Robot disc continuous casting system and control method thereof

Abstract

The invention relates to a robot disc continuous casting system and a control method thereof. A hydraulic station; iC (integrated circuit) identification cards for recording casting parameters are arranged in the casting machines; an industrial furnace; the multiple intelligent robots correspond to the multiple sets of industrial furnaces, and the intelligent robots are arranged between the disc and the industrial furnaces and used for quantitatively casting the casting liquid in the industrial furnaces into the casting machine; the hydraulic station and the intelligent robot are each provided with an IC recognition sensor for recognizing an IC recognition card of the casting machine, and a position sensor is arranged in the circumferential direction of the disc. The device is compact and reasonable in structure and convenient to operate, through the layout of the disc, the hydraulic station and the casting machines, the space utilization rate is greatly increased, the cost is reduced, meanwhile, through control of the position sensor, the intelligent robot, the hydraulic station and the PLC, efficient, automatic and continuous accurate control over the casting process is achieved, and differential machining of different casting machines can be achieved.

Description

Technical Field

[0001] The invention relates to the technical field of casting, in particular to a robot disc continuous casting system and a control method thereof. Background Art

[0002] In the casting industry, under the traditional working mode, each casting machine needs to be equipped with a hydraulic station and a manipulator. Although this configuration can ensure the normal operation and operational flexibility of the casting machine, it also causes a series of problems. First of all, each casting machine is equipped with a hydraulic station, which leads to a huge space occupation, which not only increases the rental or construction cost of the plant, but also makes the production line layout complicated and difficult to optimize. More importantly, this one-to-one configuration mode limits the overall work efficiency.

[0003] Specifically, there are two main reasons for the low work efficiency: first, the maintenance and management of the hydraulic station and the manipulator requires a lot of time and resources, which indirectly reduces the effective working time of the casting machine; second, since each casting machine is independently equipped with a hydraulic station, the collaborative operation between the machines is hindered, and an efficient production process cannot be achieved.

[0004] From a cost perspective, the traditional way of equipping casting machines with hydraulic stations is obviously not economical. Each casting machine requires an independent hydraulic system and control system, which not only increases the initial investment cost, but also makes subsequent maintenance and updates complicated and expensive.

[0005] In contrast, the disc design solves the space occupation and cost issues to a certain extent. For example, Chinese patent 201210407722.X discloses a process equipment for a compressor casing disc casting machine, which realizes the integration of multiple casting machines through a disc design. However, this design also has obvious limitations. It can usually only handle the casting of the same material, and cannot cope with a variety of materials that require differentiated supply. This is because the casting liquid supply method in the patent is relatively single and lacks flexibility, and the design of the hydraulic station is not mentioned in the patent, and the power source for each casting machine cannot be known.

[0006] In addition, the patent only has one industrial furnace, which means that the casting liquid cannot be continuously supplied. Before each casting, pretreatment operations such as degassing and slag removal are required, which not only prolongs the production cycle, but also reduces the overall work efficiency.

[0007] For this purpose, we propose a robotic disc continuous casting system and its control method. Summary of the invention

[0008] In response to the shortcomings of the above-mentioned existing production technologies, the applicant provides a robotic disc continuous casting system and a control method thereof, which realizes efficient automation and continuous precise control of the casting process, can achieve differentiated processing of different casting machines, and significantly improves production efficiency, product quality and processing flexibility.

[0009] The technical solution adopted by the present invention is as follows: Robotic disc continuous casting system, including: The disc, which is a circular structure and can rotate; There are multiple casting machines, and the multiple casting machines are distributed in a ring on the disc, and the casting machines are provided with IC identification cards for recording casting parameters; A hydraulic station, which is located at the center of the disc and can provide power to multiple casting machines; The industrial furnaces are arranged in groups around the outer periphery of the disc, and each group includes two industrial furnaces. The casting liquids in the industrial furnaces in different groups are of different types, and the casting liquids in the two industrial furnaces in the same group are of the same type. There are multiple intelligent robots corresponding to multiple groups of industrial furnaces, and the intelligent robots are arranged between the disc and the industrial furnaces, and are used to quantitatively cast the casting liquid in the industrial furnaces into the casting machine; A position sensor, which is located in the circumference of the disc and is arranged corresponding to the intelligent robot, is used to identify the position of the casting machine and transmit the identification signal to the intelligent robot and the hydraulic station; The hydraulic station and the intelligent robot are both provided with IC identification sensors for identifying the IC identification card of the casting machine.

[0010] Furthermore, the casting parameters recorded by the IC identification card include casting liquid volume, casting angle, casting height and hydraulic medium requirement.

[0011] Furthermore, a first PLC control system is provided in the intelligent robot, and the first PLC control system is electrically connected to the intelligent robot IC identification sensor, the position sensor and the control system of the hydraulic station; and the intelligent robot IC identification sensor can also identify the rotation speed of the disc and the position of the casting machine, and move synchronously with the corresponding casting machine during casting.

[0012] Furthermore, a second PLC control system is provided in the hydraulic station, and the second PLC control system is electrically connected to the hydraulic station IC identification sensor, the hydraulic system and the position sensor, and the IC identification sensor of the hydraulic station is used to identify the position of the casting machine and the demand for hydraulic medium.

[0013] Furthermore, the hydraulic system includes a hydraulic pipeline connecting the hydraulic station and multiple casting machines, the hydraulic pipeline includes an annular hydraulic pipe, and multiple straight pipes arranged on the annular hydraulic pipe, and the multiple straight pipes are respectively connected to the casting machines to provide hydraulic medium to the casting machines.

[0014] Furthermore, the casting machine comprises: A mold, which is used to hold the casting liquid and shape it after cooling; A turning hydraulic cylinder is used to drive the casting machine to turn over for easy unloading; A mold opening and closing hydraulic cylinder, which corresponds to the mold and is used for opening and closing the mold; The casting machine is also provided with a third PLC system for controlling the opening and closing of the mold, and controlling the rotation and discharging of the casting machine.

[0015] Furthermore, it also includes a control cabinet, in which a fourth PLC controller is arranged, and the fourth PLC controller is electrically connected to the first PLC controller, the second PLC controller, and the third PLC controller respectively, and the electrical connection method includes wireless communication.

[0016] Furthermore, the robot disc continuous casting system also includes: A discharge mechanism, which can identify the position information of the casting machine, grab the molding material on the casting machine and transfer it to the next process; The conveying mechanism is used to receive the molding materials from the unloading mechanism and distribute them.

[0017] A robot disc continuous casting system control method is used to control the continuous casting system, comprising the following steps: S1, the disc rotates at a certain speed. When one of the casting machines approaches the position sensor, the hydraulic station provides the hydraulic medium to the casting machine to open the mold; S2, after the intelligent robot recognizes the IC identification card on the casting machine, it scoops an appropriate amount of casting liquid from the industrial furnace; S3, the intelligent robot maintains the same speed as the casting machine and casts the casting liquid according to the casting parameters; S4, the hydraulic station supplies hydraulic medium according to the casting parameters of the casting machine; S5, the casting machine performs mold closing, flipping and mold opening according to the supplied hydraulic medium to complete the casting work; S6. The unloading mechanism grabs the formed material according to the position information of the casting machine and transports it to the conveying mechanism to complete the overall casting system.

[0018] Furthermore, when one of the two industrial furnaces in the same group is supplying casting liquid, the other one is performing refining, degassing and deslagging processes.

[0019] The beneficial effects of the present invention are as follows: The present invention has a compact and reasonable structure and is easy to operate. Through the layout of the disc, hydraulic station and casting machine, the space utilization rate is greatly improved and the cost is reduced. At the same time, through the position sensor, intelligent robot, hydraulic station and PLC control, efficient automation and continuous precise control of the casting process are achieved, and differentiated processing of different casting machines can be achieved, which significantly improves production efficiency, product quality and processing flexibility, while reducing costs, energy consumption and manual operation intensity.

[0020] At the same time, the present invention also has the following advantages: (1). Through the disc design and the central layout of the hydraulic station, the system realizes the continuity of the casting process and significantly improves production efficiency. The disc can adjust the rotation speed according to production needs to ensure the optimization of the casting rhythm. At the same time, the introduction of intelligent robots for automated casting operations not only reduces the tediousness and errors of manual operations, but also improves the accuracy and efficiency of casting. This highly automated production method not only speeds up production, but also reduces downtime during the production process, thereby greatly improving overall production efficiency.

[0021] (2) The present invention arranges the positions of the hydraulic stations. In the present invention, one hydraulic station can provide power for an unlimited number of casting machines. Specifically, the IC identification card on the casting machine is identified by the IC identification sensor of the hydraulic station. Therefore, although there are multiple casting machines, each hydraulic station only serves a few casting machines, including casting machines that are in the casting state and casting machines that are turning over and unloading. Therefore, the power supply of one hydraulic station can fully meet the operation of several working casting machines. Therefore, in the present invention, one hydraulic station can provide power for an unlimited number of casting machines, which greatly reduces the production cost.

[0022] (3) The system ensures the quality and consistency of castings by precisely controlling casting parameters and automating operations. Each casting machine is equipped with an IC identification card that records casting parameters. The intelligent robot can automatically identify and adjust casting parameters to ensure that each casting meets product quality requirements. At the same time, the multi-stage speed and pressure control functions of the hydraulic system further ensure that the mold and product are not damaged. In addition, the precise coordination of the unloading mechanism and the conveying mechanism ensures that the molding material can be accurately and quickly transferred to the next process, reducing quality problems caused by improper operation. These measures together improve the overall quality and consistency of the product.

[0023] (4) The control method of the continuous casting system in the present invention combines multiple advantages such as high efficiency, precision, flexibility and safety. Through the intelligent continuous production process, it significantly improves the casting efficiency and product quality. This method not only reduces the complexity and risk of manual operation, but also ensures the consistency and high quality of each casting by accurately controlling the casting parameters. At the same time, its high flexibility enables the system to easily cope with different types of casting tasks, while improving production capacity, ensuring quality, enhancing production safety and reducing labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the structure of the present invention.

[0025] Figure 2 It is a stereogram of the present invention.

[0026] Figure 3 for Figure 1 Schematic diagram of the local structure.

[0027] Figure 4 It is a structural diagram of the casting machine in the present invention.

[0028] in: 100, disc; 200, hydraulic station; 300, casting machine; 400, industrial furnace; 500, intelligent robot; 600, control cabinet; 700, unloading mechanism; 800, conveying mechanism; 201, annular hydraulic pipe; 202, straight pipe; 301, mold; 302, turning hydraulic cylinder; 303, mold opening and closing hydraulic cylinder. DETAILED DESCRIPTION

[0029] The specific implementation of the present invention is described below in conjunction with the accompanying drawings.

[0030] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0032] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0033] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0034] In the description of the embodiments of the present application, the term "and / or" is only used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0035] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0036] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0037] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0038] As described in the background art, the existing casting industry generally adopts a layout in which one casting machine is equipped with one hydraulic station manipulator. This layout causes a lot of space waste and cost increase, so an improved layout is needed.

[0039] Based on the above considerations, in order to solve the problem in the traditional casting industry that the disc-type casting system cannot realize the intelligent and differentiated supply of casting liquid, and at the same time solve the power supply problem of each casting machine.

[0040] Figure 1 An overall view of the present invention is shown, illustrating the overall casting system.

[0041] Embodiment 1 See also Figure 1-4 According to some embodiments of the present application, a robotic disc continuous casting system is provided, which is characterized by the innovation of its constituent components and working methods.

[0042] like Figure 1 The system shown includes a disc 100, which has a load-bearing capacity of 50 tons. For its specific structure, see the Chinese patent CN208516298U, which discloses a turntable for producing molds. The disc 100 is controlled by a 5.5-kilowatt motor controlled by a frequency converter and can adjust the speed arbitrarily according to the process (0-15 revolutions per minute low speed operation) to connect a reducer, and the reducer is connected to a chain driven by a gear. The disc has a chain track and a chain drive without gears, which increases the smooth operation of the disc during operation. The disc ground track is horizontally fixed to the platform foundation by a 30mm thick, 300mm wide, and 9500mm diameter steel plate. The disc wheel composed of 18 NJ222E bearings and the disc wheel is composed of 1 8 18# I-beams support the disc in the center for rotation. All the disc's gravity is dispersed among the 18 I-beams, NJ222E bearing wheels, and the ground rails are made of a 30mm thick, 300mm wide, and 9500mm diameter steel plate. The disc in the center of the disc is equipped with a precision encoder to provide signals to the PLC travel data, which can accurately calculate the disc travel angle and data. 18 I-beams are covered with 5mm I-beams to ensure that the casting machine 300300 can operate smoothly on the disc 100. The disc 100 is controlled by a control cabinet 600 and connected with a wireless gateway and a wireless router. By using wireless remote control, the workload of engineers is reduced and the failure of the disc when the data line is rotating is avoided.

[0043] The disc 100 is designed as a circular structure, and a hydraulic station 200 is arranged at the center of the disc 100. The design of the disc 100 enables the entire casting process to be carried out continuously, thereby improving production efficiency. The hydraulic station 200 is located at the center of the circle, which ensures the shortest hydraulic pipeline, reduces the loss of hydraulic medium during the transportation process, and also makes the hydraulic supply to each casting machine 300 more uniform and stable.

[0044] Specifically, the disc 100 not only carries multiple casting machines 300, but is also the core component of the entire system, which realizes the continuous operation of the casting machine through rotation. The rotation speed of the disc 100 can be adjusted according to production needs, so as to control the casting rhythm. The hydraulic station 200, as a power source, provides the necessary hydraulic power for the casting machine 300 to ensure the smooth progress of the casting process.

[0045] like Figure 1 As shown, the number of casting machines 300 is designed to be multiple, such as Figure 4 As shown, in this embodiment, the casting machine includes a mold 301, a turning hydraulic cylinder 302 and a mold opening and closing hydraulic cylinder 303; specifically, the mold 301 is used to contain the casting liquid and shape it after cooling; A turning hydraulic cylinder 302, which is used to drive the casting machine to turn over for easy unloading; A mold opening and closing hydraulic cylinder 303, which corresponds to the mold and is used for opening and closing the mold; At the same time, in order to facilitate control, a third PLC system is also provided in the casting machine to control the opening and closing of the mold, as well as the rotation and discharge of the casting machine.

[0046] In this embodiment, the number of casting machines 300 is 16. In the actual production process, an unlimited number of casting machines 300 can be set up on a limited site. This is because the hydraulic station 200 recognizes the IC identification card on the casting machine 300 through the IC identification sensor. Therefore, although there are multiple casting machines 300, the hydraulic station 200 only serves a few casting machines 300 each time, including the casting machines 300 that are in the casting state and the casting machines 300 that are flipping and unloading. Therefore, in this embodiment, the power provided by one hydraulic station 200 is fully capable of meeting the operation of several of the casting machines 300. Therefore, when the number of casting machines 300 is unlimited, one hydraulic station 200 can meet all of them, which greatly reduces the production cost.

[0047] Each casting machine 300 is distributed in a ring on the disc 100. In this embodiment, multiple casting machines 300 are distributed in a ring at equal distances on the edge of the disc 100. This layout not only allows each casting machine 300 to receive the power supply of the hydraulic station 200 evenly, but also facilitates the operation of the intelligent robot 500. Each casting machine 300 is connected to the same hydraulic station 200, ensuring the uniformity and stability of the hydraulic power. More importantly, each casting machine 300 is provided with an IC identification card for recording casting parameters.

[0048] This IC card can be said to be the "identity card" of each casting machine 300. It records in detail the casting parameters required by the casting machine, including key information such as casting liquid volume, casting angle, casting height, and hydraulic medium demand. These parameters are key factors in ensuring casting quality, and the design of the IC card makes the parameter setting of each casting machine 300 flexible and traceable, greatly improving production flexibility and product quality stability.

[0049] In this embodiment, the casting angle means that different workpieces will be cast using different molds. Different molds have differences in height and shape. Therefore, a suitable angle needs to be used when casting the casting liquid. Similarly, the same applies to the casting liquid volume and casting height.

[0050] The casting parameters mentioned in the IC identification card in this embodiment are mainly the essential parameters used in the present invention. In actual use, they also include casting liquid model, casting liquid temperature, etc. As long as there are casting liquid parameter requirements in the casting industry, they can be added to the IC identification card, and there is no actual technical obstacle to the supplementation of these parameters.

[0051] Each casting machine 300 is equipped with a third PLC system. This system is mainly used to control the opening and closing of the mold and the rotation and discharging of the casting machine. By working in coordination with the first PLC control system and the second PLC control system, the third PLC system can ensure that the casting machine 300 performs the correct operation at the right time, thereby achieving an efficient and accurate casting process.

[0052] Specifically, the hydraulic system in the casting machine 300 is controlled by multi-stage speed and pressure control valves, which can achieve multi-stage speed and pressure of opening and closing molds, flipping forward and backward, and ejector, ensuring that the molds and products are not damaged. All the hydraulic stations of the casting machines 300 on the disc only need one 11-kilowatt motor hydraulic station, which greatly saves the cost and energy consumption of the hydraulic station. The casting machine 300 on the disc is equipped with a third PLC system, and the transmission method adopts wireless gateway, wireless router remote Ethernet / IP: Ethernet and Industrial Protocol (Industrial Protocol) communication control to control each casting machine 300 as required to achieve the action, time, reception, and pressure required by the production process to ensure the production process and quality.

[0053] In this embodiment, Figure 1 and Figure 2 As shown, the system also includes a plurality of industrial furnaces 400, which are arranged around the periphery of the disc 100. The industrial furnaces 400 are an indispensable part of the casting system. They are responsible for melting and keeping the casting liquid warm to ensure that the casting liquid maintains a constant temperature and fluidity during the casting process.

[0054] In this embodiment, each group of industrial furnaces 400 includes two, and the types of casting liquid in the industrial furnaces in different groups are different, while the types of casting liquid in the two industrial furnaces in the same group are the same. This design not only ensures the diversity of casting liquid types, but also realizes the continuity of the supply of the same type of casting liquid.

[0055] In this embodiment, two industrial furnaces in the same group adopt an alternating working mode of one in use and one in standby, that is, when one of the industrial furnaces can supply casting liquid, the other industrial furnace performs degassing and deslagging treatment, thereby ensuring the continuity of work.

[0056] Although one group of two industrial furnaces is used in this embodiment, in the actual processing process, different types of casting liquid can be provided according to different workpieces under the control of the corresponding intelligent robot 500. The technical solution of using multiple groups of industrial furnaces has the same working logic as the technical solution of using one group of industrial furnaces. Therefore, the present invention also includes the technical solution of using multiple groups of industrial furnaces.

[0057] like Figure 1-Figure 3 As shown, in order to achieve accurate casting of the casting liquid, the system is equipped with multiple intelligent robots 500, which correspond to multiple groups of industrial furnaces 400 and are arranged between the disc 100 and the industrial furnaces 400. These intelligent robots 500 can scoop an appropriate amount of casting liquid from the corresponding industrial furnace 400 according to the needs of the casting machine 300, and accurately cast it into the casting machine 300.

[0058] The introduction of intelligent robots 500 not only improves the automation of casting, but also greatly improves the precision and efficiency of casting. They can automatically identify and adjust casting parameters according to the IC identification card information of the casting machine 300, ensuring that each casting meets the product quality requirements.

[0059] IC identification sensors capable of identifying IC identification cards of casting machines are provided on the hydraulic station 200 and the intelligent robot 500. These IC identification sensors can accurately obtain the specific needs of each casting machine by exchanging information with the IC identification cards of the casting machines 300, and perform precise hydraulic power supply and casting of casting liquid according to these needs.

[0060] In addition, a plurality of position sensors are arranged around the disc 100. The number of position sensors corresponds to the number of intelligent robots 500. The position sensors are fixed on the ground or arranged on the fence or on the intelligent robot 500 through a bracket, and are arranged relative to the casting machine 300 for real-time identification of the position of the casting machine 300. The position sensor and the intelligent robot 300 are located in the front and rear of the rotation direction of the disc 100, and the corresponding distance is spaced between the two, so that the subsequent intelligent robot 500 has a response time, can identify the IC identification card of the casting machine 300, and move synchronously with the casting machine 300 that is about to arrive and provide casting liquid 300. When the casting machine 300 rotates to a specific position, the position sensor triggers the IC identification sensor to identify the IC identification card of the casting machine, and provides the corresponding casting liquid and hydraulic medium according to the parameter information in the IC identification card. The position sensor also wirelessly communicates with the hydraulic station 200 and the intelligent robot 300, so as to facilitate the acquisition of the corresponding position information of the casting machine 300. This design ensures that each casting machine 300 receives the required resources and power at the correct location and time.

[0061] The casting parameters recorded by the IC card include not only the amount of casting liquid, casting angle and casting height, but also the hydraulic medium requirement. These parameters are crucial to ensure casting quality and efficiency. For example, the amount of casting liquid directly affects the size and shape of the product; the casting angle and height determine the flow mode and filling effect of the casting liquid in the mold; and the hydraulic medium requirement is related to the opening and closing speed and stability of the casting machine 300.

[0062] The intelligent robot 500 is internally equipped with a first PLC control system. This system is not only electrically connected to the IC identification sensor, position sensor and control system of the hydraulic station 200 of the intelligent robot 500, but is also responsible for controlling the precise movement of the manipulator. During the casting process, the IC identification sensor of the intelligent robot 500 can identify the rotation speed of the disc 100 and the position of the casting machine 300 in real time, ensuring that the manipulator can keep synchronous movement with the corresponding casting machine, thereby achieving precise casting operation.

[0063] In addition, the No.1 PLC control system also has powerful data processing capabilities, and can adjust the movement trajectory and speed of the robot according to the real-time collected data to cope with various complex casting needs. This intelligent control method not only improves the accuracy and efficiency of casting, but also greatly reduces the labor intensity of operators.

[0064] Specifically, the intelligent robot 500 is composed of an automatic tracking system and a disc precision encoder, which communicates with the control cabinet 600 through Ethernet / IP: Ethernet and Industrial Protocol remotely through a wireless gateway and a wireless router to automatically identify the casting machine 300, the mold, and the insulation pouring cup. It automatically tracks the disc and the casting machine according to different product weight models to continuously cast, which greatly saves the operation time and ensures the temperature of the casting liquid. The end pouring spoon of the intelligent robot 500 adopts a manual pouring spoon, a 30mm diameter seamless steel pipe with a length of 1200mm and an ordinary cast steel pouring spoon, which does not change the gravity casting process itself, is simple and applicable, and has low maintenance costs. The water-taking mode adopts the intelligent robot 500 stacking and destacking system, and automatically descends a little each time water is taken (the descending size can be set) according to the reduced position of the casting liquid. At the same time, the intelligent robot 500 is remotely controlled by wireless gateways and wireless routers during water taking and operation paths.

[0065] A second PLC control system is provided in the hydraulic station 200. In addition to being electrically connected to the IC identification sensor, hydraulic system and position sensor of the hydraulic station 200, this system is also responsible for adjusting the output of the hydraulic system according to the needs of the casting machine 300. The IC identification sensor of the hydraulic station 200 can identify the position of the casting machine 300 and the demand for hydraulic medium in real time, thereby ensuring that the hydraulic system can provide the casting machine with an appropriate amount of hydraulic medium at the right time.

[0066] The hydraulic station 200 is positioned so as to provide power to a plurality of casting machines 300 at the same time. In the present embodiment, the number of casting machines 300 is 16, and the 16 casting machines 300 are respectively provided with power through hydraulic system control. In the present embodiment, the source of providing power to the 16 casting machines 300 comes from the information sharing between the hydraulic station 200 and the casting machines 300. Specifically, the IC identification card on the casting machine 300 is identified by the IC identification sensor of the hydraulic station 200. Therefore, although a plurality of casting machines 300 are arranged, the hydraulic station 200 only serves a few casting machines 300 each time, including the casting machines 300 that are in the casting state and the casting machines 300 that are flipping and unloading. Therefore, in the present embodiment, one hydraulic station 200 is fully capable of satisfying the operation of the 16 casting machines 300, thereby greatly reducing the production cost.

[0067] The introduction of the second PLC control system makes the output of the hydraulic station 200 more accurate and controllable. It can provide personalized hydraulic medium supply according to the actual needs of each casting machine 300, which not only avoids the waste of resources but also ensures the stable operation of the casting machine.

[0068] like Figure 3As shown, the hydraulic system in this embodiment includes an annular hydraulic pipe 201 and a plurality of straight pipes 202 arranged around the annular hydraulic pipe 201. These straight pipes 202 are respectively connected to each casting machine 300 to provide hydraulic medium to the casting machine. This pipeline layout is simple and clear, and is easy to maintain and manage. At the same time, the design of the annular hydraulic pipe 201 also ensures the uniformity and stability of the hydraulic medium during the transportation process.

[0069] The entire continuous casting system is also equipped with a control cabinet 600. A fourth PLC controller is arranged inside the control cabinet 600, which is electrically connected to the first PLC controller, the second PLC controller and the third PLC controller respectively. Through this connection method, the control cabinet 600 can realize centralized control and monitoring of the entire system. The electrical connection method uses wireless communication technology, which further improves the flexibility and scalability of the system and reduces the layout of the wiring harness, because the present application involves multiple casting machines 300, and wiring cannot be performed if a wired method is used.

[0070] As the "brain" of the entire system, the control cabinet 600 is not only responsible for receiving and processing data and information from various controllers, but also responsible for issuing corresponding control instructions based on this information. Its introduction makes the operation of the entire system more intelligent and automated, greatly improving production efficiency and product quality.

[0071] In addition to the above core components, the system also includes a discharge mechanism 700 and a conveying mechanism 800. The discharge mechanism 700 can identify the location information of the casting machine 300, and accurately grab the molded materials on the casting machine and transfer them to the next process. This design avoids the tediousness and unsafe factors of manual handling, and improves production efficiency and product quality. The discharge mechanism 700 is a six-axis intelligent robot. The discharge mechanism 700 is composed of an automatic tracking system and a disc precision encoder. Through the wireless gateway and router remote Ethernet / IP: Ethernet and Industrial Protocol (Industrial Protocol) communication, the control cabinet 600 automatically identifies the casting machine 300, mold, and product, and cooperates with the casting machine 300 to open the mold and receive the material, and then transmits it to the subsequent conveying mechanism 800 through the wireless gateway and wireless router remote communication to realize the automatic assembly line sorting function; The conveying mechanism 800 is responsible for receiving the molding materials transferred by the unloading mechanism 700 and distributing them to the subsequent production line for further processing or treatment.

[0072] The introduction of these two mechanisms further improves the functionality and automation of the entire continuous casting system. Their close cooperation with other core components makes the entire production process smoother and more efficient.

[0073] In summary, the continuous casting system in this embodiment has a compact and reasonable structure and is easy to operate. Through the layout of the disc 100, the hydraulic station 200 and the casting machine 300, the space utilization rate is greatly improved and the cost is reduced. At the same time, through the position sensor, the intelligent robot 500, the hydraulic station 200 and the PLC control, the casting process is efficiently automated and continuously precisely controlled, and the differentiated processing of different casting machines 300 can be realized, which significantly improves the production efficiency, product quality and processing flexibility, while reducing the cost, energy consumption and manual operation intensity.

[0074] Embodiment 2 This embodiment also relates to a control method for a robot disc continuous casting system, which is used to operate the above-mentioned continuous casting system. The specific operation steps are as follows: S1, the disc 100 rotates at a certain speed. When one of the casting machines 300 approaches the position sensor, the hydraulic station 200 provides the hydraulic medium required by the casting machine so that the casting machine can perform the mold opening operation. This step ensures that the casting machine 300 receives the required hydraulic medium at the correct position and time, laying the foundation for the subsequent casting process.

[0075] S2, after the intelligent robot 500 recognizes the IC identification card on the casting machine 300, it will scoop an appropriate amount of casting liquid from the corresponding industrial furnace 400. In this step, the intelligent robot 500 can accurately obtain the type and amount of casting liquid required by the casting machine 300 by recognizing the IC identification card of the casting machine 300, thereby ensuring the accuracy and quality of casting.

[0076] S3, the intelligent robot 500 will maintain the same speed as the casting machine 300 and accurately cast the casting liquid according to the casting parameters. S4, the hydraulic station supplies hydraulic medium according to the casting parameters of the casting machine; S5. The casting machine closes the mold (replenishes the casting liquid) - turns over (to facilitate subsequent unloading) - opens the mold (removes the material) according to the supplied hydraulic medium to complete the casting work; S6. The unloading mechanism grabs the formed material according to the position information of the casting machine and transports it to the conveying mechanism to complete the overall casting system.

[0077] The control method of this continuous casting system combines multiple advantages such as high efficiency, precision, flexibility and safety. Through the intelligent continuous production process, it significantly improves the casting efficiency and product quality. This method not only reduces the complexity and risk of manual operation, but also ensures the consistency and high quality of each casting by precisely controlling the casting parameters. At the same time, its high flexibility enables the system to easily cope with different types of casting tasks, while improving production capacity, ensuring quality, enhancing production safety and reducing labor costs.

[0078] The above description is an explanation of the present invention, not a limitation of the present invention. The scope of the present invention is defined in the claims. Any form of modification may be made within the scope of protection of the present invention.

Claims

1. Robot disc continuous casting system, characterized in that: include: The disc, which is a circular structure and can rotate; There are multiple casting machines, which are distributed in a ring on the disc, and the casting machines are provided with IC identification cards for recording casting parameters; A hydraulic station, which is located at the center of the disc and can provide power to multiple casting machines; Industrial furnaces, which are arranged in groups around the outer periphery of the disk, and each group includes two; There are multiple intelligent robots corresponding to multiple groups of industrial furnaces, and the intelligent robots are arranged between the disc and the industrial furnaces, and are used to quantitatively cast the casting liquid in the industrial furnaces into the casting machine; A position sensor, which is located in the circumference of the disc and is arranged corresponding to the intelligent robot, is used to identify the position of the casting machine and transmit the identification signal to the intelligent robot and the hydraulic station; The hydraulic station and the intelligent robot are both provided with IC identification sensors for identifying the IC identification card of the casting machine.

2. The robot disc continuous casting system according to claim 1, characterized in that: The casting parameters recorded by the IC identification card include casting liquid volume, casting angle, casting height and hydraulic medium requirement.

3. The robot disc continuous casting system according to claim 2, characterized in that: The intelligent robot is provided with a first PLC control system, which is electrically connected to the intelligent robot IC identification sensor, position sensor and control system of the hydraulic station; and the intelligent robot IC identification sensor can also identify the rotation speed of the disc and the position of the casting machine, and move synchronously with the corresponding casting machine during casting.

4. The robot disc continuous casting system according to claim 3, characterized in that: The hydraulic station is provided with a second PLC control system, which is electrically connected to the hydraulic station IC identification sensor, the hydraulic system and the position sensor. The IC identification sensor of the hydraulic station is used to identify the position of the casting machine and the demand for hydraulic medium.

5. The robot disc continuous casting system according to claim 4, characterized in that: The hydraulic system includes a hydraulic pipeline connecting the hydraulic station and multiple casting machines. The hydraulic pipeline includes an annular hydraulic pipe and multiple straight pipes arranged around the annular hydraulic pipe. The multiple straight pipes are respectively connected to the casting machines to provide hydraulic media to the casting machines.

6. The robot disc continuous casting system according to claim 5, characterized in that: The casting machine comprises: A mold, which is used to hold the casting liquid and shape it after cooling; A turning hydraulic cylinder is used to drive the casting machine to turn over for easy unloading; A mold opening and closing hydraulic cylinder, which corresponds to the mold and is used for opening and closing the mold; The casting machine is also provided with a third PLC system for controlling the opening and closing of the mold, and controlling the rotation and discharging of the casting machine.

7. The robot disc continuous casting system and control method thereof as claimed in claim 6, characterized in that: It also includes a control cabinet, in which a fourth PLC controller is arranged, and the fourth PLC controller is electrically connected to the first PLC controller, the second PLC controller, and the third PLC controller respectively, and the electrical connection method includes wireless communication.

8. The robot disc continuous casting system according to any one of claims 1 to 7, characterized in that: Also includes: A discharge mechanism, which can identify the position information of the casting machine, grab the molding material on the casting machine and transfer it to the next process; The conveying mechanism is used to receive the molding materials from the unloading mechanism and distribute them.

9. A robot disc continuous casting system control method, characterized in that: The method for operating the continuous casting system of claim 8 comprises the following steps: S1, the disc rotates at a certain speed. When one of the casting machines approaches the position sensor, the hydraulic station provides the hydraulic medium to the casting machine to open the mold; S2, after the intelligent robot recognizes the IC identification card on the casting machine, it scoops an appropriate amount of casting liquid from the industrial furnace; S3, the intelligent robot maintains the same speed as the casting machine and casts the casting liquid according to the casting parameters; S4, the hydraulic station supplies hydraulic medium according to the casting parameters of the casting machine; S5, the casting machine performs mold closing, flipping and mold opening according to the supplied hydraulic medium to complete the casting work; S6. The unloading mechanism grabs the formed material according to the position information of the casting machine and transports it to the conveying mechanism to complete the overall casting system.

10. The robot disc continuous casting system control method according to claim 9, characterized in that: The industrial furnaces in different groups have different types of casting liquid, the two industrial furnaces in the same group have the same type of casting liquid, and when one of the two industrial furnaces in the same group is supplying casting liquid, the other is performing refining, degassing and slag removal processes.

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