Vacuum breakage prevention method for combustible and explosive fluid vacuum pouring hopper

Abstract

The combustible and explosive fluid vacuum pouring hopper anti-vacuum breaking method relates to the field of combustible and explosive fluid vacuum pouring. The combustible and explosive fluid vacuum pouring hopper anti-vacuum breaking method solves the problem that the traditional robot system cannot perform real-time scraping operation on the residual fluid on the hopper wall surface according to the combustible and explosive fluid height in the hopper during the vacuum pouring process, and is difficult to complete the anti-vacuum breaking task of the vacuum pouring hopper. The combustible and explosive fluid vacuum pouring hopper anti-vacuum breaking method divides the hopper into three regions and corresponds to three scraping modes, monitors the liquid level of the combustible and explosive fluid in the hopper in real time, and controls the scraper to perform scraping action in the corresponding region of the hopper in the corresponding posture based on the liquid level, thereby reducing the number of scraping times during the fluid vacuum pouring process, improving the efficiency of the anti-vacuum breaking task, and using different scraping postures in different regions to make the scraper closely fit the inner wall of the hopper and reduce the residual amount of the fluid on the inner wall of the hopper. The combustible and explosive fluid vacuum pouring hopper anti-vacuum breaking method is mainly applied in the vacuum pouring task.

Description

Technical Field

[0001] This invention relates to the field of vacuum casting of flammable and explosive fluids, specifically a method for preventing vacuum breakage in a vacuum casting hopper for flammable and explosive fluids. Background Technology

[0002] Currently, traditional industrial robots are widely used in manufacturing, assembly, and logistics. However, limited by pre-programmed actions and working environments, they can only complete fixed tasks under specific conditions, and their automation and intelligence capabilities are relatively weak. In vacuum casting of flammable and explosive complex fluids, the flammable and explosive fluid in the hopper gradually decreases as the casting process progresses. To prevent the fluid in the center of the hopper from being poured too quickly, causing air to enter the casting cartridge and disrupt the vacuum environment, it is necessary to scrape the fluid from the hopper wall to the center during the casting process to slow down the pouring speed and prevent the vacuum from being broken. Since flammable and explosive fluids are highly viscous flammable and explosive substances, mechanical scraping is generally required.

[0003] In vacuum casting tasks, different cartridges typically require the casting of varying amounts of flammable and explosive fluids. The shape and position of the hopper also vary depending on the casting task requirements. These diverse working conditions and unstructured working environments make it difficult for traditional offline programming or online teach-in robot systems to perform real-time scraping of the fluid on the hopper wall based on the fluid height within the hopper during the vacuum casting process. Consequently, they struggle to complete the vacuum-prevention task of preventing vacuum breakage in the vacuum casting hopper. Summary of the Invention

[0004] The purpose of this invention is to solve the problem that traditional robot systems cannot perform real-time scraping of residual fluid on the hopper wall based on the height of flammable and explosive fluid in the hopper during vacuum casting, making it difficult to complete the task of preventing vacuum breakage in vacuum casting hoppers. This invention provides a method for preventing vacuum breakage in vacuum casting hoppers for flammable and explosive fluids.

[0005] A method for preventing vacuum breakage in vacuum casting hoppers for flammable and explosive fluids, the method including:

[0006] The funnel-shaped hopper is divided into three areas from top to bottom: the straight cylindrical area, the transition area, and the tapered gradient area.

[0007] During the vacuum casting process, the vision system monitors in real time the height H2 of the center point of the flammable and explosive fluid surface in the hopper and the height H1 of the upper edge of the residual flammable and explosive fluid on the hopper wall. Based on the relationship between these two heights and the heights of the upper and lower boundaries of the hopper transition zone, the system controls the robotic arm to move the shovel to the corresponding area of ​​the hopper wall. The system also controls the shovel's scraping posture and method, ensuring the shovel scrapes along the circumference of the hopper wall until the height H2 of the flammable and explosive fluid surface decreases to a preset height, thus preventing vacuum breakage in the vacuum casting process.

[0008] The scraping method corresponding to the straight cylinder area is as follows: the shovel performs one scraping action and moves around the circumference of the hopper wall in the horizontal direction;

[0009] The scraping method corresponding to the transition zone is as follows: the shovel performs multiple scraping actions, and each scraping action is the shovel scraping material along the extension direction of the hopper wall from top to bottom. The scraping action is repeated until the shovel moves around the circumference of the hopper wall.

[0010] The scraping method corresponding to the conical gradient zone is as follows: the shovel performs one scraping action, and moves around the circumference of the hopper wall in the horizontal direction.

[0011] Preferably, when H2≥H is satisfied simultaneously t When H1-H2≥ L, control the shovel to perform scraping operation in the straight cylinder area so that H1-H2 approaches 0;

[0012] When H1 > H are satisfied simultaneously b H2≤H b At the same time, control the shovel to perform scraping operation in the transition zone;

[0013] When H1≤H are satisfied simultaneously b When H1-H2≥-Lcosα′, control the shovel to perform scraping operation in the cone-shaped gradient zone so that H1-H2 approaches 0;

[0014] Where L is the width of the shovel, α′ is the bending angle of the hopper transition zone, and H t H represents the height of the upper boundary of the transition zone. b This represents the height of the lower boundary of the transition zone.

[0015] Preferably, when the shovel performs the scraping operation in the straight cylinder area, the scraping posture is such that the shovel contacts the hopper wall along the circumference of the hopper and is inclined towards the wall in the circumferential direction, and the included angle α between the shovel and the tangent plane of the wall is in the range of 35°≤α≤45°.

[0016] Preferably, when the shovel performs the scraping operation in the transition zone, the scraping posture is such that the shovel contacts the hopper wall along the hopper axis and is inclined toward the wall in the axial direction, and the included angle α between the shovel and the tangent plane of the wall is in the range of 35°≤α≤45°.

[0017] Preferably, when the scraping operation is performed by the shovel in the tapered gradient zone, the scraping posture is such that the shovel contacts the hopper wall along the circumference of the hopper and is inclined towards the wall in the circumferential direction, and the included angle α between the shovel and the tangent plane of the wall is in the range of 35°≤α≤45°.

[0018] Preferably, the optimal value of α is 40°.

[0019] A computer-readable storage device stores a computer program that, when executed, implements the method for preventing vacuum breakage in a vacuum casting hopper for flammable and explosive fluids.

[0020] A computer program product includes a computer program that, when executed by a processor, implements the method for preventing vacuum breakage in a vacuum casting hopper for flammable and explosive fluids.

[0021] Advantages of this invention:

[0022] This invention establishes a strategy for preventing vacuum breakage in the hopper during vacuum casting of flammable and explosive fluids based on liquid level. The invention considers the impact of different flammable and explosive fluid casting volumes and irregular hopper shapes on the scraping posture and movements of the robotic arm. The hopper is divided into three areas, each corresponding to a different scraping method. Simultaneously, the liquid level in the hopper is monitored in real-time visually, and based on this, the robotic arm is controlled to grip the scraper and perform scraping actions in the corresponding areas of the hopper with appropriate postures. This reduces the number of scraping operations during vacuum casting, improving the efficiency of the vacuum breakage prevention task. Furthermore, different scraping postures are used for different hopper areas, ensuring the scraper fits tightly against the inner wall of the hopper, reducing the amount of fluid residue on the inner wall and improving economic and environmental benefits. This invention provides inspiration and optimization for cleaning residual fluid in the hopper and preventing vacuum breakage in actual vacuum casting tasks. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of flammable and explosive fluids being poured into a funnel-shaped hopper.

[0024] Figure 2 This diagram shows the relative positions of the shovel and the wall surface during the scraping process in the straight section.

[0025] Figure 3 This diagram shows the relative positions of the shovel and the wall surface during the scraping process in the transition zone.

[0026] Figure 4 This diagram shows the relative positions of the shovel and the wall surface during the scraping process corresponding to the tapered gradient zone. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0029] Specific Implementation Method 1: Combination Figure 1 This embodiment describes a method for preventing vacuum breakage in a vacuum casting hopper for flammable and explosive fluids. The method includes:

[0030] The funnel-shaped hopper is divided into three areas from top to bottom: the straight cylindrical area, the transition area, and the tapered gradient area.

[0031] During the vacuum casting process, the vision system monitors in real time the height H2 of the center point of the flammable and explosive fluid surface in the hopper and the height H1 of the upper edge of the residual flammable and explosive fluid on the hopper wall. Based on the relationship between these two heights and the heights of the upper and lower boundaries of the hopper transition zone, the system controls the robotic arm to move the shovel to the corresponding area of ​​the hopper wall. The system also controls the shovel's scraping posture and method, ensuring the shovel scrapes along the circumference of the hopper wall until the height H2 of the flammable and explosive fluid surface decreases to a preset height, thus preventing vacuum breakage in the vacuum casting process.

[0032] The scraping method corresponding to the straight cylinder area is as follows: the shovel performs one scraping action and moves around the circumference of the hopper wall in the horizontal direction;

[0033] The scraping method corresponding to the transition zone is as follows: the shovel performs multiple scraping actions, and each scraping action is the shovel scraping material along the extension direction of the hopper wall from top to bottom. The scraping action is repeated until the shovel moves around the circumference of the hopper wall.

[0034] The scraping method corresponding to the conical gradient zone is as follows: the shovel performs one scraping action, and moves around the circumference of the hopper wall in the horizontal direction.

[0035] In practical applications, flammable and explosive fluids are highly viscous, flammable, and explosive slurries.

[0036] This embodiment provides a method for preventing vacuum breakage in a vacuum casting hopper for flammable and explosive fluids. It establishes a strategy based on liquid level height to prevent vacuum breakage during the vacuum casting process. Specifically, it considers the impact of different flammable and explosive fluid casting volumes and irregular hopper shapes on the scraping posture and movements of the robotic arm. The hopper is divided into three areas, each corresponding to a different scraping method. Simultaneously, the liquid level in the hopper is monitored in real-time visually, and based on this, the robotic arm is controlled to grip the scraper and perform scraping actions in the corresponding areas of the hopper with appropriate postures. This reduces the number of scraping operations during the vacuum casting process, improving the efficiency of the vacuum breakage prevention task. Furthermore, different scraping postures are used for different hopper areas, ensuring the scraper fits tightly against the inner wall of the hopper, reducing the amount of fluid residue on the inner wall and improving economic and environmental benefits. This method provides inspiration and optimization for cleaning residual fluid in hoppers and preventing vacuum breakage in actual vacuum casting tasks.

[0037] This invention applies vision technology to robotic systems containing robotic arms, enabling the robot system to perceive environmental information and target states more accurately, thereby improving the automation and intelligence of robots in industrial production. Specifically, it uses a camera to identify target feature parameters and sends data such as the target's position and shape to the robot, facilitating the robot's better understanding of task information and improving its task planning and generalization capabilities. This makes it adept at solving unstructured and complex tasks, such as preventing vacuum breakage in vacuum casting hoppers.

[0038] The conditions under which scraping operations can be performed in the corresponding areas are further specified as follows:

[0039] When H2≥H are satisfied simultaneously t When H1-H2≥ L, control the shovel to perform scraping operation in the straight cylinder area so that H1-H2 approaches 0;

[0040] When H1 > H are satisfied simultaneously b H2≤H b At the same time, control the shovel to perform scraping operation in the transition zone;

[0041] When H1≤H are satisfied simultaneously b When H1-H2≥-Lcosα′, control the shovel to perform scraping operation in the cone-shaped gradient zone so that H1-H2 approaches 0;

[0042] Where L is the width of the shovel, α′ is the bending angle of the hopper transition zone, and H t H represents the height of the upper boundary of the transition zone. b This represents the height of the lower boundary of the transition zone.

[0043] Where L is the width of the shovel, α′ is the bending angle of the hopper transition zone, and H t H represents the height of the upper boundary of the transition zone. bThis represents the height of the lower boundary of the transition zone.

[0044] Principle Analysis: After the fluid vacuum casting begins, the fluid first passes through the straight section of the hopper. When the fluid level difference in the hopper exceeds the width of the shovel (H1-H2≥L), the robotic arm controls the shovel to scrape the fluid in the straight section. Each rotation of the shovel scrapes down any remaining flammable or explosive fluid from the hopper wall, bringing the fluid level difference close to zero. This scraping operation is repeated whenever H1-H2≥L, ensuring that any remaining fluid on the straight section wall is cleaned. When the fluid level in the center is below the upper boundary of the hopper transition zone (H2≤H), the fluid level continues to rise. t When the fluid enters the transition zone of the hopper, and the fluid level at the center of the hopper is lower than the lower boundary of the transition zone (i.e., H2 ≤ H),... b And H1 > H b At this time, the robotic arm controls the shovel to perform a scraping operation in the transition zone. The end of the shovel is close to the curved wall of the hopper and scrapes away the residual fluid from top to bottom. This action is repeated around the circumference of the hopper to clean the residual fluid in the transition zone. When the upper edge of the residual fluid on the hopper wall is lower than the lower boundary of the transition zone, i.e., H1≤H b When the fluid enters the cone-shaped transition zone of the hopper, and the fluid level difference in the hopper exceeds the projection height of the shovel on the vertical plane on the cone wall (i.e., H1-H2≥-Lcosα′), the robotic arm controls the shovel to perform a scraping operation in the transition zone. The end of the shovel adheres to the cone wall and scrapes around the circumference to make the fluid level difference approach zero. Then, whenever H1-H2≥-Lcosα′, the above scraping operation is repeated until the fluid level in the center of the hopper drops to the preset position, and the hopper vacuum prevention task is completed.

[0045] See Figure 2 Furthermore, when the shovel performs scraping operation in the straight cylinder area, the scraping posture is that the shovel contacts the hopper wall along the circumference of the hopper and tilts towards the wall in the circumferential direction. The included angle α between the shovel and the tangent plane of the wall is in the range of 35°≤α≤45°, and the optimal value of α is 40°.

[0046] The preferred embodiment provides a straight-section shovel scraping posture. This scraping method can scrape away fluid with a height of L around the hopper wall in one go each time the robotic arm holds the shovel for scraping operation, which greatly improves scraping efficiency. Compared with other scraping postures, fewer scraping operations are required to remove the same amount of fluid. At the same time, fewer joints need to be controlled when the robotic arm holds the shovel and moves in a circular motion along the circumference of the hopper, which reduces the probability of collision and friction between the robotic arm and the inner wall of the hopper and improves the safety of the vacuum breaking task.

[0047] See Figure 3Furthermore, when the shovel performs scraping operation in the transition zone, the scraping posture is that the shovel contacts the hopper wall along the axial direction and is inclined towards the wall in the axial direction. The included angle α between the shovel and the tangent plane of the wall is in the range of 35°≤α≤45°, and the optimal value of α is 40°.

[0048] The preferred embodiment provides a material scraping posture for the transition zone shovel. This scraping method can adapt to various funnel-shaped hoppers. The shovel closely fits the curved surface of the hopper. Compared with other scraping postures, the shovel can better clean the residual fluid at the bend of the hopper, improving the economic and environmental benefits of the vacuum breaking prevention task.

[0049] See Figure 4 Furthermore, when the material scraping operation is performed by the shovel in the tapered gradient zone, the scraping posture is that the shovel contacts the hopper wall along the circumference of the hopper and tilts towards the wall in the circumferential direction. The range of the included angle α between the shovel and the tangent plane of the wall is , and the optimal value of α is 40°.

[0050] This preferred embodiment provides a material scraping posture for a tapered gradient zone shovel. In this scraping method, the end of the shovel is parallel to the tapered wall. The robotic arm can scrape away residual fluid with a height of -Lcosα′ around the wall in one scraping operation, maximizing the use of the shovel and improving scraping efficiency compared to other postures.

[0051] Specific Implementation Method Two: A computer-readable storage device described in this embodiment stores a computer program. When the computer program is executed, it implements the vacuum rupture prevention method for flammable and explosive fluid vacuum casting hoppers as described in Specific Implementation Method One.

[0052] Specific Implementation Method 3: A computer program product described in this implementation method includes a computer program that, when executed by a processor, implements the vacuum rupture prevention method for flammable and explosive fluid vacuum casting hoppers as described in Specific Implementation Method 1.

[0053] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A method for preventing vacuum breakage in a vacuum casting hopper for flammable and explosive fluids, characterized in that, The method includes: The funnel-shaped hopper is divided into three areas from top to bottom: the straight cylindrical area, the transition area, and the tapered gradient area. During the vacuum casting process, the vision system monitors in real time the height H2 of the center point of the flammable and explosive fluid surface in the hopper and the height H1 of the upper edge of the residual flammable and explosive fluid on the hopper wall. Based on the relationship between these two heights and the heights of the upper and lower boundaries of the hopper transition zone, the system controls the robotic arm to move the shovel to the corresponding area of ​​the hopper wall. The system also controls the shovel's scraping posture and method, ensuring the shovel scrapes along the circumference of the hopper wall until the height H2 of the flammable and explosive fluid surface decreases to a preset height, thus preventing vacuum breakage in the vacuum casting process. The scraping method corresponding to the straight cylinder area is as follows: the shovel performs one scraping action and moves around the circumference of the hopper wall in the horizontal direction; The scraping method corresponding to the transition zone is as follows: the shovel performs multiple scraping actions, and each scraping action is the shovel scraping along the extension direction of the hopper wall from top to bottom. The scraping action is repeated until the shovel moves around the circumference of the hopper wall. The scraping method corresponding to the conical gradient zone is as follows: the shovel performs one scraping action, and moves around the circumference of the hopper wall in the horizontal direction.

2. The method for preventing vacuum breakage in a vacuum casting hopper for flammable and explosive fluids according to claim 1, characterized in that, When both conditions are met , At that time, control the shovel to perform scraping operation in the straight cylinder area, so that Approaching 0; When both conditions are met , At the same time, control the shovel to perform scraping operation in the transition zone; When both conditions are met , At that time, control the shovel to perform scraping operation in the cone-shaped gradual transition zone, so that... Approaching 0; Where L is the width of the shovel. H is the bending angle of the hopper transition zone. t H represents the height of the upper boundary of the transition zone. b This represents the height of the lower boundary of the transition zone.

3. The method for preventing vacuum breakage in a vacuum casting hopper for flammable and explosive fluids according to claim 1, characterized in that, When the shovel performs scraping operations in the straight-tube area, the scraping posture is such that the shovel contacts the hopper wall along the circumference of the hopper and is inclined towards the wall in the circumferential direction, with the angle between the shovel and the tangent plane of the wall being... The range of values ​​is .

4. The method for preventing vacuum breakage in a vacuum casting hopper for flammable and explosive fluids according to claim 1, characterized in that, When the shovel performs scraping operations in the transition zone, the scraping posture is such that the shovel contacts the hopper wall along the axial direction and is inclined towards the wall in the axial direction, with the angle between the shovel and the tangent plane of the wall being... The range of values ​​is .

5. The method for preventing vacuum breakage in a vacuum casting hopper for flammable and explosive fluids according to claim 1, characterized in that, When scraping material in the tapered gradient zone, the scraping posture is such that the shovel contacts the hopper wall along the circumference and is tilted towards the wall in the circumferential direction, with the angle between the shovel and the tangent plane of the wall being... The range of values ​​is .

6. The method for preventing vacuum breakage in a vacuum casting hopper for flammable and explosive fluids according to claim 3, 4, or 5, characterized in that, The value is 40°.

7. A computer-readable storage device storing a computer program, characterized in that, When the computer program is executed, it implements the vacuum rupture prevention method for flammable and explosive fluid vacuum casting hopper as described in any one of claims 1 to 5.

8. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the vacuum rupture prevention method for flammable and explosive fluid vacuum casting hoppers as described in any one of claims 1 to 5.

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