CN105116853B - The quick control device and quick control method that casting is cleared up automatically - Google Patents
The quick control device and quick control method that casting is cleared up automatically Download PDFInfo
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- CN105116853B CN105116853B CN201510428947.7A CN201510428947A CN105116853B CN 105116853 B CN105116853 B CN 105116853B CN 201510428947 A CN201510428947 A CN 201510428947A CN 105116853 B CN105116853 B CN 105116853B
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- 238000005266 casting Methods 0.000 title claims abstract description 102
- 238000000034 method Methods 0.000 title claims abstract description 43
- 230000007246 mechanism Effects 0.000 claims abstract description 69
- 238000012545 processing Methods 0.000 claims abstract description 67
- 238000001514 detection method Methods 0.000 claims abstract description 43
- 230000000694 effects Effects 0.000 claims abstract description 43
- 238000004140 cleaning Methods 0.000 claims abstract description 31
- 238000000605 extraction Methods 0.000 claims description 23
- 239000000463 material Substances 0.000 claims description 10
- 238000007689 inspection Methods 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 4
- 238000003860 storage Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 description 17
- 230000005611 electricity Effects 0.000 description 6
- 239000000284 extract Substances 0.000 description 5
- 238000007667 floating Methods 0.000 description 5
- 239000007921 spray Substances 0.000 description 3
- 229910001018 Cast iron Inorganic materials 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- OAICVXFJPJFONN-UHFFFAOYSA-N Phosphorus Chemical compound [P] OAICVXFJPJFONN-UHFFFAOYSA-N 0.000 description 1
- 206010039509 Scab Diseases 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003754 machining Methods 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
- 229910052698 phosphorus Inorganic materials 0.000 description 1
- 239000011574 phosphorus Substances 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
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- 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]
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Abstract
The quick control device cleared up automatically the invention discloses a kind of casting and quick control method.The quick control device that casting is cleared up automatically, including the executing agency for being cleared up automatically casting for clearance and for executing agency be automatically brought into operation the drive control mechanism of control, executing agency is connected with the current detection sensor for monitoring the real-time current in executing agency's processing running, the DPA data processing activity that current detection sensor is compared by the real-time current feature for current detection sensor to be sensed with the no-load current feature of current detection sensor connects drive control mechanism, the feed speed of current characteristic comparison information adjustment executing agency or the operation of stopping executing agency of the drive control mechanism according to DPA data processing activity feedback.Can effectively solve to be polished to workpiece body caused by the reasons such as cleaning feature difference, equipment fault and damage the risk of equipment.Quick control device can be widely applied to various mechanical roughing occasions.
Description
Technical field
The present invention relates to the automation of casting to clear up field, especially, is related to the quick device that a kind of casting is cleared up automatically.
A kind of moreover, it relates to quick control method that casting is cleared up automatically.
Background technology
In casting automation cleaning field, main shaft is captured by robot, it is corresponding for different cleaning Feature Selections
It is development trend that cutter carries out pinpointing cleaning to casting.But there is larger otherness and uncertainty, Ke Nengsui in spray
Machine occur various off-notes (during especially for cast iron materials, due to cast-iron blank part plasticity is poor, hardness is high, phosphorus content height,
Cast that scab is serious, and clearing up and processing will produce larger impact load, it is unclean or be worked into casting body to easily cause cleaning
And casting is damaged, serious the damage for causing system of processing or serious accident occur).It is further, since mechanical, electric
Failure and other reasons, when may cause automation processing, there is deviation in the relative position of cutter and casting.These situations may all be made
It can not completely be removed into cleaning feature, cause the process equipments such as cutter, main shaft, robot to damage when serious, so as to influence machine
Continuous, the automated production of people, or even there is serious accident.
At present, in order to avoid running into off-note damage process equipment, ensure crudy, mainly there are three kinds of modes to casting
Part machining path compensates：
1st, mechanical flexible floating apparatus compensation：Floating apparatus power is smaller, can not be applied to high speed, efficient processing space
Close；Instrument pretightning force, instrument domain of walker, process velocity, cutter rotating speed can impact to final crudy, processed
The phenomenon of cutter appearance hair bullet is serious in journey, very strict to processing technology commissioning requirements；It is simultaneously special when encountering larger cleaning
Cutter will be got around automatically during sign, can not ensure to remove completely.
2nd, contact torque sensor, belong to passive compensation, reduce system rigidity, influence spy of the system in the case where shaking operating mode
Property.The technical problems such as interference is big, measurement error is big, sensor is fragile in the direct detection process of spray be present.
3rd, by designing high-precision frock.Casting cleaning belong to casting post processing, this stage casting be green state without
It is too big that the factor such as accurate positioning datum and casting deformation will realize that workpiece is accurately positioned difficulty.
The content of the invention
The invention provides the quick controlling party that quick control device and casting that a kind of casting is cleared up automatically are cleared up automatically
Method, in a manner of solving existing spray clearing up and processing path compensation, floating apparatus power is smaller, can not be applied to high speed, height
The processing occasion of effect；Direct contact type torque sensor, the rigidity that casting clears up system automatically is reduced, casting is influenceed and clears up automatically
The technical problem of characteristic of the system in the case where shaking operating mode.
According to an aspect of the present invention, there is provided the quick control device that a kind of casting is cleared up automatically, including for treating
The executing agency that cleaning casting is cleared up automatically and the drive control machine for executing agency be automatically brought into operation control
Structure, executing agency are connected with the current detection sensor for monitoring the real-time current in executing agency's processing running, electric current
Detection sensor passes through the real-time current feature for current detection sensor to be sensed and the zero load electricity of current detection sensor
The DPA data processing activity connection drive control mechanism that stream feature is compared, drive control mechanism is fed back according to DPA data processing activity
Current characteristic comparison information adjustment executing agency feed speed or stop executing agency operation.
Further, executing agency include be used for casting for clearance is cleared up toolbox, for controlling cutter
Component performs the robot of cleaning and the conveying mechanism for conveying and fixing casting for clearance.
According to another aspect of the present invention, the quick control method that a kind of casting is cleared up automatically is additionally provided, including：A, obtain
Take the operation standard current value of executing agency, and the feeding deceleration current value and operational limit current value of setting executing agency；
B, fixed casting for clearance, executing agency carry out cleaning operation to casting for clearance；C, the sliding window of the executing agency of monitoring in real time
Mouth current average, as current running current value；By the current running current value of extraction and feeding deceleration current value and operation
Carrying current value is compared respectively；D, executing agency is automatically controlled by comparing real-time current characteristic realization, so as to
Ensure executing agency to the equipment safety and crudy during casting cleaning for clearance.
Further, in step a, detected and performed by the current detection sensor being enclosed on executing agency's power power-line
The sliding window current average of mechanism zero load stable state, as operation standard current value；DPA data processing activity passes through numeral
Communication interface reads the operation standard current value of current detection sensor and stored, the operation standard current value conduct of storage
Judge a reference value of executing agency's running status；In step a, DPA data processing activity is ensureing equipment safety, crudy and filled
Point safety allowance under the premise of, according to operation standard current value, the shape of casting for clearance, casting for clearance material, treat it is clear
The output current limitation that the posture of reason casting and executing agency can bear, set the feeding deceleration current value and fortune of executing agency
Limit by row current value.
Further, automatically controlling specially to executing agency is realized by comparing real-time current characteristic in step d：
When current running current value exceedes operational limit current value, DPA data processing activity sends alarm signal to drive control machine immediately
Structure, drive control mechanism controls executing agency are out of service；Current running current value exceedes operation deceleration current value but is not up to
During operational limit current value, DPA data processing activity sends reduce-speed sign to drive control mechanism, drive control mechanism controls immediately
Executing agency's feeding is slowed down；When executing agency is in feeding deceleration regime, DPA data processing activity monitors the electricity of executing agency
Continuously less than operation deceleration current value, DPA data processing activity is cancelled to be sent to the reduce-speed sign of drive control mechanism, driving control stream
Mechanism processed makes executing agency return to course feed speed.
Further, in step a, executing agency is made to be in unloaded stable state, and measured by current detection sensor
The no-load current feature of executing agency, according to no-load current feature-set operation standard current value.
Further, shape, material, posture and the executing agency according to operation standard current value and casting for clearance
The output current limitation that can bear, set the feeding deceleration current value and operational limit current value of executing agency.
Further, in step d, the real-time current feature of executing agency is sensed by current detection sensor, passes through number
According to processing mechanism real-time current feature is extracted from current detection sensor；When the present current value of extraction is less than feeding deceleration electric current
During value, executing agency is fed with normal speed；When the present current value of extraction exceedes operational limit current value, stop holding immediately
Row mechanism is fed, and carries out shutdown inspection to executing agency；When the present current value of extraction is small beyond feeding deceleration current value
When operational limit current value, executing agency's feed speed is reduced, and when the present current value of extraction slows down continuously less than feeding
During current value, executing agency returns to course feed speed.
Further, during executing agency is processed to casting for clearance, current detection sensor is surveyed in real time
Measure the running current of executing agency；Time window of the DPA data processing activity to slide, extract the feature of current measurement average value.
Further, in step b, casting for clearance is gripped by clamping device；Adjusted by switching mechanism
The posture of whole casting for clearance；Run by drive control mechanism controls executing agency.
Further, in step d, the real-time current feature of executing agency, electric current inspection are sensed by current detection sensor
Sensor is surveyed to judge to perform by contrast to DPA data processing activity, DPA data processing activity by the real-time current profile feedback of sensing
After the running status of mechanism, corresponding signal is sent to drive control mechanism, drive control mechanism passes through feedback information adjust automatically
Control to executing agency.
The invention has the advantages that：
The quick control device that casting of the present invention is cleared up automatically, can effectively solve because cleaning feature difference, equipment therefore
The reasons such as barrier cause to be polished to workpiece body and damage the risk of equipment.The reliability of clearing up and processing system can be fully ensured that, is prevented
Only the damage of system of processing or serious accident occur.Simultaneously when running into the cleaning feature such as larger exoncoma, Neng Goubao
QED complete, reliable removal.Rigidity on the automatic cleaning system of casting and the characteristic in the case where shaking operating mode influence small.It can overcome
The shortcomings that floating apparatus, limited without application scenario.The quick control device that casting of the present invention is cleared up automatically can extensive use
In various mechanical roughing occasions.
In addition to objects, features and advantages described above, the present invention also has other objects, features and advantages.
Below with reference to figure, the present invention is further detailed explanation.
Brief description of the drawings
The accompanying drawing for forming the part of the application is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its illustrate to be used to explain the present invention, do not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the structural representation for the quick control device that the casting of the preferred embodiment of the present invention is cleared up automatically；
Fig. 2 is the structured flowchart for the quick control method that the casting of the preferred embodiment of the present invention is cleared up automatically.
Marginal data：
1st, casting for clearance；2nd, executing agency；3rd, drive control mechanism；4th, current detection sensor；5th, data processor
Structure.
Embodiment
Embodiments of the invention are described in detail below in conjunction with accompanying drawing, but the present invention can be by limiting and covering
Multitude of different ways implement.
Fig. 1 is the structural representation for the quick control device that the casting of the preferred embodiment of the present invention is cleared up automatically；Fig. 2 is this
The structured flowchart for the quick control method that the casting of invention preferred embodiment is cleared up automatically.
As shown in figure 1, the quick control device that the casting of the present embodiment is cleared up automatically, including for casting 1 for clearance
Automatically the executing agency 2 cleared up and the drive control mechanism 3 for executing agency 2 be automatically brought into operation control, hold
Row mechanism 2 is connected with the current detection sensor 4 for the real-time current processed for monitoring executing agency 2 in running, electric current inspection
Survey sensor 4 and pass through the real-time current feature for current detection sensor 4 to be sensed and the zero load electricity of current detection sensor 4
The DPA data processing activity 5 that stream feature is compared connects drive control mechanism 3, and drive control mechanism 3 is according to DPA data processing activity 5
The feed speed of the current characteristic comparison information adjustment executing agency 2 of feedback or the operation for stopping executing agency 2.Present invention casting
The quick control device that part is cleared up automatically, can effectively solve to polish caused by the reasons such as cleaning feature difference, equipment fault
To workpiece body and the risk of damage equipment.The reliability of clearing up and processing system can be fully ensured that, prevents the damage of system of processing
Or serious accident occurs.Simultaneously when running into the cleaning feature such as larger exoncoma, complete, reliable removal can be ensured.
Rigidity on the automatic cleaning system of casting and the characteristic in the case where shaking operating mode influence small.The shortcomings that floating apparatus can be overcome,
There is no application scenario limitation.The quick control device that casting of the present invention is cleared up automatically can be widely applied to various mechanical roughing
Occasion.
As shown in figure 1, in the present embodiment, executing agency 2 includes being used for the cutter group for clearing up casting 1 for clearance
Part, the robot for controlling toolbox execution cleaning and the conveying mechanism for conveying and fixing casting 1 for clearance.
As shown in Fig. 2 the quick control method that the casting of the present embodiment is cleared up automatically, including：A, executing agency 2 is obtained
Operation standard current value, and the feeding deceleration current value and operational limit current value of setting executing agency 2；B, fixation is for clearance
Casting 1, executing agency 2 carry out cleaning operation to casting 1 for clearance；C, the sliding window electric current of the executing agency 2 of monitoring in real time is put down
Average, as current running current value；By the current running current value of extraction and feeding deceleration current value and operational limit electric current
Value is compared respectively；D, automatically controlling to executing agency 2 is realized by comparing real-time current characteristic, so as to ensure to perform
Mechanism 2 is to the equipment safety and crudy during casting 1 for clearance cleaning.
As shown in Fig. 2 in the present embodiment, in step a, pass through the current detecting being enclosed on the power power-line of executing agency 2
Sensor 4 detects the sliding window current average of 2 unloaded stable state of executing agency, as operation standard current value.Data
Processing mechanism 5 reads the operation standard current value of current detection sensor 4 by Interface for digital communication and stored, storage
Operation standard current value is as a reference value for judging the running status of executing agency 2.In step a, DPA data processing activity 5 is ensureing to set
Under the premise of standby safety, crudy and sufficient safety allowance, according to operation standard current value, casting for clearance 1 shape, treat
The output current limitation that the material of casting 1, the posture of casting for clearance 1 and executing agency 2 can bear is cleared up, sets execution machine
The feeding deceleration current value and operational limit current value of structure 2.
As shown in Fig. 2 in the present embodiment, in step d by compare real-time current characteristic realize to executing agency 2 from
Dynamic control is specially：When current running current value exceedes operational limit current value, DPA data processing activity 5 sends alarm signal immediately
To drive control mechanism 3, drive control mechanism 3 controls executing agency 2 out of service.Current running current value exceedes operation and slowed down
When current value but not up to operational limit current value, DPA data processing activity 5 sends reduce-speed sign to drive control mechanism 3 immediately,
Drive control mechanism 3 controls the feeding of executing agency 2 to slow down.When executing agency 2 is in feeding deceleration regime, DPA data processing activity
5 monitor the electric current of executing agency 2 continuously less than operation deceleration current value, and DPA data processing activity 5, which is cancelled, to be sent to drive control
The reduce-speed sign of mechanism 3, drive control mechanism 3 make executing agency 2 return to course feed speed.
As shown in Fig. 2 in the present embodiment, in step a, executing agency 2 is set to be in unloaded stable state, and examined by electric current
The no-load current feature that sensor 4 measures executing agency 2 is surveyed, according to no-load current feature-set operation standard current value.
As shown in Fig. 2 in the present embodiment, shape, material, appearance according to operation standard current value and casting for clearance 1
The output current limitation that state and executing agency 2 can bear, set the feeding deceleration current value and operational limit of executing agency 2
Current value.
As shown in Fig. 2 in the present embodiment, in step d, the real-time electricity of executing agency 2 is sensed by current detection sensor 4
Feature is flowed, real-time current feature is extracted from current detection sensor 4 by DPA data processing activity 5.When the present current value of extraction
During less than feeding deceleration current value, executing agency 2 is fed with normal speed.When the present current value of extraction exceedes operational limit electricity
During flow valuve, stop executing agency 2 immediately and feed, and shutdown inspection is carried out to executing agency 2.When the present current value of extraction exceeds
When feeding deceleration current value and being less than operational limit current value, the feed speed of executing agency 2 is reduced, and when the current flow of extraction
When value is continuously less than feeding deceleration current value, executing agency 2 returns to course feed speed.
As shown in Fig. 2 in the present embodiment, during executing agency 2 is processed to casting 1 for clearance, electric current inspection
Survey the running current that sensor 4 measures executing agency 2 in real time.DPA data processing activity 5 is surveyed with the time window of slip, extraction electric current
Measure the feature of average value.
As shown in Fig. 2 in the present embodiment, in step b, casting 1 for clearance is gripped by clamping device；It is logical
Cross the posture that switching mechanism adjusts casting 1 for clearance.Executing agency 2 is controlled to run by drive control mechanism 3.
As shown in Fig. 2 in the present embodiment, in step d, the real-time electricity of executing agency 2 is sensed by current detection sensor 4
Flow feature.Current detection sensor 4 is by the real-time current profile feedback of sensing to DPA data processing activity 5.DPA data processing activity 5 is logical
Contrast is crossed, after the running status for judging executing agency 2, sends corresponding signal to drive control mechanism 3, drive control mechanism 3 is logical
Cross control of the feedback information adjust automatically to executing agency 2.
During implementation, there is provided process is monitored on-line in a kind of automatic scale removal process of casting, with casting cleaning
Feature is present under larger otherness and condition of uncertainty, realizes that system of processing independently perceives.It is automatically clear to provide a kind of casting
The method being automatically adjusted during reason to process, larger otherness be present in casting cleaning feature and not know
Under the conditions of property, system of processing adjust automatically is realized.To ensure that cleaning feature can remove completely.It is online to provide a kind of process
The method of monitoring, and a kind of method for processing feed speed adjust automatically is provided.To solve because of equipment fault, workpiece randomness
The reasons such as off-note cause to be polished to workpiece body and damage the risk of equipment.
As shown in figure 1, the quick control device cleared up automatically of casting of the present invention include casting 1 for clearance, executing agency 2,
Current detection sensor 4, DPA data processing activity 5, drive control mechanism 3.Drive control mechanism 3 connects DPA data processing activity respectively
5 and executing agency 2, to adjust the feed speed of the executing agency 2 in process.
Specific cleaning control mode reference picture 2.Current detection sensor 4 measures the no-load current of executing agency 2, data
Processing mechanism 5 extracts its no-load current feature and stored, a reference value as following process state.In process, electric current
Detection sensor 4 measures the running current of executing agency 2 in real time, and DPA data processing activity 5 extracts electric current with the time window of slip
The feature of measured value.The current flow feature of executing agency 2 that will be extracted, contrasted with the current characteristic of zero load.Work as extraction
The current flow feature arrived, (according to the material of casting 1 for clearance, form, posture, equipment when overproof compared to no-load running electric current
The default value range of the parameters such as performance), drive control mechanism 3 is reported, drive control mechanism 3 controls the feed speed of executing agency 2
Adjust accordingly.When current characteristic returns to it is unloaded horizontal when, report drive control mechanism 3, the control of drive control mechanism 3 is held
Row mechanism 2 returns to course feed speed.When the current flow feature extracted, reach alarming value compared to no-load running electric current
When, drive control mechanism 3 is reported, stops executing agency 2 immediately and feeds, shutdown inspection failure.Can effectively solve because cleaning is special
The reasons such as sign otherness, equipment fault cause to be polished to workpiece body and damage the risk of equipment.Clearing up and processing can be fully ensured that
The reliability of system, the damage or serious accident for preventing system of processing occur.It is simultaneously clear when running into larger exoncoma etc.
When managing feature, complete, reliable removal can be ensured.It can be widely applied to various mechanical roughing occasions.
By the above method, the method monitored on-line in a kind of automatic scale removal process of casting to process is protected,
To realize that system of processing independently perceives.Protect the side being automatically adjusted in a kind of automatic scale removal process of casting to process
Method, under it larger otherness and condition of uncertainty be present in casting cleaning feature, system of processing adjust automatically is realized, to protect
Card cleaning feature can remove completely.A kind of method of process on-line monitoring is protected, and a kind of processing feed speed is provided
The method of adjust automatically, to solve to be polished to workpiece body caused by the reasons such as equipment fault, workpiece randomness off-note
With the risk of damage equipment.
During implementation, as shown in Figure 2, there is provided the quick control method that a kind of casting is cleared up automatically, including：A, held by being enclosed on
Mutual inductance type current detection sensor 4 on the power power-line of row mechanism 2 detects the sliding window of 2 unloaded stable state of executing agency
Current average, as operation standard current value.DPA data processing activity 5 reads current detecting sensing by Interface for digital communication
The operation standard current value of device 4, and stored, as a reference value for judging the running status of executing agency 2.B, data processor
Structure 5 is under the premise of equipment safety, crudy and sufficient safety allowance is ensured, according to operation standard current value, casting for clearance
The output current limit that the shape of part 1, the material of casting for clearance 1, the posture of casting for clearance 1 and executing agency 2 can bear
System, according to certain number ratios, the feeding deceleration current value and operational limit current value of setting executing agency 2.C, fixation is treated
Casting 1 is cleared up, executing agency 2 carries out cleaning operation to casting 1 for clearance.D, DPA data processing activity 5 is by reading current detecting
Sensor 4 monitors the sliding window current average of executing agency 2 in real time, as current running current value.By the current of extraction
Running current value is compared respectively with feeding deceleration current value and operational limit current value.E, if current running current value surpasses
Operational limit current value is crossed, DPA data processing activity 5 sends alarm signal to drive control mechanism 3 immediately, stops executing agency 2 and transports
OK.F, if current running current value exceedes operation deceleration current value, but is also not up to operational limit current value, data processor
Structure 5 sends reduce-speed sign to drive control mechanism 3 immediately, the feeding of executing agency 2 is slowed down.G, feed and slow down in executing agency 2
State, if DPA data processing activity 5 monitors that continuing for some time the electric current of executing agency 2 is less than operation deceleration current value.Data
Processing mechanism 5 cancels the reduce-speed sign for issuing drive control mechanism 3, executing agency 2 is returned to course feed speed.H, pass through
Real-time current characteristic is compared, realizes automatically controlling to executing agency 2, so as to ensure executing agency 2 to casting 1 for clearance
Equipment safety and crudy in scale removal process.In step a, executing agency 2 is set to be in unloaded stable state, and pass through electric current
Detection sensor 4 measures the no-load current feature of executing agency 2, according to no-load current feature-set operation standard current value.According to
The output current that can bear according to the shape of operation standard current value and casting for clearance 1, material, posture and executing agency 2
Limitation, set the feeding deceleration current value and operational limit current value of executing agency 2.In step b, treated clearly by clamping device
Reason casting 1 is gripped；The posture of casting 1 for clearance is adjusted by switching mechanism；Held by the control of drive control mechanism 3
Row mechanism 2 is run.In step c, the real-time current feature of executing agency 2 is sensed by current detection sensor 4, at data
Manage mechanism 5 and extract real-time current feature from current detection sensor 4；When the present current value of extraction is less than feeding deceleration current value
When, executing agency 2 is fed with normal speed；When the present current value of extraction exceedes operational limit current value, stop holding immediately
Row mechanism 2 is fed, and carries out shutdown inspection to executing agency 2；When extraction present current value beyond feeding deceleration current value and
During less than operational limit current value, reduce executing agency 2 feed speed, and when the present current value of extraction continue for some time it is small
When deceleration current value is fed, executing agency 2 returns to course feed speed.Casting 1 for clearance is added in executing agency 2
During work, current detection sensor 4 measures the running current of executing agency 2 in real time；DPA data processing activity 5 with slip when
Between window, extract current measurement average value feature.In step d, the reality of executing agency 2 is sensed by current detection sensor 4
When current characteristic, current detection sensor 4 is by the real-time current profile feedback of sensing to DPA data processing activity 5, data processor
After judging the running status of executing agency 2, corresponding signal is sent to drive control mechanism 3 by comparing for structure 5.Drive control mechanism 3
Pass through control of the feedback information adjust automatically to executing agency 2.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (8)
- A kind of 1. quick control method that casting is cleared up automatically, it is characterised in that including：A, the operation standard current value of executing agency (2), and the feeding deceleration current value of the setting executing agency (2) are obtained With operational limit current value；In the step a, institute is detected by the current detection sensor (4) being enclosed on the executing agency (2) power power-line The sliding window current average of executing agency (2) unloaded stable state is stated, as operation standard current value；DPA data processing activity (5) the operation standard current value of the current detection sensor (4) is read by Interface for digital communication and stored, storage Operation standard current value is as a reference value for judging the executing agency (2) running status；In the step a, the DPA data processing activity (5) is before equipment safety, crudy and sufficient safety allowance is ensured Put, according to operation standard current value, the shape of casting for clearance (1), the material of casting for clearance (1), casting for clearance (1) Posture and the executing agency (2) can bear output current limitation, set the executing agency (2) feeding slow down Current value and operational limit current value；B, fixed casting (1) for clearance, the executing agency (2) carry out cleaning operation to the casting (1) for clearance；C, the sliding window current average of the executing agency (2) is monitored in real time, as current running current value；By extraction Current running current value is compared respectively with feeding deceleration current value and operational limit current value；D, the executing agency (2) is automatically controlled by comparing real-time current characteristic realization, so as to ensure the execution Mechanism (2) is to the equipment safety and crudy during casting (1) cleaning for clearance.
- 2. the quick control method that casting according to claim 1 is cleared up automatically, it is characterised in thatIn the step d automatically controlling specially to the executing agency (2) is realized by comparing real-time current characteristic：When current running current value exceedes operational limit current value, the DPA data processing activity (5) sends alarm signal extremely immediately Drive control mechanism (3), the drive control mechanism (3) control the executing agency (2) out of service；When current running current value exceedes operation deceleration current value but not up to operational limit current value, the DPA data processing activity (5) sending reduce-speed sign to drive control mechanism (3), the drive control mechanism (3) immediately controls the executing agency (2) to enter To deceleration；When the executing agency (2) is in feeding deceleration regime, the DPA data processing activity (5) monitors the executing agency (2) continuously less than operation deceleration current value, the DPA data processing activity (5) is cancelled to be sent to drive control mechanism (3) electric current Reduce-speed sign, the drive control mechanism (3) makes the executing agency (2) return to course feed speed.
- 3. the quick control method that casting according to claim 1 is cleared up automatically, it is characterised in thatIn the step a, the executing agency (2) is set to be in unloaded stable state, and measured by current detection sensor (4) The no-load current feature of the executing agency (2), according to no-load current feature-set operation standard current value.
- 4. the quick control method that casting according to claim 3 is cleared up automatically, it is characterised in thatAccording to the shape of the operation standard current value and the casting for clearance (1), material, posture and the execution machine The output current limitation that structure (2) can bear, set the feeding deceleration current value and operational limit electric current of the executing agency (2) Value.
- 5. the quick control method that casting according to claim 4 is cleared up automatically, it is characterised in thatIn the step d, the real-time current feature of the executing agency (2) is sensed by the current detection sensor (4),Real-time current feature is extracted from the current detection sensor (4) by DPA data processing activity (5)；When the present current value of extraction is less than feeding deceleration current value, the executing agency (2) is fed with normal speed；When the present current value of extraction exceedes operational limit current value, stop the executing agency (2) feeding immediately, and to institute State executing agency (2) and carry out shutdown inspection；When the present current value of extraction is less than operational limit current value beyond feeding deceleration current value, the execution machine is reduced Structure (2) feed speed, and when the present current value of extraction is continuously less than feeding deceleration current value, the executing agency (2) is extensive Course feed speed is arrived again.
- 6. the quick control method that casting according to claim 5 is cleared up automatically, it is characterised in thatDuring the executing agency (2) is processed to the casting (1) for clearance, the current detection sensor (4) running current of the executing agency (2) is measured in real time；The DPA data processing activity (5) is with the time window of slip, the feature of extraction current measurement average value.
- 7. the quick control method that casting according to any one of claim 1 to 6 is cleared up automatically, it is characterised in thatIn the step b, the casting (1) for clearance is gripped by clamping device；The posture of the casting for clearance (1) is adjusted by switching mechanism；The executing agency (2) is controlled to run by drive control mechanism (3).
- 8. the quick control method that casting according to any one of claim 1 to 6 is cleared up automatically, it is characterised in thatIn the step d, the real-time current feature of the executing agency (2) is sensed by current detection sensor (4),The current detection sensor (4) gives the real-time current profile feedback of sensing to DPA data processing activity (5), data processor After the running status for judging the executing agency (2), corresponding signal is sent to drive control mechanism (3) by contrast for structure (5),The drive control mechanism (3) passes through control of the feedback information adjust automatically to the executing agency (2).
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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 |