CN105116853A - Agility control device and agility control method for casting automatic cleaning - Google Patents
Agility control device and agility control method for casting automatic cleaning Download PDFInfo
- Publication number
- CN105116853A CN105116853A CN201510428947.7A CN201510428947A CN105116853A CN 105116853 A CN105116853 A CN 105116853A CN 201510428947 A CN201510428947 A CN 201510428947A CN 105116853 A CN105116853 A CN 105116853A
- Authority
- CN
- China
- Prior art keywords
- topworks
- current
- current value
- foundry goods
- clearance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 63
- 238000004140 cleaning Methods 0.000 title claims abstract description 32
- 238000005266 casting Methods 0.000 title abstract description 12
- 238000012545 processing Methods 0.000 claims abstract description 74
- 230000007246 mechanism Effects 0.000 claims abstract description 68
- 238000001514 detection method Methods 0.000 claims abstract description 54
- 230000008569 process Effects 0.000 claims abstract description 36
- 238000012544 monitoring process Methods 0.000 claims abstract description 11
- 230000000694 effects Effects 0.000 claims description 51
- 239000000463 material Substances 0.000 claims description 10
- 239000000284 extract Substances 0.000 claims description 9
- 230000006698 induction Effects 0.000 claims description 6
- 238000007689 inspection Methods 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 238000003860 storage Methods 0.000 claims description 3
- 238000003754 machining Methods 0.000 abstract 2
- 238000007667 floating Methods 0.000 description 5
- 239000007921 spray Substances 0.000 description 3
- 229910001018 Cast iron Inorganic materials 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 206010039509 Scab Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41875—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by quality surveillance of production
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Casting Devices For Molds (AREA)
- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
Abstract
The invention discloses an agility control device and an agility control method for casting automatic cleaning. The agility control device for casting automatic cleaning comprises an actuating mechanism used for carrying out automatic cleaning on a casting to be cleaned and a driving control mechanism used for carrying out automatic operation control on the actuating mechanism, and is characterized in that the actuating mechanism is connected to a current detection sensor which is used for monitoring real-time current in the machining and operating process of the actuating mechanism, the current detection sensor is connected to the driving control mechanism through a data processing mechanism which is used for comparing characteristics of the real-time current sensed by the current detection sensor with characteristics of no-load current of the current detection sensor, and the driving control mechanism adjusts the feeding speed of the actuating mechanism or stops operations of the actuating mechanism according to current characteristic comparison information fed back by the data processing mechanism. According to the invention, risks that a workpiece body is polished and that equipment is damaged caused by cleaning characteristic difference, equipment failure and the like can be effectively solved. The agility control device disclosed by the invention can be widely applied to various mechanical rough machining occasions.
Description
Technical field
The present invention relates to the robotization cleaning field of foundry goods, especially, relate to a kind of quick device of foundry goods Automatic clearance.In addition, the invention still further relates to a kind of quick control method of foundry goods Automatic clearance.
Background technology
In foundry goods robotization cleaning field, capture main shaft by robot, carrying out fixed point cleaning for the cutter that different cleaning Feature Selection is corresponding to foundry goods is development trend.But there is larger otherness and uncertainty in spray, may occur that various off-note is (time particularly for cast iron materials at random, because cast-iron blank part plasticity is poor, hardness is high, carbon content is high, casting scab is serious, clearing up and processing will produce larger impact load, easily cause cleaning clean or be worked into foundry goods body and damage foundry goods, serious will the cause damage of system of processing or serious accident occur).In addition, due to reasons such as machinery, electric faults, robotization may be caused to add man-hour, there is deviation in the relative position of cutter and foundry goods.These situations all may cause cleaning feature to remove completely, cause the process equipments such as cutter, main shaft, robot to damage, thus affect continuous, the automated production of robot, even occur serious accident time serious.
At present, damaging process equipment in order to avoid running into off-note, ensureing crudy, mainly containing three kinds of modes and Mechanical processing of casting path is compensated:
1, mechanical type flexible floating power driven tools compensates: floating apparatus power is less, cannot be applied at a high speed, process occasion efficiently; Instrument pretightning force, instrument domain of walker, process velocity, cutter rotating speed all can impact final crudy, and in process, cutter occurs that the phenomenon sending out bullet is serious, very strict to processing technology commissioning requirements; When encountering larger cleaning feature, cutter will get around automatically simultaneously, cannot ensure to remove completely.
2, contact torque sensor, belongs to passive compensation, reduces system rigidity, the characteristic of influential system under vibrations operating mode.There is the technical matterss such as interference is large, measuring error is large, sensor is fragile in spray direct-detection process.
3, by the high-precision frock of design.Casting cleaning belongs to foundry goods aftertreatment, this stage foundry goods be green state without positioning datum accurately and the factors such as casting distortion will to realize the accurate positioning difficulty of workpiece too large.
Summary of the invention
The invention provides a kind of quick control device of foundry goods Automatic clearance and the quick control method of foundry goods Automatic clearance, to solve existing spray clearing up and processing path compensation mode, floating apparatus power is less, cannot be applied at a high speed, process occasion efficiently; Direct contact type torque sensor, reduces the rigidity of foundry goods Automatic clearance system, affects the technical matters of the characteristic of foundry goods Automatic clearance system under vibrations operating mode.
According to an aspect of the present invention, a kind of quick control device of foundry goods Automatic clearance is provided, comprise the topworks for carrying out Automatic clearance to foundry goods for clearance and the drived control mechanism for carrying out automatic operation control to topworks, topworks is connected with the current detection sensor for monitoring the real-time current in topworks's processing operational process, the DPA data processing activity that current detection sensor is compared by the real-time current feature for being responded to by current detection sensor and the no-load current feature of current detection sensor is connected drived control mechanism, drived control mechanism adjusts the speed of feed of topworks according to the current characteristic comparison information of DPA data processing activity feedback or stops the operation of topworks.
Further, topworks comprising toolbox for clearing up foundry goods for clearance, performing the robot of cleaning and the conveying mechanism for carrying and fix foundry goods for clearance for controlling toolbox.
According to a further aspect in the invention, additionally provide a kind of quick control method of foundry goods Automatic clearance, comprising: the operation standard current value of a, acquisition topworks, and set feeding deceleration current value and the operational limit current value of topworks; B, fixing foundry goods for clearance, topworks carries out cleaning operation to foundry goods for clearance; The moving window current average of c, the topworks of monitoring in real time, as current running current value; The current running current value extracted and feeding deceleration current value and operational limit current value are compared respectively; D, realize the automatic control to topworks by the real-time current characteristic of comparison, thus ensure that topworks is to the device security in the process of casting cleaning for clearance and crudy.
Further, in step a, detected the moving window current average of the unloaded steady state (SS) of topworks by the current detection sensor be enclosed within topworks's power power-line, as operation standard current value; DPA data processing activity reads the operation standard current value of current detection sensor by Interface for digital communication and stores, and the operation standard current value of storage is as the reference value judging topworks's running status; In step a, DPA data processing activity is under guarantee device security, crudy and sufficient safety allowance prerequisite, the output current restriction that can bear according to operation standard current value, the shape of foundry goods for clearance, the material of foundry goods for clearance, the attitude of foundry goods for clearance and topworks, the feeding deceleration current value of setting topworks and operational limit current value.
Further, realize being specially the automatic control of topworks by the current characteristic that comparison is real-time in steps d: when current running current value exceedes operational limit current value, DPA data processing activity sends alerting signal immediately to drived control mechanism, and drived control mechanism controls topworks is out of service; When current running current value exceedes operation deceleration current value but do not reach operational limit current value, DPA data processing activity sends reduce-speed sign immediately to drived control mechanism, and the feeding of drived control mechanism controls topworks is slowed down; When topworks is in feeding deceleration regime, the continuing current flow that DPA data processing activity monitors topworks is less than operation deceleration current value, DPA data processing activity cancels the reduce-speed sign being sent to drived control mechanism, and drived control mechanism makes topworks return to course feed speed.
Further, in step a, make topworks be in unloaded steady state (SS), and measure the no-load current feature of topworks by current detection sensor, according to no-load current feature-set operation standard current value.
Further, the output current restriction that can bear according to the shape of operation standard current value and foundry goods for clearance, material, attitude and topworks, the feeding deceleration current value of setting topworks and operational limit current value.
Further, in steps d, by the real-time current feature of current detection sensor induction topworks, extract real-time current feature by DPA data processing activity from current detection sensor; When the present current value extracted is less than feeding deceleration current value, topworks is with normal speed feeding; When the present current value extracted exceedes operational limit current value, stop topworks's feeding immediately, and shutdown inspection is carried out to topworks; When the present current value extracted exceeds feeding deceleration current value and is less than operational limit current value, reduce topworks's speed of feed, and when the present current value extracted continues to be less than feeding deceleration current value, topworks returns to course feed speed.
Further, in the process that topworks processes foundry goods for clearance, current detection sensor measures the running current of topworks in real time; DPA data processing activity, with the time window slided, extracts the feature of current measurement mean value.
Further, in step b, by clamping device, foundry goods for clearance is gripped; The attitude of foundry goods for clearance is adjusted by switching mechanism; Run by drived control mechanism controls topworks.
Further, in steps d, by the real-time current feature of current detection sensor induction topworks, current detection sensor by induction real-time current profile feedback to DPA data processing activity, DPA data processing activity is by contrast, after judging the running status of topworks, to drived control, mechanism sends corresponding signal, and drived control mechanism adjusts the control to topworks automatically by feedback information.
The present invention has following beneficial effect:
The quick control device of foundry goods Automatic clearance of the present invention, can effectively solve because reason such as cleaning feature difference, equipment failure etc. causes the risk being polished to workpiece body and damage equipment.Fully can ensure the reliability of clearing up and processing system, prevent the damage of system of processing or serious accident from occurring.Simultaneously when running into the cleaning features such as larger exoncoma, can ensure to remove completely, reliably.To the rigidity of foundry goods Automatic clearance system and the properties influence under vibrations operating mode little.The shortcoming of floating apparatus can be overcome, do not have application scenario to limit.The quick control device of foundry goods Automatic clearance of the present invention can be widely used in various mechanical roughing occasion.
Except object described above, feature and advantage, the present invention also has other object, feature and advantage.Below with reference to figure, the present invention is further detailed explanation.
Accompanying drawing explanation
The accompanying drawing forming a application's part is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the structural representation of the quick control device of the foundry goods Automatic clearance of the preferred embodiment of the present invention;
Fig. 2 is the structured flowchart of the quick control method of the foundry goods Automatic clearance of the preferred embodiment of the present invention.
Marginal data:
1, foundry goods for clearance; 2, topworks; 3, drived control mechanism; 4, current detection sensor; 5, DPA data processing activity.
Embodiment
Below in conjunction with accompanying drawing, embodiments of the invention are described in detail, but the present invention can by the multitude of different ways that limits and cover implement.
Fig. 1 is the structural representation of the quick control device of the foundry goods Automatic clearance of the preferred embodiment of the present invention; Fig. 2 is the structured flowchart of the quick control method of the foundry goods Automatic clearance of the preferred embodiment of the present invention.
As shown in Figure 1, the quick control device of the foundry goods Automatic clearance of the present embodiment, comprise for carrying out the topworks 2 of Automatic clearance and the drived control mechanism 3 for carrying out automatic operation control to topworks 2 to foundry goods 1 for clearance, topworks 2 is connected with the current detection sensor 4 processing the real-time current in operational process for monitoring topworks 2, current detection sensor 4 is by being connected drived control mechanism 3 for the real-time current feature responded to by current detection sensor 4 with the DPA data processing activity 5 that the no-load current feature of current detection sensor 4 is compared, drived control mechanism 3 adjusts the speed of feed of topworks 2 according to the current characteristic comparison information that DPA data processing activity 5 is fed back or stops the operation of topworks 2.The quick control device of foundry goods Automatic clearance of the present invention, can effectively solve because reason such as cleaning feature difference, equipment failure etc. causes the risk being polished to workpiece body and damage equipment.Fully can ensure the reliability of clearing up and processing system, prevent the damage of system of processing or serious accident from occurring.Simultaneously when running into the cleaning features such as larger exoncoma, can ensure to remove completely, reliably.To the rigidity of foundry goods Automatic clearance system and the properties influence under vibrations operating mode little.The shortcoming of floating apparatus can be overcome, do not have application scenario to limit.The quick control device of foundry goods Automatic clearance of the present invention can be widely used in various mechanical roughing occasion.
As shown in Figure 1, in the present embodiment, topworks 2 comprising toolbox for clearing up foundry goods 1 for clearance, performing the robot of cleaning and the conveying mechanism for carrying and fix foundry goods 1 for clearance for controlling toolbox.
As shown in Figure 2, the quick control method of the foundry goods Automatic clearance of the present embodiment, comprising: the operation standard current value of a, acquisition topworks 2, and sets feeding deceleration current value and the operational limit current value of topworks 2; B, fixing foundry goods 1 for clearance, topworks 2 carries out cleaning operation to foundry goods 1 for clearance; The moving window current average of c, the topworks 2 of monitoring in real time, as current running current value; The current running current value extracted and feeding deceleration current value and operational limit current value are compared respectively; D, realize the automatic control to topworks 2 by the real-time current characteristic of comparison, thus device security in ensureing the process that topworks 2 clears up foundry goods 1 for clearance and crudy.
As shown in Figure 2, in the present embodiment, in step a, detected the moving window current average of the unloaded steady state (SS) of topworks 2 by the current detection sensor 4 be enclosed within topworks 2 power power-line, as operation standard current value.DPA data processing activity 5 reads the operation standard current value of current detection sensor 4 by Interface for digital communication and stores, and the operation standard current value of storage is as the reference value judging topworks 2 running status.In step a, DPA data processing activity 5 is under guarantee device security, crudy and sufficient safety allowance prerequisite, according to the output current restriction that the shape of operation standard current value, foundry goods for clearance 1, the material of foundry goods for clearance 1, the attitude of foundry goods for clearance 1 and topworks 2 can bear, the feeding deceleration current value of setting topworks 2 and operational limit current value.
As shown in Figure 2, in the present embodiment, realize being specially the automatic control of topworks 2 by the current characteristic that comparison is real-time in steps d: when current running current value exceedes operational limit current value, DPA data processing activity 5 sends alerting signal immediately to drived control mechanism 3, and it is out of service that drived control mechanism 3 controls topworks 2.When current running current value exceedes operation deceleration current value but do not reach operational limit current value, DPA data processing activity 5 sends reduce-speed sign immediately to drived control mechanism 3, and drived control mechanism 3 controls topworks 2 feeding and slows down.When topworks 2 is in feeding deceleration regime, the continuing current flow that DPA data processing activity 5 monitors topworks 2 is less than operation deceleration current value, DPA data processing activity 5 cancels the reduce-speed sign being sent to drived control mechanism 3, and drived control mechanism 3 makes topworks 2 return to course feed speed.
As shown in Figure 2, in the present embodiment, in step a, make topworks 2 be in unloaded steady state (SS), and measure the no-load current feature of topworks 2 by current detection sensor 4, according to no-load current feature-set operation standard current value.
As shown in Figure 2, in the present embodiment, the output current restriction that can bear according to the shape of operation standard current value and foundry goods for clearance 1, material, attitude and topworks 2, the feeding deceleration current value of setting topworks 2 and operational limit current value.
As shown in Figure 2, in the present embodiment, in steps d, responded to the real-time current feature of topworks 2 by current detection sensor 4, extract real-time current feature by DPA data processing activity 5 from current detection sensor 4.When the present current value extracted is less than feeding deceleration current value, topworks 2 is with normal speed feeding.When the present current value extracted exceedes operational limit current value, stop topworks 2 feeding immediately, and shutdown inspection is carried out to topworks 2.When the present current value extracted exceeds feeding deceleration current value and is less than operational limit current value, reduce topworks 2 speed of feed, and when the present current value extracted continues to be less than feeding deceleration current value, topworks 2 returns to course feed speed.
As shown in Figure 2, in the present embodiment, in the process that topworks 2 processes foundry goods 1 for clearance, current detection sensor 4 measures the running current of topworks 2 in real time.DPA data processing activity 5, with the time window slided, extracts the feature of current measurement mean value.
As shown in Figure 2, in the present embodiment, in step b, by clamping device, foundry goods 1 for clearance is gripped; The attitude of foundry goods 1 for clearance is adjusted by switching mechanism.Control topworks 2 by drived control mechanism 3 to run.
As shown in Figure 2, in the present embodiment, in steps d, responded to the real-time current feature of topworks 2 by current detection sensor 4.Current detection sensor 4 by induction real-time current profile feedback to DPA data processing activity 5.DPA data processing activity 5 is by contrast, and after judging the running status of topworks 2, send corresponding signal to drived control mechanism 3, drived control mechanism 3 adjusts the control to topworks 2 automatically by feedback information.
During enforcement, provide in a kind of foundry goods Automatic clearance process and on-line monitoring is carried out to process, under there is larger otherness and condition of uncertainty in casting cleaning feature, realize the autonomous perception of system of processing.There is provided in a kind of foundry goods Automatic clearance process and self-adjusting method is carried out to process, under there is larger otherness and condition of uncertainty in casting cleaning feature, realize system of processing and automatically adjust.To ensure that cleaning feature can be removed completely.A kind of method of process on-line monitoring is provided, and provides a kind of processing speed of feed self-adjusting method.In order to solve because the reasons such as equipment failure, workpiece randomness off-note cause the risk being polished to workpiece body and damage equipment.
As shown in Figure 1, the quick control device of foundry goods Automatic clearance of the present invention comprises foundry goods 1 for clearance, topworks 2, current detection sensor 4, DPA data processing activity 5, drived control mechanism 3.Drived control mechanism 3 is connection data processing mechanism 5 and topworks 2 respectively, in order to adjust the speed of feed of the topworks 2 in process.
Concrete cleaning control mode is with reference to Fig. 2.Current detection sensor 4 measures the no-load current of topworks 2, and DPA data processing activity 5 is extracted its no-load current feature and stored, as the reference value of following process state.In process, current detection sensor 4 measures the running current of topworks 2 in real time, and DPA data processing activity 5, with the time window slided, extracts the feature of current measurement value.By the topworks 2 current flow feature extracted, contrast with the current characteristic of zero load.When the current flow feature extracted, compare no-load running electric current overproof time (value range according to the parameter such as material, form, attitude, equipment performance of foundry goods 1 for clearance is preset), report drived control mechanism 3, drived control mechanism 3 controls topworks 2 speed of feed and adjusts accordingly.When current characteristic returns to unloaded level, report drived control mechanism 3, drived control mechanism 3 controls topworks 2 and returns to course feed speed.When the current flow feature extracted, compare no-load running electric current when reaching alarming value, report drived control mechanism 3, stop topworks 2 feeding immediately, shutdown inspection fault.Can effectively solve because reason such as cleaning feature difference, equipment failure etc. causes the risk being polished to workpiece body and damage equipment.Fully can ensure the reliability of clearing up and processing system, prevent the damage of system of processing or serious accident from occurring.Simultaneously when running into the cleaning features such as larger exoncoma, can ensure to remove completely, reliably.Various mechanical roughing occasion can be widely used in.
By said method, protect a kind of method of in foundry goods Automatic clearance process, process being carried out to on-line monitoring, to realize the autonomous perception of system of processing.Protect in a kind of foundry goods Automatic clearance process and self-adjusting method is carried out to process, under there is larger otherness and condition of uncertainty in casting cleaning feature, realize system of processing and automatically adjust, to ensure that cleaning feature can be removed completely.Protect a kind of method of process on-line monitoring, and provide a kind of processing speed of feed self-adjusting method, in order to solve because the reasons such as equipment failure, workpiece randomness off-note cause the risk being polished to workpiece body and damage equipment.
During enforcement, as shown in Figure 2, a kind of quick control method of foundry goods Automatic clearance is provided, comprises: a, detected the moving window current average of the unloaded steady state (SS) of topworks 2 by the mutual inductance type current detection sensor 4 be enclosed within topworks 2 power power-line, as operation standard current value.DPA data processing activity 5, by Interface for digital communication, reads the operation standard current value of current detection sensor 4, and stores, as the reference value judging topworks 2 running status.B, DPA data processing activity 5 are under guarantee device security, crudy and sufficient safety allowance prerequisite, according to the output current restriction that the shape of operation standard current value, foundry goods for clearance 1, the material of foundry goods for clearance 1, the attitude of foundry goods for clearance 1 and topworks 2 can bear, according to certain number ratios, the feeding deceleration current value of setting topworks 2 and operational limit current value.C, fixing foundry goods 1 for clearance, topworks 2 carries out cleaning operation to foundry goods 1 for clearance.D, DPA data processing activity 5 monitor the moving window current average of topworks 2 in real time by reading current detection sensor 4, as current running current value.The current running current value extracted and feeding deceleration current value and operational limit current value are compared respectively.If the current running current value of e exceedes operational limit current value, DPA data processing activity 5 sends alerting signal to immediately drived control mechanism 3, stops topworks 2 to run.If the current running current value of f exceedes run deceleration current value, but does not also reach operational limit current value, DPA data processing activity 5 sends reduce-speed sign to immediately drived control mechanism 3, and topworks 2 feeding is slowed down.G, in topworks 2 feeding deceleration regime, if DPA data processing activity 5 monitors and continues for some time topworks 2 electric current and be less than and run deceleration current value.DPA data processing activity 5 cancels the reduce-speed sign issuing drived control mechanism 3, makes topworks 2 return to course feed speed.H, by the real-time current characteristic of comparison, realize the automatic control to topworks 2, thus ensure that topworks 2 is to the device security in the scale removal process of foundry goods 1 for clearance and crudy.In step a, make topworks 2 be in unloaded steady state (SS), and measure the no-load current feature of topworks 2 by current detection sensor 4, according to no-load current feature-set operation standard current value.According to the output current restriction that the shape of operation standard current value and foundry goods for clearance 1, material, attitude and topworks 2 can bear, the feeding deceleration current value of setting topworks 2 and operational limit current value.In step b, by clamping device, foundry goods 1 for clearance is gripped; The attitude of foundry goods 1 for clearance is adjusted by switching mechanism; Control topworks 2 by drived control mechanism 3 to run.In step c, responded to the real-time current feature of topworks 2 by current detection sensor 4, extract real-time current feature by DPA data processing activity 5 from current detection sensor 4; When the present current value extracted is less than feeding deceleration current value, topworks 2 is with normal speed feeding; When the present current value extracted exceedes operational limit current value, stop topworks 2 feeding immediately, and shutdown inspection is carried out to topworks 2; When the present current value extracted exceeds feeding deceleration current value and is less than operational limit current value, reduce topworks 2 speed of feed, and when extract present current value continue for some time be less than feeding deceleration current value time, topworks 2 returns to course feed speed.In the process that topworks 2 processes foundry goods 1 for clearance, current detection sensor 4 measures the running current of topworks 2 in real time; DPA data processing activity 5, with the time window slided, extracts the feature of current measurement mean value.In steps d, the real-time current feature of topworks 2 is responded to by current detection sensor 4, current detection sensor 4 by induction real-time current profile feedback to DPA data processing activity 5, DPA data processing activity 5 passes through comparison, after judging topworks 2 running status, send corresponding signal to drived control mechanism 3.Drived control mechanism 3 adjusts the control to topworks 2 automatically by feedback information.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a quick control device for foundry goods Automatic clearance, comprises the topworks (2) for carrying out Automatic clearance to foundry goods for clearance (1) and the drived control mechanism (3) for carrying out automatic operation control to described topworks (2),
It is characterized in that,
Described topworks (2) is connected with the current detection sensor (4) for monitoring the real-time current in described topworks (2) processing operational process,
Described current detection sensor (4) is by being connected drived control mechanism (3) for the real-time current feature responded to by described current detection sensor (4) with the DPA data processing activity (5) that the no-load current feature of described current detection sensor (4) is compared
Described drived control mechanism (3) adjusts the speed of feed of described topworks (2) according to the current characteristic comparison information that described DPA data processing activity (5) is fed back or stops the operation of described topworks (2).
2. a quick control method for foundry goods Automatic clearance, is characterized in that, comprising:
The operation standard current value of a, acquisition topworks (2), and set feeding deceleration current value and the operational limit current value of described topworks (2);
B, fixing foundry goods for clearance (1), described topworks (2) carries out cleaning operation to described foundry goods for clearance (1);
The moving window current average of c, the described topworks of monitoring (2) in real time, as current running current value; The current running current value extracted and feeding deceleration current value and operational limit current value are compared respectively;
D, realize the automatic control to described topworks (2) by the real-time current characteristic of comparison, thus device security in ensureing the process that described topworks (2) clears up described foundry goods for clearance (1) and crudy.
3. the quick control method of foundry goods Automatic clearance according to claim 2, is characterized in that,
In described step a, detected the moving window current average of described topworks (2) unloaded steady state (SS) by the current detection sensor (4) be enclosed within described topworks (2) power power-line, as operation standard current value; DPA data processing activity (5) reads the operation standard current value of described current detection sensor (4) by Interface for digital communication and stores, and the operation standard current value of storage is as the reference value judging described topworks (2) running status;
In described step a, described DPA data processing activity (5) is under guarantee device security, crudy and sufficient safety allowance prerequisite, the output current restriction that can bear according to attitude and the described topworks (2) of operation standard current value, the shape of foundry goods for clearance (1), the material of foundry goods for clearance (1), foundry goods for clearance (1), sets feeding deceleration current value and the operational limit current value of described topworks (2).
4. the quick control method of foundry goods Automatic clearance according to claim 3, is characterized in that,
Realize being specially the automatic control of described topworks (2) by the current characteristic that comparison is real-time in described steps d:
When current running current value exceedes operational limit current value, described DPA data processing activity (5) sends alerting signal immediately to drived control mechanism (3), and it is out of service that described drived control mechanism (3) controls described topworks (2);
When current running current value exceedes operation deceleration current value but does not reach operational limit current value, described DPA data processing activity (5) sends reduce-speed sign immediately to drived control mechanism (3), and described drived control mechanism (3) controls described topworks (2) feeding and slows down;
When described topworks (2) is in feeding deceleration regime, the continuing current flow that described DPA data processing activity (5) monitors described topworks (2) is less than operation deceleration current value, described DPA data processing activity (5) cancels the reduce-speed sign being sent to drived control mechanism (3), and described drived control mechanism (3) makes described topworks (2) return to course feed speed.
5. the quick control method of foundry goods Automatic clearance according to claim 2, is characterized in that,
In described step a, make described topworks (2) be in unloaded steady state (SS), and measure the no-load current feature of described topworks (2) by current detection sensor (4), according to no-load current feature-set operation standard current value.
6. the quick control method of foundry goods Automatic clearance according to claim 5, is characterized in that,
According to the output current restriction that the shape of described operation standard current value and described foundry goods for clearance (1), material, attitude and described topworks (2) can bear, set feeding deceleration current value and the operational limit current value of described topworks (2).
7. the quick control method of foundry goods Automatic clearance according to claim 6, is characterized in that,
In described steps d, responded to the real-time current feature of described topworks (2) by described current detection sensor (4),
Real-time current feature is extracted from described current detection sensor (4) by DPA data processing activity (5);
When the present current value extracted is less than feeding deceleration current value, described topworks (2) is with normal speed feeding;
When the present current value extracted exceedes operational limit current value, stop described topworks (2) feeding immediately, and shutdown inspection is carried out to described topworks (2);
When the present current value extracted exceeds feeding deceleration current value and is less than operational limit current value, reduce described topworks (2) speed of feed, and when the present current value extracted continues to be less than feeding deceleration current value, described topworks (2) returns to course feed speed.
8. the quick control method of foundry goods Automatic clearance according to claim 7, is characterized in that,
In the process that described topworks (2) processes described foundry goods for clearance (1), described current detection sensor (4) measures the running current of described topworks (2) in real time;
Described DPA data processing activity (5), with the time window slided, extracts the feature of current measurement mean value.
9. the quick control method of the foundry goods Automatic clearance according to any one of claim 2 to 8, is characterized in that,
In described step b, by clamping device, described foundry goods for clearance (1) is gripped;
The attitude of described foundry goods for clearance (1) is adjusted by switching mechanism;
Control described topworks (2) by drived control mechanism (3) to run.
10. the quick control method of the foundry goods Automatic clearance according to any one of claim 2 to 8, is characterized in that,
In described steps d, responded to the real-time current feature of described topworks (2) by current detection sensor (4),
Described current detection sensor (4) is by the real-time current profile feedback of induction to DPA data processing activity (5), and DPA data processing activity (5), by contrast, after judging the running status of described topworks (2), sends corresponding signal to drived control mechanism (3),
Described drived control mechanism (3) adjusts the control to described topworks (2) automatically by feedback information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510428947.7A CN105116853B (en) | 2015-07-21 | 2015-07-21 | The quick control device and quick control method that casting is cleared up automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510428947.7A CN105116853B (en) | 2015-07-21 | 2015-07-21 | The quick control device and quick control method that casting is cleared up automatically |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105116853A true CN105116853A (en) | 2015-12-02 |
| CN105116853B CN105116853B (en) | 2018-03-02 |
Family
ID=54664871
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510428947.7A Active CN105116853B (en) | 2015-07-21 | 2015-07-21 | The quick control device and quick control method that casting is cleared up automatically |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105116853B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0969340B1 (en) * | 1998-06-26 | 2004-11-24 | V & M Deutschland GmbH | Process and device for the detection of a critical state of a tool , particulary of a saw blade |
| CN101156118A (en) * | 2005-04-01 | 2008-04-02 | 西门子公司 | Method and control device for the targeted reaction in the event of contact between a machine element pertaining to a machine and an object |
| CN101497171A (en) * | 2009-02-24 | 2009-08-05 | 中冶集团北京冶金设备研究设计总院 | Integrated control method for saw cutting load of hot sawing machine |
| CN102069451A (en) * | 2010-11-03 | 2011-05-25 | 广州遂联自动化设备有限公司 | Current-based intelligent compensation control method used on polishing and grinding equipment |
| CN103394795A (en) * | 2013-07-30 | 2013-11-20 | 广州中医药大学 | Method for adaptively detecting periodic phases of double-pulse welding current waveforms |
| CN104290034A (en) * | 2014-09-22 | 2015-01-21 | 中国汽车工业工程有限公司 | Method for controlling feeding speed of grinding robot |
-
2015
- 2015-07-21 CN CN201510428947.7A patent/CN105116853B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0969340B1 (en) * | 1998-06-26 | 2004-11-24 | V & M Deutschland GmbH | Process and device for the detection of a critical state of a tool , particulary of a saw blade |
| CN101156118A (en) * | 2005-04-01 | 2008-04-02 | 西门子公司 | Method and control device for the targeted reaction in the event of contact between a machine element pertaining to a machine and an object |
| CN101497171A (en) * | 2009-02-24 | 2009-08-05 | 中冶集团北京冶金设备研究设计总院 | Integrated control method for saw cutting load of hot sawing machine |
| CN102069451A (en) * | 2010-11-03 | 2011-05-25 | 广州遂联自动化设备有限公司 | Current-based intelligent compensation control method used on polishing and grinding equipment |
| CN103394795A (en) * | 2013-07-30 | 2013-11-20 | 广州中医药大学 | Method for adaptively detecting periodic phases of double-pulse welding current waveforms |
| CN104290034A (en) * | 2014-09-22 | 2015-01-21 | 中国汽车工业工程有限公司 | Method for controlling feeding speed of grinding robot |
Non-Patent Citations (2)
| Title |
|---|
| GUZMAN G C D等: "《Machine-induced coordination behavior in human-machine interaction》", 《IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS》 * |
| 吴军等: "《工业机器人在铸件清理中的应用初探》", 《机械工业标准化与质量》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105116853B (en) | 2018-03-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103558806B (en) | A kind of fault processing system of Digit Control Machine Tool | |
| CN107562014B (en) | Control device for machine tool | |
| CN104950886B (en) | A kind of intelligent maintenance AGV dolly workbenches | |
| KR20040060741A (en) | A Tool Error Detecting Unit of CNC and Method Thereof | |
| CN104191842A (en) | Robot laser marking VIN (Vehicle Identification Number) control system and method thereof | |
| CN107953030A (en) | A kind of processing method and system of laser cutting head process component | |
| Abele et al. | Avoidance of collision-caused spindle damages—challenges, methods and solutions for high dynamic machine tools | |
| US9764439B2 (en) | High voltage crash prevention device for machine tools | |
| CN108099692B (en) | Vehicle and fault processing method and system of motor driving system of vehicle | |
| CN105116853A (en) | Agility control device and agility control method for casting automatic cleaning | |
| KR20190080550A (en) | automated Demagnetization system | |
| CN202427863U (en) | Security protecting device for work roller of cold straightening machine | |
| CN104326244A (en) | Slipping monitoring mechanism and monitoring method of conveying chain sled | |
| CN205379748U (en) | Automatic dustproof clearance system | |
| CN105108585A (en) | Online detecting system and method of numerically-controlled machine tool | |
| CN206241052U (en) | A kind of mistake proofing limit switch structure of progressive die | |
| KR20160068397A (en) | Automated system of automobile part | |
| CN201075040Y (en) | Device for real time on-line detecting and controlling bearing temperature of ultrafine pulverizer | |
| CN207248094U (en) | A kind of measuring device of coil car position | |
| CN103846800A (en) | Feeding control method of grinding machine | |
| CN203449084U (en) | Structure for preventing spindle unclamping caused by transmission belt failure on machining equipment | |
| CN203696591U (en) | Double-swinging-head safety protection device | |
| CN109483532A (en) | Lathe and its corase grinding robot control method | |
| JP2016040071A (en) | Tool failure detection method | |
| CN202021500U (en) | Restricted area setting device of mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Agility control device and agility control method for casting automatic cleaning Effective date of registration: 20180925 Granted publication date: 20180302 Pledgee: Bank of Changsha Limited by Share Ltd science and Technology Branch Pledgor: Changsha CTR Robotics Co., Ltd. Registration number: 2018430000078 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20200528 Granted publication date: 20180302 Pledgee: Bank of Changsha Limited by Share Ltd. science and Technology Branch Pledgor: CHANGSHA CTR ROBOTICS Co.,Ltd. Registration number: 2018430000078 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Agility control device and agility control method for casting automatic cleaning Effective date of registration: 20200622 Granted publication date: 20180302 Pledgee: Bank of Changsha Limited by Share Ltd. science and Technology Branch Pledgor: CHANGSHA CTR ROBOTICS Co.,Ltd. Registration number: Y2020980003314 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right |