Intelligent ceramic throwing blank and control system thereof

Abstract

The invention relates to the field of ceramic blank pulling control, in particular to an intelligent ceramic blank pulling and a control system thereof, which comprises the following steps: acquiring ceramic blank pulling data information and transmitting the information to a central control unit, classifying pug according to the plasticity of the pug, setting blank pulling pressure, and calculating the difficulty degree of the blank pulling process according to the shape requirement of a ceramic product; calculating a clay supplement frequency regulation coefficient according to the difficulty degree of the blank pulling process, and regulating the clay supplement frequency; according to the blank pulling temperature and the movement condition of the mechanical arm, the blank pulling pressure regulation and control coefficient is calculated, and the pressure of the blank pulling machine is regulated and controlled; establishing a throwing energy consumption evaluation neural network model according to the adjusted throwing pressure and the adjusted clay supplement frequency, and obtaining a throwing energy consumption result; and after blank pulling is completed, the sensor on the blank pulling disc detects the blank again, a ceramic blank detection model is established, and adjustment is conducted according to feedback information.

Description

Technical Field

[0001] The invention relates to the field of ceramic embryo pulling control, and in particular to an intelligent ceramic embryo pulling and a control system thereof. Background Art

[0002] Ceramic embryo throwing is a key link in the ceramic production process. Traditional ceramic embryo throwing mainly relies on the manual skills of craftsmen, which requires a long period of learning and practice to master. In addition, during the production process, it is easily affected by factors such as the mood and physical strength of the craftsmen, resulting in unstable product quality. With the development of science and technology, intelligent technology has gradually been applied to various traditional craft fields, providing new ideas for the innovation of ceramic embryo throwing.

[0003] However, the following problems still exist in the prior art: the key characteristics of different batches of clay are not clearly understood, which poses quality and operational risks to the subsequent embryo pulling process; the shape requirements of ceramic products are very vague, resulting in too many errors and low efficiency in the embryo pulling control process; the parameters are not adjusted according to the actual conditions in the embryo pulling process, resulting in too many defects in the finished products. At the same time, there is no early warning system in the embryo pulling process, which will pose certain safety hazards.

[0004] Therefore, there is a need for an intelligent ceramic embryo pulling system and a control system thereof. Summary of the invention

[0005] The invention provides an intelligent ceramic embryo pulling system and a control system thereof, the purpose of which is to improve production efficiency, optimize quality, save energy resources, reduce risks, and realize intelligent control, thereby promoting the development of the ceramic manufacturing industry, enhancing competitiveness, and meeting market demand.

[0006] The technical solution of the present invention is specifically as follows:

[0007] An intelligent ceramic embryo pulling system and its control system, comprising the following contents:

[0008] The embryo pulling machine base is equipped with height-adjustable feet at the bottom. A power system is installed inside the base to provide rotational power for the embryo pulling plate to adjust the rotation speed of the embryo pulling plate.

[0009] The embryo pulling plate is provided with a pressure sensor array inside, which is used to detect the pressure distribution received by the embryo pulling plate during the embryo pulling process in real time;

[0010] Robotic arm, a multi-degree-of-freedom robotic arm is installed on one side of the embryo pulling machine base, and the joints of the robotic arm are driven by servo motors; a embryo pulling tool is installed at the end of the robotic arm, and a speed sensor is installed at the joint of the robotic arm to feedback the joint movement information in real time. The movement range of the robotic arm covers the entire embryo pulling plate area;

[0011] The mud material supply device comprises a mud material storage box and a conveying pipeline, wherein the conveying pipeline connects the storage box and the embryo pulling plate, and a flow regulating valve and a mud material flow sensor are installed on the pipeline;

[0012] The central control unit receives signals from the embryo pulling plate sensor and the robotic arm sensor, and includes an intercommunication data acquisition module, a processing and storage device module, a clay material classification module, an embryo pulling difficulty classification module, a clay replenishment frequency control module, an embryo pulling pressure control module, an embryo pulling energy consumption evaluation module, and a ceramic embryo body detection module.

[0013] An intelligent ceramic embryo pulling and control method thereof, comprising the following steps:

[0014] Step S1. Collect ceramic embryo data information and transmit it to the central control unit, classify the clay materials according to their plasticity, set the embryo pulling pressure, and calculate the difficulty of the embryo pulling process according to the shape requirements of the ceramic product;

[0015] Step S2. Calculate the clay replenishment frequency control coefficient F according to the difficulty of the embryo pulling process, and adjust the clay replenishment frequency;

[0016] Step S3. Calculate the embryo drawing pressure control coefficient U according to the embryo drawing temperature and the movement of the robot arm, and adjust the embryo drawing machine pressure;

[0017] Step S4. According to the obtained regulated embryo pulling pressure and clay replenishment frequency, a neural network model for evaluating embryo pulling energy consumption is established to obtain embryo pulling energy consumption results;

[0018] Step S5. After the embryo pulling is completed, the sensor on the embryo pulling plate detects the embryo again, establishes a ceramic embryo detection model, and makes adjustments based on the feedback information.

[0019] Further, in step S1, the plasticity of the clay material includes: high-quality state, medium state, and poor state;

[0020] If the plasticity of the clay is in high quality state, the pulling pressure is set to Pre′=Pre0*α1;

[0021] If the plasticity of the clay is in a medium state, the pulling pressure is set to Pre′=Pre0*α2;

[0022] If the plasticity of the clay is in a poor state, the pulling pressure is set to Pre′=Pre0*α3;

[0023] Wherein, Pre0 represents the reference embryo drawing pressure; α1 is the embryo drawing pressure adjustment coefficient in the first state; α2 represents the embryo drawing pressure adjustment coefficient in the second state; α3 represents the embryo drawing pressure adjustment coefficient in the third state; 0.8<α1<1.2<α2<1.8<α3<2.5.

[0024] Further, in step S1, a comprehensive metric coefficient D is calculated according to the shape requirements of the ceramic product, and the surface complexity coefficient is defined as C, the symmetry coefficient is defined as S, and the size ratio coefficient is defined as P.

[0025] 5. The intelligent ceramic embryo pulling and control method thereof according to claim 2, characterized in that the step S2 specifically comprises:

[0026] Set the amount of clay added each time to a fixed value q,

[0027] Among them, EC is the expected clay consumption rate; g is the adaptive coefficient; V is the target ceramic embryo volume; Jm0 is the initial clay input amount; β is the precision coefficient of embryo pulling operation;

[0028] VP m It indicates the rotation speed of the embryo pulling plate; ΔT indicates the expected ideal replenishment time interval.

[0029] Further, step S2 specifically includes:

[0030] The preset clay replenishment frequency control parameter reference parameter is F1, the standard clay replenishment frequency is Are0, and 0<F1; the clay replenishment frequency control coefficient F is compared with the clay replenishment frequency control parameter reference parameter F1;

[0031] In the first clay replenishment frequency control method, the clay replenishment frequency is controlled to the first clay replenishment frequency Are1 by the first clay replenishment frequency control coefficient γ1, and the definition is

[0032] At this time, F≥F1;

[0033] In the first clay replenishment frequency control method, the clay replenishment frequency is controlled to the second clay replenishment frequency Are2 by the first clay replenishment frequency control coefficient γ2, and the definition is

[0034] At this time, 0≤F<F1;

[0035] In the first clay replenishment frequency control method, the clay replenishment frequency is controlled to the third clay replenishment frequency Are3 by the first clay replenishment frequency control coefficient γ2, and the definition is

[0036] At this time, F<0.

[0037] Further, in step S3, the embryo pulling pressure control coefficient U is calculated, and the specific process is as follows:

[0038]

[0039] Where, Id represents the repetitive accuracy coefficient of the robot movement; Sc v Indicates the movement speed of the robot arm;

[0040] Sc a It represents the acceleration of the robot arm movement; Tem represents the actual embryo drawing temperature; Tem0 represents the embryo drawing reference temperature; μ1 and μ2 represent the control experience coefficients, which are respectively used to adjust the influence of the robot arm movement and the embryo drawing temperature on the embryo drawing pressure control coefficient.

[0041] Further, step S3 specifically includes:

[0042] The first embryo drawing pressure control coefficient control parameter U1 and the second embryo drawing pressure control coefficient control parameter U2 are preset, U1<U2, the embryo drawing pressure control coefficient U is compared with the first embryo drawing pressure control coefficient control parameter U1 and the second embryo drawing pressure control coefficient control parameter U2 respectively, and the embryo drawing pressure is regulated according to the comparison results.

[0043] Further, step s4 specifically includes:

[0044] The embryo drawing energy consumption evaluation neural network includes an input layer, a first hidden layer, a second hidden layer, and an output layer; in the first hidden layer, characteristic information related to the embryo drawing process is analyzed; in the second hidden layer, the embryo drawing energy consumption is obtained based on the output of the first hidden layer; and in the output layer, the final embryo drawing energy consumption evaluation result is output.

[0045] Further, step S4 specifically includes:

[0046] A first alarm parameter and a second alarm parameter are defined. When the energy consumption of the embryo pulling process is monitored, if it is found that the embryo pulling energy consumption evaluation result exceeds the first alarm parameter, the staff is reminded to check the ceramic embryo pulling machine; if it is found that it exceeds the second alarm parameter, the staff is forced to check the ceramic embryo pulling machine, and the ceramic embryo pulling machine is in a shutdown state.

[0047] Beneficial effects:

[0048] 1. The present invention classifies clay materials according to their plasticity and sets the embryo pulling pressure, thereby accurately controlling the molding process of ceramic products and the basic material control, thereby improving the production efficiency; calculating the comprehensive measurement coefficient according to the shape requirements of the ceramic products is helpful to evaluate the difficulty of the embryo pulling process, thereby better controlling the quality of the finished product and ensuring that the product meets the design requirements; at the same time, by grading the difficulty of the embryo pulling process, the success rate of avoiding bottlenecks and problem points in the production process can be greatly improved, the process flow can be improved in a targeted manner, and the production efficiency and product quality can be improved.

[0049] 2. The present invention adjusts the frequency of clay replenishment according to the difficulty of the embryo pulling process, which can ensure the timely replenishment of clay, maintain the continuity and stability of the production process, improve production efficiency, ensure the stable molding quality of ceramic products, and accurately control the amount of clay used to avoid excessive waste and optimize resource utilization. By intelligently regulating the frequency of clay replenishment, waste and loss can be reduced, production costs can be reduced, and production benefits can be improved; manual intervention can be reduced to achieve automation and intelligence in the production process.

[0050] 3. The present invention adjusts the pressure of the embryo drawing machine according to the actual conditions of the embryo drawing temperature and the movement of the robot arm, which can avoid energy waste and optimize energy consumption; ensure the stable molding quality of ceramic products under different process conditions, and avoid product defects caused by insufficient or excessive pressure. By comparing with the set control parameters, the embryo drawing pressure can be accurately regulated to ensure the suitability of the embryo drawing pressure under different conditions, thereby improving the accuracy and consistency of product molding; the intelligent system automatically compares and regulates according to the set parameters, reducing the need for human intervention, reducing the burden on operators, and improving the degree of automation of the production process; finally, accurate embryo drawing pressure regulation is obtained to help optimize the production process and improve production efficiency.

[0051] 4. The present invention establishes a neural network model for evaluating embryo energy consumption by adjusting parameters such as embryo pulling pressure and clay replenishment frequency, accurately evaluating the energy consumption during embryo pulling, helping production managers understand and optimize energy utilization, optimize ceramic production processes, and formulate reasonable production plans and energy management strategies. At the same time, it can also warn of ceramic embryo pulling equipment and work processes and deal with potential problems to avoid further expansion of abnormal energy consumption or serious consequences; through timely intervention and shutdown inspection, it can reduce the risks that may occur in the production process and ensure the smooth progress of the work process. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 It is a schematic diagram of the overall structure of the intelligent ceramic embryo pulling and its control system of the present invention;

[0053] Figure 2 It is a module diagram of an intelligent ceramic embryo pulling system and its control system of the present invention;

[0054] Figure 3 It is a flow chart of an intelligent ceramic embryo pulling and control method thereof of the present invention;

[0055] Figure 4 A schematic diagram of an intelligent ceramic embryo pulling machine of the present invention;

[0056] In the figure: 1. embryo pulling machine base; 2. embryo pulling plate; 3. robotic arm; 4. clay material supply device; 5. central control unit. DETAILED DESCRIPTION

[0057] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should also be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0058] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0059] See attached Figure 1 , 2 This embodiment provides an intelligent ceramic embryo pulling and control system thereof, including the following contents:

[0060] The embryo pulling machine base 1 adopts a solid and stable metal structure, and is equipped with height-adjustable feet at the bottom to maintain horizontal stability in different working places; a power system (not shown in the figure) is installed inside the base, including a high-performance motor to provide rotational power for the embryo pulling plate; the motor adopts variable frequency speed regulation technology, and the rotation speed of the embryo pulling plate can be accurately adjusted according to different stages of embryo pulling;

[0061] The embryo pulling plate 2 is made of high-quality ceramic material, and its surface is specially treated to have extremely high smoothness. A pressure sensor array is arranged inside the embryo pulling plate to detect the pressure distribution of the clay material on the embryo pulling plate in real time during the embryo pulling process. The embryo pulling plate has a diameter of 30-50 cm and a thickness of 5-10 cm, which can meet the embryo pulling requirements of ceramic embryos of different sizes.

[0062] Robotic arm 3, a multi-degree-of-freedom robot arm is installed on one side of the embryo drawing machine base, and each joint of the robot arm is driven by a high-precision servo motor; a embryo drawing tool (not shown in the figure) such as an embryo drawing knife and an embryo trimming tool is installed at the end of the robot arm; a speed sensor is installed at the joint of the robot arm to feedback the angle information of the joint in real time so as to accurately control the posture of the robot arm; the range of motion of the robot arm covers the entire embryo drawing plate area, and can achieve precise positioning and movement in three-dimensional space;

[0063] The mud material supply device 4 includes a mud material storage box (not specifically shown in the figure) and a conveying pipeline (not specifically shown in the figure); the mud material storage box has a stirring function to prevent the mud material from settling and drying; the conveying pipeline connects the storage box and the embryo pulling plate, and a flow regulating valve and a mud material flow sensor are installed on the pipeline to accurately control the amount of mud material conveyed to the embryo pulling plate;

[0064] The central control unit 5 adopts a high-performance microprocessor, receives signals from the embryo pulling plate sensor and the robot arm sensor, and processes the data according to the preset embryo pulling program and algorithm; the control interface is a touch screen, through which the operator can input embryo pulling parameters, such as embryo body shape, size, wall thickness, etc., and can also select a preset embryo pulling mode; the storage device is used to store different embryo pulling programs, process parameters and historical embryo pulling data, which is convenient for subsequent query and analysis.

[0065] The central control unit includes a data acquisition module, a processing and storage device module, a clay material classification module, a mold pulling difficulty classification module; a clay replenishment frequency control module, a mold pulling pressure control module, a mold pulling energy consumption evaluation module, and a ceramic embryo detection module;

[0066] The data acquisition module is responsible for real-time collection of various data in the ceramic production process, providing basic data support for subsequent data processing and analysis;

[0067] The processing and storage device module is used to process and store the collected data to ensure data security and reliability, and provide data support for subsequent data analysis and application;

[0068] Clay classification module, which classifies clay according to its plasticity to improve product quality stability;

[0069] The difficulty classification module of embryo pulling calculates the comprehensive measurement coefficient based on the shape requirements of the ceramic embryo to classify the difficulty of the embryo pulling process;

[0070] The clay replenishment frequency control module calculates the clay replenishment frequency control coefficient according to the difficulty of the clay pulling process and controls the clay replenishment frequency;

[0071] The embryo drawing pressure control module calculates the embryo drawing pressure control coefficient according to the embryo drawing temperature and the movement of the robot arm, and controls the embryo drawing machine pressure;

[0072] The embryo pulling energy consumption evaluation module establishes an embryo pulling energy consumption evaluation neural network model based on the embryo pulling pressure and clay replenishment frequency obtained after regulation to obtain the embryo pulling energy consumption results;

[0073] Ceramic embryo detection module: After embryo pulling is completed, the sensor on the embryo pulling plate detects the embryo again, establishes a ceramic embryo detection model, and makes adjustments based on the feedback information.

[0074] In the embodiment of the present invention, refer to the attached Figure 4First, the operator inputs the embryo pulling parameters in the operation interface, and the central control unit calls the corresponding embryo pulling process program from the storage device according to the ceramic embryo pulling requirements; at the same time, the sensor system performs self-checking to ensure that each sensor is working properly, the mud supply device starts to supply mud to the embryo pulling plate, and the flow control valve makes preliminary adjustments according to the preset mud amount. Then, the embryo pulling plate starts to rotate driven by the motor, and the robot arm starts the embryo pulling operation. At the same time, the central control unit continuously adjusts the parameters of the embryo pulling plate process through control methods based on the sensor data.

[0075] See attached Figure 3 This embodiment provides an intelligent ceramic embryo pulling and control method thereof, comprising the following steps:

[0076] S1. Collect relevant data information during the ceramic embryo pulling process according to the arranged sensor system and transmit it to the central control unit. After receiving the data collected by the sensor, the central control unit first performs data filtering to remove noise interference, obtains pre-processed standard data information, and stores it in the storage device module.

[0077] Clay materials are classified according to their plasticity, and the pulling pressure is set at the same time; the comprehensive measurement coefficient is calculated according to the shape requirements of the ceramic products, and the difficulty of the pulling process is calculated based on the comprehensive measurement coefficient;

[0078] The clay materials are classified according to their plasticity, and the embryo pulling pressure is set at the same time. Pre0 represents the base embryo pulling pressure. The specific process is as follows:

[0079] The plasticity of clay materials includes: high-quality state, medium state, and poor state;

[0080] If the clay material has high plasticity, it can be easily molded into various complex shapes without cracking or deformation in manual molding operations (such as throwing, kneading, etc.), and its suitable moisture content is relatively wide; then the throwing pressure is set to Pre, Pre = Pre0*α1;

[0081] If the clay material has a medium plasticity, it can meet the general molding requirements, but more skills and precautions may be needed to avoid cracking when making complex shapes. Its suitable moisture content range is relatively narrow. Then set the embryo pulling pressure to Pre, Pre = Pre0*α2;

[0082] If the plasticity of the clay is in a poor state, various problems are likely to occur during the molding process, and special treatment methods or auxiliary materials are required for molding operations. The appropriate moisture content range is narrower; then the embryo pulling pressure is set to Pre, Pre = Pre0*α3;

[0083] Among them, α1 is the adjustment coefficient of the embryo pulling pressure in the first state; α2 is the adjustment coefficient of the embryo pulling pressure in the second state; α3 is the adjustment coefficient of the embryo pulling pressure in the third state;

[0084] 0.8<α1<1.2<α2<1.8<α3<2.5.

[0085] The comprehensive measurement coefficient is calculated according to the shape requirements of the ceramic embryo, and the difficulty of the embryo pulling process is calculated according to the comprehensive measurement coefficient; the specific process is as follows:

[0086] In the embodiment of the present invention, the shape requirements of the ceramic body are met, and the existing technology is used to perform modeling or programming to obtain the surface discrete point set {(x i ,y i , z i )}, i = 1, 2, ..., n; for each point (x i ,y i , z i ), calculate the principal curvature k 1i , k 2i , the mean curvature is approximately At the same time, define the surface complexity coefficient as C, in, represents the average value of mean curvature, σ H represents the standard deviation of the mean curvature,

[0087] Determine the coordinates of the center of mass of the ceramic embryo as (x c ,y c , z c ), The center of mass is symmetrical at (x i ′,y i ′,z i ′)=(2x c -x i , 2y c -y i , 2z c -z i ), calculate the point (x i ,y i , z i ) to its symmetric point (x i ′,y i ′,z i The distance of Calculate the average distance from all points to the symmetric point Define the symmetry coefficient S, Among them, α represents the proportional coefficient. When, that is: completely symmetrical, S = 1, when When increases, S decreases.

[0088] Define the size ratio coefficient as P, Among them, L represents the height of the ceramic body, M1 represents the radius of the upper bottom surface, and M2 represents the radius of the lower bottom surface. If the P value is special, such as very large or very small, it may mean that the shape of the body is relatively slender or flat. At that time, it is necessary to introduce control parameters for adjustment to avoid the subsequent calculation of the comprehensive measurement coefficient. D An error occurs.

[0089] Now set the comprehensive measurement coefficient D, The larger the D value, the more difficult it is to pull the embryo; the smaller the D value, the easier it is to pull the embryo.

[0090] According to historical experimental data and actual operation requirements, the first judgment threshold of the difficulty of embryo pulling is set as

[0091] ε1, a second judgment threshold ε2, and ε1<ε2;

[0092] If D≥ε2, the difficulty level of embryo pulling is the first embryo pulling difficulty, which means that it may involve situations such as high rotation speed and complex shape, and requires a higher level of skills and experience; if ε1<D<ε2, the difficulty level of embryo pulling is the second embryo pulling difficulty, which may require high technical requirements and meticulous operation; if D≤ε1, the difficulty level of embryo pulling is the third embryo pulling difficulty, which may be used in situations where the rotation speed of the embryo pulling disc is moderate and the shape is simple.

[0093] The present invention classifies clay materials according to their plasticity and sets embryo pulling pressure, thereby accurately controlling the molding process of ceramic products and the control of basic materials, and improving production efficiency; calculating the comprehensive measurement coefficient according to the shape requirements of the ceramic products is helpful to evaluate the difficulty of the embryo pulling process, and then better control the quality of the finished product, ensuring that the product meets the design requirements; at the same time, by grading the difficulty of the embryo pulling process, the success rate of avoiding bottlenecks and problem points in the production process can be greatly improved, the process flow can be improved in a targeted manner, and the production efficiency and product quality can be improved.

[0094] S2. According to the difficulty of the embryo pulling process, the clay replenishment frequency control coefficient F is calculated to control the clay replenishment frequency; the amount of clay replenished each time is set to a fixed value q, Define the expected clay consumption rate as EC, and the calculation process is as follows:

[0095]

[0096] Among them, g represents the adaptive coefficient, which is used to adjust the proportional relationship between different units; V represents the target ceramic embryo volume; Jm0 represents the initial clay input; β represents the precision coefficient of embryo pulling operation; VPm It indicates the rotation speed of the embryo pulling plate; ΔT indicates the expected ideal replenishment time interval.

[0097] The preset clay replenishment frequency control parameter reference parameter is F1, the standard clay replenishment frequency is Are0, and 0<F1; the clay replenishment frequency control coefficient F is compared with the clay replenishment frequency control parameter reference parameter F1:

[0098] In the first clay replenishment frequency control method, the clay replenishment frequency is controlled to the first clay replenishment frequency Are1 by the first clay replenishment frequency control coefficient γ1, and the definition is

[0099] At this time, F≥F1;

[0100] In the first clay replenishment frequency control method, the clay replenishment frequency is controlled to the second clay replenishment frequency Are2 by the first clay replenishment frequency control coefficient γ2, and the definition is

[0101] At this time, 0≤F<F1;

[0102] In the first clay replenishment frequency control method, the clay replenishment frequency is controlled to the third clay replenishment frequency Are3 by the first clay replenishment frequency control coefficient γ2, and the definition is

[0103] At this time, F<0;

[0104] In the embodiment of the present invention, the first clay replenishment frequency control method is applied to the first degree of difficulty of embryo pulling, the second clay replenishment frequency control method is applied to the second degree of difficulty of embryo pulling, and the third clay replenishment frequency control method is applied to the third degree of difficulty of embryo pulling.

[0105] The present invention adjusts the frequency of clay replenishment according to the difficulty of the embryo pulling process, can ensure timely replenishment of clay, maintain the continuity and stability of the production process, improve production efficiency, ensure the stable molding quality of ceramic products, and can accurately control the amount of clay used to avoid excessive waste and optimize resource utilization. By intelligently regulating the frequency of clay replenishment, waste and loss can be reduced, production costs can be reduced, and production benefits can be improved; manual intervention can be reduced, and automation and intelligence of the production process can be realized.

[0106] S3. According to the embryo pulling temperature and the movement of the robot arm, the embryo pulling pressure control coefficient U is calculated to control the pressure of the embryo pulling machine. Further, the embryo pulling tool at the robot arm applies force.

[0107] In the embodiment of the present invention, the embryo pulling pressure control coefficient U is calculated according to the shape requirements of the ceramic product and the embryo pulling temperature. The specific process is as follows:

[0108]

[0109] Where, Id represents the repetitive accuracy coefficient of the robot movement; Sc v Indicates the movement speed of the robot arm;

[0110] Sc a It represents the acceleration of the robot arm movement; Tem represents the actual embryo drawing temperature; Tem0 represents the embryo drawing reference temperature; μ1 and μ2 represent the control experience coefficients, which are respectively used to adjust the influence of the robot arm movement and the embryo drawing temperature on the embryo drawing pressure control coefficient.

[0111] The first embryo drawing pressure control coefficient comparison parameter U1 and the second embryo drawing pressure control coefficient comparison parameter U2 are preset, U1<U2, the embryo drawing pressure control coefficient U is compared with the first embryo drawing pressure control coefficient comparison parameter U1 and the second embryo drawing pressure control coefficient comparison parameter U2 respectively, and the embryo drawing pressure is controlled according to the comparison results, as shown below:

[0112] If U≥U2, the embryo pulling pressure is adjusted to Pre1, and Pre1 is defined as the first embryo pulling pressure.

[0113] If U1≤U<U2, the embryo pulling pressure is adjusted to Pre2, and Pre2 is defined as the second embryo pulling pressure, Pre2=Pre*U;

[0114] If U<U1, the embryo pulling pressure is adjusted to Pre3, and Pre3 is defined as the second embryo pulling pressure.

[0115] The present invention adjusts the pressure of the embryo drawing machine according to the actual conditions of the embryo drawing temperature and the movement of the mechanical arm, which can avoid energy waste, optimize energy consumption, and reduce production costs; ensure the stable molding quality of ceramic products under different process conditions, and avoid product defects caused by insufficient or excessive pressure. By comparing with the set control parameters, the embryo drawing pressure can be accurately regulated to ensure the suitability of the embryo drawing pressure under different conditions, thereby improving the accuracy and consistency of product molding; the intelligent system automatically compares and regulates according to the set parameters, reducing the need for human intervention, reducing the burden on operators, and improving the degree of automation of the production process; finally, accurate embryo drawing pressure regulation is obtained to help optimize the production process and improve production efficiency.

[0116] S4. According to the embryo pulling pressure and clay replenishment frequency obtained after regulation, a embryo pulling energy consumption evaluation neural network model is established to obtain the embryo pulling energy consumption result; when the energy consumption of the embryo pulling process is monitored, if it is found that the embryo pulling energy consumption evaluation exceeds the first alarm parameter, the staff is reminded to check the ceramic embryo pulling machine; if it is found that it exceeds the second alarm parameter, the staff is forced to check the ceramic embryo pulling machine, and the ceramic embryo pulling machine is in a shutdown state.

[0117] According to the sensors on the intelligent ceramic embryo, the historical working data of the embryo is obtained, and the obtained data information related to the embryo process is used as a training sample, which is the input of the embryo energy consumption evaluation neural network. After multiple trainings, the embryo energy consumption evaluation neural network model can output real-time embryo energy consumption evaluation results. The trained embryo energy consumption evaluation neural network includes an input layer, a first hidden layer, a second hidden layer, and an output layer.

[0118] It is assumed that the relevant data information of the embryo drawing process has Lp feature data. In the model, the input layer is connected to the first hidden layer through a fully connected network, and the feature information is transmitted to the first hidden layer. The embryo drawing machine pressure obtained after regulation is Pre b , the frequency of clay replenishment is Are y , where b, y = 1, 2, 3;

[0119] In an embodiment of the present invention, in a fully connected network, each neuron is connected to each neuron in the previous layer, and each connection has an associated weight, which is used to adjust the importance of the output of the previous layer in the fully connected layer; through these weights, the fully connected layer performs linear combination and nonlinear transformation on the features of the previous layer to convert the input data into a form suitable for processing by the first hidden layer; this connection method ensures that the fully connected layer can effectively capture the complex relationships and features in the input data;

[0120] In the first hidden layer, the feature information related to the embryo pulling process is analyzed to extract more meaningful information for energy consumption evaluation. The specific process is as follows:

[0121] HL_v1=ω1Data j +b1

[0122]

[0123] Among them, HL_v1 represents the input of the first hidden layer; Data j represents the jth feature of the input, j∈[1,Lp]; b1 represents the bias of the first hidden layer; ω1 represents the connection weight between the input layer and the first hidden layer; δ1 represents the weight coefficient, which is used to analyze the weight of the embryo drawing machine pressure for the energy consumption of embryo drawing; δ2 represents the weight coefficient, which is used to analyze the weight of the clay replenishment frequency for the energy consumption of embryo drawing; θ TIt indicates the frequency parameter of the load fluctuation period of the pulling embryo; T indicates the recording time; Vp max Indicates the upper limit of the rotating speed of the embryo drawing machine turntable; SD y Represents the impact factor at the yth clay replenishment frequency;

[0124] AQ b Indicates the influencing factor at the b-th drawing machine pressure; Pa ec Indicates the power of the expected pulling equipment; Pa T represents the power of the embryo pulling equipment at time T; HL_z1 represents the output of the first hidden layer;

[0125] In the second hidden layer, based on the output of the first hidden layer, the energy consumption of embryo pulling is evaluated to obtain a more accurate energy consumption of embryo pulling. The specific process is as follows:

[0126] HL_v2=ω2HL_z1+b2

[0127]

[0128] Wherein, HL_v2 represents the input of the second hidden layer; b2 represents the bias of the second hidden layer;

[0129] ω2 represents the connection weight between the first hidden layer and the second hidden layer; It represents the stability of the energy consumption evaluation process of embryo drawing to periodic fluctuations; τ represents the energy consumption coefficient; HL_z2 represents the output of the second hidden layer;

[0130] The energy consumption evaluation results of embryo pulling are generated in the output layer. The specific process is as follows:

[0131] Iop=ω3*HL_z2+b3

[0132] Among them, Iop represents the output of the output layer; ω3 represents the weight of the output layer; b3 represents the bias of the output layer.

[0133] And set the evaluation result deviation parameter, calculate the error between the model output result and the deviation parameter, optimize the model parameters according to the existing gradient descent method, make the error within the qualified range, thereby completing the training of the neural network, and obtaining the embryo drawing energy consumption evaluation model, thereby obtaining an accurate energy consumption embryo drawing evaluation value. Set the first alarm parameter and the second alarm parameter according to historical data and expert experience. If it is found that the embryo drawing energy consumption evaluation exceeds the first alarm parameter (excluding the first alarm parameter), remind the staff to check the ceramic embryo drawing machine; if it is found that it exceeds the second alarm parameter (excluding the second alarm parameter), force the staff to check the ceramic embryo drawing machine, and the ceramic embryo drawing machine is in a shutdown state.

[0134] The present invention establishes a neural network model for evaluating embryo energy consumption by adjusting parameters such as embryo pulling pressure and clay replenishment frequency, accurately evaluating the energy consumption during embryo pulling, helping production managers understand and optimize energy utilization, optimize ceramic production processes, and formulate reasonable production plans and energy management strategies. At the same time, it can also warn of ceramic embryo pulling equipment and work processes and deal with potential problems to avoid further expansion of abnormal energy consumption or serious consequences; through timely intervention and shutdown inspection, it can reduce the risks that may occur in the production process and ensure the smooth progress of the work process.

[0135] S5. After the embryo is pulled, the sensor on the embryo plate detects the embryo again and establishes a ceramic embryo detection model, mainly through wall thickness uniformity and visual inspection; detects parameters such as shape accuracy and wall thickness uniformity of the ceramic embryo; and compares the detection data with the preset quality standards.

[0136] If the embryo quality does not meet the requirements, the central control unit will analyze the cause of the quality problem and feedback the relevant information to the operator. The operator can adjust the embryo pulling parameters based on the feedback information and then re-perform the embryo pulling operation. At the same time, these quality inspection data and operation data during the embryo pulling process will be stored in the storage unit as a reference for subsequent process improvement and quality control.

[0137] The present invention can accurately detect the ceramic embryos manufactured in the embryo pulling process by establishing an embryo detection model, which is helpful to achieve quality control, improve the consistency and quality level of products, and further optimize the ceramic embryo pulling process and control process.

[0138] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0139] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0140] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0141] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0142] The above contents are only for explaining the technical idea of ​​the present invention and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the present invention shall fall within the protection scope of the claims of the present invention.

Claims

1. An intelligent ceramic embryo pulling machine and its control system, characterized in that: Includes the following: The embryo pulling machine base is equipped with height-adjustable feet at the bottom. A power system is installed inside the base to provide rotational power for the embryo pulling plate to adjust the rotation speed of the embryo pulling plate. The embryo pulling plate is provided with a pressure sensor array inside, which is used to detect the pressure distribution received by the embryo pulling plate during the embryo pulling process in real time; Robotic arm, a multi-degree-of-freedom robotic arm is installed on one side of the embryo pulling machine base, and the joints of the robotic arm are driven by servo motors; a embryo pulling tool is installed at the end of the robotic arm, and a speed sensor is installed at the joint of the robotic arm to feedback the joint movement information in real time. The movement range of the robotic arm covers the entire embryo pulling plate area; The mud material supply device comprises a mud material storage box and a conveying pipeline, wherein the conveying pipeline connects the storage box and the embryo pulling plate, and a flow regulating valve and a mud material flow sensor are installed on the pipeline; The central control unit receives signals from the embryo pulling plate sensor and the robotic arm sensor, and includes an intercommunication data acquisition module, a processing and storage device module, a clay material classification module, an embryo pulling difficulty classification module, a clay replenishment frequency control module, an embryo pulling pressure control module, an embryo pulling energy consumption evaluation module, and a ceramic embryo body detection module.

2. An intelligent ceramic embryo pulling and control method thereof, applied to the intelligent ceramic embryo pulling and control system thereof according to claim 1, characterized in that: The following steps are involved: Step S1. Collect ceramic embryo data information and transmit it to the central control unit, classify the clay materials according to their plasticity, set the embryo pulling pressure, and calculate the difficulty of the embryo pulling process according to the shape requirements of the ceramic product; Step S2. Calculate the clay replenishment frequency control coefficient F according to the difficulty of the embryo pulling process, and adjust the clay replenishment frequency; Step S3. Calculate the embryo drawing pressure control coefficient U according to the embryo drawing temperature and the movement of the robot arm, and adjust the embryo drawing machine pressure; Step S4. According to the obtained regulated embryo pulling pressure and clay replenishment frequency, a neural network model for evaluating embryo pulling energy consumption is established to obtain embryo pulling energy consumption results; Step S5. After the embryo pulling is completed, the sensor on the embryo pulling plate detects the embryo again, establishes a ceramic embryo detection model, and makes adjustments based on the feedback information.

3. The intelligent ceramic embryo pulling and control method thereof according to claim 2, characterized in that: In step S1, the plasticity of the clay material includes: high-quality state, medium state, and poor state; If the plasticity of the clay is in high quality state, the pulling pressure is set to Pre'=Pre0*α1; If the plasticity of the clay is in a medium state, the pulling pressure is set to Pre'=Pre0*α2; If the plasticity of the clay is in a poor state, the pulling pressure is set to Pre'=Pre0*α3; Wherein, Pre0 represents the reference embryo drawing pressure; α1 is the embryo drawing pressure adjustment coefficient in the first state; α2 represents the embryo drawing pressure adjustment coefficient in the second state; α3 represents the embryo drawing pressure adjustment coefficient in the third state; 0.8<α1<1.2<α2<1.8<α3<2.

5.

4. The intelligent ceramic embryo pulling and control method thereof according to claim 2, characterized in that: In step S1, the comprehensive measurement coefficient D is calculated according to the shape requirements of the ceramic product, and the surface complexity coefficient is defined as C, the symmetry coefficient is defined as S, and the size ratio coefficient is defined as P.

5. The intelligent ceramic embryo pulling and control method thereof according to claim 2, characterized in that: The step S2 specifically includes: Set the amount of clay added each time to a fixed value q, Among them, EC is the expected clay consumption rate; g is the adaptive coefficient; V is the target ceramic embryo volume; Jm0 is the initial clay input amount; β is the precision coefficient of embryo pulling operation; VP m It indicates the rotation speed of the embryo pulling plate; ΔT indicates the expected ideal replenishment time interval.

6. The intelligent ceramic embryo pulling and control method thereof according to claim 5, characterized in that: The step S2 specifically includes: The preset control parameter reference variable for the clay replenishment frequency is F1, the standard clay replenishment frequency is Are0, and 0 < F1; the clay replenishment frequency control coefficient F is compared with the control parameter reference variable F1 of the clay replenishment frequency; In the first clay replenishment frequency control method, the clay replenishment frequency is controlled to the first clay replenishment frequency Are1 by the first clay replenishment frequency control coefficient γ1, and the definition is At this time, F≥F1; In the first clay replenishment frequency control method, the clay replenishment frequency is controlled to the second clay replenishment frequency Are2 by the first clay replenishment frequency control coefficient γ2, and the definition is At this time 0≤F <F1; In the first clay replenishment frequency control method, the clay replenishment frequency is controlled to the third clay replenishment frequency Are3 by the first clay replenishment frequency control coefficient γ2, and the definition is At this time, F<0.

7. The intelligent ceramic embryo pulling and control method thereof according to claim 2, characterized in that: In the step S3, the drawing pressure control coefficient U is calculated, and the specific process is as follows: Where, Id represents the repetitive accuracy coefficient of the robot movement; Sc v Indicates the movement speed of the robot arm; Sc a It represents the acceleration of the robot arm movement; Tem represents the actual embryo drawing temperature; Tem0 represents the embryo drawing reference temperature; μ1 and μ2 represent the control experience coefficients, which are respectively used to adjust the influence of the robot arm movement and the embryo drawing temperature on the embryo drawing pressure control coefficient.

8. The intelligent ceramic embryo pulling and control method thereof according to claim 7, characterized in that: The step S3 specifically includes: The first drawing pressure control coefficient reference variable U1 and the second drawing pressure control coefficient reference variable U2 are preset, U1 < U2, the drawing pressure control coefficient U is compared with the first drawing pressure control coefficient reference variable U1 and the second drawing pressure control coefficient reference variable U2 respectively, and the drawing pressure is adjusted according to the comparison results.

9. The intelligent ceramic embryo pulling and control method thereof according to claim 2, characterized in that: The step S4 specifically includes: The drawing energy consumption evaluation neural network includes an input layer, a first hidden layer, a second hidden layer, and an output layer; in the first hidden layer, the feature information related to the drawing process is analyzed; in the second hidden layer, the drawing energy consumption situation is obtained based on the output of the first hidden layer; and the final drawing energy consumption evaluation result is output in the output layer.

10. The intelligent ceramic embryo pulling and control method thereof according to claim 9, characterized in that: The step S4 specifically includes: The first alarm parameter and the second alarm parameter are defined. When monitoring the energy consumption of the drawing process, if it is found that the drawing energy consumption evaluation result exceeds the first alarm parameter, the staff is reminded to check the ceramic drawing machine; if it is found that the result exceeds the second alarm parameter, the staff is forced to check the ceramic drawing machine, and at this time the ceramic drawing machine is in a shutdown state.

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