Wax Casting shell machine certainly
People, input when such small lot produces in Lost Wax Casting shell robot will be relatively large.In addition, robot demonstrator
Action programming requires also higher to operator；Robot system more solves the problems, such as labourer's muscle power, but can't manage very well
Reason coordinates production high efficiency running；Lost Wax Casting shell robot system can not voluntarily identify product category and state, it is necessary to grasp
Author tells robot system manually, easily error；Action that new product is reached the standard grade programming must end-of-life state worked out with teaching machine,
Still it is unable to off-line programing.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of production that can apply to multiple product and realized offline
The Lost Wax Casting shell robot flexibility intelligent control method and system of programming.
The technical scheme that the present invention solves above-mentioned technical problem is as follows：A kind of Lost Wax Casting shell robot flexibility is intelligently controlled
Method processed, comprises the following steps,
S1, the title and original state of product are marked；
S2, the mark is identified, and the Flexible Control instruction worked out offline in advance according to corresponding to calling the mark, lead to
The coherent micromotion for performing multistage independence of the Flexible Control instruction control Lost Wax Casting shell robot is crossed, and described in drive
Product completes a technique productions cycle in peripheral hardware；
S3, after the completion of a technique productions cycle, the original state of the mark is rewritten automatically, is made revised
State of the state of the product with the product after a technique productions cycle is consistent.
The beneficial effects of the invention are as follows：A kind of Lost Wax Casting shell robot flexibility intelligent control method of the present invention is by tradition
Robot demonstrator programming be integrated into off-line programing terminal carry out menu mode selection programming, realize off-line programing, be ignorant of
The technologist of computer and Lost Wax Casting shell robotic programming can also program, and not allow also error-prone, greatly reduce operation
Skill set requirements；In addition, the coherent decomposition for performing multistage independence of control Lost Wax Casting shell robot is instructed to move using Flexible Control
To make, the combination of actions pattern of Lost Wax Casting shell robot is reachable more than 200,000 kinds, realizes the flexibility of Product Process,
A Lost Wax Casting shell robot application can be realized in the production of the small lot of multi-assortment production.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement.
Further, in the S1, using bar code, either Quick Response Code or RFID chip mark the title of the product
And original state；Used in the S2 and wirelessly identify the mark.
It is using the above-mentioned further beneficial effect of scheme：The method of the present invention is using wireless recognition technique identification product
Simultaneously can be with record product state, production process operator is no longer it should be appreciated that the state of each product and identification product, is somebody's turn to do
Work is performed by Intelligent Recognition, will not be malfunctioned, be greatly reduced Production database data volume, facilitate the letter of intelligent computing
Yi Xing；The electronic display (including rewritable chip) or RFID chip mark for showing bar code or Quick Response Code can be passed through
Remember product, its mark mode is simple, easily identification, and production can be greatly reduced with record product state while identifying product
Database data amount, facilitate the simplification of intelligent computing.
Further, in the S2, in addition to the action according to the Flexible Control instruction control peripheral hardware, it is described outer
If action be engaged with the Lost Wax Casting shell robot coherent micromotion for performing multistage independence described in common completion
One technique productions cycle of product.
It is using the above-mentioned further beneficial effect of scheme：Lost Wax Casting shell robot drive product in peripheral hardware it is complete
During the technique productions cycle, it is sometimes desirable to the cooperation of peripheral hardware, for example, when product is put into by close casting manufacturing casing machine device people
At this moment slurry bucket (a kind of peripheral hardware in Lost Wax Casting shell) just needs to control afterwards, it is necessary to slurry bucket, which rotates, coordinates completion shell process
The action of peripheral hardware processed coordinates to complete a process cycle jointly so that the control of production process is more intelligent and conveniently.
Further, the S2 specifically,
S21, the mark is identified, moving for the Lost Wax Casting shell robot worked out offline in advance is called according to the mark
Make integrated mode, drive the product complete in peripheral hardware wherein the combination of actions pattern is specially Lost Wax Casting shell robot
Into the combination of actions of the coherent multistage micromotion performed needed for a technique productions cycle；
S22, the first action execution program worked out offline in advance according to the combination of actions mode invocation and the second action
Configuration processor, wherein, first action execution program is used to control the Lost Wax Casting shell robot to drive the product
The multistage micromotion performed that links up needed for a technique productions cycle, the second action executing journey are completed in the peripheral hardware
Sequence is used to control the peripheral hardware to act；
S23, the Lost Wax Casting shell robot is controlled according to calling according to first action execution program of calling
The combination of actions pattern sequence, and control the peripheral hardware to move according to second action execution program of calling
Make, the Lost Wax Casting shell robot drives the product in the peripheral hardware, and complete under the cooperation of peripheral hardware action
Into a technique productions cycle, and generate the production process data and technological parameter of the Lost Wax Casting shell robot and peripheral hardware
Data；
The S3 is specifically, after the completion of a technique productions cycle, according to the production process data and technological parameter
Data rewrite the original state of the mark automatically, and the state and the product for making the revised product pass through one
State after the technique productions cycle is consistent.
It is using the above-mentioned further beneficial effect of scheme：A kind of Lost Wax Casting shell robot flexibility of the present invention is intelligently controlled
Method processed by call the action execution program of Lost Wax Casting shell robot control the Lost Wax Casting shell robot according to
The combination of actions pattern sequence of the Lost Wax Casting shell robot called, and the peripheral hardware for passing through calling are dynamic
Making the action that configuration processor controls the peripheral hardware so that Lost Wax Casting shell robot drives the product in the peripheral hardware,
And a technique productions cycle is completed under the cooperation of peripheral hardware action, you can realize the flexible production of product, hot investment casting
The combination of actions pattern of manufacturing casing machine device people can reach more than 200,000 kinds, it is possible to achieve same Lost Wax Casting shell robot
Production applied to the small lot of multi-assortment production.
Based on a kind of above-mentioned Lost Wax Casting shell robot flexibility intelligent control method, the present invention also provides a kind of accurate casting
Make manufacturing casing machine device people's flexible intelligent control system.
A kind of Lost Wax Casting shell robot flexibility intelligence control system, including mark module and flex control module,
The mark module, it is used to the title and original state of product be marked；
The flex control module, it is used to identify the mark module, and according to corresponding to calling the mark module
The Flexible Control instruction worked out offline in advance, instruct control Lost Wax Casting shell robot is coherent to perform by the Flexible Control
The micromotion of multistage independence, and drive the product to complete a technique productions cycle in peripheral hardware；
The flex control module, was additionally operable to after the completion of a technique productions cycle, rewrote the institute of the mark automatically
Original state is stated, keeps state of the state of the revised product with the product after a technique productions cycle
Unanimously.
The beneficial effects of the invention are as follows：A kind of Lost Wax Casting shell robot flexibility intelligence control system of the present invention is by tradition
Robot demonstrator programming be integrated into off-line programing terminal carry out menu mode selection programming, realize off-line programing, be ignorant of
The technologist of computer and Lost Wax Casting shell robotic programming can also program, and not allow also error-prone, greatly reduce operation
Skill set requirements；In addition, the coherent decomposition for performing multistage independence of control Lost Wax Casting shell robot is instructed to move using Flexible Control
To make, the combination of actions pattern of Lost Wax Casting shell robot is reachable more than 200,000 kinds, realizes the flexibility of Product Process,
A Lost Wax Casting shell robot application can be realized in the production of the small lot of multi-assortment production.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement.
Further, the mark module specifically, record have the title of the product and the bar code of original state or
Quick Response Code or RFID chip；The flex control module, which is specifically used for using, wirelessly identifies the mark module.
It is using the above-mentioned further beneficial effect of scheme：The system of the present invention is using wireless recognition technique identification product
Simultaneously can be with record product state, production process operator is no longer it should be appreciated that the state of each product and identification product, is somebody's turn to do
Work is performed by Intelligent Recognition, will not be malfunctioned, be greatly reduced Production database data volume, facilitate the letter of intelligent computing
Yi Xing；The electronic display (including rewritable chip) or RFID chip mark for showing bar code or Quick Response Code can be passed through
Remember product, its mark mode is simple, easily identification, and production can be greatly reduced with record product state while identifying product
Database data amount, facilitate the simplification of intelligent computing.
Further, the flex control module is additionally operable to, and the action of the peripheral hardware is controlled according to Flexible Control instruction,
The action of the peripheral hardware is engaged jointly complete with the Lost Wax Casting shell robot coherent micromotion for performing multistage independence
Into a technique productions cycle of the product.
It is using the above-mentioned further beneficial effect of scheme：Lost Wax Casting shell robot drive product in peripheral hardware it is complete
During the technique productions cycle, it is sometimes desirable to the cooperation of peripheral hardware, for example, when product is put into by close casting manufacturing casing machine device people
At this moment slurry bucket (a kind of peripheral hardware in Lost Wax Casting shell) just needs to control afterwards, it is necessary to slurry bucket, which rotates, coordinates completion shell process
The action of peripheral hardware processed coordinates to complete a process cycle jointly so that the control of production process is more intelligent and conveniently.
Further, the flex control module is specifically used for,
The mark module is identified, the Lost Wax Casting shell robot worked out offline in advance is called according to the mark module
Combination of actions pattern, wherein the combination of actions pattern, which is specially Lost Wax Casting shell robot, drives the product in peripheral hardware
The middle combination of actions for completing the coherent multistage micromotion performed needed for a technique productions cycle；
The first action execution program worked out offline in advance according to the combination of actions mode invocation and the second action executing
Program, wherein, first action execution program is used to control the Lost Wax Casting shell robot to drive the product in institute
State and the multistage micromotion performed that links up needed for a technique productions cycle is completed in peripheral hardware, second action execution program is used
Acted in controlling the peripheral hardware；
Institute of the Lost Wax Casting shell robot according to calling is controlled according to first action execution program of calling
Combination of actions pattern sequence is stated, and controls the peripheral hardware to act according to second action execution program of calling, institute
State Lost Wax Casting shell robot and drive the product in the peripheral hardware, and one is completed under the cooperation of the dynamic action of the peripheral hardware
The individual technique productions cycle, and generate the production process data and technological parameter number of the Lost Wax Casting shell robot and peripheral hardware
According to；
After the completion of a technique productions cycle, according to the Lost Wax Casting shell robot and the production process number of peripheral hardware
According to the original state for rewriting the mark automatically with technological parameter data, make the state of the revised product with it is described
State of the product after a technique productions cycle is consistent.
It is using the above-mentioned further beneficial effect of scheme：A kind of Lost Wax Casting shell robot flexibility of the present invention is intelligently controlled
System processed by call the action execution program of Lost Wax Casting shell robot control the Lost Wax Casting shell robot according to
The combination of actions pattern sequence of the Lost Wax Casting shell robot called, and the peripheral hardware for passing through calling are dynamic
Making the action that configuration processor controls the peripheral hardware so that Lost Wax Casting shell robot drives the product in the peripheral hardware,
And a technique productions cycle is completed under the cooperation of peripheral hardware action, you can realize the flexible production of product, hot investment casting
The combination of actions pattern of manufacturing casing machine device people can reach more than 200,000 kinds, it is possible to achieve same Lost Wax Casting shell robot
Production applied to the small lot of multi-assortment production.
Further, the flex control module includes off-line programing terminal, wireless identification/rewriting terminal, PLC and offline volume
Journey terminal server,
Technological data bank and robot and peripheral hardware action execution program database are built with the off-line programing terminal；
The off-line programing terminal, it is used to work out the combination of actions offline according to the requirement of the technique productions of the product
Pattern, and the combination of actions pattern is stored in the technological data bank；
The off-line programing terminal, it is additionally operable to work out first action execution program and the second action executing journey offline
Sequence, and first action execution program and the second action execution program are stored in robot and peripheral hardware the action executing journey
In sequence database；
The wireless identification/rewriting terminal, it is used to wirelessly identify product described in the mark module
Title and original state, and the title of the product and original state sent to by the first default communications protocol described
PLC；
The PLC, it is used to send the title of the product and original state to institute by the second default communications protocol
State off-line programing terminal server；
The off-line programing terminal server, it is used for title and original state according to the product in the technique number
According to the combination of actions pattern corresponding to being called in storehouse, and according to the combination of actions pattern of calling in the robot and outer
If first action execution program and the second action execution program corresponding to being called in action execution program database；
The off-line programing terminal, it is additionally operable to the combination of actions pattern and the first action execution program according to calling
With the second action execution program, generation performs file, and the execution file is exported to the off-line programing terminal server,
Wherein, the execution file is used to control the Lost Wax Casting shell robot to drive the product in the peripheral hardware, and
A technique productions cycle is completed under the cooperation of peripheral hardware action；
The off-line programing terminal server, it is additionally operable to directly control the precision according to the execution file received
The action of manufacturing casing machine device people and peripheral hardware is cast, the Lost Wax Casting shell robot is driven the production piece in the peripheral hardware,
And a technique productions cycle is completed under the cooperation of peripheral hardware action；Or for the execution file received to be passed through
Second default communications protocol sends the PLC, and PLC hot investment casting manufacturing casing machines according to the execution document control to
Device people and the action of peripheral hardware, the Lost Wax Casting shell robot is set to drive the production piece in the peripheral hardware, and described outer
If a technique productions cycle is completed under the cooperation of action；
Production process database and technological parameter database are built with the off-line programing terminal server,
The production process database, it is used to deposit the Lost Wax Casting shell robot and is located at a technique life outside
It is used for the production process data for recording production process caused by the production cycle；
The technological parameter database, it is used to deposit the sensing configured in the Lost Wax Casting shell robot and peripheral hardware
The technological parameter data that device senses within a technique productions cycle, and for being stored in people in a technique productions cycle
The supplemental characteristic of the real-time detection of work input；
The off-line programing terminal server, it is additionally operable to the production process data and technological parameter data by second
Default communications protocol sends the PLC to；
The PLC, it is default logical by first to be additionally operable to the production process data that will receive and technological parameter data
News agreement sends the wireless identification/rewriting terminal to；
The wireless identification/rewriting terminal, it is additionally operable to pass through nothing according to the production process data and technological parameter data
The mode of line rewrites the original state of the mark module, and the state and the product for making the revised product are passed through
State after one technique productions cycle is consistent.
It is using the above-mentioned further beneficial effect of scheme：A kind of Lost Wax Casting shell robot flexibility of the present invention is intelligently controlled
System processed can not only realize off-line programing, also by establishing technological data bank and robot and peripheral hardware configuration processor database
The Flexible Control of robot can be realized；Excavation and management to each association database simultaneously, realize intelligent production control and
Record, the instruction intelligence degree of production process have very big room for promotion.
Further, before a technique productions cycle, the product is hung up on objective table, and the objective table is specially car
Frame or drying shed dry stretched wire；The peripheral hardware includes 6 sand buckets, four slurry buckets, an air blowing bucket and a wetting bucket.
It is using the above-mentioned further beneficial effect of scheme：A kind of Lost Wax Casting shell robot flexibility of the present invention is intelligently controlled
System processed can be applied under vehicle frame or drying shed or the mode of operation for drying stretched wire, and application scenarios are extensive；Simultaneously with applied to 6
In sand bucket, four slurry buckets, the scene of an air blowing bucket and a wetting bucket, different technological requirements can be met and sufficiently protected
Demonstrate,prove the flexible production of product.
Brief description of the drawings
Fig. 1 is a kind of flow chart of Lost Wax Casting shell robot flexibility intelligent control method of the present invention；
Fig. 2 is a kind of overall structure diagram figure of Lost Wax Casting shell robot flexibility intelligence control system of the present invention；
Fig. 3 is the flow chart that a kind of Lost Wax Casting shell robot flexibility intelligence control system of the present invention performs technique；
Fig. 4 is Lost Wax Casting shell robot in a kind of Lost Wax Casting shell robot flexibility intelligence control system of the present invention
Micromotion implementation procedure figure.
Embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing, the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
As shown in figure 1, a kind of Lost Wax Casting shell robot flexibility intelligent control method, comprises the following steps,
S1, the title and original state of product are marked；
S2, the mark is identified, and the Flexible Control instruction worked out offline in advance according to corresponding to calling the mark, lead to
The coherent micromotion for performing multistage independence of the Flexible Control instruction control Lost Wax Casting shell robot is crossed, and described in drive
Product completes a technique productions cycle in peripheral hardware；
S3, after the completion of a technique productions cycle, the original state of the mark is rewritten automatically, is made revised
State of the state of the product with the product after a technique productions cycle is consistent.
Specifically：
In the S1, using bar code, either Quick Response Code or RFID chip mark the title and initial shape of the product
State；Used in the S2 and wirelessly identify the mark.
In the S2, in addition to the action according to the Flexible Control instruction control peripheral hardware, the peripheral hardware move
Make to be engaged with the micromotion of the Lost Wax Casting shell robot coherent execution multistage independence and complete the product jointly
One technique productions cycle.
The S2 specifically,
S21, S21, the mark is identified, the Lost Wax Casting shell robot worked out offline in advance is called according to the mark
Combination of actions pattern, wherein the combination of actions pattern, which is specially Lost Wax Casting shell robot, drives the product in peripheral hardware
The middle combination of actions for completing the coherent multistage micromotion performed needed for a technique productions cycle；Wherein, the action is worked out
The process of integrated mode is specifically, different process of the Lost Wax Casting shell machine under the different conditions of different product is given birth to
All molar behaviors traveling produced in the cycle is decomposed, and obtains the micromotion of multistage independence, and to the micromotion of multistage independence
Permutation and combination is carried out, a variety of different combination of actions patterns are obtained, for example, the action of the Lost Wax Casting shell robot includes
Enter blade angle degree, enter to starch speed, enter to starch direction, enter to starch rotary speed, pulp angle and slurry-outlet velocity etc., these actions are arranged
Row combination, it is possible to obtain a variety of different combination of actions patterns.
S22, the first action execution program worked out offline in advance according to the combination of actions mode invocation and the second action
Configuration processor, wherein, first action execution program is used to control the Lost Wax Casting shell robot to drive the product
The multistage micromotion performed that links up needed for a technique productions cycle, the second action executing journey are completed in the peripheral hardware
Sequence is used to control the peripheral hardware to act；Wherein, the process of first action execution program and the second action execution program is worked out
Specifically, one by the Lost Wax Casting shell robot for the default product under default original state is default
Complete action process resolves into multiple independent micromotions in the technique productions cycle, for each independent micromotion
Different action parameters and definition are set, and the hot investment casting manufacturing casing machine is worked out according to different action parameters and definition respectively
The action execution program of device human action.
S23, the Lost Wax Casting shell robot is controlled according to calling according to first action execution program of calling
The combination of actions pattern sequence, and control the peripheral hardware to move according to second action execution program of calling
Make, the Lost Wax Casting shell robot drives the product in the peripheral hardware, and complete under the cooperation of peripheral hardware action
Into a technique productions cycle, and generate the production process data and technological parameter of the Lost Wax Casting shell robot and peripheral hardware
Data.
The S3 is specifically, after the completion of a technique productions cycle, according to the production process data and technological parameter
Data rewrite the original state of the mark automatically, and the state and the product for making the revised product pass through one
State after the technique productions cycle is consistent.
A kind of Lost Wax Casting shell robot flexibility intelligent control method of the present invention is using wireless recognition technique identification product
While can with record product state, production process operator no longer it should be appreciated that each product and identify the state of product,
The work is performed by Intelligent Recognition, will not be malfunctioned, and greatly reduces Production database data volume, facilitates intelligent computing
Simplification；Traditional robot demonstrator programming is integrated into off-line programing terminal simultaneously and carries out menu mode selection programming, it is real
Off-line programing is showed, being ignorant of the technologist of computer and Lost Wax Casting shell robotic programming can also program, and also be not easy
Mistake, greatly reduce operative skill requirement；In addition, instruct control Lost Wax Casting shell robot is coherent to perform using Flexible Control
The micromotion of multistage independence, the combination of actions pattern of Lost Wax Casting shell robot is reachable more than 200,000 kinds, realizes
The flexibility of Product Process, it is possible to achieve a Lost Wax Casting shell robot application is in the life of the small lot of multi-assortment production
Production.
Based on a kind of above-mentioned Lost Wax Casting shell robot flexibility intelligent control method, the present invention also provides a kind of accurate casting
Make manufacturing casing machine device people's flexible intelligent control system.
A kind of Lost Wax Casting shell robot flexibility intelligence control system, including mark module and flex control module,
The mark module, it is used to the title and original state of product be marked；
The flex control module, it is used to identify the mark module, and according to corresponding to calling the mark module
The Flexible Control instruction worked out offline in advance, instruct control Lost Wax Casting shell robot is coherent to perform by the Flexible Control
The micromotion of multistage independence, and drive the product to complete a technique productions cycle in peripheral hardware；
The flex control module, was additionally operable to after the completion of a technique productions cycle, rewrote the institute of the mark automatically
Original state is stated, keeps state of the state of the revised product with the product after a technique productions cycle
Unanimously.
Specifically：
The mark module specifically, record have the title of the product and the bar code of original state or Quick Response Code or
Person's RFID chip；The flex control module, which is specifically used for using, wirelessly identifies the mark module.
The flex control module is additionally operable to, and the action of the peripheral hardware is controlled according to Flexible Control instruction, described outer
If action be engaged with the Lost Wax Casting shell robot coherent micromotion for performing multistage independence described in common completion
One technique productions cycle of product.
The flex control module is specifically used for,
The mark module is identified, the Lost Wax Casting shell robot worked out offline in advance is called according to the mark module
Combination of actions pattern, wherein the combination of actions pattern, which is specially Lost Wax Casting shell robot, drives the product in peripheral hardware
The middle combination of actions for completing the coherent multistage micromotion performed needed for a technique productions cycle；
The first action execution program worked out offline in advance according to the combination of actions mode invocation and the second action executing
Program, wherein, first action execution program is used to control the Lost Wax Casting shell robot to drive the product in institute
State and the multistage micromotion performed that links up needed for a technique productions cycle is completed in peripheral hardware, second action execution program is used
Acted in controlling the peripheral hardware；
Institute of the Lost Wax Casting shell robot according to calling is controlled according to first action execution program of calling
Combination of actions pattern sequence is stated, and controls the peripheral hardware to act according to second action execution program of calling, institute
State Lost Wax Casting shell robot and drive the product in the peripheral hardware, and one is completed under the cooperation of the dynamic action of the peripheral hardware
The individual technique productions cycle, and generate the production process data and technological parameter number of the Lost Wax Casting shell robot and peripheral hardware
According to；
After the completion of a technique productions cycle, according to the Lost Wax Casting shell robot and the production process number of peripheral hardware
According to the original state for rewriting the mark automatically with technological parameter data, make the state of the revised product with it is described
State of the product after a technique productions cycle is consistent.
As shown in Fig. 2 the flex control module include off-line programing terminal, wireless identification/rewriting terminal, PLC and from
Line program terminal server,
Technological data bank and robot and peripheral hardware action execution program database are built with the off-line programing terminal；
The off-line programing terminal, it is used to work out the combination of actions offline according to the requirement of the technique productions of the product
Pattern, and the combination of actions pattern is stored in the technological data bank；
The off-line programing terminal, it is additionally operable to work out first action execution program and the second action executing journey offline
Sequence, and first action execution program and the second action execution program are stored in robot and peripheral hardware the action executing journey
In sequence database；
The wireless identification/rewriting terminal, it is used to wirelessly identify product described in the mark module
Title and original state, and the title of the product and original state sent to by the first default communications protocol described
PLC；
The PLC, it is used to send the title of the product and original state to institute by the second default communications protocol
State off-line programing terminal server；
The off-line programing terminal server, it is used for title and original state according to the product in the technique number
According to the combination of actions pattern corresponding to being called in storehouse, and according to the combination of actions pattern of calling in the robot and outer
If first action execution program and the second action execution program corresponding to being called in action execution program database；
The off-line programing terminal, it is additionally operable to the combination of actions pattern and the first action execution program according to calling
With the second action execution program, generation performs file, and the execution file is exported to the off-line programing terminal server,
Wherein, the execution file is used to control the Lost Wax Casting shell robot to drive the product in the peripheral hardware, and
A technique productions cycle is completed under the cooperation of peripheral hardware action；
The off-line programing terminal server, it is additionally operable to directly control the precision according to the execution file received
The action of manufacturing casing machine device people and peripheral hardware is cast, the Lost Wax Casting shell robot is driven the production piece in the peripheral hardware,
And a technique productions cycle is completed under the cooperation of peripheral hardware action；Or for the execution file received to be passed through
Second default communications protocol sends the PLC, and PLC hot investment casting manufacturing casing machines according to the execution document control to
Device people and the action of peripheral hardware, the Lost Wax Casting shell robot is set to drive the production piece in the peripheral hardware, and described outer
If a technique productions cycle is completed under the cooperation of action；
Production process database and technological parameter database are built with the off-line programing terminal server,
The production process database, it is used to deposit the Lost Wax Casting shell robot and is located at a technique life outside
It is used for the production process data for recording production process caused by the production cycle；
The technological parameter database, it is used to deposit the sensing configured in the Lost Wax Casting shell robot and peripheral hardware
The technological parameter data that device senses within a technique productions cycle, and be stored in a technique productions cycle artificial defeated
The supplemental characteristic of the real-time detection entered；
The off-line programing terminal server, it is additionally operable to the production process data and technological parameter data by second
Default communications protocol sends the PLC to；
The PLC, it is default logical by first to be additionally operable to the production process data that will receive and technological parameter data
News agreement sends the wireless identification/rewriting terminal to；
The wireless identification/rewriting terminal, it is additionally operable to pass through nothing according to the production process data and technological parameter data
The mode of line rewrites the original state of the mark module, and the state and the product for making the revised product are passed through
State after one technique productions cycle is consistent.
Before a technique productions cycle, the product is hung up on objective table, and the objective table is specially vehicle frame or done
Stretched wire is dried in dry room.
The peripheral hardware includes 6 sand buckets, four slurry buckets, an air blowing bucket and a wetting bucket, can also include others
Auxiliary equipment.For example, the action of the peripheral hardware can be the rotation (including direction of rotation and speed etc.) of sand bucket and slurry bucket.
Technological parameter data in technological parameter database are obtained by wired or wireless mode：In the side of wired acquisition
In formula, the data for being disposed in sensor sensing in the Lost Wax Casting shell robot and peripheral hardware are deposited by cable data collector
It is placed in the technological parameter database that (actually cable data collector is performed by PLC, sensor collection number
Off-line programing terminal is uploaded by PLC according to rear, then to be placed on technological parameter database corresponding by the programming of off-line programing terminal software
Position), the supplemental characteristic for the real-time detection in a technique productions cycle being manually entered is stored in by off-line programing terminal
In the technological parameter database；In the mode wirelessly obtained, it is disposed in the Lost Wax Casting shell robot and peripheral hardware
(effect of plc data module is exactly will by plc data module successively for the digital quantity signal or analog signalses of sensor sensing
Different pieces of information source carries out address number and simultaneously implemented by acquisition time requirement upload data), wireless communication terminal and radio network gateway
It is stored in the technological parameter database.Technological parameter data in other PLC can also be stored in institute by radio network gateway
State in technological parameter database that (source of technological parameter data is various sensors in PLC, there are different address points, and PLC passes through
Communications protocol is connected with off-line programing terminal, and the data of different address point will be recorded in detail corresponding to technological parameter database
Under, the time interval gathered is controlled with software, record data can record acquisition time simultaneously, facilitate the later stage to technological parameter data
The excavation of data and the utilization of big data in storehouse).
ERP/MES acquisition systems or/and display or/and printing can be also arranged on the off-line programing terminal server
Machine.
Operation interface corresponding to a kind of Lost Wax Casting shell robot flexibility intelligence control system of the present invention for it is graphical,
Menu and Windowing operation interface.
In this specific embodiment, Lost Wax Casting shell robot flexibility intelligence control system performs the stream of a predetermined process
Journey is as shown in Figure 3：
The first step, the title and original state of wireless identification/rewriting terminal recognition product；Second step, Lost Wax Casting shell
Robot captures product, and drives product to be soaked to bucket is soaked；3rd step, Lost Wax Casting shell robot drive product point
Mucilage processing is carried out not into surface layer slurry bucket 1, surface layer slurry bucket 2, transition zone slurry bucket, backing layer slurry bucket and other peripheral hardwares；4th step, essence
Close casting manufacturing casing machine device people drives product to air blowing bucket to carry out air blowing processing, is handled after air blowing processing if necessary to mucilage again
When, then Lost Wax Casting shell robot drives product respectively to surface layer slurry bucket 1, surface layer slurry bucket 2, transition zone slurry bucket, backing layer slurry bucket
And mucilage processing is carried out in other peripheral hardwares；5th step, Lost Wax Casting shell robot drive product to carry out getting rid of slurry in slurry bucket to getting rid of
Processing；6th step, Lost Wax Casting shell robot drive product respectively to surface layer sand bucket 1, surface layer sand bucket 2, transition zone sand bucket, the back of the body
Handled in layer sand bucket and other peripheral hardwares；7th step, wireless identification/rewriting terminal rewrite the original state of product, complete one
The individual technique productions cycle, and Lost Wax Casting shell robot hangs up product on objective table.
In this specific embodiment, the implementation procedure of Lost Wax Casting shell robot micromotion is as shown in figure 4, with precision
Manufacturing casing machine device people crawl product is cast to enter exemplified by slurry bucket action：
Preamble acts, and → entering blade angle degree (90 degree of entrance, 75 degree of entrance, 60 degree of entrance, 45 degree of entrance, set angles) → enters
Slurry speed (quick, standard, at a slow speed, setting speed) → entering to starch direction (turn clockwise, rotate counterclockwise, do not turn) → enters slurry rotation
Rotary speed (quick, standard, at a slow speed, setting speed) → slurry bucket inward turning number of turns (circle, Liang Quan, three circles, setting the number of turns) → pulp
Angle (90 degree, 60 degree, set angle) → slurry-outlet velocity (quick, standard, at a slow speed, setting speed) → postorder action.According to work
Skill (selects a kind of combination of actions pattern) after requiring individual event selection, what executable one section of Lost Wax Casting shell robot completely linked up
Micromotion.
A kind of Lost Wax Casting shell robot flexibility intelligence control system of the present invention is using wireless recognition technique identification product
While can with record product state, production process operator no longer it should be appreciated that each product and identify the state of product,
The work is performed by Intelligent Recognition, will not be malfunctioned, and greatly reduces Production database data volume, facilitates intelligent computing
Simplification；Traditional robot demonstrator programming is integrated into off-line programing terminal simultaneously and carries out menu mode selection programming, it is real
Off-line programing is showed, being ignorant of the technologist of computer and Lost Wax Casting shell robotic programming can also program, and also be not easy
Mistake, greatly reduce operative skill requirement；In addition, instruct control Lost Wax Casting shell robot is coherent to perform using Flexible Control
The micromotion of multistage independence, the combination of actions pattern of Lost Wax Casting shell robot is reachable more than 200,000 kinds, realizes
The flexibility of Product Process, it is possible to achieve a Lost Wax Casting shell robot application is in the life of the small lot of multi-assortment production
Production.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc., it should be included in the scope of the protection.
Claims (10)
- A kind of 1. Lost Wax Casting shell robot flexibility intelligent control method, it is characterised in that：Comprise the following steps,S1, the title and original state of product are marked；S2, the mark is identified, and the Flexible Control instruction worked out offline in advance according to corresponding to calling the mark, pass through institute The micromotion of the coherent execution multistage independence of Flexible Control instruction control Lost Wax Casting shell robot is stated, and drives the product A technique productions cycle is completed in peripheral hardware；S3, after the completion of a technique productions cycle, the original state of the mark is rewritten automatically, make revised described State of the state of product with the product after a technique productions cycle is consistent.
- A kind of 2. Lost Wax Casting shell robot flexibility intelligent control method according to claim 1, it is characterised in that： In the S1, using bar code, either Quick Response Code or RFID chip mark the title and original state of the product；Described Used in S2 and wirelessly identify the mark.
- 3. a kind of Lost Wax Casting shell robot flexibility intelligent control method according to claim 1 or 2, its feature exist In：In the S2, in addition to the action according to the Flexible Control instruction control peripheral hardware, the action of the peripheral hardware and institute State the coherent micromotion for performing multistage independence of Lost Wax Casting shell robot and be engaged a work for completing the product jointly The skill production cycle.
- A kind of 4. Lost Wax Casting shell robot flexibility intelligent control method according to claim 3, it is characterised in that：The S2 specifically,S21, the mark is identified, the action group of the Lost Wax Casting shell robot worked out offline in advance is called according to the mark Syntype, the product is driven to complete one in peripheral hardware wherein the combination of actions pattern is specially Lost Wax Casting shell robot The combination of actions of the coherent multistage micromotion performed needed for the individual technique productions cycle；S22, the first action execution program worked out offline in advance according to the combination of actions mode invocation and the second action executing Program, wherein, first action execution program is used to control the Lost Wax Casting shell robot to drive the product in institute State and the multistage micromotion performed that links up needed for a technique productions cycle is completed in peripheral hardware, second action execution program is used Acted in controlling the peripheral hardware；S23, institute of the Lost Wax Casting shell robot according to calling is controlled according to first action execution program of calling Combination of actions pattern sequence is stated, and controls the peripheral hardware to act according to second action execution program of calling, institute State Lost Wax Casting shell robot and drive the product in the peripheral hardware, and one is completed under the cooperation of peripheral hardware action The technique productions cycle, and generate the production process data and technological parameter data of the Lost Wax Casting shell robot and peripheral hardware；The S3 is specifically, after the completion of a technique productions cycle, according to the production process data and technological parameter data Automatically the original state of the mark is rewritten, the state and the product for making the revised product pass through a technique State after production cycle is consistent.
- A kind of 5. Lost Wax Casting shell robot flexibility intelligence control system, it is characterised in that：Including mark module and flexible control Molding block,The mark module, it is used to the title and original state of product be marked；The flex control module, it is used to identify the mark module, and according to corresponding to calling the mark module in advance The Flexible Control instruction worked out offline, instruct control Lost Wax Casting shell robot is coherent to perform multistage by the Flexible Control Independent micromotion, and drive the product to complete a technique productions cycle in peripheral hardware；The flex control module, was additionally operable to after the completion of a technique productions cycle, rewrote the described first of the mark automatically Beginning state, state of the state of the revised product with the product after a technique productions cycle is set to keep one Cause.
- A kind of 6. Lost Wax Casting shell robot flexibility intelligence control system according to claim 5, it is characterised in that：Institute Mark module is stated specifically, record has the title of the product and bar code either Quick Response Code or the RFID cores of original state Piece；The flex control module, which is specifically used for using, wirelessly identifies the mark module.
- 7. a kind of Lost Wax Casting shell robot flexibility intelligence control system according to claim 5 or 6, its feature exist In：The flex control module is additionally operable to, and the action of the peripheral hardware is controlled according to Flexible Control instruction, and the peripheral hardware moves Make to be engaged with the micromotion of the Lost Wax Casting shell robot coherent execution multistage independence and complete the product jointly One technique productions cycle.
- A kind of 8. Lost Wax Casting shell robot flexibility intelligence control system according to claim 7, it is characterised in that：Institute Flex control module is stated to be specifically used for,The mark module is identified, moving for the Lost Wax Casting shell robot worked out offline in advance is called according to the mark module Make integrated mode, drive the product complete in peripheral hardware wherein the combination of actions pattern is specially Lost Wax Casting shell robot Into the combination of actions of the coherent multistage micromotion performed needed for a technique productions cycle；The first action execution program and the second action execution program worked out offline in advance according to the combination of actions mode invocation, Wherein, first action execution program is used to control the Lost Wax Casting shell robot to drive the product in the peripheral hardware Middle to complete the multistage micromotion performed that links up needed for a technique productions cycle, second action execution program is used to control The peripheral hardware action；The Lost Wax Casting shell robot is controlled according to the described dynamic of calling according to first action execution program of calling Make integrated mode sequence, and control the peripheral hardware to act according to second action execution program of calling, the essence Close casting manufacturing casing machine device people drives the product in the peripheral hardware, and completes a work under the cooperation of the dynamic action of the peripheral hardware The skill production cycle, and generate the production process data and technological parameter data of the Lost Wax Casting shell robot and peripheral hardware；After the completion of a technique productions cycle, according to the production process data of the Lost Wax Casting shell robot and peripheral hardware and Technological parameter data rewrite the original state of the mark automatically, make the state of the revised product and the product State after a technique productions cycle is consistent.
- A kind of 9. Lost Wax Casting shell robot flexibility intelligence control system according to claim 8, it is characterised in that：Institute Stating flex control module includes off-line programing terminal, wireless identification/rewriting terminal, PLC and off-line programing terminal server,Technological data bank and robot and peripheral hardware action execution program database are built with the off-line programing terminal；The off-line programing terminal, it is used to work out the action group matched moulds offline according to the requirement of the technique productions of the product Formula, and the combination of actions pattern is stored in the technological data bank；The off-line programing terminal, it is additionally operable to work out first action execution program and the second action execution program offline, and First action execution program and the second action execution program are stored in robot and peripheral hardware the action execution program number According in storehouse；The wireless identification/rewriting terminal, it is used for the name for wirelessly identifying product described in the mark module Title and original state, and the title of the product and original state are sent to the PLC by the first default communications protocol；The PLC, its be used for by the title of the product and original state by the second default communications protocol send to it is described from Line program terminal server；The off-line programing terminal server, it is used for title and original state according to the product in the technological data bank The combination of actions pattern corresponding to middle calling, and moved according to the combination of actions pattern of calling in the robot and peripheral hardware Make first action execution program and the second action execution program corresponding to calling in configuration processor database；The off-line programing terminal, it is additionally operable to the combination of actions pattern and the first action execution program according to calling and Two action execution programs, generation performs file, and the execution file is exported to the off-line programing terminal server, its In, the execution file is used to control the Lost Wax Casting shell robot to drive the product in the peripheral hardware, and in institute State and a technique productions cycle is completed under the cooperation of peripheral hardware action；The off-line programing terminal server, it is additionally operable to directly control the hot investment casting according to the execution file received Manufacturing casing machine device people and the action of peripheral hardware, the Lost Wax Casting shell robot is set to drive the production piece in the peripheral hardware, and A technique productions cycle is completed under the cooperation of the peripheral hardware action；Or for by the execution file received by second Default communications protocol sends the PLC, and PLC Lost Wax Casting shell robots according to the execution document control to With the action of peripheral hardware, the Lost Wax Casting shell robot is set to drive the production piece to be moved in the peripheral hardware, and in the peripheral hardware A technique productions cycle is completed under the cooperation of work；Production process database and technological parameter database are built with the off-line programing terminal server,The production process database, it is used to deposit the Lost Wax Casting shell robot and is located at a technique productions week outside It is used for the production process data for recording production process caused by phase；The technological parameter database, it, which is used to depositing the sensor configured in the Lost Wax Casting shell robot and peripheral hardware, exists The technological parameter data sensed in one technique productions cycle, and it is artificial defeated for being stored in a technique productions cycle The supplemental characteristic of the real-time detection entered；The off-line programing terminal server, it is additionally operable to preset the production process data and technological parameter data by second Communications protocol sends the PLC to；The PLC, is additionally operable to the production process data that will receive and technological parameter data pass through the first default communication association View sends the wireless identification/rewriting terminal to；The wireless identification/rewriting terminal, it is additionally operable to be passed through according to the production process data and technological parameter data wireless Mode rewrites the original state of the mark module, and the state and the product for making the revised product pass through one State after the technique productions cycle is consistent.
- A kind of 10. Lost Wax Casting shell robot flexibility intelligence control system according to claim 9, it is characterised in that： Before a technique productions cycle, the product is hung up on objective table, and the objective table is specially vehicle frame or drying shed or done Dry stretched wire；The peripheral hardware includes 6 sand buckets, four slurry buckets, an air blowing bucket and a wetting bucket.
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