CN104889321A - Method for machining sand mold through multi-robot linkage - Google Patents
Method for machining sand mold through multi-robot linkage Download PDFInfo
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- CN104889321A CN104889321A CN201510279626.5A CN201510279626A CN104889321A CN 104889321 A CN104889321 A CN 104889321A CN 201510279626 A CN201510279626 A CN 201510279626A CN 104889321 A CN104889321 A CN 104889321A
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Abstract
The invention provides a method for machining a sand mold through multi-robot linkage. The method comprises the following basic machining steps: the sand mold is partitioned according to the area characteristic of a large sand mold; and different multi-joint arm robots are driven to machine all subareas to obtain the finally needed sand mold product. The method is high in machining efficiency and short in production period, prevents the error problem caused by multi-surface machining of a molding machine, prevents such defects as difficult positioning and size deviation caused by blocking machining of the large sand mold, is higher in machining precision, and is specifically suitable for machining a large sand block.
Description
Technical field
The present invention relates to the method that sand mold processing is carried out in the interlock of a kind of multirobot, belong to the technology crossing domain of digital control processing and industrial robot.
Background technology
Digitlization containerless casting Precision Forming Technology is under cad model drives, direct employing digitlization containerless casting precision form machine cuts sand base, obtain the sand mold and core that can directly carry out pouring into a mould through thick fine finishining at a high speed, and then obtain a kind of Rapid Manufacturing Technology of foundry goods.
In sand mold cuts, cut, by the restriction of its free degree according to three axle digitlization containerless casting precision form machines, a lot of surface is difficult to process, and therefore needs to carry out multiaspect processing, not only reduces working (machining) efficiency, and because repeatedly initial point need be found, be difficult to ensure forming accuracy; For large-scale or more complicated foundry goods, because its processing free degree is limited, therefore needs to carry out splitting into polylith and process, not only in the assembling of location, there is larger difficulty, and precision is poor, easily occurs waste product.
In sand mold cuts, process according to five axle digitlization containerless casting precision form machines, not only need to take larger work-yard and higher cost of investment, and main axle moving is heavy, process-cycle is long, and for large sand mold, extreme influence is to working (machining) efficiency especially.
Adopt multi-joint arm robot to carry out sand mold cutting, the three-dimension process of multiple degrees of freedom, high efficiency, high accuracy, multi-point can be realized, solve some problems existed in numerical control formation machined.
If the size of required processing sand mold has exceeded the stroke range of multi-joint arm robot, now adopt single multi-joint arm robot to process, the method that piecemeal is processed can have been adopted.But piecemeal locating and machining is difficult, and the process-cycle is long, and precision is low, dimensional discrepancy is large, and the percent defective produced in casting is high; If do not carry out piecemeal processing, then need the multi-joint arm robot carrying out processing will have larger stroke range, add difficulty and the cost of multi-joint arm Robot Design.
For above problem, the invention provides a kind of method adopting multirobot interlock to carry out sand mold processing, effectively can solve the problem that processing sand mold size has exceeded multi-joint arm robot stroke, effectively save cost, and decrease piecemeal quantity, improve the success rate of mo(u)lded piece, for machining large casting sand mold provides new solution.
Summary of the invention
The present invention proposes the method that sand mold processing is carried out in the interlock of a kind of multirobot, can solve the processing problems of the medium-and-large-sized sand mold of digitlization mouldless shaping, comprise the steps:
(1) subregion is carried out to large-scale sand mold, determine the sand mold range areas of the required processing of each multi-joint arm robot;
(2) according to the features of shape of respective required machining area, cutter that each multi-joint arm robot is corresponding, milling path planning and machined parameters setting is selected respectively;
(3) generate processing NC code according to each milling path, and be converted into driving code corresponding to each multi-joint arm robot;
(4) according to driving code, control each multi-joint arm robot and machining is carried out to the sand mold of respective regions.
Further, the method for sand mold processing is carried out in a kind of multirobot interlock, length and width is exceeded to the large-scale sand mold of single multi-joint arm robot stroke range, adopts subregion to carry out the method for processing.
Further, the method for sand mold processing is carried out in a kind of multirobot interlock, and the stroke range can should processed according to each multi-joint arm robot during subregion, carries out region allocation.
Further, the method for sand mold processing is carried out in a kind of multirobot interlock, should adopt the principle of smallest partition number during subregion, under the prerequisite ensureing stroke, reduces the number of Region dividing as far as possible.
Further, the method for sand mold processing is carried out in a kind of multirobot interlock, should carry out the optimization reasonable distribution of each Region dividing during subregion, avoids producing the situation of interfering in region.
Further, the method for sand mold processing is carried out in a kind of multirobot interlock, and the characteristic parameter different according to each multi-joint arm robot, and the machining feature that regional is different, can process in NC code at each and arrange different machined parameters.
Further, the method for sand mold processing is carried out in a kind of multirobot interlock, and in the process of sand mold, the processing in each region can be carried out simultaneously, also can carry out step by step, and there is not successively processing sequence between each machining area.If carry out simultaneously, when writing procedure, the interference between each machining area should be avoided.
Further, the method for sand mold processing is carried out in a kind of multirobot interlock, also can process multiple sand mold simultaneously, greatly improve the working (machining) efficiency of sand mold.
Further, the method for sand mold processing is carried out in a kind of multirobot interlock, being five, can carrying out multi-faceted, three-dimensional processing for processing the freedom of motion of the multi-joint arm robot of sand mold.
Tool of the present invention has the following advantages:
1, efficient, quick: to adopt multirobot linkage motion cutting, greatly improve the working (machining) efficiency of large-scale sand mold;
2, the range of work is larger: multirobot links, and the sand mold size of processing will increase on a large scale;
3, precision is high: not only avoid forming machine because multiaspect processing the error problem that causes, it also avoid the defects such as location difficulty that large-scale sand mold produces because piecemeal processing and dimensional discrepancy, gained sand mold precision is higher simultaneously;
4, lightweight, the good economy performance of multi-joint arm robot, compared with forming machine, cost of investment is lower.
Accompanying drawing explanation
Fig. 1 is the machining sketch chart that the multi-joint arm robot cut for sand mold carries out when sand mold cuts.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention will be further described, but not as limiting to the invention.
The concrete implementation step of the present embodiment is as follows:
(1) large-scale sand mold 10 is placed in processing and subregion is carried out to it, determine the sand mold range areas of the required processing of each multi-joint arm robot 1;
(2) according to the features of shape of respective institute machining area, the planning of cutter 9 milling path and the machined parameters setting of each multi-joint arm robot 1 correspondence is selected respectively;
(3) the processing NC code of each multi-joint arm robot 1 correspondence is generated according to milling path;
(4) NC code is converted into the driving code of each multi-joint arm robot 1 correspondence;
(5) sand mold 10 is fixed on processing platform 11;
(6) according to driving code, control each multi-joint arm robot and machining is carried out to the respective regions of sand mold 10.
Multi-joint arm robot 1 in the present embodiment, comprises upper arm 2, forearm 3, shoulder joints 4, elbow joint portion 5, swivel of hand portion 6, supporting member 7, electro spindle 8.Wherein, upper arm 2 is connected by shoulder joints 4 with supporting member 7, and forearm 3 is connected by elbow joint portion 5 with upper arm 2, and electro spindle 8 is connected by swivel of hand portion 6 with forearm 3.Drive source produces driving force, drives upper arm 2 and forearm 3 to rotate around joint portion 3,4,5, makes upper arm 2 and forearm 3 carry out the action expected.And electro spindle 8 is connected with forearm 3 by swivel of hand portion 6, can carry out the movement of five frees degree, carry out multi-faceted, three-dimensional processing.
Although the embodiment disclosed by the present invention is as above, the embodiment that described content just adopts for the ease of understanding the present invention, and be not used to limit the present invention.Technical staff in any the technical field of the invention; under the prerequisite not departing from the spirit and scope disclosed by the present invention; any amendment and change can be done what implement in form and in details; but scope of patent protection of the present invention, the scope that still must define with appending claims is as the criterion.
Claims (9)
1. a method for sand mold processing is carried out in multirobot interlock, and it is characterized in that, the method comprises the following steps:
A, subregion is carried out to large-scale sand mold, determine the sand mold range areas of the required processing of each multi-joint arm robot;
B, features of shape according to respective required machining area, select cutter that each multi-joint arm robot is corresponding, milling path planning and machined parameters setting respectively;
C, generate processing NC code according to each milling path, and be converted into driving code corresponding to each multi-joint arm robot;
D, according to driving code, control each multi-joint arm robot and machining carried out to the sand mold of respective regions.
2. the method for sand mold processing is carried out in multirobot interlock according to claim 1, it is characterized in that, length and width is exceeded to the large-scale sand mold of single multi-joint arm robot stroke range, adopt subregion to carry out the method for processing.
3. the method for sand mold processing is carried out in multirobot interlock according to claim 1, and it is characterized in that, the stroke range can should processed according to each multi-joint arm robot during subregion, carries out region allocation.
4. the method for sand mold processing is carried out in multirobot interlock according to claim 1, it is characterized in that, should adopt the principle of smallest partition number during subregion, under the prerequisite ensureing stroke, reduce the number of Region dividing as far as possible.
5. the method for sand mold processing is carried out in multirobot interlock according to claim 1, it is characterized in that, should carry out the optimization reasonable distribution of each Region dividing during subregion, avoid producing the situation of interfering in region.
6. the method for sand mold processing is carried out in multirobot interlock according to claim 1, it is characterized in that, according to the different characteristic parameter of each multi-joint arm robot, can process in NC code arrange different machined parameters at each.
7. the method for sand mold processing is carried out in multirobot interlock according to claim 1, and it is characterized in that, in the process of sand mold, the processing in each region can be carried out simultaneously, also can carry out step by step, and there is not successively processing sequence between each machining area; If carry out simultaneously, when writing procedure, the interference between each machining area should be avoided.
8. the method for sand mold processing is carried out in multirobot interlock according to claim 1, it is characterized in that, also can process multiple sand mold simultaneously.
9. the method for sand mold processing is carried out in multirobot interlock according to claim 1, it is characterized in that, being five, can carrying out multi-faceted, three-dimensional processing for processing the freedom of motion of the multi-joint arm robot of sand mold.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510279626.5A CN104889321A (en) | 2015-05-28 | 2015-05-28 | Method for machining sand mold through multi-robot linkage |
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| CN201510279626.5A CN104889321A (en) | 2015-05-28 | 2015-05-28 | Method for machining sand mold through multi-robot linkage |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111451518A (en) * | 2020-05-11 | 2020-07-28 | 深圳创源航天科技有限公司 | Electric arc micro-explosion metal powder preparation device and control method thereof |
| CN111590031A (en) * | 2020-07-03 | 2020-08-28 | 中国电子科技集团公司第十四研究所 | Large-scale complicated sand mould drying system based on robot |
| CN111604481A (en) * | 2020-07-03 | 2020-09-01 | 中国电子科技集团公司第十四研究所 | Robot-based automatic assembly system for large complex sand mold |
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| EP0317315A2 (en) * | 1987-11-18 | 1989-05-24 | D'sa Robert | A method of making a casting mould |
| CN101279357A (en) * | 2008-06-03 | 2008-10-08 | 机械科学研究总院先进制造技术研究中心 | Sand mold milling method based on industrial robot |
| CN101367113A (en) * | 2008-09-24 | 2009-02-18 | 机械科学研究总院先进制造技术研究中心 | Sand mold milling method and apparatus based on double-processing primary shaft |
| CN101444828A (en) * | 2008-12-30 | 2009-06-03 | 机械科学研究总院先进制造技术研究中心 | Digitized processing method of large-and-medium-sized sand mold and device thereof |
| CN103143982A (en) * | 2013-02-27 | 2013-06-12 | 中航飞机股份有限公司西安飞机分公司 | Control method for overtravel of cutter advancing and retracting during manufacturing process of five-axis machining center |
| CN103157764A (en) * | 2013-04-12 | 2013-06-19 | 机械科学研究总院江苏分院 | Patternless casting digital partition machining method |
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2015
- 2015-05-28 CN CN201510279626.5A patent/CN104889321A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0317315A2 (en) * | 1987-11-18 | 1989-05-24 | D'sa Robert | A method of making a casting mould |
| CN101279357A (en) * | 2008-06-03 | 2008-10-08 | 机械科学研究总院先进制造技术研究中心 | Sand mold milling method based on industrial robot |
| CN101367113A (en) * | 2008-09-24 | 2009-02-18 | 机械科学研究总院先进制造技术研究中心 | Sand mold milling method and apparatus based on double-processing primary shaft |
| CN101444828A (en) * | 2008-12-30 | 2009-06-03 | 机械科学研究总院先进制造技术研究中心 | Digitized processing method of large-and-medium-sized sand mold and device thereof |
| CN103143982A (en) * | 2013-02-27 | 2013-06-12 | 中航飞机股份有限公司西安飞机分公司 | Control method for overtravel of cutter advancing and retracting during manufacturing process of five-axis machining center |
| CN103157764A (en) * | 2013-04-12 | 2013-06-19 | 机械科学研究总院江苏分院 | Patternless casting digital partition machining method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111451518A (en) * | 2020-05-11 | 2020-07-28 | 深圳创源航天科技有限公司 | Electric arc micro-explosion metal powder preparation device and control method thereof |
| CN111590031A (en) * | 2020-07-03 | 2020-08-28 | 中国电子科技集团公司第十四研究所 | Large-scale complicated sand mould drying system based on robot |
| CN111604481A (en) * | 2020-07-03 | 2020-09-01 | 中国电子科技集团公司第十四研究所 | Robot-based automatic assembly system for large complex sand mold |
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