JP4490906B2 - Spray control device, spray control processing program, and spray control method - Google Patents

Description

  The present invention relates to a die-casting machine system, and in particular, controls injection of sprays such as mold release agents and heat-retaining agents that are sprayed from a spray that sequentially moves to a plurality of positions (positions) on a cavity surface of a die of a die-casting machine. The present invention relates to a technical field such as a spray control device and a spray control method.

  In the die casting machine system, the spray attached to the tip of the spray robot arm is sequentially moved to multiple positions on the cavity surface of the die casting machine (fixed mold and movable mold) by controlling the spray robot. In this case, for example, a control for ejecting (spraying) a release agent from a nozzle provided in the spray is performed. In general, the operation control of the spray robot is performed by a robot operation program that controls the operation of the spray robot being executed by the robot control device, and the injection control of the release agent (for example, release agent). The control of the agent system, spraying time, etc.) is performed by the spray control device executing an injection operation program that controls the injection operation of the release agent or the like.

On the other hand, in the method disclosed in Patent Document 1, the movement path of the spray is modeled and set in advance, and the operation (distance, speed, posture) of the spray robot and the injection operation (release) with respect to the set movement path. The control is performed according to a program in which the flow rate of the agent, the air flow rate, and the valve opening / closing timing) is set, so that an appropriate spray amount can be supplied.
Japanese Patent No. 3344213

  However, in the conventional technique disclosed in Patent Document 1, for example, once the control is started by executing a program in which the operation and spray operation of the spray robot are set for the set movement path, the spray is started. It is difficult to change the robot operation (distance, speed, posture) setting and injection operation (release agent flow rate, air flow rate, valve opening / closing timing) settings easily. (Work stop) The above settings must be redone, and in addition, no one can easily change program settings. Therefore, it takes time to change the setting, which is inefficient.

  In addition, in the prior art including the above-mentioned Patent Document 1, it is difficult for an operator to easily confirm the information related to the above setting. Etc., and it is difficult for an operator to create a standard document used for checking.

  The present invention has been made in view of the above points, and allows an operator to easily check and check setting information related to injection control of an injection, and easily change the setting information without stopping the program. It is an object of the present invention to provide a spray control device, a spray control processing program, a spray control method, and the like that can be used. Moreover, the present invention provides a spray control device, a spray control processing program, a spray control method, and the like capable of performing more appropriate injection control of an injection material injected to a plurality of positions on a cavity surface of a die of a die casting machine. Is an issue.

In order to solve the above-mentioned problem, the spray control device according to claim 1 is a spray control device that performs injection control of a spray that is sprayed from a spray that sequentially moves to a plurality of positions on a cavity surface of a die of a die casting machine. An input field provided corresponding to each of the plurality of positions and capable of being input by a user during the injection control of the injection, and the injection control of the injection between the positions or between the positions. Display means for displaying an input screen having a setting information input field, and the setting information input to each of the input fields provided on the input screen, the injection time of the injection, injection amount, and a storage hand in association with the respective position of the setting information including at least one of the moving speed of the spray If, acquires the setting information said storage to said position and a injection control means for performing injection control of the injection material by using the setting information, the spray is ending from the position as a starting point A series of shots are repeatedly performed a plurality of times, and the injection control means obtains the stored setting information each time the one shot is completed, and sets the setting information to the next shot It is comprised so that it may be used .

  The spray control device according to claim 2, in the spray control device according to claim 1, the input field includes an input field for setting use or non-use for each position, The injection control means is configured to perform the injection control of the injection object while ignoring the position where nonuse is set.

The spray control device according to claim 3 is the spray control device according to claim 1 or 2 , wherein the spray control device includes a plurality of sprays attached to an arm of a spray robot on a cavity surface of a die of a die casting machine. When it is possible to communicate with a robot controller that controls the spray robot so as to sequentially move to the position, and the position information indicating the position where the spray should move next is received from the robot controller, The apparatus further comprises setting information transmitting means for transmitting the setting information corresponding to the position information to the robot control apparatus, and after the setting information is transmitted, the injection control means displays information indicating the start of spraying of the spray. Output a spray command to the spray when received from It is formed.

The spray control processing program according to claim 4 corresponds to each of the plurality of positions, a computer that performs injection control of a spray that is sprayed from a spray that sequentially moves to a plurality of positions on a cavity surface of a die of a die casting machine And an input screen that can be input by the user during the injection control of the injected object, and has an input field for setting information relating to the injection control of the injected object between the positions or between the positions. Display means for displaying, the setting information input in each of the input fields provided on the input screen , and at least of the injection time of the injection, the injection amount of the injection, and the movement speed of the spray storage means for storing in association with each position the setting information including any one, and, the stored the It obtains a constant information, a spray control processing program to function as the injection control means for injection control of the injection material by using the setting information, leading to the position where the spray is the end point from the position to be the starting point A series of shots are repeatedly performed a plurality of times, and the injection control unit obtains the stored setting information every time the one shot is completed, and the setting information is acquired in the next shot. Configure to use .

The spray control method according to claim 5 is a spray control method for performing injection control of a sprayed material sprayed from a spray that sequentially moves to a plurality of positions on a cavity surface of a die of a die casting machine, wherein the plurality of positions The input field is provided corresponding to each, and can be input by the user during the injection control of the injection material, and has an input field for setting information related to the injection control of the injection material between the positions or between the positions. a step of Ru to display the input screen, a said setting information inputted to each of said input field provided on the input screen, the injection time of the injection material, the injection amount of the injection material, and movement of the spray a step of storing in association with each position the setting information including at least one of speed, the stored the setting information has been Tokushi, anda injection control step of performing injection control of the injection material by using the setting information, a series of shots reaching the position in which the spray is the end point from the position as a starting point is repeated a plurality of times In the injection control step, the stored setting information is acquired every time one shot is completed, and the setting information is used in the next shot .

According to the invention described in claim 1, 4 , or 5 , it is possible to input a plurality of positions and setting information related to the injection control of the injection material between these positions by the user during the injection control of the injection material. Since the screen is displayed, the user can easily check and check the setting information during the injection control of the injection, and can easily change the setting information without stopping the program. Further, since the setting information cannot be changed after the shot is started and until this is completed, the setting information can be prevented from being changed while each shot is being performed.

  According to the invention described in claim 2, since it is possible to set use or non-use for each position, it is possible to change the position for injecting the ejected matter very quickly and easily.

According to the third aspect of the present invention, when position information indicating the position where the spray should move next is received from the robot controller, the setting information corresponding to the position information is transmitted to the robot controller. When the information indicating the start of spraying is received from the robot control device after the setting information is transmitted, the spray command is output to the spray. The control timing can be accurately matched, and more appropriate injection control is possible.

DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, the best mode for carrying out the invention will be described with reference to the drawings. The embodiment described below is an embodiment when the present invention is applied to a die casting machine system. In the following embodiments, a release agent and air (air) are applied as the projectile, but the present invention is not limited to this. For example, a heat retaining agent or the like that can be sprayed from a spray (spray nozzle). You may apply.
[1. Configuration and function of die casting machine system]
First, with reference to FIG. 1 etc., the structure and function of the die-casting machine system concerning this embodiment are demonstrated.

  FIG. 1 is a diagram illustrating a schematic configuration example of a die casting machine system according to the present embodiment.

  As shown in FIG. 1, the die casting machine system S includes a die casting machine 1, a spray robot 2, a robot control device 3, a valve stand 4, a spray control device 5, and the like.

  The die casting machine 1 includes a pair of fixed mold 11 and movable mold 12, a mold clamping device 13 for clamping the fixed mold 11 and the movable mold 12, and between the fixed mold 11 and the movable mold 12. For example, an injection device (not shown) for injecting a molten metal into the cavity formed in this is constituted.

  The spray robot 2 includes a spray 2a, an articulated arm 2b, a rotary seat 2c, a base 2d, and the like.

  The spray 2a is attached (connected) to the tip of the articulated arm 2b by a connecting portion 28, is rotatable about the central axis G of the spray 2a, and is centered on the horizontal axis of the connecting portion 27. It is possible to turn as. Further, the spray head 29 in the spray 2a has two surfaces to be opposed to the cavity surface 14 of the fixed mold 11 and two surfaces to be opposed to the cavity surface 15 of the movable mold 12, respectively. On the surface, a release agent nozzle or an air nozzle is provided.

  2A to 2D are diagrams illustrating an example of arrangement of nozzles provided on four surfaces of the spray head 29. FIG. On the surface shown in FIG. 2A, a total of 14 release agent nozzles on the movable mold 12 side are provided in a total of 9 systems (release agent system) of R1 and R3 to R10. ) Is provided with a total of five release agent nozzles on the fixed mold 11 side in two systems, R2 and R11, and on the surface shown in FIG. A total of 8 air nozzles are provided for one A1 system (air system), and a total of 7 air nozzles on the fixed mold 11 side are provided on the surface shown in FIG. 2D. It has been.

  And each release agent nozzle and air nozzle are connected to the corresponding valve 41 provided in the valve stand 4 through the corresponding hose 42, and when the valve 41 is turned on (opened). The release agent is jetted (sprayed) or air (air) is jetted from the nozzle corresponding to this.

  In the case of nozzles of the same system (for example, two R3 nozzles), for example, the release agent or air injection control is performed by turning on / off one valve (separate hose) (however, a valve is provided for each nozzle). May be separated).

  The multi-joint arm 2b includes a first arm 26 and a second arm 24 that is pivotally connected to the first arm 26 by a connecting portion 25. The second arm 24 is connected to the first arm 26 by a connecting portion 23. It is connected to the rotary seat 2c so as to be pivotable.

  The rotary seat 2c is connected to the base 2d by the connecting portion 22 so as to be rotatable about the vertical axis.

  The connecting portions 22, 23, 25, 27, and 28 are provided with a motor and gears (not shown).

  The robot controller 3 includes a CPU (Central Processing Unit), a memory such as a RAM (Random-Access Memory), various programs (including a robot operation program for controlling the operation of the spray robot 2), and a ROM (Read- Control unit composed of only memory), a communication unit for mutual data communication between the spray control device 5 and the spray control device 5, and control via the dedicated cable between the spray robot 2 And an interface unit for exchanging various signals such as signals.

  Then, the robot control device 3 allows the spray 2a attached to the articulated arm 2b of the spray robot 2 to be transferred to the die casting machine 1 while the CPU executes a robot operation program. The spray robot 2 is controlled so as to sequentially move to a plurality of positions (the positions are different from each other) on the cavity surfaces 14 and 15 of the fixed mold 11 and the movable mold 12.

  In this control, a control signal indicating a drive command is output from the control unit to the motors provided in the connection units 22, 23, 25, 27, and 28 in the spray robot 2 via the interface unit or the like. It will be.

  The interface unit receives a control signal indicating a start command for the operation control process of the spray robot 2 from the die casting machine 1, for example.

  Next, the configuration and function of the spray control device 5 according to an embodiment of the present invention will be described.

  FIG. 3 is a diagram illustrating a schematic configuration example of the spray control device 5 according to the present embodiment.

  As shown in FIG. 3, the spray control device 5 includes a CPU, a memory such as a RAM, and various programs (including a spray operation program (including a spray control processing program of the present invention) that controls the release operation of the release agent and air). And a sequencer 51 (an example of an injection control unit and a setting information transmission unit) configured from a ROM or the like for storing various data, and a storage unit 52 (an example of a storage unit, for example, an EEPROM (Electrically Erasable) Programmable Read Only Memory) and the like, and a communication unit 53 for mutual data communication with the robot controller 3 via a dedicated cable, and each valve corresponding to each system provided in the valve stand 4 An interface unit 54 for outputting a control signal indicating a valve ON or OFF command to the terminal 41 via a dedicated cable; For example, an operation / display unit 55 having a touch panel 55a and a setting input screen (an example of an input screen) displayed on the touch panel 55a and setting information related to the release agent and air injection control input by the user through the setting input screen. An input / output control unit 56 (an example of a display unit) that acquires and stores in the storage unit 52.

  Then, the spray control device 5 uses the setting information related to the release agent and air injection control while communicating (interacting) with the robot control device 3 by the CPU executing the injection operation program, so that the spray 2a ( The release agent sprayed from the release agent nozzle or the air nozzle) and air injection control are performed.

  FIG. 4 is a diagram illustrating an example of a setting input screen displayed on the touch panel 55 a in the operation / display unit 55.

  As shown in FIG. 4, the setting input screen 101 is a setting related to injection control of a mold release agent or air between each position or between positions on the cavity surfaces 14 and 15 of the fixed mold 11 and the movable mold 12 of the die casting machine 1. There are a plurality of information input columns (cells) 102 (input columns 102 that can be input by an operator as a user) (that is, cells are arranged in a matrix form vertically and horizontally).

  In the example of FIG. 4, the setting information regarding the injection control of the release agent or air between the positions 1 to 50 and the respective positions can be input during the release control of the release agent or air. Specifically, in this example, as the setting information, for each position, use or non-use of the position (setting input at 103 parts), release agent system (setting input at 104 parts), air System (setting input at 105 parts), whether it is final (setting input at 106 parts), injection time (setting input at 107 parts), and spray moving speed (setting input at 108 parts) Input is enabled. For example, in the reference numeral 103, when the operator presses the input field 102 of the position to be used, the use of the position is input, and the input field 102 is highlighted (for example, color change).

  Note that the position where the non-use is set is ignored, that is, the spray 2a is not moved to the non-use position, and the release agent or air is not injected.

  Further, when the operator presses the input field 102 of the release agent system to be turned on in the reference numeral 104, the release agent system is input, and the input field 102 is highlighted. Further, when the operator presses the input field 102 of the air system to be turned on in the reference numeral 105, the air system is input, and the input field 102 is highlighted. Further, when the operator presses the input field 102 for the position to be set as the end point in the reference numeral 106, the position as the end point is input and the input field 102 is highlighted. Further, in part 107, after the operator presses the input field 102 of the position where the injection time is desired to be set, for example, the injection time designated by a numeric keypad (not shown) is input and displayed. Further, at the reference numeral 108, after the operator presses the input field 102 of the position where the spray moving speed is to be set, the spray moving speed designated by, for example, a numeric keypad (not shown) is input and displayed.

  In the present embodiment, as setting information related to injection control, position use or non-use, release agent system, air system, final or not, injection time, and spray movement speed are given as examples. However, the present invention is not limited thereto, and for example, an injection amount of a release agent or the like may be input and set as setting information.

  The operator can input the setting information related to the injection control even during the injection control of the release agent and the air, and the input setting information is received by the input / output control unit 56 and each position. Is stored in the storage unit 52 (the input setting information is overwritten and updated later).

  Then, for example, each time one shot (also referred to as a cycle) is completed, the sequencer 51 fetches (acquires) the setting information related to the injection control from the storage unit 52 into the memory, and updates (overwrites) the information. The set information is used in the next shot.

Note that one shot means that the spray 2a moves between the fixed mold 11 and the movable mold 12 which are opened, and the position from the start point on the cavity surface 14 to the end point (final) position. A series of shots until reaching the original position (for example, the position shown in FIG. 1) after reaching. Such a shot is repeatedly performed a plurality of times.
[2. Operation of Die Casting Machine System]
Next, the operation of the die casting machine system S according to the present embodiment will be described with reference to FIGS.

  FIG. 5A is a flowchart showing an operation control process of the spray robot in the control unit of the robot control device 3, and FIG. 5B is a flowchart showing an injection operation control process in the sequencer 51 of the spray control device 5. is there. FIG. 6 is a conceptual diagram showing the movement and spraying operation of the spray 2a.

  Before the process shown in FIG. 5A and the process shown in FIG. 5B start, the control unit of the robot control device 3 and the sequencer 51 of the spray control device 5 are used from the die casting machine 1. The module identification number from the robot program of the control unit of the robot controller 3 and the setting data of the target mold from the memory of the sequencer 51 of the spray controller 5 are automatically called. Has been completed.

  In step S1 shown in FIG. 5A, the control unit of the robot control device 3 is waiting for, for example, an operation control processing start command for the spray robot 2 from the die casting machine 1, and indicates the start command for the operation control processing. When the control signal is received (step S1: Yes), the process proceeds to step S2.

  The control signal indicating the operation control processing start command is output when the fixed mold 11 and the movable mold 12 in the die casting machine 1 are opened. It may be good or it may be outputted from other devices.

  On the other hand, in the process shown in FIG. 5B, first, the sequencer 51 of the spray control device 5 takes in the setting information regarding the injection control input by the operator and stored in the storage unit 52 into the memory (step S21). ,initialize.

  In step S2 shown in FIG. 5A, the control unit of the robot control device 3 sets a maximum value (for example, 2500 mm / second) of the spray movement speed (step S2), and then a control signal indicating a drive command. Is output to the spray robot 2, and the spray 2a is moved between the fixed mold 11 and the movable mold 12 opened between the molds (between the molds) at the set spray moving speed (step S3). .

  Steps S4 to S16 (position loop process) are loop processes at positions n (n = 1 to 50) in the cavity surfaces 14 and 15 of the fixed mold 11 and the movable mold 12, and the loop process is as follows. In step S15, each position from 1 to 50 is repeatedly executed sequentially until the loop process is exited.

  In the loop processing, the control unit of the robot control device 3 sends position information indicating the position n (for example, “1”) (that is, position information indicating the position to which the spray 2a should move next) via the communication unit. To the spray control device 5 (step S5).

  On the other hand, when the sequencer 51 of the spray control device 5 receives the position information from the robot control device 3 (step S22: Yes), the position indicated by the position information among the setting information related to the injection control stored in the memory. Setting information corresponding to n (for example, the use or non-use of the position, whether or not the position is final, and the spray movement speed) is transmitted to the robot control device 3 via the communication unit 53 (step S23).

  Next, the sequencer 51 of the spray control device 5 determines whether or not the position n is used (step S24). If it is used (step S24: Yes), the sequence proceeds to step S25 and proceeds to the die casting machine 1. Waiting for the spray ON command from, and not using (not using) (step S24: No), the position (position 2 in the example of FIG. 6) is ignored, and the process proceeds to step S33.

  On the other hand, when the control unit of the robot control device 3 receives the setting information corresponding to the position n from the spray control device 5 (step S6: Yes), it stores this in the memory, and refers to the setting information, It is determined whether or not the position n is used (step S7). If it is used (step S7: Yes), the process proceeds to step S8, and if it is not used (not used) (step S7). : No), the position (position 2 in the example of FIG. 6) is ignored, and the process proceeds to step S15.

  In step S8, the control unit of the robot control device 3 outputs a control signal indicating a drive command to the spray robot 2, and moves the spray 2a to the position n at the spray moving speed set in step S2. (Step S8).

  Next, the control unit of the robot controller 3 determines whether or not the spray movement speed included in the setting information corresponding to the position n is “0” (step S9), and the spray movement speed is “0”. If it is (step S9: Yes), the process proceeds to step S10. If the spray movement speed is not "0" (step S9: No), the process proceeds to step S13.

  In step S10, the control unit of the robot control device 3 sets the maximum value of the spray movement speed (that is, the movement speed up to the next position), and information indicating the spray ON command (that is, the start of spray injection). (Information shown) is transmitted to the spray control device 5 via the communication unit 53 (step S11), and timer counting of the injection time included in the setting information corresponding to the position n is started. Subsequently, the control unit of the robot control device 3 determines whether or not the timer for the injection time has been counted up (step S12). If the timer has been counted up (step S12: Y), the process proceeds to step S15. .

  On the other hand, in step S13, the control unit of the robot control device 3 sets the value of the spray movement speed (that is, the movement speed to the next position) included in the setting information corresponding to the position n, and then Then, information indicating the spray ON command (that is, information indicating spray start) is transmitted to the spray control device 5 via the communication unit 53 (step S14), and the process proceeds to step S15.

  In step S15, the control unit of the robot control device 3 refers to the setting information corresponding to the position n, and determines whether or not the position n is the final position (that is, the end position). If it is the final position (step S15: Yes), the process proceeds to step S17. If it is not the final position (step S15: No), n is incremented by 1 by the position loop process, and then the process proceeds to step S5. Return. When returning to step S5, the same processing as described above is performed for the next position, but in step S8 at that time, the spray movement speed set in step S10 or step S13 in the immediately preceding position is used. 2a will be moved.

  In step S17, the control unit of the robot control device 3 outputs a control signal indicating a drive command to the spray robot 2 to retract (move) the spray 2a to the original position. Next, the control unit of the robot control device 3 transmits information indicating that the setting can be changed to the spray control device 5 via the communication unit 53 (step S18), and returns to step S1. In this way, the shot is completed, and a start command for starting the next shot is waited in step S1 (for example, 60 seconds to 100 seconds).

  On the other hand, when the sequencer 51 of the spray control device 5 receives the information indicating the spray ON command from the robot control device 3 (step S25: Yes), it sends the control signal indicating the valve OFF command to all of the control signals via the interface unit 54. Output to the valve 41 (step S26).

  Next, the sequencer 51 of the spray control device 5 sends a control signal indicating a valve ON command (that is, an injection command) to the valve 41 corresponding to the system included in the setting information corresponding to the position n via the interface unit 54. It outputs to (corresponding valve) (step S27). Thereby, the valve | bulb 41 of the said system | strain will be set to ON (open), and spraying of the mold release agent from the nozzle corresponding to this will be started.

  Next, the sequencer 51 of the spray control device 5 determines whether or not the spray movement speed included in the setting information corresponding to the position n is “0” (step S28).

  When the spray movement speed is “0” (step S28: Yes), the sequencer 51 of the spray control device 5 starts the timer count of the injection time included in the setting information corresponding to the position n, and It is determined whether or not the injection time timer has been counted up (step S29). If the timer has been counted up (step S29: Y), a control signal indicating a valve OFF command is sent to all of the control signals via the interface unit 54. It outputs to the valve 41 (step S30), and proceeds to step S31. As a result, the spray 2a sprays the release agent or the like until it stops at the position n and the injection time elapses. In the example of FIG. 6, at position 1, the spray 2a stops spraying the release agent of the system R5 for 2 seconds (spray moving speed is “0”), and at the position 16, the spray 2a is sprayed of the system A1. Air is stopped for 5 seconds (spray moving speed is “0”) and sprayed.

  On the other hand, when the spray moving speed is not “0” (step S28: No), the process proceeds to step S31. At this time, the spray 2a moves from the position n to the next position at the spray moving speed. (According to step S8), the release agent or the like is sprayed. In the example of FIG. 6, the spray 2a is spraying the release agents of the systems R2 and R6 while moving from the position 3 to the next position 4 at a spray moving speed (1500 mm / sec).

  In step S31, the sequencer 51 of the spray control device 5 refers to the setting information corresponding to the position n to determine whether or not the position n is the final position. (Step S31: Yes) The process proceeds to Step S32, and if it is not the final position (Step S31: No), the process returns to Step S22 and waits for the next position information from the robot controller 3.

  In step S32, the sequencer 51 of the spray control device 5 outputs a control signal indicating a valve OFF command to all the valves 41 via the interface unit 54 (step S32), and proceeds to step S34.

  If the spray movement speed is erroneously input at the final position (in the example of FIG. 5, position 16 is applicable), the corresponding valve 41 remains ON (that is, for example, air is injected). ) Since the spray 2a is retracted to the original position, in order to prevent this, the process of step S32 is performed.

  On the other hand, also in step S33, the sequencer 51 of the spray control device 5 refers to the setting information corresponding to the position n, determines whether or not the position n is the final position, and is the final position. (Step S33: Yes), the process proceeds to Step S34, and if it is not the final position (Step S33: No), the process returns to Step S22 and waits for the next position information from the robot controller 3.

  In step S34, when the sequencer 51 of the spray control device 5 receives information indicating that the setting can be changed from the robot control device 3 (step S34: Yes), the sequencer 51 performs a setting information changing process (step S35).

  In this setting information change process, for example, when an operator presses a setting information update button (not shown) (for example, provided on the setting input screen 101 displayed on the touch panel 55a), the spray control device 5 The sequencer 51 recognizes this via the input / output control unit 56, and takes (acquires) and updates the setting information regarding the injection control stored in the storage unit 52 at this time in the memory. That is, when the operator inputs new setting information from the setting input screen 101 and the content has been changed on the storage unit 52, the changed content is not changed until the setting information change processing. This is transmitted to the sequencer 51. That is, the setting information regarding the injection control in the sequencer 51 is changed from the completion of the current shot (that is, the spray 2a is retracted to the original position) until the reception of position information indicating the position 1 of the next shot. (For example, 60 seconds to 100 seconds). In other words, after the shot is started, the setting information cannot be changed until this is completed (even if the setting information update button is pressed during this period, the sequencer of the spray control device 5 does not change). 51 is locked so as not to recognize this), thereby preventing the setting information from being changed during each shot.

  In step S36, when the sequencer 51 of the spray control device 5 receives the position information indicating the position 1 of the next shot transmitted from the robot control device 3 (step S36: Yes), the process returns to step S23, The same processing is repeated.

  As described above, according to the above-described embodiment, the setting information related to the injection control of the release agent or air between the plurality of positions and the respective positions is set by the operator during the release control of the release agent and air. Since the setting input screen 101 that can be input is displayed, the operator can easily check and check the setting information during the release agent and air injection control, and the setting can be performed without stopping the program. Information can be easily changed and reflected in the next shot.

  In addition, on the setting input screen 101, each setting information from the starting position to the ending position is displayed in each cell as an input field, and each cell corresponding to each position is displayed on the screen. The operator is always displayed on the matrix in the order of movement, so that the operator can always grasp the relationship between each position and each setting information corresponding to the position at a glance. It is easy to create a document, and it is easy to check whether each setting information is in line with the standard document.

  In addition, on the setting input screen 101, it is possible to set use or nonuse for each position (a position where nonuse is set is ignored). Changes can be made very quickly and easily.

  Further, as shown in FIG. 5, the robot control device 3 and the spray control device 5 perform the operation control and the spray operation control of the spray robot while exchanging information in an interactive manner. For each position, setting information related to the release agent or air injection control is shared (steps S23 and S6) to confirm each other, and the spray moving speed and the movement start timing, the release agent or air injection time, and Since the control is performed so as to accurately match the injection start timing, more appropriate injection control can be performed.

  Furthermore, the above embodiment can also be used for simulation of spray robot motion control and spray motion control. In this simulation, for example, the valve 41 in the valve stand 4 is in a locked state (for example, even if a control signal indicating a valve ON command is output from the sequencer 51 of the spray control device 5 to the valve 41, the valve 41 is ON. If the process shown in FIG. 5 described above is executed, the operation of the spray robot 2 and the setting information on the setting input screen 101 are compared to determine whether there is an error. It can be checked before actual operation.

It is a figure showing an example of outline composition of a die-casting machine system concerning this embodiment. (A)-(D) are figures which show the example of arrangement | positioning of the nozzle provided in the four surfaces in the spray head 29. FIG. It is a figure showing an example of outline composition of spray control device 5 concerning this embodiment. 6 is a diagram showing an example of a setting input screen displayed on a touch panel 55a in the operation / display unit 55. FIG. (A) is a flowchart showing an operation control process of the spray robot in the control unit of the robot control device 3, and (B) is a flowchart showing an injection operation control process in the sequencer 51 of the spray control device 5. It is a conceptual diagram which shows the movement and spraying operation | movement of the spray 2a.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Die-casting machine 2 Spray robot 2a Spray 2b Articulated arm 2c Rotating seat 2d Base 3 Robot control device 4 Valve stand 5 Spray control device 11 Fixed die 12 Movable die 13 Clamping device 14, 15 Cavity surface 22, 23 , 25, 27, 28 connecting portion 24 second arm 26 first arm 29 spray head 41 valve 42 hose 51 sequencer 52 storage portion 53 communication portion 54 interface portion 55 operation / display portion 55a touch panel 56 input / output control portion 101 setting input screen S Die casting machine system

Claims (5)

A spray control device that performs spray control of a sprayed material sprayed from a spray that sequentially moves to a plurality of positions on a cavity surface of a die of a die casting machine,
The input field is provided for each of the plurality of positions and can be input by the user during the injection control of the injection, and includes setting information related to the injection control of the injection between the positions or the positions. Display means for displaying an input screen having an input field;
The setting information input in each of the input fields provided on the input screen , wherein at least one of the spray time of the spray, the spray amount of the spray, and the spray moving speed is selected. Storage means for storing the associated setting information in association with each position;
An injection control means for acquiring the stored setting information and performing injection control of the injection using the setting information;
With
A series of shots from the position where the spray is the starting point to the position where it is the end point is repeatedly performed a plurality of times,
The spray control unit is characterized by acquiring the stored setting information every time one shot is completed, and using the setting information in the next shot . The spray control device according to claim 1.
The input field includes an input field for setting use or non-use for each position,
The spray control device according to claim 1, wherein the spray control means performs spray control of the sprayed matter ignoring a position where nonuse is set. The spray control device according to claim 1 or 2,
The spray control device can communicate with a robot control device that controls the spray robot so that the spray attached to the arm of the spray robot sequentially moves to a plurality of positions on the cavity surface of the die casting machine. And
A setting information transmitting means for transmitting the setting information corresponding to the position information to the robot control device when position information indicating a position where the spray should move next is received from the robot control device;
After the transmission of the setting information, the spray control unit outputs a spray command to the spray when receiving information indicating spray start from the robot control device. A computer that performs injection control of a sprayed product that is sprayed from a spray that sequentially moves to a plurality of positions on a cavity surface of a die of a die casting machine,
The input field is provided for each of the plurality of positions and can be input by the user during the injection control of the injection, and includes setting information related to the injection control of the injection between the positions or the positions. Display means for displaying an input screen having an input field;
The setting information input in each of the input fields provided on the input screen, wherein at least one of the spray time of the spray, the spray amount of the spray, and the spray moving speed is selected. Storage means for storing the associated setting information in association with each position; and
A spray control processing program that acquires the stored setting information and functions as an injection control unit that performs injection control of the injection using the setting information,
A series of shots from the position where the spray is the start point to the position where it is the end point is repeatedly performed a plurality of times,
The spray control processing program characterized in that the injection control means acquires the stored setting information every time one shot is completed, and uses the setting information in the next shot. A spray control method for performing injection control of a sprayed material sprayed from a spray that sequentially moves to a plurality of positions on a cavity surface of a die of a die casting machine,
The input field is provided for each of the plurality of positions and can be input by the user during the injection control of the injection, and includes setting information related to the injection control of the injection between the positions or the positions. Displaying an input screen having an input field;
The setting information input in each of the input fields provided on the input screen, wherein at least one of the spray time of the spray, the spray amount of the spray, and the spray moving speed is selected. Storing the associated setting information in association with each position;
An injection control step of acquiring the stored setting information and performing injection control of the injection using the setting information;
Including
A series of shots from the position where the spray is the start point to the position where it is the end point is repeatedly performed a plurality of times,
In the injection control step, each time one shot is completed, the stored setting information is acquired, and the setting information is used in the next shot.

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