Method of controlling a refractory coating dip coating production line and system therefor

Abstract

The application discloses a kind of control method and system of refractory coating immersion coating production line, it is related to industrial equipment control technical field, to solve the technical problems of traditional production line coating quality, low production efficiency, control system stability is insufficient, comprising: S1: set coating thickness and coating area, the three-dimensional structure diagram of wax pattern is drawn by computer;S2: wax pattern immersion trajectory route map set is generated according to the three-dimensional structure diagram of wax pattern;S3: according to the immersion trajectory route map set of wax pattern, control mechanical arm is carried out immersion coating according to batch;S4: according to the immersion trajectory route map set of wax pattern, control telescopic arm is carried out coating coating.The application is with the track planning and coordinate calculation of accurate, accurately control the residence time and speed in each part of wax pattern, ensure that coating thickness is uniform, avoid the problem of coating thickness uneven, reduce the difference of casting refractory performance, improve the quality stability of casting, high-temperature reliability and durability.

Description

Technical Field

[0001] This invention relates to the field of industrial equipment control technology, and more specifically, to a control method and system for a refractory coating immersion coating production line. Background Technology

[0002] In the lost-wax casting industry, refractory coating immersion is a crucial process, as its quality and efficiency directly impact the final quality of the castings and production efficiency. However, current refractory coating immersion production lines face numerous challenges in actual operation.

[0003] Traditional production line control methods often lack precision and automation. On the one hand, determining the soaking trajectory of the wax pattern largely relies on manual experience and simple planning, making it difficult to generate precise soaking trajectories for wax patterns with different shapes and structures. This results in uneven coating thickness, with some areas having excessively thick coatings, leading to material waste, while other areas have coatings that are too thin, affecting the refractory properties and quality stability of the castings. On the other hand, the motion control of robotic arms and telescopic arms is not precise enough, failing to flexibly adjust according to the complex shape and trajectory requirements of the wax pattern. This makes it easy for omissions or repeated coatings to occur during the coating process, further reducing coating quality and production efficiency.

[0004] Furthermore, existing production line control systems have shortcomings in data processing and logical judgment. Their ability to analyze and process wax pattern trajectories is limited, making it difficult to quickly and accurately generate reasonable soaking trajectory route maps. Moreover, when controlling the telescopic arm movement, there is a lack of effective judgment mechanisms to ensure the precise operation of the telescopic motor, which can easily lead to excessive or insufficient telescopic movement, affecting the coating effect and the stability of the production line.

[0005] In summary, existing refractory coating immersion coating production lines have significant deficiencies in control methods and systems. There is an urgent need for a more precise, efficient, and intelligent control method and system to solve these problems, improve coating quality and production efficiency, and meet the ever-evolving needs of the lost-wax casting industry. Therefore, we propose a control method and system for a refractory coating immersion coating production line. Summary of the Invention

[0006] The purpose of this invention is to provide a control method and system for a refractory coating immersion coating production line, so as 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-mentioned 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 using a computer; S2: Generate a set of wax pattern immersion trajectory maps based on the three-dimensional structure diagram of the wax pattern; S3: Control the robotic arm to perform batch-by-batch soaking and coating according to the soaking trajectory route map of the wax pattern; S4: Control the telescopic arm to apply the coating according to the wax pattern soaking trajectory map; S5: When the telescopic arm completes all telescopic movements, control the robotic arm to demold.

[0008] This invention significantly improves coating quality through precise trajectory planning and coordinate calculation. First, the coating thickness and area are set, and a computer-generated 3D structure diagram of the wax model is created, providing a foundation for immersion trajectory planning. When generating the immersion trajectory route map, complex and precise steps are used to determine trajectory points, 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, precisely segment the trajectory set, optimize the position of the immersion trajectory points, and precisely control the dwell time and speed at various parts of the wax model by using a robotic arm and a telescopic arm to move according to the trajectory map. This allows for precise coating even on complex-shaped wax models, ensuring uniform coating thickness. Compared to traditional manual coating, this avoids uneven coating thickness, reduces differences in the refractory properties of castings, and improves the stability, high-temperature reliability, and durability of castings.

[0009] Preferably, step S2, the step of generating a wax pattern immersion trajectory map set based on the three-dimensional structural diagram of the wax pattern, includes: S201: Select the first trajectory point of the wax model, generate a coordinate system with the coordinates of the first trajectory point as the center point by a computer, and determine the first trajectory point and the second trajectory point in the coordinate system; S202: Obtain a wax pattern trajectory image using a computer, and obtain a trajectory set of the wax pattern in the trajectory between the first trajectory point and the second trajectory point based on the wax pattern trajectory image, and divide the trajectory set into equal lengths to obtain the trajectory subset; S203: Determine whether the trajectory in the current trajectory subset is a single one. If yes, save the trajectory subset as soaked trajectory points. If no, divide the trajectory to obtain trajectory subsets until the divided trajectory subsets are single. S204: Obtain the positions of all first trajectory points based on the wax pattern trajectory image, and generate a wax pattern soaking trajectory route map set based on the positions of all first trajectory points.

[0010] Preferably, in step S201, selecting the first trajectory point of the wax model and generating a coordinate system centered on the current trajectory point using 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 surface where the first trajectory point is located based on the wax pattern structure; S201b: Generate the coordinate system centered on the coordinates of the first trajectory point, wherein the normal vector of the surface where the first trajectory point is located is perpendicular to the x-axis of the coordinate system and the normal vector is directed toward the side end face of the wax model; S201c: The first trajectory point is located at the origin of the coordinate system. The coordinate system is rotated around the y-axis so that the normal vector of the surface where the first trajectory point is located is perpendicular to the plane formed by the x-axis and y-axis of the coordinate system. 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 coordinates of the second trajectory point in the coordinate system; The second trajectory point is located along the x-axis on the side of the first trajectory point away from the z-axis.

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

[0012] Preferably, in step S202, the steps of acquiring a wax pattern trajectory image using a computer, obtaining a trajectory set of the wax pattern between the first trajectory point and the second trajectory point based on the wax pattern trajectory image, and dividing the trajectory set into equal length segments to obtain the trajectory subset include: S202a: Obtain the vector pointing from the first trajectory point to the second trajectory point based on the coordinate system, the first trajectory point, and the second trajectory point; S202b: Determine if 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 formed by wax pattern points between adjacent first trajectory points and second trajectory points. Divide the trajectory set by length using a computer to obtain trajectory subsets. Determine whether there is a single trajectory in the trajectory subset. If there is, use the trajectory subset as an immersion trajectory point. If there is no single trajectory, divide the trajectory subset until the divided trajectory subset is a single trajectory and use the trajectory subset as an immersion trajectory point.

[0013] Preferably, the vector pointing from the first trajectory point to the second trajectory point Vector length In the formula, and These represent the first trajectory point and the second trajectory point, respectively. Represents the first trajectory point The coordinates in a coordinate system generated with the current trajectory point as the center. The second trajectory point Coordinates in the same coordinate system Indicates starting from the first trajectory point Pointing to the second trajectory point The vector, Representative vector The length.

[0014] Preferably, in step S204, the step of obtaining the positions of all first trajectory points based on the wax pattern trajectory image and generating a wax pattern soaking trajectory route map set based on the positions of all first trajectory points includes: S204a: Based on the wax pattern structure, obtain several first trajectory points and several trajectory points with the farthest distance equal to the side length of the wax pattern. 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 points as the center points. S204b: Determine if the x-axis of the coordinate system is parallel to the z-axis. If yes, generate a translation matrix; otherwise, 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 soaking trajectory points according to the coordinate system; S204d: Connect the soaking trajectory points sequentially and generate a wax pattern soaking trajectory route map set; S204e: Receive the immersion trajectory points after the coating is applied, and obtain the coordinate system corresponding to the immersion trajectory points from the wax pattern immersion trajectory route map set; S204f: Translate the center point of the first trajectory point according to the origin of the coordinate system. If the origin of the coordinate system after translation coincides with the origin of the wax model in the uncoated area of ​​the atlas, the atlas is retained; otherwise, the atlas is deleted and an unused atlas is generated. S204g: Store unused atlases into the database according to equal durations.

[0015] Preferably, in step S4, the step of controlling the telescopic arm to apply the coating according to the immersion trajectory map of the wax pattern includes: S401: Obtain the initial coordinates of the connecting rod and obtain the initial coordinates of the robotic arm according to the wax pattern soaking trajectory route map; S402: Calculate the displacement values ​​of the connecting rod and the telescopic rod using 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 telescopic rod displacement value corresponding to the connecting rod displacement value. When the telescopic arm completes the connecting rod displacement value, determine whether the telescopic motor has completed the telescopic rod displacement value.

[0016] S404: Define a first judgment value, a second judgment value, and a third judgment value; Wherein, the first judgment value is used to determine whether the displacement value of the connecting rod is zero, and the first judgment value is greater than the 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 the 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 extension value of the telescopic motor is zero, the telescopic motor is stopped.

[0017] A control system for a refractory coating dip-coating production line includes: A computer is used to receive a 3D structural diagram of a wax pattern and generate a set of soaking trajectory routes for the wax pattern. It sets the coating thickness and area and draws the 3D structural diagram of the wax pattern. A first trajectory point of the wax pattern is selected, and a coordinate system centered on the current trajectory point is generated by the computer. The first and second trajectory points are determined within this coordinate system. A wax pattern trajectory image is acquired, and a trajectory set between the first and second trajectory points is obtained based on the wax pattern trajectory image. This trajectory set is then divided into equal lengths to obtain a subset of trajectories. It is determined whether the trajectory in the current subset is singular. If yes, the subset is saved as a soaking trajectory point; otherwise, the trajectory is divided into subsets until each subset is singular. The positions of all first trajectory points are obtained from the wax pattern trajectory image. A first, second, and third judgment value are defined to determine whether the telescopic motor has completed the telescopic rod displacement value. A robotic arm is used to control the telescopic arm to perform batch-by-batch soaking and coating according to the soaking trajectory route map of the wax pattern. The robotic arm includes several telescopic arms, and each soaking trajectory point corresponds to a telescopic movement of the telescopic arm. It is used to obtain the initial coordinates of the connecting rod and to obtain the initial coordinates of the robotic arm according to the soaking trajectory route map of the wax pattern; and to obtain the displacement values ​​of the connecting rod and the telescopic rod in the coordinate system, wherein the displacement value of the connecting rod is the displacement of the robotic arm; and to control the telescopic motor to stop when the telescopic rod's extension value is zero.

[0018] Preferably, the coordinate system generation steps are as follows: A: The coordinates of the first trajectory point and the normal vector of the first trajectory point are calculated based on the wax pattern structure; B: Generate the coordinate system centered on the coordinates of the first trajectory point, wherein the normal vector of the first trajectory point is perpendicular to the x-axis of the coordinate system and the normal direction is toward the side end face of the wax model; C: Connect the origin of the coordinate system to the center point 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 coordinates of the second trajectory point in the current coordinate system.

[0019] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention significantly improves coating quality through precise trajectory planning and coordinate calculation. First, the coating thickness and area are set, and a computer-generated 3D structure diagram of the wax model is created, providing a foundation for immersion trajectory planning. When generating the immersion trajectory route map set, trajectory points are determined through complex and precise steps. The coordinates and normal vectors of the first trajectory point are calculated, and a coordinate system is constructed and adjusted to determine the coordinates of the second trajectory point. The trajectory set is precisely segmented, and the positions of the immersion trajectory points are optimized. A robotic arm and a telescopic arm move according to the trajectory map set, precisely controlling the dwell time and speed at various parts of the wax model. Even complex-shaped wax models can be accurately coated, ensuring uniform coating thickness. Compared with traditional manual coating, this invention avoids the problem of uneven coating thickness, reduces differences in the refractory properties of castings, and improves the quality stability, high-temperature reliability, and durability of castings.

[0020] 2. This invention leverages the powerful automation control and data processing capabilities of computers to improve production efficiency. The computer rapidly processes the 3D data of the wax pattern, determining a large number of trajectory points according to a preset algorithm, and converting them into an executable soaking trajectory route for the robotic arm. This significantly shortens trajectory planning time and reduces pre-production preparation time. During production, the robotic arm and telescopic arm respond quickly and precisely to the trajectory map, executing the coating action accurately. Precise trajectory planning reduces ineffective robotic arm movements, and the telescopic motor is controlled by accurately calculating the displacement values ​​of the connecting rod and telescopic rod, efficiently driving the telescopic arm. When mass-producing the same type of wax pattern, the number of wax patterns coated per unit time increases significantly, shortening the production cycle, improving the overall efficiency of the production line, and meeting the market's large demand for castings.

[0021] 3. This invention enhances the stability of the production line control system through clearly defined judgment values ​​and logical judgment mechanisms. When controlling the telescopic arm movement, first, second, and third judgment values ​​are defined to accurately determine whether the telescopic motor has completed the telescopic rod displacement value. The first judgment value determines whether the connecting rod displacement value is zero and greater than a first preset value. The third judgment value determines whether it is less than or equal to the opposite of the connecting rod displacement value and its absolute value is greater than a third preset value. When the second judgment value equals the first or third judgment value, the determination is complete. In actual production, facing interference from voltage fluctuations and equipment vibrations, this mechanism can adjust the telescopic motor state in a timely manner to ensure that the telescopic arm moves along the predetermined trajectory, avoiding affecting the coating application. Precise motion control reduces equipment wear, lowers the probability of failure, extends equipment life, and ensures continuous and stable production. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the method flow of the present invention. Detailed Implementation

[0023] Example 1: As Figure 1 As shown, the present invention relates to a control method for a refractory coating dip-coating production line, comprising: S1: Set coating thickness With coating area A three-dimensional structural diagram of the wax model was created using a computer. ; S2: Generate a set of wax pattern immersion trajectory maps based on the three-dimensional structure diagram of the wax pattern; In an embodiment of the present invention, S2 specifically refers to: S201: Select the first trajectory point of the wax model, generate a coordinate system with the coordinates of the first 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 an embodiment of the present invention, S201 specifically includes: S201a: Calculate the first trajectory point based on the wax pattern structure. coordinates and the first trajectory point Normal vector at the surface ; S201b: Using the coordinates of the first trajectory point Generate the coordinate system centered on the coordinate system. The normal vector at the surface where the first trajectory point is located. The side end face of the wax model is perpendicular to the x-axis of the coordinate system and its normal direction is towards the wax model; S201c: The first trajectory point The origin of the coordinate system At that point, rotate the coordinate system around the y-axis by an angle. , making the first trajectory point The normal vector at the surface is perpendicular to the plane formed by the x-axis and y-axis of the coordinate system. The rotation matrix... for: ; In the formula, The rotation angle is the magnitude of the rotation of the coordinate system around the y-axis. In the control method of a refractory coating immersion coating production line, in order to place the first trajectory point in a suitable position, that is, in the plane perpendicular to 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. It's this rotation angle. Its range of values ​​is... Different The value will cause the coordinate system to rotate in different directions, thus affecting the subsequent calculation of the coordinates of the second trajectory point and the planning of the entire wax model soaking trajectory route; In the rotated coordinate system, the first trajectory point Located on the x-axis of the coordinate system and close to the z-axis of the coordinate system; S201d: Calculate the second trajectory point in the coordinate system. corresponding coordinates ; Wherein, the second trajectory point Located along the x-axis at the first trajectory point The side furthest from the z-axis; S202: Obtain a wax pattern trajectory image using a computer, and obtain a trajectory set of the wax pattern in the trajectory between the first trajectory point and the second trajectory point based on the wax pattern trajectory image, and divide the trajectory set into equal lengths to obtain the trajectory subset; In an embodiment of the present invention, S202 specifically includes: S202a: Based on the coordinate system and the first trajectory point Second trajectory point Obtain the vector pointing from the first trajectory point to the second trajectory point. ; S202b: Determine the vector length Is it less than the trajectory length threshold? If so, then the current first trajectory point is considered to be... As the termination point, the second trajectory point As the new first trajectory point, repeat S201c, repeat S201a-S201d, otherwise execute S202c; In the formula, and These represent the first trajectory point and the second trajectory point, respectively. Represents the first trajectory point The coordinates in a coordinate system generated with the current trajectory point as the center. The second trajectory point Coordinates in the same coordinate system Indicates starting from the first trajectory point Pointing to the second trajectory point The vector, Representative vector The length of the first trajectory point To the second trajectory point distance.

[0024] S202c: Obtain the first adjacent trajectory point Second trajectory point The set of trajectories formed by points on the wax model The trajectory set is processed by computer. Segment by length to obtain a subset of trajectories. Determine the subset of trajectories Does a single trajectory exist? If so, then subset the trajectories. As an immersion trajectory point, if it does not exist, then the trajectory subset is... Perform segmentation until a subset of trajectories is obtained. For a single, and a subset of trajectories As an immersion trajectory point; S203: Determine whether the trajectory in the current trajectory subset is a single one. If yes, save the trajectory subset as soaked trajectory points. If no, divide the trajectory to obtain trajectory subsets until the divided trajectory subsets are single. S204: Obtain the positions of all first trajectory points based on the wax pattern trajectory image, and generate a wax pattern soaking trajectory route map based on the positions of all first trajectory points; In an embodiment of the present invention, S204 specifically includes: S204a: Obtain several first trajectory points based on the wax pattern structure. The furthest distance is the side length of the wax model. Several trajectory points Determine several trajectory points Is it a single element? If not, then adjust the trajectory according to a preset ratio. The coordinate system is divided and a new trajectory point is generated as the center point. S204b: Determine if the x-axis of the coordinate system is parallel to the z-axis; if so, generate a translation matrix. If not, then generate a rotation matrix. ; Wherein, the translation matrix The rotation matrix is ​​used to translate the origin of the coordinate system to the center point of the first trajectory point. 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 soaking trajectory points according to the coordinate system; S204d: Connect the soaking trajectory points sequentially and generate a wax model soaking trajectory route map. ; S204e: Receive the immersion trajectory points after the coating is applied, and from the wax pattern immersion trajectory map atlas... Obtain the coordinate system corresponding to the soaking trajectory point; S204f: Translate the center point of the first trajectory point based on the origin of the coordinate system. If the origin of the coordinate system after translation coincides with the origin of the wax model in the uncoated area of ​​the atlas, then the atlas is retained; otherwise, the atlas is deleted, and an unused atlas is generated. ; S204g: Store unused atlases into the database according to equal durations; S3: Based on the soaking trajectory map of the wax model Control the robotic arm to perform batch-by-batch soaking and coating; In an embodiment of the present invention, the immersion trajectory map of the wax pattern includes several subsets of immersion routes, each subset of immersion routes includes several subsets of immersion trajectories, each subset of immersion trajectories includes several immersion trajectory points, and each immersion trajectory point includes a center point. The immersion trajectory map of the wax pattern is used to control a robotic arm to perform immersion coating. The robotic arm includes several telescopic arms, and 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. The telescopic motor is used to control the telescopic rod to extend and retract. S4: Based on the soaking trajectory map of the wax model Control the telescopic arm to apply the coating; In an embodiment of the present invention, step S4, controlling the telescopic arm to apply the coating, specifically involves: S401: Obtain the initial coordinates of the connecting rod. The initial coordinates of the robotic arm are obtained based on the immersion trajectory map of the wax model. ; S402: Calculation using initial coordinates and initial coordinates: Connecting rod displacement value , , ; Displacement value of telescopic pole , , ; 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 telescopic rod displacement value corresponding to the connecting rod displacement value. When the telescopic arm completes the connecting rod displacement value, determine whether the telescopic motor has completed the telescopic rod displacement value.

[0025] S404: Define a first conditional value Second judgment value and the third judgment value ; Wherein, the first judgment value Used to determine whether the displacement value of the connecting rod is zero, and the first determination value Greater than the first preset value , or the third judgment value It is less than or equal to the negative 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 Greater than the third preset value When the second judgment value Equal to the first judgment value Or the third judgment value When the telescopic motor completes the displacement value of the telescopic rod; S405: When the extension value of the telescopic motor is zero, the telescopic motor is stopped.

[0026] S5: When the telescopic arm completes all telescopic movements, control the robotic arm to demold.

[0027] Example 2: A control system for a refractory coating dip-coating production line, comprising: A computer is used to receive a three-dimensional structural diagram of the wax pattern and generate a set of immersion trajectory maps for the wax pattern; In another embodiment of the present invention, the computer is specifically configured to: set the coating thickness and coating area, and draw a three-dimensional structural diagram of the wax pattern; select a 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 a wax pattern trajectory image, and obtain a trajectory set of the wax pattern 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, determine whether the trajectory in the current trajectory subset is a single one, if so, save the trajectory subset as the soaking trajectory point, if not, divide the trajectory to obtain the trajectory subset, until the divided trajectory subset is a single one, and obtain the position of all first trajectory points according to the wax pattern trajectory image; In 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 determine 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 is used to control the telescopic arm to perform batch-by-batch soaking and coating according to the soaking trajectory route map of the wax pattern; In another embodiment of the present invention, the wax pattern track set includes several soaking route subsets, the soaking route subsets include several soaking trajectory subsets, the soaking trajectory subsets include several soaking trajectory points, and the several soaking trajectory points include a center point. In another embodiment of the present invention, the robotic arm is specifically used to pick up a wax model for soaking and coating. The robotic arm includes several telescopic arms, and each soaking trajectory point corresponds to a telescopic movement of the telescopic arm. It is used to obtain the initial coordinates of the connecting rod and to obtain the initial coordinates of the robotic arm according to the soaking trajectory route map of the wax model. And, for obtaining the displacement values ​​of the connecting rod and the telescopic rod in the coordinate system, wherein the displacement value of the connecting rod is the displacement of the robotic arm. And, it is used to control the telescopic motor to stop when the telescopic pole's extension value is zero.

[0029] In another embodiment of the present invention, the coordinate system generation step is as follows: A: The coordinates of the first trajectory point and the normal vector of the first trajectory point are calculated based on the wax pattern structure; B: Generate the coordinate system centered on the coordinates of the first trajectory point, wherein the normal vector of the first trajectory point is perpendicular to the x-axis of the coordinate system and the normal direction is toward the side end face of the wax model; C: Connect the origin of the coordinate system to the center point 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 coordinates of the second trajectory point in the current coordinate system.

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

Claims

1. A control method for a refractory coating dip-coating production line, characterized in that, include: S1: Set the coating thickness and coating area, and draw a three-dimensional structure diagram of the wax pattern using a computer; S2: Generate a set of wax pattern immersion trajectory maps based on the three-dimensional structure diagram of the wax pattern; S3: Control the robotic arm to perform batch-by-batch soaking and coating according to the soaking trajectory route map of the wax pattern; S4: Control the telescopic arm to apply the coating according to the wax pattern soaking trajectory map; S5: When the telescopic arm completes all telescopic movements, control the robotic arm to demold; In step S2, the step of generating a wax pattern immersion trajectory map set based on the three-dimensional structural diagram of the wax pattern includes: S201: Select the first trajectory point of the wax model, generate a coordinate system with the coordinates of the first trajectory point as the center point by a computer, and determine the first trajectory point and the second trajectory point in the coordinate system; Step S201 includes: S201a: Calculate the coordinates of the first trajectory point and the normal vector of the surface where the first trajectory point is located based on the wax pattern structure; S201b: Generate the coordinate system centered on the coordinates of the first trajectory point, wherein the normal vector of the surface where the first trajectory point is located is perpendicular to the x-axis of the coordinate system and the normal vector is directed toward the side end face of the wax model; S201c: The first trajectory point is located at the origin of the coordinate system. The coordinate system is rotated around the y-axis so that the normal vector of the surface where the first trajectory point is located is perpendicular to the plane formed by the x-axis and y-axis of the coordinate system. 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 coordinates of the second trajectory point in the coordinate system; Wherein, the second trajectory point is located along the x-axis on the side of the first trajectory point away from the z-axis; S202: Obtain a wax pattern trajectory image using a computer, and obtain a trajectory set of the wax pattern in the trajectory between the first trajectory point and the second trajectory point based on the wax pattern trajectory image, and divide the trajectory set into equal lengths to obtain a trajectory subset; Step S202 includes: S202a: Obtain the vector pointing from the first trajectory point to the second trajectory point based on the coordinate system, the first trajectory point, and the second trajectory point; S202b: Determine if 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 formed by the wax model points between adjacent first trajectory points and second trajectory points. Divide the trajectory set by length using a computer to obtain trajectory subsets. Determine whether there is a single trajectory in the trajectory subset. If there is, use the trajectory subset as an immersion trajectory point. If there is no single trajectory, divide the trajectory subset until the divided trajectory subset is a single trajectory and use the trajectory subset as an immersion trajectory point. S203: Determine whether the trajectory in the current trajectory subset is a single one. If yes, save the trajectory subset as soaked trajectory points. If no, divide the trajectory to obtain trajectory subsets until the divided trajectory subsets are single. S204: Obtain the positions of all first trajectory points based on the wax pattern trajectory image, and generate a wax pattern soaking trajectory route map set based on the positions of all first trajectory points.

2. The control method for the refractory coating dip-coating production line according to claim 1, characterized in that, In step S201c, the rotation matrix used to rotate the coordinate system around the y-axis for: ； In the formula, The angle is the rotation angle.

3. The control method for the refractory coating dip-coating production line according to claim 1, characterized in that, The vector pointing from the first trajectory point to the second trajectory point Vector length In the formula, and These represent the first trajectory point and the second trajectory point, respectively. Indicates the first trajectory point The coordinates in a coordinate system generated with the current trajectory point as the center. The second trajectory point Coordinates in the same coordinate system Indicates starting from the first trajectory point Pointing to the second trajectory point The vector, Representative vector The length.

4. The control method for the refractory coating dip-coating production line according to claim 1, characterized in that, In step S204, the step of obtaining the positions of all first trajectory points based on the wax pattern trajectory image and generating a wax pattern soaking trajectory route map based on the positions of all first trajectory points includes: S204a: Based on the wax pattern structure, obtain several first trajectory points and several trajectory points with the farthest distance equal to the side length of the wax pattern. 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 points as the center points. S204b: Determine if the x-axis of the coordinate system is parallel to the z-axis. If yes, generate a translation matrix; otherwise, 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 soaking trajectory points according to the coordinate system; S204d: Connect the soaking trajectory points sequentially and generate a wax pattern soaking trajectory route map set; S204e: Receive the immersion trajectory points after the coating is applied, and obtain the coordinate system corresponding to the immersion trajectory points from the wax pattern immersion trajectory route map set; S204f: Translate the center point of the first trajectory point according to the origin of the coordinate system. If the origin of the coordinate system after translation coincides with the origin of the wax model in the uncoated area of ​​the atlas, the atlas is retained; otherwise, the atlas is deleted and an unused atlas is generated. S204g: Store unused atlases into the database according to equal durations.

5. The control method for the refractory coating dip-coating production line according to claim 1, characterized in that, In step S4, the step of controlling the telescopic arm to apply the coating according to the wax pattern immersion trajectory map includes: S401: Obtain the initial coordinates of the connecting rod and obtain the initial coordinates of the robotic arm based on the wax pattern soaking trajectory map. S402: Calculate the displacement values ​​of the connecting rod and the telescopic rod using 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 telescopic rod displacement value corresponding to the connecting rod displacement value. When the telescopic arm completes the connecting rod displacement value, determine whether the telescopic motor has completed the telescopic rod displacement value. S404: Define a first judgment value, a second judgment value, and a third judgment value; Wherein, the first judgment value is used to determine whether the displacement value of the connecting rod is zero, and the first judgment value is greater than the 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 the 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 extension value of the telescopic motor is zero, the telescopic motor is stopped.

6. A control system for a refractory coating dip-coating production line, comprising the control method for the refractory coating dip-coating production line according to any one of claims 1-5, characterized in that, include: A computer is used to receive the three-dimensional structural diagram of the wax pattern and generate a set of immersion trajectory maps of the wax pattern, set the coating thickness and coating area, and draw the three-dimensional structural 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 using a 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 of the wax pattern between the first trajectory point and the second trajectory point based on the wax pattern trajectory image. Divide the trajectory set into equal lengths to obtain the trajectory subsets. Determine whether the trajectory in the current trajectory subset is a single one. If yes, save the trajectory subset as the soaking trajectory point. If not, divide the trajectory to obtain trajectory subsets until the divided trajectory subsets are a single one. Obtain the positions of all first trajectory points based on the wax pattern trajectory image, and define a first judgment value, a second judgment value, and a third judgment value to determine whether the telescopic motor has completed the telescopic rod displacement value. A robotic arm is used to control a telescopic arm to perform batch-by-batch soaking and coating according to the soaking trajectory route map of the wax pattern. The robotic arm includes several telescopic arms, each of which includes a telescopic rod, a connecting rod, and a telescopic motor. Each soaking trajectory point corresponds to a telescopic movement of the telescopic arm, used to obtain the initial coordinates of the connecting rod and the initial coordinates of the robotic arm according to the soaking trajectory route map of the wax pattern. And, for obtaining the displacement values ​​of the connecting rod and the telescopic rod in the coordinate system, wherein the displacement value of the connecting rod is the displacement of the robotic arm; And, it is used to control the telescopic motor to stop when the telescopic pole's extension value is zero.

7. The control system for a refractory coating dip-coating production line according to claim 6, characterized in that, The coordinate system generation steps are as follows: A: The coordinates of the first trajectory point and the normal vector of the first trajectory point are calculated based on the wax pattern structure; B: Generate the coordinate system centered on the coordinates of the first trajectory point, wherein the normal vector of the first trajectory point is perpendicular to the x-axis of the coordinate system and the normal direction is toward the side end face of the wax model; C: Connect the origin of the coordinate system to the center point 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 coordinates of the second trajectory point in the current coordinate system.

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