JPH0732129A - Method for controlling pouring robot - Google Patents

Abstract

PURPOSE:To prevent overpouring and to execute adequate pouring even in a pouring operation by a robot by inputting a displacement difference between a sand mold level and a liquid level into the robot and determining the pouring speed meeting this displacement difference by the computation of the robot. CONSTITUTION:The level displacement difference 1 is taken as data into the robot which computes the pouring speed by this data and executes adaptive control to enable adequate pouring. Not resetting of a handle after the level displacement difference 1 attains 0 but resetting of the hand as the level difference decreases while observing the level displacement difference 1 at all times leads to shortening of the tact time of the robot hand. The extremely little pouring is just executed at the liquid level near the sand mold level. The overpouring is thus averted and the optimum pouring is possible.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling a pouring speed, which is the degree of rotation of a robot hand when pouring aluminum hot water or the like into a sand mold by a handling robot.

[0002]

2. Description of the Related Art Conventionally, the pouring of aluminum hot water into a sand mold has been performed manually, and the pouring work is actually difficult and dangerous. It is supposed to do. 2 and 3 show examples of the pouring work of the handling robot that has been performed on a trial basis. Structurally, as shown in FIG. 2, aluminum hot water is poured from the pouring mouth of the sand mold 1 by the turning of the ladle 2a by the robot hand 2. However, in order to obtain the pouring level of the aluminum hot water and the sand mold level. A liquid level sensor 3 and a sand level sensor 4 are provided. A displacement sensor using laser light is used for the level sensors 3 and 4.

In controlling the pouring, first, the sand mold level sensor 4 and the liquid level sensor 3 measure the level of the upper end of the sand mold and the level of the poured aluminum liquid, and the control flow is as shown in FIG. , The sand mold level is input (step A), the pouring work is performed (step B), and the liquid level is input (step C). Then, the difference 1 between the sand mold level and the liquid level is taken (step D), and it is judged whether or not the difference 1 is 0 (step E). If it is not 0, the pouring work of step B is continued, In this case, since the sand mold level and the liquid surface level match, the pouring work is ended (step F).

[0004]

As described above, in the robot control shown in FIG. 3, the pouring is controlled so that the difference 1 between the sand mold level and the liquid level shown in FIG. In this case, the problem of pouring too much water arises. That is, even if the pouring work stop command is issued to the robot at the same time that the level difference 1 becomes 0, the robot is delayed due to the problem of responsiveness, and the pouring is performed too much.

In view of the above problems, the present invention has an object of providing a pouring robot control method which prevents the pouring of pouring water excessively even in pouring work by a robot and performs optimum pouring. And

[0006]

According to the present invention for achieving the above object, a displacement difference between a sand mold level and a liquid surface level is input to a robot, and a pouring speed corresponding to the displacement difference is calculated by the robot. It is characterized by making a decision.

[0007]

[Operation] Since the pouring speed is determined according to the displacement difference between the sand mold level and the liquid level, the robot hand is also returned when the liquid level approaches the sand mold level and the displacement difference becomes smaller. As a result, the pouring speed becomes slower, and the pouring amount becomes gradually smaller. As a result, excessive pouring can be prevented.

[0008]

EXAMPLE An example of the present invention will now be described with reference to FIG. In the control flow shown in FIG. 1, first, the level of the upper end of the sand mold and the liquid level of the aluminum poured into the sand mold are measured, and while the sand mold level is being input (step A), the liquid surface level is being input (step A). C). Then,
The difference 1 between the sand mold level and the liquid level is taken (step D), and it is judged whether this difference 1 is 0 or 0 or more (step E). If the difference is not 0 in step E, the pouring speed (the degree of rotation of the robot hand) commensurate with the difference 1 is calculated and determined (step G). Then, the pouring work is continued according to the pouring speed (step H). When the liquid level changes due to this pouring work, the process returns to step C and the control flow after the liquid level input process is further repeated.

In step G, the pouring speed corresponding to the difference 1 is determined. The larger the speed difference 1, the faster the pouring speed. When the liquid level becomes close to the sand mold level and the difference 1 becomes small, the pouring speed becomes small. Also slows down and slows down. Therefore, as the liquid level approaches the sand level, the robot hand gradually returns, the pouring speed slows down, and finally stops. In the control flow at the time of stop, when the difference is determined to be 0 in step E, the process proceeds to step I and the pouring work is completed.

In this way, the level displacement difference 1 is fetched into the robot as data, and the pouring speed is calculated from this data to perform adaptive control, whereby proper pouring can be performed. Also, rather than returning the hand after the level displacement difference 1 becomes 0, it is better to constantly return the hand as the level difference decreases while constantly watching the level displacement difference, thereby shortening the takt time of the robot hand. Also leads to

[0011]

As described above, according to the present invention, since the pouring speed is determined by the level difference, only a very small amount of pouring is performed at the liquid level near the sand mold level. It is possible to do the optimum pouring without too much.

[Brief description of drawings]

FIG. 1 is a control flowchart showing an embodiment of the present invention.

FIG. 2 is a configuration diagram for explaining pouring.

FIG. 3 is a conventional control flowchart.

[Explanation of symbols]

 1 Sand type 2 Robot hand 2a Ladle 4 Sand type level sensor 3 Liquid level sensor

Claims (1)

[Claims] 1. A method for controlling a pouring robot, wherein a displacement difference between a sand mold level and a liquid level is input to a robot, and a pouring speed according to the displacement difference is determined by the calculation of the robot. .