Control method and system of fire-resistant coating soaking and coating production line

Abstract

The invention discloses a control method and system for a fire-resistant coating soaking and coating production line, relates to the technical field of industrial equipment control, and aims at solving the technical problems that a traditional production line is poor in coating quality, low in production efficiency and insufficient in stability of a control system.The control method comprises the steps that S1, the coating thickness and the coating area are set, drawing a three-dimensional structure diagram of the wax pattern through a computer; s2, generating a wax pattern soaking track route image set according to the three-dimensional structure diagram of the wax pattern; s3, a mechanical arm is controlled to conduct soaking and coating according to batch coating according to the soaking track route image set of the wax pattern; and S4, a telescopic arm is controlled to conduct coating according to the soaking track route set of the wax pattern. According to the method, by means of accurate trajectory planning and coordinate calculation, the residence time and speed at all parts of the wax pattern are accurately controlled, the uniform coating thickness is ensured, the problem that the coating thickness is not uniform is solved, the fire resistance difference of castings is reduced, and the quality stability, high-temperature reliability and durability of the castings are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial equipment control, and more specifically, to a control method and system for a refractory coating immersion coating production line. Background Art

[0002] In the investment casting industry, the immersion coating of refractory coatings is a key process, and its coating quality and efficiency directly affect the final quality and production efficiency of castings. However, the current refractory coating immersion coating production line faces many challenges during actual operation.

[0003] Traditional production line control methods often lack accuracy and automation. On the one hand, when determining the immersion trajectory of the wax pattern, most rely on manual experience and simple planning, and it is difficult to generate accurate immersion trajectories for wax patterns with different shapes and structures. This results in uneven coating thickness, material waste due to excessive coating in some areas, and reduced refractory performance and quality stability of the castings due to insufficient coating in some areas. On the other hand, the motion control of the robotic arm and telescopic arm is not precise enough, and it cannot be flexibly adjusted according to the complex shape and trajectory requirements of the wax pattern, making it easy to miss or repeat coating during the coating process, further reducing the coating quality and production efficiency.

[0004] In addition, the existing production line control system has deficiencies in data processing and logical judgment. The ability to analyze and process the wax pattern trajectory is limited, and it is difficult to quickly and accurately generate a reasonable atlas of immersion trajectory routes. Moreover, when controlling the movement of the telescopic arm, there is a lack of an effective judgment mechanism to ensure the precise operation of the telescopic motor, which easily leads to excessive or insufficient telescopic movement, affecting the coating effect and the stability of the production line.

[0005] In summary, the existing refractory coating immersion coating production line has obvious defects in control methods and systems. There is an urgent need for a more precise, efficient, and intelligent control method and system to solve the above problems, improve the coating quality and production efficiency, and meet the continuous development needs of the investment casting industry. In view of this, we propose a control method and system for a refractory coating immersion coating production line. Summary of the Invention

[0006] The purpose of the present invention is to provide a control method and system for a refractory coating immersion coating production line to solve the technical problems of poor coating quality, low production efficiency, and insufficient stability of the control system in traditional production lines.

[0007] To solve the above technical problems, the present invention provides the following technical solution: A control method for a refractory coating immersion coating production line, comprising: S1: Set the coating thickness and coating area, and draw a three-dimensional structure diagram of the wax pattern through a computer; S2: Generate an atlas of the wax pattern immersion trajectory routes based on the three-dimensional structure diagram of the wax pattern; S3: Control the robotic arm to perform immersion coating in batches according to the atlas of the wax pattern immersion trajectory routes; S4: Control the telescopic arm to perform coating according to the set of the wax pattern immersion trajectory routes; S5: When all the telescopic movements of the telescopic arm are completed, control the robotic arm to perform unloading.

[0008] With the aid of precise trajectory planning and coordinate calculation, the present invention significantly improves the quality of coating. First, set the coating thickness and area, and use a computer to draw the three-dimensional structure diagram of the wax pattern to provide a basis for immersion trajectory planning. When generating the atlas of the wax pattern immersion trajectory routes, determine the trajectory points through complex and precise steps, calculate the coordinates and normal vectors of the first trajectory point, construct and adjust the coordinate system to determine the coordinates of the second trajectory point, accurately segment the trajectory set, optimize the positions of the immersion trajectory points, and control the robotic arm and the telescopic arm to move according to the atlas of the trajectory routes, precisely control the residence time and speed at each part of the wax pattern, and can accurately coat even for wax patterns with complex shapes to ensure uniform coating thickness. Compared with traditional manual coating, it avoids the problem of uneven coating thickness, reduces the differences in the refractory properties of the castings, and improves the quality stability, high-temperature reliability and durability of the castings.

[0009] Preferably, in the step S^{2}, the steps of generating an atlas of the wax pattern immersion trajectory routes based on the three-dimensional structure diagram of the wax pattern include: S201: Select the first trajectory point of the wax pattern, generate a coordinate system with the current trajectory point as the center point through a computer, and determine the first trajectory point and the second trajectory point in the coordinate system; S202: Obtain the wax pattern trajectory image through a computer, and obtain the trajectory set in the trajectory between the first trajectory point and the second trajectory point of the wax pattern according to the wax pattern trajectory image, and segment the trajectory set at equal lengths to obtain the trajectory subsets; S203: Judge whether the trajectory in the current trajectory subset is single. If so, save the trajectory subset as the immersion trajectory point. If not, segment the trajectory to obtain the trajectory subset until the segmented trajectory subset is single; S204: Obtain the positions of all the first trajectory points according to the wax pattern trajectory image, and generate an atlas of the wax pattern immersion trajectory routes according to the positions of all the first trajectory points.

[0010] Preferably, in the step S201, the steps of selecting the first trajectory point of the wax pattern, generating a coordinate system with the current trajectory point as the center point through a computer, and determining the first trajectory point and the second trajectory point in the coordinate system include: S201a: Calculate and obtain the coordinates of the first trajectory point and the normal vector of the first trajectory point according to the wax pattern structure; S201b: Generate the coordinate system with the coordinates of the first trajectory point as the center. The normal vector of the first trajectory point is perpendicular to the x-axis of the coordinate system and the normal direction faces the side end surface of the wax pattern. S201c: Connect the origin of the coordinate system to the first trajectory point. The first trajectory point is located on the x-axis of the coordinate system. Rotate the coordinate system around the y-axis so that the first trajectory point is perpendicular to the plane formed by the x-axis and y-axis of the coordinate system. Wherein, in the rotated coordinate system, the first trajectory point is located on the x-axis of the coordinate system and is close to the z-axis of the coordinate system. S201d: Calculate the coordinate points corresponding to the second trajectory point in the coordinate system. Wherein, the second trajectory point is located on the side of the first trajectory point away from the z-axis along the x-axis direction.

[0011] Preferably, in the step S201c, the rotation matrix used to rotate the coordinate system around the y-axis is: ; In the formula, is the rotation angle.

[0012] Preferably, in the step S202, the steps of obtaining the wax pattern trajectory image by computer, obtaining the trajectory set in the trajectory between the first trajectory point and the second trajectory point of the wax pattern according to the wax pattern trajectory image, and dividing the trajectory set into equal lengths to obtain the trajectory subset include: S202a: Obtain the vector from the first trajectory point to the second trajectory point according to the coordinate system, the first trajectory point and the second trajectory point. S202b: Judge whether the length of the vector is less than the trajectory length threshold. If so, consider the current first trajectory point as the termination point, take the second trajectory point as the new first trajectory point, repeat S201c, and repeat S201a - S201d. Otherwise, execute S202c. S202c: Obtain the trajectory set composed of the points on the wax pattern between the adjacent first trajectory point and the second trajectory point. Divide the trajectory set by length through the computer to obtain the trajectory subset. Judge whether there is a single trajectory in the trajectory subset. If there is, take the trajectory subset as an immersion trajectory point. If not, divide the trajectory subset until the divided trajectory subset is single, and take the trajectory subset as an immersion trajectory point.

[0013] Preferably, the vector from the first trajectory point to the second trajectory point , the vector length , in the formula, and represent the first trajectory point and the second trajectory point respectively. Indicates the first trajectory point The coordinates in the coordinate system generated with the current trajectory point as the center, Are the coordinates of the second trajectory point In the same coordinate system, Indicates from the first trajectory point Pointing to the second trajectory point Of the vector, Represents the vector Of the length.

[0014] Preferably, in the step S204, the steps of obtaining the positions of all the first trajectory points according to the wax pattern trajectory image and generating the wax pattern immersion trajectory route atlas according to the positions of all the first trajectory points include: S204a: Obtain several trajectory points with the maximum distance from several first trajectory points to the side length of the wax pattern according to the wax pattern structure. Determine whether the several trajectory points are single. If not, divide the trajectory according to a preset ratio and generate a coordinate system with the new trajectory point as the center point; S204b: Determine whether the x-axis of the coordinate system is parallel to the z-axis. If so, generate a translation matrix. If not, generate a rotation matrix; Wherein, the translation matrix is used to translate the origin of the coordinate system to the center point of the first trajectory point, and the rotation matrix is used to rotate the coordinate system around the y-axis until the origin of the coordinate system is translated to the center point of the first trajectory point; S204c: Obtain all immersion trajectory points according to the coordinate system; S204d: Connect the immersion trajectory points in sequence and generate a wax pattern immersion trajectory route atlas; S204e: Receive the immersion trajectory points after the coating is completed, and obtain the coordinate system corresponding to the immersion trajectory points from the wax pattern immersion trajectory route atlas; S204f: Translate the origin of the coordinate system to the center point of the first trajectory point. If the origin of the coordinate system after translation coincides with the origin of the uncoated area of the wax pattern in the atlas, retain the atlas. Otherwise, delete the atlas and generate an unused atlas; S204g: Store the unused atlas into the database at equal time intervals.

[0015] Preferably, in the step S4, the steps of controlling the telescopic arm to perform coating according to the immersion trajectory route set of the wax pattern include: S401: Obtain the initial coordinates of the connecting rod, and obtain the initial coordinates of the robotic arm according to the immersion trajectory route set of the wax pattern; S402: Calculate the displacement value of the connecting rod and the displacement value of the telescopic rod through the initial coordinates and the initial coordinates; Wherein, the displacement value of the connecting rod is the displacement of the robotic arm; S403: Control the telescopic motor of the robotic arm according to the displacement value of the telescopic rod corresponding to the displacement value of the connecting rod. When the telescopic arm completes the displacement value of the connecting rod, determine whether the telescopic motor has completed the displacement value of the telescopic rod.

[0016] S404: Define a first judgment value, a second judgment value, and a third judgment value; Among them, the first judgment value is used to judge whether the displacement value of the connecting rod is zero, and the first judgment value is greater than a first preset value, or the third judgment value is less than or equal to the opposite number of the displacement value of the connecting rod, and the absolute value of the third judgment value is greater than a third preset value. When the second judgment value is equal to the first judgment value or the third judgment value, it is determined that the telescopic motor has completed the displacement value of the telescopic rod; S405: When the telescopic value of the telescopic motor is zero, control the telescopic motor to stop.

[0017] A control system for a refractory coating immersion coating production line, comprising: A computer, which is used to receive the three-dimensional structure diagram of the wax pattern and generate a set of immersion trajectory routes of the wax pattern, set the coating thickness and coating area, and draw the three-dimensional structure diagram of the wax pattern; select the first trajectory point of the wax pattern, generate a coordinate system with the current trajectory point as the center point through the computer, determine the first trajectory point and the second trajectory point in the coordinate system, obtain the wax pattern trajectory image, and obtain the trajectory set in the trajectory between the first trajectory point and the second trajectory point of the wax pattern according to the wax pattern trajectory image, and divide the trajectory set by equal length to obtain the trajectory subset, judge whether the trajectory in the current trajectory subset is single, if so, save the trajectory subset as the immersion trajectory point, if not, divide the trajectory to obtain the trajectory subset until the divided trajectory subset is single, obtain the positions of all the first trajectory points according to the wax pattern trajectory image, define a first judgment value, a second judgment value, and a third judgment value to judge whether the telescopic motor has completed the displacement value of the telescopic rod; A robotic arm, which is used to control the telescopic arm to perform immersion coating in batches according to the set of immersion trajectory routes of the wax pattern. The robotic arm includes a plurality of telescopic arms. Each immersion trajectory point corresponds to a telescopic movement of the telescopic arm, and is used to obtain the initial coordinates of the connecting rod and obtain the initial coordinates of the robotic arm according to the set of immersion trajectory routes of the wax pattern; and is used to obtain the displacement value of the connecting rod and the displacement value of the telescopic rod in the coordinate system, where the displacement value of the connecting rod is the displacement of the robotic arm; and is used to control the stop of the telescopic motor when the telescopic value of the telescopic rod is zero.

[0018] Preferably, the coordinate system generation steps are as follows: A: Calculate and obtain the first trajectory point coordinates and the normal vector of the first trajectory point according to the wax pattern structure; B: Generate the coordinate system with the coordinates of the first trajectory point as the center. The normal vector of the first trajectory point is perpendicular to the x-axis of the coordinate system and the normal direction faces the side end face of the wax pattern. C: Connect the origin of the coordinate system to the center point corresponding to the origin of the coordinate system of the first trajectory point. D: Rotate the coordinate system around the y-axis so that the origin of the coordinate system of the first trajectory point is located on the z-axis; calculate the coordinate point corresponding to the second trajectory point in the current coordinate system.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. By means of precise trajectory planning and coordinate calculation, the present invention significantly improves the coating quality. First, set the coating thickness and area, and use a computer to draw a three-dimensional structure diagram of the wax pattern to provide a basis for soaking trajectory planning. When generating the soaking trajectory route atlas, determine the trajectory points through complex and precise steps, calculate the coordinates and normal vectors of the first trajectory point, construct and adjust the coordinate system to determine the coordinates of the second trajectory point, accurately divide the trajectory set, optimize the positions of the soaking trajectory points, and move the robotic arm and telescopic arm according to the trajectory atlas, precisely controlling the residence time and speed at each part of the wax pattern. For wax patterns with complex shapes, accurate coating can also be achieved, ensuring uniform coating thickness. Compared with traditional manual coating, it avoids the problem of uneven coating thickness, reduces the difference in the refractory properties of castings, and improves the quality stability, high-temperature reliability, and durability of castings.

[0020] 2. The present invention utilizes the powerful automation control and data processing capabilities of a computer to improve production efficiency. The computer quickly processes the three-dimensional data of the wax pattern, determines a large number of trajectory points according to the preset algorithm, and converts them into soaking trajectory routes that can be executed by the robotic arm, significantly shortening the trajectory planning time and reducing the pre-production preparation time. During the production process, the robotic arm and telescopic arm quickly respond according to the trajectory atlas and precisely execute the coating action. Precise trajectory planning reduces the ineffective movement of the robotic arm, and controls the telescopic motor by accurately calculating the displacement values of the connecting rod and telescopic rod, efficiently driving the telescopic arm. When mass-producing wax patterns of the same type, the number of wax patterns coated per unit time increases significantly, shortening the production cycle and improving the overall efficiency of the production line, meeting the large market demand for castings.

[0021] 3. The present invention enhances the stability of the production line control system by defining clear judgment values and a logical judgment mechanism. When controlling the movement of the telescopic arm, the first, second, and third judgment values are defined to accurately judge whether the telescopic motor has completed the displacement value of the telescopic rod. The first judgment value judges whether the displacement value of the connecting rod is zero and greater than the first preset value, and the third judgment value judges whether it is less than or equal to the opposite of the displacement value of the connecting rod and the absolute value is greater than the third preset value. When the second judgment value is equal to the first or third judgment value, it is determined to be completed. In actual production, in the face of interference such as voltage fluctuations and equipment vibrations, this mechanism can timely adjust the state of the telescopic motor, ensure that the telescopic arm displaces along the predetermined trajectory, and avoid affecting the coating application. Precise motion control reduces equipment wear, lowers the probability of failure, extends the service life of the equipment, and ensures the continuous and stable progress of production. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic flow chart of the method of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] Example 1: As Figure 1 shown, a control method for a refractory coating immersion coating production line according to the present invention includes: S1: Set the coating thickness and the coating area , and draw the three-dimensional structure of the wax pattern through a computer ; S2: Generate a wax pattern immersion trajectory route atlas according to the three-dimensional structure diagram of the wax pattern; In the embodiment of the present invention, the S2 is specifically: S201: Select the first trajectory point of the wax pattern, generate a coordinate system with the current trajectory point as the center point through a computer, and determine the first trajectory point and the second trajectory point in the coordinate system; In the embodiment of the present invention, the S201 is specifically: S201a: Calculate the coordinates and the normal vector of the first trajectory point of the wax pattern; S201b: Generate the coordinate system at the center of the coordinates of the first trajectory point , and the normal vector of the first trajectory point is perpendicular to the x-axis of the coordinate system and the normal direction faces the side end face of the wax pattern; S201c: Connect the first trajectory point with the origin of the coordinate system ​Located on the x-axis of the coordinate system, rotate the coordinate system around the y-axis by an angle , so that the first trajectory point is perpendicular to the plane formed by the x-axis and y-axis of the coordinate system. The rotation matrix is: ; In the formula, is the rotation angle, which is the magnitude of the angle by which the coordinate system rotates around the y-axis. In the control method of the refractory coating immersion coating production line, in order to place the first trajectory point in a suitable position, that is, perpendicular to the plane formed by the x-axis and y-axis of the coordinate system, it is necessary to rotate the coordinate system generated with the first trajectory point as the center around the y-axis, and is this rotation angle. Its value range is , and different values will rotate the coordinate system to different directions, thus affecting the subsequent calculation of the coordinates of the second trajectory point and the planning of the entire wax pattern immersion trajectory route; Among them, in the rotated coordinate system, the first trajectory point is located on the x-axis of the coordinate system and close to the z-axis of the coordinate system; S201d: Calculate the coordinate point corresponding to the second trajectory point in the coordinate system; Among them, the second trajectory point is located on the x-axis direction on the side of the first trajectory point far from the z-axis; S202: Obtain the wax pattern trajectory image through a computer, and obtain the trajectory set in the trajectory between the first trajectory point and the second trajectory point according to the wax pattern trajectory image, and divide the trajectory set into equal lengths to obtain the trajectory subset; In the embodiment of the present invention, the S202 is specifically: S202a: Obtain the vector pointing from the first trajectory point to the second trajectory point according to the coordinate system, the first trajectory point and the second trajectory point ; S202b: Judge whether the length of the vector is less than the trajectory length threshold . If so, it is considered that the current first trajectory point is the termination point, take the second trajectory point as the new first trajectory point, repeat S201c, repeat S201a - S201d, otherwise execute S202c; In the formula, and respectively represent the first trajectory point and the second trajectory point, represent the first trajectory point coordinates in the coordinate system generated with the current trajectory point as the center, be the second trajectory point coordinates in the same coordinate system, represent from the first trajectory point pointing to the second trajectory point vector, represent the vector length, that is, the first trajectory point to the second trajectory point distance.

[0024] S202c: Obtain adjacent first trajectory points and the second trajectory point the trajectory set composed of points on the wax pattern between them , through the computer to the said trajectory set divide by length to obtain trajectory subsets , judge whether there is a single trajectory in the said trajectory subset , if so, take the trajectory subset as an immersion trajectory point, if not, divide the trajectory subset until the obtained trajectory subset is single, and take the trajectory subset as an immersion trajectory point; S203: Judge whether the trajectory in the current trajectory subset is single, if so, save the trajectory subset as an immersion trajectory point, if not, divide the trajectory to obtain a trajectory subset until the divided trajectory subset is single; S204: Obtain the positions of all first trajectory points according to the wax pattern trajectory image, and generate a wax pattern immersion trajectory route map set according to the positions of all first trajectory points; In the embodiment of the present invention, the said S204 is specifically: S204a: Obtain several first trajectory points according to the wax pattern structure to the farthest distance is the side length of the wax pattern several trajectory points , judge whether several trajectory points are single, if not, divide the trajectory according to a preset ratio and generate a coordinate system with the new trajectory point as the center point; S204b: Judge whether the x-axis of the coordinate system is parallel to the z-axis, if so, generate a translation matrix , if not, generate a rotation matrix ; Among them, the translation matrix is used to translate the origin of the coordinate system to the center point of the first trajectory point, and the rotation matrix is used to rotate the coordinate system around the y-axis until the origin of the coordinate system is translated to the center point of the first trajectory point; S204c: Obtain all immersion trajectory points according to the coordinate system; S204d: Connect the immersion trajectory points in sequence and generate a wax pattern immersion trajectory route atlas ; S204e: Receive the immersion trajectory points after the coating is completed, and obtain the coordinate system corresponding to the immersion trajectory points from the wax pattern immersion trajectory route map ; S204f: Translate the center point of the first trajectory point according to the origin of the coordinate system. If the origin of the translated coordinate system coincides with the origin of the uncoated area of the wax pattern in the atlas, retain the atlas; otherwise, delete the atlas to generate an unused atlas ; S204g: Store the unused atlas in the database at equal time intervals; S3: Control the robotic arm to perform immersion coating in batches according to the wax pattern immersion trajectory route atlas ; In an embodiment of the present invention, the immersion trajectory route set of the wax pattern includes several immersion route subsets, the immersion route subsets include several immersion trajectory subsets, the immersion trajectory subsets include several immersion trajectory points, several of the immersion trajectory points include a center point, the immersion trajectory route set of the wax pattern is used to control a robotic arm to perform immersion coating, the robotic arm includes several telescopic arms, each immersion trajectory point corresponds to a telescopic movement of the telescopic arm, the telescopic arm includes a telescopic rod, a connecting rod and a telescopic motor, one end of the connecting rod is located on the surface of the telescopic rod, and the other end is located inside the wax pattern, and the telescopic motor is used to control the telescopic rod to expand and contract; S4: Control the telescopic arm to perform coating according to the immersion trajectory route set of the wax pattern ; In an embodiment of the present invention, controlling the telescopic arm to perform coating in step S4 specifically includes: S401: Obtain the initial coordinates of the connecting rod , and obtain the initial coordinates of the robotic arm according to the immersion trajectory route set of the wax pattern ; S402: Calculate through the initial coordinates and the initial coordinates: Connecting rod displacement value ; Telescopic rod displacement value ; Among them, the displacement value of the connecting rod is the displacement of the robotic arm; S403: Control the telescopic motor of the robotic arm according to the displacement value of the telescopic rod corresponding to the displacement value of the connecting rod. When the telescopic arm completes the displacement value of the connecting rod, determine whether the telescopic motor has completed the displacement value of the telescopic rod.

[0025] S404: Define a first judgment value , a second judgment value and a third judgment value ; Among them, the first judgment value is used to judge whether the displacement value of the connecting rod is zero, and the first judgment value is greater than a first preset value , or the third judgment value is less than or equal to the opposite number of the displacement value of the connecting rod (taking the x direction as an example), and the absolute value of the third judgment value is greater than a third preset value . When the second judgment value is equal to the first judgment value or the third judgment value , it is determined that the telescopic motor has completed the displacement value of the telescopic rod; S405: When the telescopic value of the telescopic motor is zero, control the telescopic motor to stop.

[0026] S5: When the telescopic arm has completed all telescopic movements, control the robotic arm to unload.

[0027] Embodiment 2: A control system for a refractory coating immersion coating production line, including: A computer, which is used to receive the three-dimensional structure diagram of the wax pattern and generate a set of immersion trajectory routes of the wax pattern; As another embodiment of the present invention, the computer is specifically: used to set the coating thickness and coating area, and draw the three-dimensional structure diagram of the wax pattern; select the first trajectory point of the wax pattern, generate a coordinate system with the current trajectory point as the center point through the computer, determine the first trajectory point and the second trajectory point in the coordinate system, obtain the wax pattern trajectory image, and obtain the trajectory set in the trajectory between the first trajectory point and the second trajectory point of the wax pattern according to the wax pattern trajectory image, and divide the trajectory set by equal length to obtain the trajectory subset, judge whether the trajectory in the current trajectory subset is single, if so, save the trajectory subset as the immersion trajectory point, if not, divide the trajectory to obtain the trajectory subset until the divided trajectory subset is single, and obtain the positions of all the first trajectory points according to the wax pattern trajectory image; As another embodiment of the present invention, the computer further includes: defining a first judgment value, a second judgment value, and a third judgment value, wherein the first judgment value is used to judge whether the displacement value of the connecting rod is zero, and the first judgment value is greater than a first preset value, or the third judgment value is less than or equal to the opposite number of the displacement value of the connecting rod, and the absolute value of the third judgment value is greater than a third preset value. When the second judgment value is equal to the first judgment value or the third judgment value, it is determined that the telescopic motor has completed the displacement value of the telescopic rod.

[0028] A robotic arm for controlling the telescopic arm to perform immersion coating in batches according to the immersion trajectory route set of the wax pattern; As another embodiment of the present invention, the track route set of the wax pattern includes several immersion route subsets, the immersion route subsets include several immersion trajectory subsets, the immersion trajectory subsets include several immersion trajectory points, and several of the immersion trajectory points include a center point; As another embodiment of the present invention, the robotic arm is specifically: used to clamp the wax pattern for immersion coating. The robotic arm includes several telescopic arms. Each of the immersion trajectory points corresponds to a telescopic movement of the telescopic arm, and is used to obtain the initial coordinates of the connecting rod and obtain the initial coordinates of the robotic arm according to the immersion trajectory route set of the wax pattern; And, used to obtain the displacement value of the connecting rod and the displacement value of the telescopic rod in the coordinate system, wherein the displacement value of the connecting rod is the displacement of the robotic arm, And, used to control the stop of the telescopic motor when the telescopic value of the telescopic rod is zero.

[0029] As another embodiment of the present invention, the coordinate system is generated as follows: A: Calculate and obtain the first trajectory point coordinates and the normal vector of the first trajectory point according to the wax pattern structure; B: Generate the coordinate system with the first trajectory point coordinates as the center. The normal vector of the first trajectory point is perpendicular to the x-axis of the coordinate system and the normal direction faces the side end face of the wax pattern; C: Connect the origin of the coordinate system to the center point of the first trajectory point corresponding to the origin of the coordinate system; D: Rotate the coordinate system around the y-axis so that the origin of the coordinate system of the first trajectory point is located on the z-axis; calculate the coordinate points corresponding to the second trajectory point in the current coordinate system.

[0030] The embodiments disclosed in the present invention are preferred embodiments, but not limited to this. Those of ordinary skill in the art can easily understand the spirit of the present invention based on the above embodiments and make different extensions and changes. However, as long as they do not depart from the spirit of the present invention, they are within the protection scope of the present invention.

Claims

1. A control method for a refractory coating immersion coating production line, characterized in that Including: S1: Set the coating thickness and coating area, and draw a three-dimensional structure diagram of the wax pattern through a computer; S2: Generate an atlas of the wax pattern immersion trajectory routes based on the three-dimensional structure diagram of the wax pattern; S3: Control the robotic arm to perform immersion coating in batches according to the atlas of the wax pattern immersion trajectory routes; S4: Control the telescopic arm to perform coating according to the set of wax pattern immersion trajectories; S5: When the telescopic arm completes all telescopic movements, control the robotic arm to perform unloading.

2. The control method of the refractory coating immersion coating production line according to claim 1, characterized in that, In the step S2, the step of generating an atlas of the wax pattern immersion trajectory routes based on the three-dimensional structure diagram of the wax pattern includes: S201: Select the first trajectory point of the wax pattern, generate a coordinate system with the current trajectory point as the center point through a computer, and determine the first trajectory point and the second trajectory point in the coordinate system; S202: Obtain the wax pattern trajectory image through a computer, obtain the trajectory set in the trajectory between the first trajectory point and the second trajectory point of the wax pattern according to the wax pattern trajectory image, and divide the trajectory set at equal lengths to obtain the trajectory subset; S203: Determine whether the trajectory in the current trajectory subset is single. If so, save the trajectory subset as the immersion trajectory point. If not, divide the trajectory to obtain the trajectory subset until the divided trajectory subset is single; S204: Obtain the positions of all the first trajectory points according to the wax pattern trajectory image, and generate an atlas of the wax pattern immersion trajectory routes according to the positions of all the first trajectory points.

3. The control method of the refractory coating immersion coating production line according to claim 2, characterized in that In the step S201, the step of selecting the first trajectory point of the wax pattern, generating a coordinate system with the current trajectory point as the center point through a computer, and determining the first trajectory point and the second trajectory point in the coordinate system includes: S201a: Calculate the coordinates of the first trajectory point and the normal vector of the first trajectory point according to the wax pattern structure; S201b: Generate the coordinate system with the first trajectory point coordinates as the center. The normal vector of the first trajectory point is perpendicular to the x-axis of the coordinate system and the normal direction faces the side end face of the wax pattern; S201c: Connect the first trajectory point with the origin of the coordinate system. The first trajectory point is located on the x-axis of the coordinate system, and rotate the coordinate system around the y-axis so that the first trajectory point is perpendicular to the plane formed by the x-axis and the y-axis of the coordinate system; Wherein, in the rotated coordinate system, the first trajectory point is located on the x-axis of the coordinate system and is close to the z-axis of the coordinate system; S201d: Calculate the coordinate point corresponding to the second trajectory point in the coordinate system; Wherein, the second trajectory point is located on the side of the first trajectory point away from the z-axis along the x-axis direction.

4. The control method of the refractory coating immersion coating production line according to claim 3, characterized in that, In the step S201c, the rotation matrix used to rotate the coordinate system around the y-axis is as follows: ； In the formula, is the rotation angle.

5. The control method of the refractory coating dipping and coating production line according to claim 2, characterized in that In the step S202, the step of obtaining the wax pattern trajectory image through a computer, obtaining the trajectory set in the trajectory between the first trajectory point and the second trajectory point of the wax pattern according to the wax pattern trajectory image, and dividing the trajectory set at equal lengths to obtain the trajectory subset includes: S202a: Obtain the vector from the first trajectory point to the second trajectory point according to the coordinate system, the first trajectory point and the second trajectory point; S202b: Determine whether the length of the vector is less than the track length threshold. If so, consider the current first track point as the termination point, take the second track point as the new first track point, repeat S201c, and repeat S201a - S201d. Otherwise, execute S202c; S202c: Obtain the track set composed of points on the wax pattern between adjacent first track points and second track points. Divide the track set by length through a computer to obtain track subsets. Determine whether there is a single track in the track subsets. If so, take the track subset as an immersion track point. If not, divide the track subset until the divided track subset is single, and take the track subset as an immersion track point.

6. The control method of the refractory coating immersion coating production line according to claim 5, characterized in that The vector from the first trajectory point to the second trajectory point , the vector length , where and represent the first trajectory point and the second trajectory point respectively, denotes the coordinates of the first trajectory point in the coordinate system generated with the current trajectory point as the center, is the second trajectory point in the same coordinate system, represents the vector from the first trajectory point to the second trajectory point , represents the length of the vector .

7. The control method of the refractory coating immersion coating production line according to claim 2, wherein In the step S204, the steps of obtaining the positions of all first track points according to the wax pattern track image and generating a wax pattern immersion track route map set include: S204a: According to the wax pattern structure, obtain several track points whose distance from several first track points to the farthest distance is the side length of the wax pattern. Determine whether the several track points are single. If not, divide the track according to a preset ratio and generate a coordinate system with the new track point as the center point; S204b: Determine whether the x-axis of the coordinate system is parallel to the z-axis. If so, generate a translation matrix. If not, generate a rotation matrix; Among them, the translation matrix is used to translate the origin of the coordinate system to the center point of the first track point, and the rotation matrix is used to rotate the coordinate system around the y-axis until the origin of the coordinate system is translated to the center point of the first track point; S204c: Obtain all immersion track points according to the coordinate system; S204d: Connect the immersion track points in sequence and generate a wax pattern immersion track route map set; S204e: Receive the immersion track points after the coating is completed, and obtain the coordinate system corresponding to the immersion track points from the wax pattern immersion track route map set; S204f: Translate the origin of the coordinate system to the center point of the first track point according to the origin of the coordinate system. If the origin of the translated coordinate system coincides with the origin of the uncoated area of the wax pattern in the map set, retain the map set. Otherwise, delete the map set and generate an unused map set; S204g: Store the unused map sets into the database at equal time intervals.

8. The control method of the refractory coating dipping and coating production line according to claim 1, characterized in that In the step S4, the steps of controlling the telescopic arm for coating according to the immersion track route set of the wax pattern include: S401: Obtain the initial coordinates of the connecting rod, and obtain the initial coordinates of the robotic arm according to the immersion track route set of the wax pattern; S402: Calculate the displacement value of the connecting rod and the displacement value of the telescopic rod through the initial coordinates and the initial coordinates; Among them, the displacement value of the connecting rod is the displacement of the robotic arm; S403: Control the telescopic motor of the robotic arm according to the displacement value of the telescopic rod corresponding to the displacement value of the connecting rod. When the telescopic arm completes the displacement value of the connecting rod, determine whether the telescopic motor completes the displacement value of the telescopic rod; S404: Define a first judgment value, a second judgment value, and a third judgment value; Among them, the first judgment value is used to judge whether the displacement value of the connecting rod is zero, and the first judgment value is greater than a first preset value, or the third judgment value is less than or equal to the opposite number of the displacement value of the connecting rod, and the absolute value of the third judgment value is greater than a third preset value. When the second judgment value is equal to the first judgment value or the third judgment value, it is determined that the telescopic motor has completed the telescopic rod displacement value; S405: When the telescopic value of the telescopic motor is zero, the telescopic motor is controlled to stop.

9. A control system for a refractory coating immersion coating production line, which uses the control method of the refractory coating immersion coating production line described in any one of claims 1-8, characterized in that, Including: A computer, which is used to receive the three-dimensional structure diagram of the wax pattern and generate a set of immersion trajectory routes of the wax pattern, set the coating thickness and coating area, and draw the three-dimensional structure diagram of the wax pattern; Select the first trajectory point of the wax pattern, generate a coordinate system with the current trajectory point as the center point through the computer, determine the first trajectory point and the second trajectory point in the coordinate system, obtain the wax pattern trajectory image, and obtain the trajectory set in the trajectory between the first trajectory point and the second trajectory point of the wax pattern according to the wax pattern trajectory image, and divide the trajectory set into equal lengths to obtain the trajectory subset, and judge whether the trajectory in the current trajectory subset is single. If so, save the trajectory subset as the immersion trajectory point. If not, divide the trajectory to obtain the trajectory subset until the divided trajectory subset is single. Obtain the positions of all the first trajectory points according to the wax pattern trajectory image, and define a first judgment value, a second judgment value and a third judgment value to judge whether the telescopic motor has completed the telescopic rod displacement value; A robotic arm, which is used to control the telescopic arm to perform immersion coating in batches according to the immersion trajectory route set of the wax pattern. The robotic arm includes a plurality of telescopic arms. Each immersion trajectory point corresponds to a telescopic movement of the telescopic arm, and is used to obtain the initial coordinates of the connecting rod and obtain the initial coordinates of the robotic arm according to the immersion trajectory route set of the wax pattern; And, it is used to obtain the displacement value of the connecting rod and the displacement value of the telescopic rod in the coordinate system, where the displacement value of the connecting rod is the displacement of the robotic arm; And, it is used to control the stop of the telescopic motor when the telescopic value of the telescopic rod is zero.

10. The control system of a refractory coating immersion coating production line according to claim 9, characterized in that The coordinate system generation steps are as follows: A: Calculate the first trajectory point coordinates and the normal vector of the first trajectory point according to the wax pattern structure; B: Generate the coordinate system with the first trajectory point coordinates as the center. The normal vector of the first trajectory point is perpendicular to the x-axis of the coordinate system and the normal direction faces the side end face of the wax pattern; C: Connect the origin of the coordinate system to the center point corresponding to the first trajectory point of the origin of the coordinate system; D: Rotate the coordinate system around the y-axis so that the origin of the coordinate system of the first trajectory point is located on the z-axis; calculate the coordinate point corresponding to the second trajectory point in the current coordinate system.

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