CN203281853U - Ear line placing device for casting mold - Google Patents

Abstract

An ear wire placement device for a casting mold, comprising a walking device for loading a casting mold, the casting mold is installed on the walking device, a cavity is provided on the casting mold; a claw clamp for clamping the ear wire, The claw fixture is installed on the front end of the robot arm through a connecting arm, and the end of the ear wire is controlled by the robot to place the claw fixture in the molten metal solution in the cavity; it is used to detect the positioning deviation of the walking device The tracking and positioning system includes a target and a laser ranging sensor, the target is installed on the walking device, and the laser ranging sensor is arranged outside the movement area of the walking device corresponding to the target, and the laser ranging sensor and the There is an included angle α between the vertical lines of the moving direction of the walking device; the main controller used to correct the positioning deviation of the walking device and control the robot to place the ear wire is connected to the robot and the laser distance sensor respectively .

Description

An ear wire placement device for a casting mold

technical field

The utility model relates to a positioning device, in particular to a high-precision casting mold ear wire placement device for a robot used in the precise positioning of a casting trolley in the foundry industry to place ear wires to the casting trolley.

Background technique

In the nickel metal smelting industry, the smelted nickel metal is poured into the mold, and then in the hot melting stage of the nickel metal, it has to go through the artificial flat mold (to remove the oxide on the surface of the hot melt nickel metal), and manually insert the ear wire (for electrolysis in the future) The process suspends the rough smelted nickel plate on the electrode). Finally, after the metal is cooled, the mold is manually lifted (manually use a crowbar to penetrate the ear wire to pry the cooled nickel plate out of the mold). From the mechanical point of view, the moving mode of the mold is divided into: chain trolley structure and turntable structure, and from the electrical drive point of view: ordinary motor drive and servo motor drive. The chain trolley structure + ordinary motor drive is a common driving method for casting molds. As a continuous casting production line for nickel plates with manual participation, the relevant technical indicators are sufficient. However, if high-precision production equipment such as robots intervene in this nickel plate continuous casting production line, the large positioning accuracy error of the original nickel plate continuous casting production line will cause serious contradictions and conflicts with the high precision of robots. For pouring into the mold, the positioning accuracy of the nickel plate continuous casting production line is acceptable at ±50mm. For the robot to grab 4 ear wires at a time with its claws and place them in the nickel molten mold filled with liquid molten state, the positioning accuracy of the nickel plate continuous casting production line is required to be about ±3mm, plus the influence of other positioning errors, Only in this way can the final positioning accuracy of the ear wire reach ±7mm. If the positioning requirements of the chain trolley + ordinary motor drive scheme are required to be increased to millimeter-level accuracy, it is uneconomical and unrealistic from a technical point of view. Therefore, it is necessary to adopt a new technology to solve the problem of positioning accuracy of ear wire placement. That is to solve the contradiction between the poor positioning accuracy and the high precision requirement of the robot inserting the ear wire in the prior art solution of the chain trolley + ordinary motor drive solution. First of all, there are two problems to be solved: one is the difficulty of improving the accuracy of the original driving scheme, and the other is the limitation of the casting site environment on the use of measurement technology. Some insurmountable reasons that affect the improvement of the accuracy of the chain trolley + ordinary motor drive scheme: the huge inertia after the chain trolley forms a loop with a length of 100 meters, the measurement method for measuring the position of the trolley and the control scheme of the driving motor, and the distance between the chain trolleys Clearance, uncertainty of chain trolley pitch, etc. Although there are many test methods to measure the position of the chain trolley, the environment of the foundry site is extremely harsh, and some measurement methods are difficult to perform in this environment. Influencing factors include: casting high temperature environment and high temperature of casting trolley, sputtering of molten nickel liquid, spraying of casting cooling water, and influence of environmental dust.

Utility model content

The technical problem to be solved by the utility model is to provide a casting mold ear wire placement device that can solve the problem that the automatic production equipment cannot produce high-precision production caused by the low positioning accuracy of the chain trolley in the casting line in the prior art .

In order to achieve the above purpose, the utility model provides an ear wire placement device for a casting mold, which includes:

A walking device for loading a casting mold, the casting mold is mounted on the walking device, and a cavity is arranged on the casting mold;

A claw clamp for clamping the ear wire, the claw clamp is installed on the front end of the arm of the robot through a connecting arm, and the end of the ear wire is placed in the cavity by controlling the claw clamp by the robot in molten metal solution;

The tracking and positioning system for detecting the positioning deviation of the walking device includes a target and a laser ranging sensor, the target is installed on the walking device, and the laser ranging sensor is arranged on the target corresponding to the target Outside the movement area of the walking device, and there is an angle α between the laser ranging sensor and the vertical line of the moving direction of the walking device;

The main controller for correcting the positioning deviation of the walking device and controlling the robot to place the ear wires is respectively connected with the robot and the laser ranging sensor.

In the ear wire placement device above, the running device is a casting trolley, and the target is vertically installed on the side of the frame of the casting trolley.

In the ear wire placement device above, there is an incident angle between the laser beam of the laser distance measuring sensor and the irradiation plane of the target, and the incident angle is less than 90 degrees.

In the above-mentioned ear wire placement device, the tracking and positioning system further includes a protective cover, and the laser ranging sensor is installed in the protective cover.

The above-mentioned ear wire placement device further includes a cooling and heating system, the cooling and heating system is installed in the protective cover and connected to the main controller.

The ear wire placement device above further includes a temperature sensor for detecting ambient temperature, and the temperature sensor is connected to the main controller.

In the above-mentioned ear wire placing device, wherein, the main controller is connected to the laser distance measuring sensor through a data bus or an analog signal.

The above-mentioned ear wire placement device, wherein the main controller includes:

a storage unit for storing the included angle α and the reference length of the target;

A signal receiving unit for receiving the distance value from the walking device measured by the laser ranging sensor;

A signal calculation unit for calculating a deviation value between the actual position of the running device and the reference position of the running device according to the distance value, the included angle α, and the reference length of the target;

a signal output unit for outputting the deviation value;

An error correction unit for superimposing the deviation value into the standard wire insertion path and controlling the actual wire insertion path of the robot to be compensated according to the deviation value.

In the above-mentioned ear wire placement device, the included angle α is 45-90 degrees.

In the above-mentioned ear wire placement device, the distance between the laser ranging sensor and the walking device is 0.1-30 meters.

The beneficial effects of the utility model are:

The utility model solves the influence of various factors in the prior art on the positioning accuracy of the chain trolley. By accurately measuring the specific position of the chain trolley and through data processing, the positioning deviation value of the chain trolley is transmitted to the robot for placing the ear wire. The robot superimposes the positioning deviation value of the chain trolley on the standard ear wire path, and the path of the robot ear wire is corrected according to the specific position of the chain trolley. It can be realized that when the chain trolley positioning accuracy is ±50mm, the robot aligns the ear wire High-precision positioning and high-precision placement.

In a word, the utility model solves the contradiction that the positioning accuracy of the chain trolley in the casting line is not high in the prior art, and the automatic production equipment such as robots cannot perform high-precision production, and can ensure that the robot can reduce the positioning of the chain trolley when placing the ear wire. The adverse effects of large errors, while the technology is advanced, the economic effect is good. It is convenient for maintenance and greatly reduces the labor intensity, making it possible for the chain trolley + ordinary motor drive scheme to automate casting, which plays a greater role in the foundry field, making it possible for robots to replace manual heavy manual labor, and can participate in casting after pouring follow-up processing.

The utility model will be described in detail below in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the utility model.

Description of drawings

FIG. 1 is a schematic structural diagram of an ear wire in the prior art;

Fig. 2 is a schematic diagram of the working state of an embodiment of the utility model;

Fig. 3 is a schematic structural diagram of a tracking and positioning system according to an embodiment of the present invention;

Fig. 4 is a schematic structural diagram of a tracking and positioning system according to another embodiment of the present invention;

Fig. 5 is a schematic diagram of positioning compensation of the present invention;

Fig. 6 is a topological diagram of transferring data in a field bus mode according to an embodiment of the present invention;

Fig. 7 is a topology diagram of another embodiment of the present invention that transmits data in an analog mode;

Fig. 8 is a logic block diagram of measurement data processing and transmission of the present invention.

Among them, reference signs

1 robot 11 arm

2 Traveling device 3 Casting mold

31 cavity 4 gripper

5 connecting arm 6 ear wire

7 Tracking and positioning system

71 target

72 Laser ranging sensor

73 Shield

8 main controller 9 data bus

10 Cooling and heating system 12 Solenoid valve

13 Solenoid valve 14 Temperature sensor

Detailed ways

Below in conjunction with accompanying drawing, structural principle and working principle of the present invention are specifically described:

Referring to Fig. 1 and Fig. 2, Fig. 1 is a schematic diagram of the structure of the ear wire in the prior art, and Fig. 2 is a schematic diagram of the working state of an embodiment of the present invention. The ear wire placing device of casting mold 3 of the present utility model comprises:

A traveling device 2 for loading a casting mold 3, the casting mold 3 is mounted on the traveling device 2, and the casting mold 3 is provided with a cavity 31;

The claw clamp 4 for clamping the ear wire 6, the claw clamp 4 is installed on the front end of the arm 11 of the robot 1 through a connecting arm 5, and the end of the ear wire 6 controls the claw through the robot 1 The fixture 4 is placed in the molten metal solution in the cavity 31, and the robot 1 has a data bus 9 or an analog input board;

The tracking and positioning system 7 for detecting the positioning deviation of the walking device 2 includes a target 71 and a laser ranging sensor 72, the target 71 is installed on the walking device 2, and the laser ranging sensor 72 corresponds to The target 71 is set outside the movement area of the walking device 2, and there is an angle α between the laser ranging sensor 72 and the vertical line of the moving direction of the walking device 2, so as to ensure that both There is no movement hindrance relationship between them, the angle α is preferably 45-90 degrees, the most optimal is 60-90 degrees, and the distance between the laser ranging sensor 72 and the walking device 2 is preferably 0.1-90 degrees. 30 meters, preferably 0.1 to 10 meters; see FIG. 3, which is a schematic structural diagram of a tracking and positioning system according to an embodiment of the present invention. In this embodiment, the walking device 2 is preferably a casting trolley, the target 71 is installed vertically on the side of the frame of the casting trolley, and the irradiation plane of the laser beam and the target 71 (reflection target) of the casting trolley is different from each other. The vertical relationship, but there is an angle, which can exist in the horizontal plane, can also exist in the vertical plane, or exist in the horizontal plane and the vertical plane at the same time, there are two principles for the existence of the angle: 1) laser The ranging sensor 72 is outside the movement path of the casting trolley, that is, there is no motion interference between the two; 2) The laser beam emitted by the laser ranging sensor 72 always irradiates the target 71 of the casting trolley within the error range of the casting trolley stopping (reflection target) to achieve continuous position tracking of the casting trolley. That is, there is an incident angle between the laser beam of the laser ranging sensor 72 and the irradiation plane of the target 71, and the incident angle is not equal to 90 degrees, preferably less than 90 degrees; referring to FIG. 4, FIG. 4 is A schematic structural diagram of a tracking and positioning system according to another embodiment of the utility model. The tracking and positioning system 7 also includes a protective cover 73, the laser ranging sensor 72 is installed in the protective cover 73, and may also include a cooling and heating system 10 (see Fig. 6, Fig. 7), the cooling and heating The system 10 is installed in the protective cover 73 and connected to the main controller 8, and may also include a temperature sensor 14 for detecting the ambient temperature (see Fig. 6 and Fig. 7 ), and the temperature sensor is connected to the main controller 8. Device 8 is connected. In this embodiment, the protective cover 73 can provide multiple protective means, such as anti-smashing, waterproof, and dustproof. Holes at the back of the protective cover 73 are used for cooling water, cold wind and hot wind, as well as the laser ranging sensor 72 power lines and control lines, etc., and waterproof joints or bellows joints can be used according to actual conditions. The main controller 8 acquires the ambient temperature through the measurement of the temperature sensor 14 . When the ambient temperature is greater than 0 degrees, the compressed air F is blown out from the protective cover 73 at a certain flow rate, which can have the effects of dust prevention and cooling. When the ambient temperature is lower than 0 degrees, the hot air R is blown out from the protective cover 73, which can blow off the steam air mass generated on the target 71 (reflection target) of the casting trolley, and the main controller 8 can pass through the solenoid valve 12, 13 Adjust and control the compressed air F and hot air R. At the same time, the laser ranging sensor 72 itself may have a water jacket (not shown);

The main controller 8 for correcting the positioning deviation of the walking device 2 and controlling the robot 1 to place the ear wire 6 is connected to the robot 1 and the laser distance measuring sensor 72 respectively. The main controller 8 can be connected to the laser range sensor 72 via a data bus 9 (see FIG. 6 ) or an analog signal (see FIG. 7 ). Referring to FIG. 8, FIG. 8 is a logic block diagram of the measurement data processing and delivery of the present invention. In this embodiment, the main controller 8 includes:

a storage unit for storing the included angle α and the reference length Lb of the target 71;

A signal receiving unit for receiving the distance value L1 from the walking device 2 measured by the laser ranging sensor 72;

A signal calculation unit for calculating the deviation ΔL between the actual position of the running device 2 and the reference position of the running device 2 according to the distance value L1, the included angle α and the reference length Lb of the target 71 ;

a signal output unit for outputting the deviation value ΔL;

An error correction unit for superimposing the deviation value ΔL into the standard wire insertion path and controlling the actual wire insertion path of the robot 1 to be compensated according to the deviation value ΔL.

As shown in Figure 2, in one embodiment of the utility model, for example, four ear wires 6 can be grasped at a time, and inserted into the cavity 31 of the casting mold 3 of a casting trolley at one time, and the casting mold 3 is provided with Two mold cavities 31, each mold cavity 31 has two concave surfaces, and the concave surfaces are used to accommodate molten metal solution. The target 71 (reflection target) of this embodiment is installed on the vehicle frame of the casting trolley, and the target 71 (reflection target) of the casting trolley is selected from metal materials with high reflectivity, smooth surface and corrosion resistance to ensure that the target 71 ( There is a definite mutual positional relationship between the reflective target) and the casting mold 3, so as to ensure the detection of the relative position of the casting mold 3 and the compensation of the displacement deviation. In this embodiment, the entire device is preferably made of stainless steel, which can not only ensure the corrosion resistance of the device, but also meet the long-term stability of the reflective characteristics of the target 71 (reflective target). The stainless steel plate material of the target 71 (reflection target) requires a flat, smooth surface, no rust, uniform thickness, and a size not less than 100x100mm. The target 71 (reflection target) is installed on the frame of the casting trolley, and it should be firm and reliable to ensure that the target 71 (reflection target) of the casting trolley maintains a relative positional relationship with the casting mold 3 in a long-term harsh environment, ensuring that the target 71 ( Perpendicularity between the laser irradiation surface of the reflective target) and the side wall of the trolley frame and the horizontal plane. The angle α between the laser ranging sensor 72 and the vertical line of the casting trolley should be within an appropriate range. If the α angle is too large, the installation position of the laser ranging sensor 72 will easily interfere with the casting trolley. Small, the laser beam emitted by the laser ranging sensor 72 is easy to break away from the target 71 (reflection target) of the casting trolley, causing the measuring range of the laser ranging sensor 72 to be narrow. Several factors should be considered for the installation position of the laser ranging sensor 72 from the casting trolley: 1) the testing distance and effective testing range of the laser ranging sensor 72; 2) the obstructions in the path of the laser beam and the size of the installation space. The most important consideration in the selection of the α angle and the installation distance of the laser ranging sensor 72 is the error range of the positioning of the casting trolley at this station after the casting trolley loop brake stops. Within the error range of the positioning of the casting trolley, the laser ranging sensor The laser beam of 72 always irradiates the target 71 (reflection target) of the casting trolley, that is, maintains continuous position tracking measurement.

In addition, the distance measurement of the present invention can also use a pendulum measurement method, which is a contact measurement method, and will not be repeated here.

The utility model is mainly used for tracking and compensating the position of the casting trolley on the casting assembly line, so as to ensure that the casting trolley can accurately locate and track the casting trolley again when the parking position error of the casting trolley is relatively large. Carrying out some precise process operations or precision machining on the casting trolley has the advantages of accurate tracking and positioning, no wear, improving the automation level of casting production, reducing labor intensity and improving production efficiency.

Referring to Fig. 5, Fig. 5 is a schematic diagram of the positioning compensation of the present invention. The working principle of the utility model is as follows:

First, the laser ranging sensor 72 measures the distance by continuously irradiating the target 71 (reflection target) of the casting trolley after the loop line of the casting trolley stops, and uploads the measured distance value L1 to the main controller 8 through the field bus or analog quantity;

The included angle between the position where the laser ranging sensor 72 is installed and the vertical line to the moving direction of the casting trolley is a known angle α. The main controller 8 receives the distance value L1 measured by the laser ranging sensor 72 through the field bus or analog quantity, and then calculates the L2 value, then the length of the casting trolley from 0 along the moving direction is: L2=L1x sinα. Similarly, the method of obtaining the L2 value by calculating the L1 value can also use the look-up table method to query a specific output value from a specific input value through a set of lists. This method is not only suitable for linear function methods but also for nonlinear function methods. The dotted line in Figure 5 shows the reference position of the casting mold 3 trolley (also known as the standard position, and the compensation value of the insertion position of robot 1 is zero by default). At this reference position, the target 71 (reflection target) of the casting trolley The reference length (standard length) from the 0 point is Lb. The main controller 8 continues to calculate the deviation value between the actual position of the casting trolley and the reference position of the casting trolley: ΔL=L2−Lb. After the main controller 8 acquires the deviation value ΔL, it transmits it to the robot 1 through the field data bus 9 or analog quantity. The direction of the arrow V in the figure is only an example, and there may also be other directions, that is, the difference in the directions does not affect the measurement principle of the device.

The industrial robot 1 is above the trolley of the casting mold 3, and the robot 1 controls the gripper 4, so that the ear wire 6 can be inserted into the molten metal in the 31 of the casting mold 3. During the wire insertion stage, the industrial robot 1 superimposes the deviation value ΔL on the standard wire insertion path, so that the actual wire insertion path of the industrial robot 1 is offset according to the deviation value ΔL, and compensates for the large positioning error after the casting trolley stops.

In order to use the utility model correctly, the using method of an embodiment is described in detail as follows:

1) First, the target 71 (reflection target) of the casting trolley is assembled with the casting trolley;

2) The laser distance measuring sensor 72 and the protective cover 73 are installed in the corresponding positions, and the laser beam of the laser distance measuring sensor 72 is adjusted to irradiate on the target 71 (reflection target) of the casting trolley, and within the error range of the casting trolley, the laser beam Always irradiate on the target 71 (reflection target) of the casting trolley;

3) The laser ranging sensor 72, the main controller 8 and the industrial robot 1 are connected in communication;

4) Pipes such as cold air/hot air are connected to the protective cover 73;

5) Connection debugging and setting of the ambient temperature sensor;

6) Connection and debugging of air duct solenoid valve.

The utility model solves the problem that the positioning error of the casting mold trolley is large in the past, and the precision machining tools such as the industrial robot 1 cannot participate in the process along the line. The utility model can ensure the high precision requirement of the industrial robot 1 on the positioning of the casting mold trolley, Moreover, it is easy to use, high in production efficiency and convenient in maintenance. This new type solves the problem of inaccurate positioning in casting automation, making it possible for automation equipment to intervene in casting production, which can greatly reduce the heavy physical labor of people and get rid of the harsh working environment, improve the level of automation, and improve work efficiency. The structure is ingenious and easy to use. And easy maintenance, more suitable for use in the automatic foundry industry.

Of course, the utility model can also have other various embodiments, and those skilled in the art can make various corresponding changes and deformations according to the utility model without departing from the spirit and essence of the utility model, but These corresponding changes and deformations should all belong to the protection scope of the appended claims of the present utility model.

Claims (10)

1. An ear wire placement device for a casting mold, characterized in that it comprises: A walking device for loading a casting mold, the casting mold is mounted on the walking device, and a cavity is arranged on the casting mold; A claw clamp for clamping the ear wire, the claw clamp is installed on the front end of the arm of the robot through a connecting arm, and the end of the ear wire is placed in the cavity by controlling the claw clamp by the robot in molten metal solution; The tracking and positioning system for detecting the positioning deviation of the walking device includes a target and a laser ranging sensor, the target is installed on the walking device, and the laser ranging sensor is arranged on the target corresponding to the target Outside the movement area of the walking device, and there is an angle α between the laser ranging sensor and the vertical line of the moving direction of the walking device; The main controller for correcting the positioning deviation of the walking device and controlling the robot to place the ear wires is respectively connected with the robot and the laser ranging sensor. 2. The ear wire placing device according to claim 1, wherein the traveling device is a casting trolley, and the target is vertically installed on the side of the frame of the casting trolley. 3. The ear wire placement device according to claim 2, wherein there is an incident angle between the laser beam of the laser ranging sensor and the irradiation plane of the target, and the incident angle is less than 90° Spend. 4. The ear wire placement device according to claim 1, 2 or 3, wherein the tracking and positioning system further comprises a protective cover, and the laser ranging sensor is installed in the protective cover. 5. The ear wire placement device according to claim 4, further comprising a cooling and heating system, the cooling and heating system being installed in the protective cover and connected to the main controller. 6. The ear wire placement device according to claim 5, further comprising a temperature sensor for detecting ambient temperature, and the temperature sensor is connected to the main controller. 7. The ear wire placement device according to claim 1, 2, 3, 5 or 6, wherein the main controller is connected to the laser distance measuring sensor through a data bus or an analog signal. 8. The ear wire placement device according to claim 7, wherein the main controller comprises: a storage unit for storing the included angle α and the reference length of the target; A signal receiving unit for receiving the distance value from the walking device measured by the laser ranging sensor; A signal calculation unit for calculating a deviation value between the actual position of the running device and the reference position of the running device according to the distance value, the included angle α, and the reference length of the target; a signal output unit for outputting the deviation value; An error correction unit for superimposing the deviation value into the standard wire insertion path and controlling the actual wire insertion path of the robot to be compensated according to the deviation value. 9. The ear wire placing device according to claim 1, 2, 3, 5, 6 or 8, characterized in that the included angle α is 45-90 degrees. 10. The ear wire placement device according to claim 1, 2, 3, 5, 6 or 8, wherein the distance between the laser ranging sensor and the walking device is 0.1-30 meters.

Images