CN109877304B - Vacuum pouring positioning system and method - Google Patents
Vacuum pouring positioning system and method Download PDFInfo
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Abstract
The invention relates to the technical field of vacuum precision casting, in particular to a vacuum pouring positioning system and a method. The vacuum casting positioning system comprises: the mould shell transmission positioning device is used for driving the mould shell to move; the formwork position acquisition system is used for acquiring coordinate information of the center of the formwork on three coordinate axes of X, Y and Z of a space coordinate system in real time and transmitting the coordinate information to the automatic control positioning system; the pouring crucible pouring gate central position acquisition system is used for acquiring coordinate information of the pouring gate of the pouring crucible on each coordinate axis of a space coordinate system and transmitting the coordinate information to the automatic control positioning system; the automatic control positioning system is used for judging whether the position of the formwork is on the same vertical line with the pouring center of the pouring crucible according to the received coordinate information of the center of the formwork and the pouring opening of the pouring crucible on three coordinate axes of X, Y and Z of a space coordinate system; controlling the mould shell transmission positioning device to drive the mould shell to move. The invention can avoid the problem of pouring liquid pouring spilling caused by moving the pouring crucible, can ensure that the pouring liquid is completely poured into the mould shell, and improves the working efficiency.
Description
Technical Field
The invention relates to the technical field of vacuum precision casting, in particular to a vacuum pouring positioning system and a method.
Background
The existing pouring device generally has the defects that a mold shell cannot move, only a crucible can be moved to pour, the movement of the crucible can be ensured to be unchanged through a set program, but the mold shell cannot move, so if the mold shell is placed at a deviated position, alloy liquid splashes or is poured out, the pouring is insufficient if the alloy liquid is light, and equipment is seriously damaged if the alloy liquid is heavy.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a vacuum pouring positioning system and a vacuum pouring positioning method, which can avoid the problem of pouring liquid pouring spilling caused by moving a pouring crucible, ensure that the pouring liquid is completely poured into a mold shell and improve the working efficiency.
According to a first aspect of the present invention, there is provided a vacuum casting positioning system, including:
the formwork transmission positioning device is connected with the automatic control positioning system and is used for driving the formwork to move in the formwork according to a control command sent by the automatic control positioning system;
the formwork position acquisition system is connected with the automatic control positioning system, and is used for acquiring coordinate information of a formwork center on X, Y and Z coordinate axes of a space coordinate system in real time and transmitting the coordinate information to the automatic control positioning system;
the central position acquisition system of the pouring gate of the pouring crucible is connected with the automatic control positioning system, and is used for acquiring coordinate information of the pouring gate of the pouring crucible on three coordinate axes of X, Y and Z of a space coordinate system and transmitting the coordinate information to the automatic control positioning system;
the automatic control positioning system is used for judging whether the position of the formwork is on the same vertical line with the pouring center of the pouring crucible or not according to the received coordinate information of the formwork center and the pouring opening of the pouring crucible on three coordinate axes of X, Y and Z of a space coordinate system; if the position of the formwork is not on the same vertical line with the pouring center of the pouring crucible, the automatic control positioning system sends a control instruction to the formwork transmission positioning device, so that the formwork transmission positioning device is controlled to drive the formwork to move until the position of the formwork is on the same vertical line with the pouring center of the pouring crucible.
Further, the formwork position collection system comprises:
the formwork image extraction unit is used for extracting the coordinate information of each pixel point on the boundary of the formwork in real time;
the formwork center coordinate calculation unit is used for calculating the coordinate information of each pixel point on the boundary of the formwork according to the formwork; judging the pixel point with the maximum pixel value and the pixel point with the minimum pixel value; and calculating the coordinates of the middle pixel point of the connecting line of the pixel point with the maximum pixel value and the pixel point with the minimum pixel value, wherein the coordinates are the coordinates of the center of the formwork.
Further, the self-controlled positioning system comprises:
the formwork center coordinate information storage unit is used for respectively registering coordinate information of a formwork center on X, Y coordinate axes and Z coordinate axes;
the pouring gate coordinate information storage unit is used for respectively registering coordinate information of the pouring gate on X, Y coordinate axes and Z coordinate axes;
the comparison unit is used for sequentially comparing the sizes of the coordinate information of the center of the storage formwork and the pouring gate on three coordinate axes of X, Y and Z respectively and calculating a difference value;
and the instruction unit can send an X-axis forward instruction, an X-axis backward instruction, a Y-axis forward instruction, a Y-axis backward instruction, a Z-axis forward instruction and a Z-axis backward instruction to the formwork transmission positioning device.
Further, the air conditioner is provided with a fan,
if the comparison unit judges that the coordinate information of the center of the formwork on the X coordinate axis is smaller than the coordinate information of the pouring gate on the X coordinate axis, the instruction unit sends an X axial forward instruction; the X-axis forward instruction controls the formwork transmission positioning device to forward towards the X axis;
if the comparison unit judges that the coordinate information of the center of the formwork on the X coordinate axis is larger than the coordinate information of the pouring gate on the X coordinate axis, the instruction unit sends an X axial direction retreating instruction; the X-axis backward instruction controls the formwork transmission positioning device to backward move towards the X axis;
if the comparison unit judges that the coordinate information of the center of the formwork on the Y coordinate axis is smaller than the coordinate information of the pouring gate on the Y coordinate axis, the instruction unit sends a Y axial forward instruction; the Y-axis forward instruction controls the formwork transmission positioning device to forward towards the Y axis;
if the comparison unit judges that the coordinate information of the center of the formwork on the Y coordinate axis is larger than the coordinate information of the pouring gate on the Y coordinate axis, the instruction unit sends a Y-axis backward instruction; the Y-axis backward instruction controls the formwork transmission positioning device to backward towards the Y axis;
if the comparison unit judges that the coordinate information of the center of the formwork on the Z coordinate axis is equal to the coordinate information of the pouring gate on the Z coordinate axis, the instruction unit sends a Z axial backward instruction; and the Z-axis backward instruction controls the reverse descending of the formwork transmission positioning device to the Z axis.
As a first aspect of the present invention, there is provided a casting positioning method including the steps of:
s100: determining a reference point, and establishing a space coordinate system, wherein the space coordinate system comprises X, Y and Z coordinate axes;
s200: acquiring coordinate information of the center of the formwork on each coordinate axis of the space coordinate system in real time;
s300: collecting coordinate information of a pouring gate of a pouring crucible on each coordinate axis of the space coordinate system;
s400: sequentially and respectively comparing coordinate information of a pouring gate of the pouring crucible and coordinate information of the center of the mould shell on each coordinate axis of the space coordinate system;
s500: and controlling the mould shell positioning disc to move in the space coordinate system according to the comparison result until the coordinate information of the mould shell center on X, Y coordinate axes is consistent with the coordinate information of the pouring crucible pouring gate on X, Y coordinate axes.
Further, the step S200: the method comprises the following steps of collecting coordinate information of a formwork center on each coordinate axis of a space coordinate system in real time, and specifically comprises the following steps:
s210: extracting the coordinate information of each pixel point on the boundary of the formwork in real time;
s220: according to the coordinate information of each pixel point on the boundary of the formwork; judging the pixel point with the maximum pixel value and the pixel point with the minimum pixel value;
s230: and calculating the coordinates of the middle pixel point of the connecting line of the pixel point with the maximum pixel value and the pixel point with the minimum pixel value, wherein the coordinates are the coordinates of the center of the formwork.
Further, the step S400: and comparing coordinate information of the pouring gate of the pouring crucible and the center of the mould shell on each coordinate axis of the space coordinate system respectively in sequence, and specifically comprising the following steps:
s410: respectively registering coordinate information of the center of the formwork on X, Y coordinate axes and Z coordinate axes; respectively registering coordinate information of the pouring gate on X, Y and Z coordinate axes;
s420: and sequentially comparing the coordinate information of the center of the register formwork and the sprue gate on X, Y coordinate axes and Z coordinate axes, and calculating a difference value.
Further, the S500 specifically includes:
if the coordinate information of the center of the formwork on the X coordinate axis is judged to be smaller than the coordinate information of the pouring gate on the X coordinate axis, the instruction unit sends an X axial forward instruction; the X-axis forward instruction controls the formwork transmission positioning device to forward move towards the X axis until the coordinate information of the center of the formwork on the X coordinate axis is consistent with the coordinate information of the pouring gate on the X coordinate axis;
if the coordinate information of the center of the formwork on the X coordinate axis is judged to be larger than the coordinate information of the pouring gate on the X coordinate axis, the instruction unit sends an X axial direction retreating instruction; the X-axis backward instruction controls the formwork transmission positioning device to backward move towards the X axis; until the coordinate information of the center of the mould shell on the X coordinate axis is consistent with the coordinate information of the pouring gate on the X coordinate axis;
if the coordinate information of the center of the formwork on the Y coordinate axis is judged to be smaller than the coordinate information of the pouring gate on the Y coordinate axis, the instruction unit sends a Y axial forward instruction; the Y-axis forward instruction controls the formwork transmission positioning device to forward towards the Y axis; until the coordinate information of the center of the mould shell on the Y coordinate axis is consistent with the coordinate information of the pouring gate on the Y coordinate axis;
if the coordinate information of the center of the formwork on the Y coordinate axis is judged to be larger than the coordinate information of the pouring gate on the Y coordinate axis, the instruction unit sends a Y axial retreating instruction; the Y-axis backward instruction controls the formwork transmission positioning device to backward towards the Y axis; until the coordinate information of the center of the mould shell on the Y coordinate axis is consistent with the coordinate information of the pouring gate on the Y coordinate axis;
if the comparison unit judges that the coordinate information of the center of the formwork on the Z coordinate axis is equal to the coordinate information of the pouring gate on the Z coordinate axis, the instruction unit sends a Z axial backward instruction; and the Z-axis backward instruction controls the formwork transmission positioning device to reversely descend towards the Z axis until the coordinate information of the center of the formwork on the Z coordinate axis is smaller than the coordinate information of the pouring gate on the Z coordinate axis, and the difference value between the coordinate information of the center of the formwork on the Z coordinate axis and the coordinate information of the pouring gate on the Z coordinate axis is within the range of a preset threshold value.
From the above, compared with the prior art, the vacuum pouring positioning system and the method provided by the invention have the following advantages: the casting furnace and the position of the mold shell can be accurately collected through the vacuum casting positioning system, the center of the mold shell and the casting opening of the casting furnace can be accurately controlled to be on the same vertical line through adjusting the position of the mold shell, so that casting operation is facilitated, the problem that casting liquid is poured due to the fact that a casting crucible is moved can be avoided, the casting liquid can be completely poured into the mold shell, and working efficiency is improved.
Drawings
Fig. 1 is a schematic structural diagram of the first aspect of the present invention.
Fig. 2 is a flow chart of a second aspect of the invention.
Fig. 3 is a detailed flowchart of S200 in the second aspect of the invention.
Fig. 4 is a detailed flowchart of S400 in the second aspect of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings. In which like parts are designated by like reference numerals. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the drawings. The terms "inner" and "outer" are used to refer to directions toward and away from, respectively, the geometric center of a particular component.
As a first aspect of the present invention, there is provided a vacuum casting positioning system, wherein as shown in fig. 1, the vacuum casting positioning system comprises:
the formwork transmission positioning device is connected with the automatic control positioning system and used for driving the formwork to move in space according to a control command sent by the automatic control positioning system;
the formwork position acquisition system is connected with the automatic control positioning system, and is used for acquiring coordinate information of a formwork center on X, Y and Z coordinate axes of a space coordinate system in real time and transmitting the coordinate information to the automatic control positioning system;
the central position acquisition system of the pouring gate of the pouring crucible is connected with the automatic control positioning system, and is used for acquiring coordinate information of the pouring gate of the pouring crucible on three coordinate axes of X, Y and Z of a space coordinate system and transmitting the coordinate information to the automatic control positioning system;
the automatic control positioning system is used for judging whether the position of the formwork is on the same vertical line with the pouring center of the pouring crucible or not according to the received coordinate information of the formwork center and the pouring opening of the pouring crucible on three coordinate axes of X, Y and Z of a space coordinate system; if the position of the formwork is not on the same vertical line with the pouring center of the pouring crucible, the automatic control positioning system sends a control instruction to the formwork transmission positioning device, so that the formwork transmission positioning device is controlled to drive the formwork to move until the position of the formwork is on the same vertical line with the pouring center of the pouring crucible.
It should be noted that the Z-axis represents a vertical direction, and the plane formed by the X and Y is a horizontal plane.
It can be understood that the positions of the pouring furnace and the formwork can be accurately collected through the vacuum pouring positioning system, the center of the formwork and the pouring opening of the pouring furnace can be accurately controlled to be on the same vertical line by adjusting the position of the formwork, so that pouring operation is facilitated, the problem of pouring liquid pouring due to movement of a pouring crucible can be avoided, the pouring liquid can be completely poured into the formwork, and the working efficiency is improved.
In order to accurately calculate the central coordinates of the formwork and prevent the dislocation problem during casting, the formwork position acquisition system comprises: a mould shell image extraction unit and a mould shell center coordinate calculation unit,
the formwork image extraction unit is used for extracting the coordinate information of each pixel point on the boundary of the formwork in real time;
the formwork center coordinate calculation unit is used for calculating the coordinate information of each pixel point on the boundary of the formwork; judging the pixel point with the maximum pixel value and the pixel point with the minimum pixel value; and calculating the coordinates of the middle pixel point of the connecting line of the pixel point with the maximum pixel value and the pixel point with the minimum pixel value, wherein the coordinates are the coordinates of the center of the formwork.
The method can be understood that the coordinate information of the center of the mold shell is roughly judged by detecting the coordinate information of each pixel point on the boundary of the mold shell, judging the pixel point with the largest pixel value and the pixel point with the smallest pixel value, and judging the coordinate of the middle pixel point of the connecting line of the pixel point with the largest pixel value and the pixel point with the smallest pixel value.
The self-controlled positioning system comprises:
the formwork center coordinate information storage unit is used for respectively registering coordinate information of a formwork center on X, Y coordinate axes and Z coordinate axes;
the pouring gate coordinate information storage unit is used for respectively registering coordinate information of the pouring gate on X, Y coordinate axes and Z coordinate axes;
the comparison unit is used for sequentially comparing the sizes of the coordinate information of the center of the storage formwork and the pouring gate on three coordinate axes of X, Y and Z respectively and calculating a difference value;
and the instruction unit can send an X-axis forward instruction, an X-axis backward instruction, a Y-axis forward instruction, a Y-axis backward instruction, a Z-axis forward instruction and a Z-axis backward instruction to the formwork transmission positioning device.
If the comparison unit judges that the coordinate information of the center of the formwork on the X coordinate axis is smaller than the coordinate information of the pouring gate on the X coordinate axis, the instruction unit sends an X axial forward instruction; the X-axis forward instruction controls the formwork transmission positioning device to forward towards the X axis;
if the comparison unit judges that the coordinate information of the center of the formwork on the X coordinate axis is larger than the coordinate information of the pouring gate on the X coordinate axis, the instruction unit sends an X axial direction retreating instruction; the X-axis backward instruction controls the formwork transmission positioning device to backward move towards the X axis;
if the comparison unit judges that the coordinate information of the center of the formwork on the Y coordinate axis is smaller than the coordinate information of the pouring gate on the Y coordinate axis, the instruction unit sends a Y axial forward instruction; the Y-axis forward instruction controls the formwork transmission positioning device to forward towards the Y axis;
if the comparison unit judges that the coordinate information of the center of the formwork on the Y coordinate axis is larger than the coordinate information of the pouring gate on the Y coordinate axis, the instruction unit sends a Y-axis backward instruction; the Y-axis backward instruction controls the formwork transmission positioning device to backward towards the Y axis;
if the comparison unit judges that the coordinate information of the center of the formwork on the Z coordinate axis is equal to the coordinate information of the pouring gate on the Z coordinate axis, the instruction unit sends a Z axial backward instruction; and the Z-axis backward instruction controls the reverse descending of the formwork transmission positioning device to the Z axis.
It should be explained that the determination of the coordinate information of the gate and the mold shell center on the X, Y and Z axes is to determine if the mold shell center is directly below the gate.
As a second aspect of the present invention, there is provided a casting positioning method, wherein as shown in fig. 2, the casting positioning method includes the steps of:
s100: determining a reference point, and establishing a space coordinate system, wherein the space coordinate system comprises X, Y and Z coordinate axes;
s200: acquiring coordinate information of the center of the formwork on each coordinate axis of the space coordinate system in real time;
s300: collecting coordinate information of a pouring gate of a pouring crucible on each coordinate axis of the space coordinate system;
s400: sequentially and respectively comparing coordinate information of a pouring gate of the pouring crucible and coordinate information of the center of the mould shell on each coordinate axis of the space coordinate system;
s500: and controlling the mould shell positioning disc to move in the space coordinate system according to the comparison result until the coordinate information of the mould shell center on X, Y coordinate axes is consistent with the coordinate information of the pouring crucible pouring gate on X, Y coordinate axes.
It should be noted that the Z-axis represents a vertical direction, and the plane formed by the X and Y is a horizontal plane.
It can be understood that the positions of the pouring furnace and the formwork can be accurately collected through the vacuum pouring positioning system, the center of the formwork and the pouring opening of the pouring furnace can be accurately controlled to be on the same vertical line by adjusting the position of the formwork, so that pouring operation is facilitated, the problem of pouring liquid pouring due to movement of a pouring crucible can be avoided, the pouring liquid can be completely poured into the formwork, and the working efficiency is improved.
In order to calculate the central coordinates of the formwork more accurately and prevent the problem of dislocation during casting, the step S200: the method comprises the following steps of acquiring coordinate information of a formwork center on each coordinate axis of a space coordinate system in real time, as shown in fig. 3:
s210: extracting the coordinate information of each pixel point on the boundary of the formwork in real time;
s220: according to the coordinate information of each pixel point on the boundary of the formwork; judging the pixel point with the maximum pixel value and the pixel point with the minimum pixel value;
s230: and calculating the coordinates of the middle pixel point of the connecting line of the pixel point with the maximum pixel value and the pixel point with the minimum pixel value, wherein the coordinates are the coordinates of the center of the formwork.
The method can be understood that the coordinate information of the center of the mold shell is roughly judged by detecting the coordinate information of each pixel point on the boundary of the mold shell, judging the pixel point with the largest pixel value and the pixel point with the smallest pixel value, and judging the coordinate of the middle pixel point of the connecting line of the pixel point with the largest pixel value and the pixel point with the smallest pixel value.
The step S400: comparing the coordinate information of the pouring gate of the pouring crucible and the center of the mold shell on each coordinate axis of the space coordinate system respectively in sequence, as shown in fig. 4, the method specifically comprises the following steps:
s410: respectively registering coordinate information of the center of the formwork on X, Y coordinate axes and Z coordinate axes; respectively registering coordinate information of the pouring gate on X, Y and Z coordinate axes;
s420: and sequentially comparing the coordinate information of the center of the register formwork and the sprue gate on X, Y coordinate axes and Z coordinate axes, and calculating a difference value.
If the coordinate information of the center of the formwork on the X coordinate axis is judged to be smaller than the coordinate information of the pouring gate on the X coordinate axis, the instruction unit sends an X axial forward instruction; the X-axis forward instruction controls the formwork transmission positioning device to forward move towards the X axis until the coordinate information of the center of the formwork on the X coordinate axis is consistent with the coordinate information of the pouring gate on the X coordinate axis;
if the coordinate information of the center of the formwork on the X coordinate axis is judged to be larger than the coordinate information of the pouring gate on the X coordinate axis, the instruction unit sends an X axial direction retreating instruction; the X-axis backward instruction controls the formwork transmission positioning device to backward move towards the X axis; until the coordinate information of the center of the mould shell on the X coordinate axis is consistent with the coordinate information of the pouring gate on the X coordinate axis;
if the coordinate information of the center of the formwork on the Y coordinate axis is judged to be smaller than the coordinate information of the pouring gate on the Y coordinate axis, the instruction unit sends a Y axial forward instruction; the Y-axis forward instruction controls the formwork transmission positioning device to forward towards the Y axis; until the coordinate information of the center of the mould shell on the Y coordinate axis is consistent with the coordinate information of the pouring gate on the Y coordinate axis;
if the coordinate information of the center of the formwork on the Y coordinate axis is judged to be larger than the coordinate information of the pouring gate on the Y coordinate axis, the instruction unit sends a Y axial retreating instruction; the Y-axis backward instruction controls the formwork transmission positioning device to backward towards the Y axis; until the coordinate information of the center of the mould shell on the Y coordinate axis is consistent with the coordinate information of the pouring gate on the Y coordinate axis;
if the comparison unit judges that the coordinate information of the center of the formwork on the Z coordinate axis is equal to the coordinate information of the pouring gate on the Z coordinate axis, the instruction unit sends a Z axial backward instruction; and the Z-axis backward instruction controls the formwork transmission positioning device to reversely descend towards the Z axis until the coordinate information of the center of the formwork on the Z coordinate axis is smaller than the coordinate information of the pouring gate on the Z coordinate axis, and the difference value between the coordinate information of the center of the formwork on the Z coordinate axis and the coordinate information of the pouring gate on the Z coordinate axis is within the range of a preset threshold value.
Those of ordinary skill in the art will understand that: the above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents, improvements and the like made within the spirit of the present invention should be included in the scope of the present invention.
Claims (4)
1. A vacuum casting positioning system, comprising:
the formwork transmission positioning device is connected with the automatic control positioning system and is used for driving the formwork to move according to a control command sent by the automatic control positioning system;
the formwork position acquisition system is connected with the automatic control positioning system, and is used for acquiring coordinate information of a formwork center on X, Y and Z coordinate axes of a space coordinate system in real time and transmitting the coordinate information to the automatic control positioning system; the formwork position acquisition system comprises: the device comprises a formwork image extraction unit and a formwork center coordinate calculation unit; the formwork image extraction unit is used for extracting the coordinate information of each pixel point on the boundary of the formwork in real time; the formwork center coordinate calculation unit judges a pixel point with the maximum pixel value and a pixel point with the minimum pixel value according to the coordinate information of each pixel point on the boundary of the formwork, and calculates the coordinate of a middle pixel point between the pixel point with the maximum pixel value and the pixel point with the minimum pixel value, wherein the coordinate is the coordinate of the center of the formwork;
the central position acquisition system of the pouring gate of the pouring crucible is connected with the automatic control positioning system, and is used for acquiring coordinate information of the pouring gate of the pouring crucible on three coordinate axes of X, Y and Z of a space coordinate system and transmitting the coordinate information to the automatic control positioning system;
the automatic control positioning system is used for judging whether the position of the formwork is on the same vertical line with the pouring center of the pouring crucible or not according to the received coordinate information of the formwork center and the pouring opening of the pouring crucible on three coordinate axes of X, Y and Z of a space coordinate system; if the position of the formwork is not on the same vertical line with the pouring center of the pouring crucible, the automatic control positioning system sends a control instruction to the formwork transmission positioning device, so that the formwork transmission positioning device is controlled to drive the formwork to move until the position of the formwork is on the same vertical line with the pouring center of the pouring crucible; the self-controlled positioning system comprises: the system comprises a formwork center coordinate information storage unit, a sprue gate coordinate information storage unit, a comparison unit and an instruction unit;
the formwork center coordinate information storage unit is used for respectively registering coordinate information of a formwork center on X, Y coordinate axes and Z coordinate axes;
the pouring gate coordinate information storage unit is used for respectively registering coordinate information of the pouring gate on X, Y coordinate axes and Z coordinate axes;
the comparison unit is used for sequentially comparing the sizes of the coordinate information of the center of the storage formwork and the pouring gate on three coordinate axes of X, Y and Z and calculating a difference value;
the instruction unit can send an X-axis forward instruction, an X-axis backward instruction, a Y-axis forward instruction, a Y-axis backward instruction, a Z-axis forward instruction and a Z-axis backward instruction to the formwork to drive the positioning device.
2. The vacuum casting positioning system of claim 1,
if the comparison unit judges that the coordinate information of the center of the formwork on the X coordinate axis is smaller than the coordinate information of the pouring gate on the X coordinate axis, the instruction unit sends an X axial forward instruction; the X-axis forward instruction controls the formwork transmission positioning device to forward towards the X axis;
if the comparison unit judges that the coordinate information of the center of the formwork on the X coordinate axis is larger than the coordinate information of the pouring gate on the X coordinate axis, the instruction unit sends an X axial direction retreating instruction; the X-axis backward instruction controls the formwork transmission positioning device to backward move towards the X axis;
if the comparison unit judges that the coordinate information of the center of the formwork on the Y coordinate axis is smaller than the coordinate information of the pouring gate on the Y coordinate axis, the instruction unit sends a Y axial forward instruction; the Y-axis forward instruction controls the formwork transmission positioning device to forward towards the Y axis;
if the comparison unit judges that the coordinate information of the center of the formwork on the Y coordinate axis is larger than the coordinate information of the pouring gate on the Y coordinate axis, the instruction unit sends a Y-axis backward instruction; the Y-axis backward instruction controls the formwork transmission positioning device to backward towards the Y axis;
if the comparison unit judges that the coordinate information of the center of the formwork on the Z coordinate axis is equal to the coordinate information of the pouring gate on the Z coordinate axis, the instruction unit sends a Z axial backward instruction; and the Z-axis backward instruction controls the reverse descending of the formwork transmission positioning device to the Z axis.
3. A method of casting positioning using the vacuum casting positioning system of claim 1, wherein the casting positioning method comprises the steps of:
s100: determining a reference point, and establishing a space coordinate system, wherein the space coordinate system comprises X, Y and Z coordinate axes;
s200: acquiring coordinate information of the center of the formwork on each coordinate axis of the space coordinate system in real time;
s300: collecting coordinate information of a pouring gate of a pouring crucible on each coordinate axis of the space coordinate system;
s400: sequentially and respectively comparing coordinate information of a pouring gate of the pouring crucible and coordinate information of the center of the mould shell on each coordinate axis of the space coordinate system;
s500: controlling the mould shell positioning disc to move in the space coordinate system according to the comparison result until the coordinate information of the mould shell center on the X, Y coordinate axis is consistent with the coordinate information of the pouring crucible pouring gate on the X, Y coordinate axis;
wherein, the S200: the method for acquiring the coordinate information of the center of the formwork on each coordinate axis of the space coordinate system in real time comprises the following steps:
s210: extracting the coordinate information of each pixel point on the boundary of the formwork in real time;
s220: according to the coordinate information of each pixel point on the boundary of the formwork; judging the pixel point with the maximum pixel value and the pixel point with the minimum pixel value;
s230: calculating the coordinates of the middle pixel point of the connecting line of the pixel point with the maximum pixel value and the pixel point with the minimum pixel value, wherein the coordinates are the coordinates of the center of the formwork;
the step S400: sequentially and respectively comparing coordinate information of the pouring gate of the pouring crucible and the center of the mould shell on each coordinate axis of the space coordinate system, and the method comprises the following steps:
s410: respectively registering coordinate information of the center of the formwork on X, Y coordinate axes and Z coordinate axes; respectively registering coordinate information of the pouring gate on X, Y and Z coordinate axes;
s420: and sequentially comparing the coordinate information of the center of the register formwork and the sprue gate on X, Y coordinate axes and Z coordinate axes, and calculating a difference value.
4. The pouring positioning method according to claim 3, wherein the step S500 specifically comprises:
if the coordinate information of the center of the formwork on the X coordinate axis is judged to be smaller than the coordinate information of the pouring gate on the X coordinate axis, the instruction unit sends an X axial forward instruction; the X-axis forward instruction controls the formwork transmission positioning device to forward move towards the X axis until the coordinate information of the center of the formwork on the X coordinate axis is consistent with the coordinate information of the pouring gate on the X coordinate axis;
if the coordinate information of the center of the formwork on the X coordinate axis is judged to be larger than the coordinate information of the pouring gate on the X coordinate axis, the instruction unit sends an X axial direction retreating instruction; the X-axis backward instruction controls the formwork transmission positioning device to backward move towards the X axis; until the coordinate information of the center of the mould shell on the X coordinate axis is consistent with the coordinate information of the pouring gate on the X coordinate axis;
if the coordinate information of the center of the formwork on the Y coordinate axis is judged to be smaller than the coordinate information of the pouring gate on the Y coordinate axis, the instruction unit sends a Y axial forward instruction; the Y-axis forward instruction controls the formwork transmission positioning device to forward towards the Y axis; until the coordinate information of the center of the mould shell on the Y coordinate axis is consistent with the coordinate information of the pouring gate on the Y coordinate axis;
if the coordinate information of the center of the formwork on the Y coordinate axis is judged to be larger than the coordinate information of the pouring gate on the Y coordinate axis, the instruction unit sends a Y axial retreating instruction; the Y-axis backward instruction controls the formwork transmission positioning device to backward towards the Y axis; until the coordinate information of the center of the mould shell on the Y coordinate axis is consistent with the coordinate information of the pouring gate on the Y coordinate axis;
if the comparison unit judges that the coordinate information of the center of the formwork on the Z coordinate axis is equal to the coordinate information of the pouring gate on the Z coordinate axis, the instruction unit sends a Z axial descending instruction; and the Z-axis descending instruction controls the formwork transmission positioning device to reversely descend towards the Z axis until the coordinate information of the center of the formwork on the Z coordinate axis is smaller than the coordinate information of the pouring gate on the Z coordinate axis, and the difference value between the coordinate information of the center of the formwork on the Z coordinate axis and the coordinate information of the pouring gate on the Z coordinate axis is within the range of a preset threshold value.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910272244.8A CN109877304B (en) | 2019-04-04 | 2019-04-04 | Vacuum pouring positioning system and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910272244.8A CN109877304B (en) | 2019-04-04 | 2019-04-04 | Vacuum pouring positioning system and method |
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| CN109877304A CN109877304A (en) | 2019-06-14 |
| CN109877304B true CN109877304B (en) | 2021-08-20 |
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| EP0592365B1 (en) * | 1992-10-07 | 1997-08-20 | Maschinenfabrik & Eisengiesserei Ed. Mezger AG. | Process and apparatus for controlling the movement of a casting ladle in a casting plant |
| CN101992293B (en) * | 2010-11-09 | 2012-08-29 | 浙江万丰科技开发有限公司 | Gravity casting automatic pouring system and method thereof for quickly searching pouring point |
| CN102632225B (en) * | 2012-05-04 | 2014-03-05 | 威海瑞祥铸造机械有限公司 | Fully automatic intelligent visual identification casting machine for foundry industry and smelting industry |
| CN204657459U (en) * | 2015-05-05 | 2015-09-23 | 埃博普感应***（上海）有限公司 | Insulated pouring machine automatic positioning equipment |
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