Integrated die-casting control system

Abstract

The embodiment of the utility model provides an integrated die-casting control system, which relates to the technical field of automobile integrated die-casting production, and comprises a robot control end, a die-casting control end, automobile integrated die-casting equipment and a plurality of transfer robots, the robot control end is in communication connection with each transfer robot, and the robot control end is in communication connection with the die-casting control end; the robot control end is used for controlling the carrying robot to carry the aluminum ingots from the material storage area to the die-casting on-line station. The die-casting control end is used for controlling the automobile integrated die-casting equipment to carry out die-casting operation on aluminum ingots to obtain die-casting products; when the die-casting product arrives at a die-casting offline station, sending a transport-away instruction; the robot control end is further used for controlling the carrying robot to carry the die-casting products located at the die-casting off-line station to the die-casting product storage area when receiving the carrying-away instruction. And each carrying robot is used for executing a carrying task under the control of the robot control end. According to the scheme, the production efficiency of integrated die casting can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of automobile integrated die-casting production, in particular to an integrated die-casting control system. Background Art

[0002] In the production of new energy vehicles, integrated die-casting involves redesigning and integrating multiple, discrete parts into a single, integrated unit. This process significantly simplifies the production process, improves efficiency, and reduces costs.

[0003] During the integrated die-casting process, logistics operations such as material loading (moving aluminum ingots from the storage area to the production line) and product unloading (moving die-cast products from the production line to the storage area) need to be carried out on the production line at a high frequency. However, the logistics operations for integrated die-casting still require a large number of staff to perform, resulting in low production efficiency. Utility Model Content

[0004] The purpose of the present invention is to provide an integrated die-casting control system to improve the production efficiency of integrated die-casting. The integrated die-casting control system includes: a robot control terminal, a die-casting control terminal, an integrated automotive die-casting device, and multiple handling robots; the robot control terminal is in communication with each handling robot, and the robot control terminal is in communication with the die-casting control terminal; wherein:

[0005] The robot control terminal is used to control the transport robot to transport the aluminum ingots from the material storage area where the aluminum ingots are stored to the die-casting line station when receiving the material on-line instruction;

[0006] The die-casting control terminal is used to control the automotive integrated die-casting equipment to perform die-casting operations on the aluminum ingots arriving at the die-casting upstream station; send a first transport instruction to transport the die-cast products obtained from the die-casting operation to the die-casting downstream station, and send a first departure instruction when the die-cast products arrive at the die-casting downstream station;

[0007] The automotive integrated die-casting equipment is used to perform die-casting operations on the aluminum ingots arriving at the die-casting upper line station upon receiving a die-casting instruction;

[0008] The robot control end is further used to control the transport robot to transport the die-cast products located at the die-casting offline workstation to the die-cast product storage area upon receiving the first transport away instruction;

[0009] The transport robot is used to perform transport tasks under the control of the robot control terminal.

[0010] Optionally, the system further comprises: a first visual inspection device and a die-casting conveying robot arm; the die-casting conveying robot arm is in communication with the die-casting control terminal; the first visual inspection device is in communication with the die-casting control terminal; the die-casting offline stations include: a die-casting qualified product offline station and a die-casting unqualified product offline station;

[0011] The die-casting control end is used to send a first grabbing instruction to control the die-casting conveying robot arm to grab the die-casting product to the die-casting inspection area of ​​the first visual inspection device after the die-casting operation is performed to obtain the die-cast product;

[0012] The first visual inspection device is used to detect whether the die-cast product in the die-cast inspection area has defects and send a first inspection result;

[0013] The die-casting control end is also used to send a second grabbing instruction based on the first detection result to control the die-casting conveying robot arm to grab the die-casting products without defects from the die-casting detection area to the die-casting qualified product offline station, and to control the die-casting conveying robot arm to grab the die-casting products with defects from the die-casting detection area to the die-casting unqualified product offline station.

[0014] Optionally, the system further comprises: a die-casting offline robot arm provided at the die-casting offline station; the die-casting offline robot arm is communicatively connected to the die-casting control terminal;

[0015] The die-casting control end is specifically used to send a first departure instruction when the die-cast product arrives at the die-casting offline station if there is no container at the die-casting offline station or the container at the die-casting offline station is full;

[0016] The robot control terminal is specifically configured to control the transport robot to transport the empty container from the container storage area to the die-casting offline station upon receiving the first transport instruction; and to send a first arrival signal when the transport robot transporting the empty container arrives at the die-casting offline station;

[0017] The die-casting control end is further configured to control the die-casting offline robot arm to grab the die-cast products from the die-casting offline station and place them in a container carried by the handling robot upon receiving the first arrival signal; and to send a first full box signal when the container is full;

[0018] The robot control end is further used to control the transport robot to transport the filled container at the die-casting offline workstation to the die-casting product storage area when receiving the first full box signal.

[0019] Optionally, the plurality of handling robots include a lurking robot and a counterbalanced forklift robot;

[0020] The robot control end is specifically used to control the latent robot to carry the container filled with die-cast products to the die-cast product storage area, and when the controlled latent robot arrives at the die-cast product storage area, control the counterbalanced forklift robot to stack the container carried by the latent robot;

[0021] or,

[0022] The robot control end is specifically used to control the counterbalanced forklift robot to transport containers filled with die-cast products to the die-cast product storage area, and when the controlled counterbalanced forklift robot arrives at the die-cast product storage area, control the counterbalanced forklift robot to stack the transported containers.

[0023] Optionally, the system further comprises: a visual code reading device; the visual code reading device is communicatively connected to the robot control terminal;

[0024] The robot control terminal is further used to control the transport robot to move to the receiving docking point when receiving the aluminum ingot docking instruction, and control the transport robot to transport the aluminum ingot to be stored to the code reading area of ​​the visual code reading device;

[0025] The visual code reading device is used to read the material label information of the aluminum ingot located in the code reading area and send the read material label information to the robot control end;

[0026] The robot control end is also used to record the material label information of the aluminum ingot read by the visual code reading device, and control the transport robot that transports the aluminum ingot to transport the aluminum ingot from the code reading area to the material storage area.

[0027] Optionally, the system further comprises: a production control terminal; the production control terminal is in communication with the robot control terminal; a production line robot arm provided at the production line station; and the production line robot arm is in communication with the production control terminal;

[0028] The robot control terminal is further configured to control the transport robot to transport the container containing the die-cast products from the die-cast product storage area to the processing line station and send a second arrival signal when receiving the die-cast product online instruction;

[0029] The production control terminal is configured to control the production line robot arm to grab the die-cast product from the container arriving at the production line station when receiving the second arrival signal, and to send a first empty box signal when the container is empty;

[0030] The robot control terminal is further configured to control the transport robot to transport the empty container located at the production line station to the container storage area after receiving the first empty container signal;

[0031] The production control terminal is further used to control the machining equipment to perform machining processing operations on the die-cast products grasped by the production line robot arm, or control the assembly equipment to perform assembly processing operations on the die-cast products grasped by the production line robot arm; send a second transportation instruction to transport the die-cast products obtained by the processing operation to the production line station, and send a second departure instruction when the die-cast products arrive at the production line station;

[0032] The robot control end is further used to control the transport machine to transport the die-cast finished product located at the production off-line station to the die-cast finished product storage area after receiving the second transport instruction.

[0033] Optionally, the system further comprises: a second visual inspection device; and a production conveying robot arm; the production conveying robot arm is in communication with the production control terminal; the second visual inspection device is in communication with the production control terminal; the production off-line stations include: a production off-line station for qualified products and a production off-line station for unqualified products;

[0034] The production control end is used to send a third grabbing instruction to control the production conveying robot arm to grab the obtained die-cast product to the production inspection area of ​​the second visual inspection equipment after the die-cast product is obtained through processing;

[0035] The second visual inspection device is used to detect whether the die-cast finished product in the production inspection area has defects and send a second inspection result;

[0036] The production control end is also used to send a fourth grabbing instruction based on the second detection result to control the production conveying robot arm to grab the die-cast finished products without defects from the production detection area to the production qualified product offline station, and to control the production conveying robot arm to grab the die-cast finished products with defects from the production detection area to the production unqualified product offline station.

[0037] Optionally, the system further comprises: a production line robot arm provided at the production line station; the production line robot arm is in communication connection with the production control terminal;

[0038] The production control terminal is specifically configured to send a second departure instruction when the die-cast finished product arrives at the production off-line station and there is no container at the production off-line station or the container at the production off-line station is full;

[0039] The robot control terminal is specifically configured to control the transport robot to transport the empty container from the container storage area to the production line station upon receiving the second transport instruction; and to send a second arrival signal when the transport robot transporting the empty container arrives at the production line station;

[0040] The production control end is further configured to control the production offline robot arm to grab the die-cast finished product and place it into the container carried by the handling robot when receiving the second arrival signal, and to send a second full box signal when the container is full;

[0041] The robot control end is further used to control the transport robot to transport the filled container at the production offline workstation to the die-cast finished product storage area when receiving the second full box signal.

[0042] Optionally, the plurality of handling robots include a lurking robot and a counterbalanced forklift robot;

[0043] The robot control end is specifically used to control the latent robot to transport the container filled with die-cast finished products to the die-cast finished product storage area, and when the controlled latent robot arrives at the die-cast finished product storage area, select the counterbalanced forklift robot to stack the container carried by the latent robot;

[0044] or,

[0045] The robot control end is specifically used to control the counterbalanced forklift robot to transport the container filled with die-cast finished products to the die-cast finished product storage area, and when the controlled counterbalanced forklift robot arrives at the die-cast finished product storage area, control the counterbalanced forklift robot to stack the transported container.

[0046] Optionally, the system further comprises: a welding receiving end, and a welding line robot arm provided at a welding demand point; the welding receiving end is communicatively connected to the robot control end; the welding receiving end is communicatively connected to the welding line robot arm; the welding demand point comprises: a welding workshop or a welding line station;

[0047] The robot control terminal is used to control the transport robot to transport the container containing the die-cast finished products from the die-cast finished product storage area to the welding demand point when receiving the welding online instruction;

[0048] The welding receiving end is further used to control the welding line robot arm to grab the die-cast product from the container that reaches the welding demand point, and send a second empty box signal when the container is empty;

[0049] The robot control end is further used to control the transport robot to transport the empty container located at the welding demand point to the container storage area after receiving the second empty box signal.

[0050] The integrated die-casting control system provided by the embodiment of the present invention includes: a robot control end, a die-casting control end, an integrated automotive die-casting equipment and a plurality of handling robots; the robot control end is communicatively connected to each handling robot, and the robot control end is communicatively connected to the die-casting control end; the robot control end is used to control the handling robot to transport the aluminum ingots from the material storage area where the aluminum ingots are stored to the die-casting on-line station of the die-casting control end when receiving a material on-line instruction; the die-casting control end is used to perform die-casting operations on the aluminum ingots that arrive at the die-casting on-line station; send a first transport instruction to transport the die-cast products obtained by the die-casting operation to the die-casting off-line station, and send a first transport away instruction when the die-cast products arrive at the die-casting off-line station; the integrated automotive die-casting equipment is used to perform die-casting operations on the aluminum ingots that arrive at the die-casting on-line station when receiving a die-casting instruction; the robot control end is also used to control the handling robot to move to the die-casting off-line station after receiving the first transport away instruction, and transport the die-cast products to the die-casting product storage area; each handling robot is used to perform a handling task under the control of the robot control end.

[0051] The integrated die-casting control system provided by this solution, under the control of the robot control end and the die-casting control end, can enable the handling robot to transport aluminum ingots from the material storage area to the die-casting on-line station, and to transport the die-casting products obtained by die-casting from the die-casting off-line station to the die-casting product storage area, thereby realizing unmanned material on-line and product off-line operations, improving the efficiency of logistics operations, and thus improving production efficiency.

[0052] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0054] Figure 1 This is a schematic diagram of the first structure of the integrated die-casting control system provided by an embodiment of the present utility model;

[0055] Figure 2 A schematic diagram of the second structure of the integrated die-casting control system provided by an embodiment of the present utility model;

[0056] Figure 3 This is a schematic diagram of the third structure of the integrated die-casting control system provided by an embodiment of the present utility model;

[0057] Figure 4This is a fourth structural schematic diagram of the integrated die-casting control system provided by an embodiment of the present utility model;

[0058] Figure 5 A fifth structural schematic diagram of the integrated die-casting control system provided by an embodiment of the present utility model;

[0059] Figure 6 A schematic diagram of the execution process of the integrated die-casting control system provided by an embodiment of the present utility model;

[0060] Figure 7 Another schematic diagram of the execution process of the integrated die-casting control system provided by an embodiment of the present utility model. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field based on this application are within the scope of protection of the present invention.

[0062] In order to improve the production efficiency of integrated die-casting, an embodiment of the present application provides an integrated die-casting control system, which can be set in an integrated die-casting workshop. The system includes: a robot control terminal, a die-casting control terminal, an integrated automotive die-casting device, and multiple handling robots; the robot control terminal is communicatively connected to each handling robot, and the robot control terminal is communicatively connected to the die-casting control terminal;

[0063] The robot control terminal is used to control the handling robot to transport the aluminum ingots from the material storage area to the die-casting line station upon receiving the material on-line instruction;

[0064] The die-casting control terminal is used to control the automotive integrated die-casting equipment to perform die-casting operations on the aluminum ingots that arrive at the die-casting upstream station; send a first transport instruction to transport the die-cast products obtained from the die-casting operation to the die-casting downstream station, and send a first transport away instruction when the die-cast products arrive at the die-casting downstream station;

[0065] The automotive integrated die-casting equipment is used to perform die-casting operations on aluminum ingots arriving at the die-casting line station upon receiving the die-casting instruction;

[0066] The robot control terminal is further used to control the transport robot to transport the die-cast products located at the die-casting offline workstation to the die-cast product storage area upon receiving the first transport away instruction;

[0067] Each transport robot is used to perform a transport task under the control of the robot control terminal.

[0068] In this embodiment, under the control of the robot control end and the die-casting control end, the handling robot can transport aluminum ingots from the material storage area to the die-casting on-line station, and transport the die-cast products obtained by die-casting from the die-casting off-line station to the die-casting product storage area, thereby realizing unmanned material on-line and product off-line operations, improving the efficiency of logistics operations, and thus improving production efficiency.

[0069] The integrated die-casting control system provided in the embodiment of the present application is introduced below with reference to the accompanying drawings.

[0070] like Figure 1 As shown, the integrated die-casting control system may include: a robot control terminal 101, a die-casting control terminal 102, an automotive integrated die-casting equipment 103 and a plurality of handling robots 104; the robot control terminal 101 is communicatively connected to each handling robot 104, and the robot control terminal 101 is communicatively connected to the die-casting control terminal 102.

[0071] The robot control terminal 101 can be an electronic device with information transmission and processing functions, such as a computer, server, etc. The die-casting control terminal 102 can also be an electronic device with information transmission and processing functions. In a specific scenario, the die-casting control terminal 102 can be a device based on a Programmable Logic Controller (PLC).

[0072] The connection between the robot control terminal 101 and the die-casting control terminal 102 can be a wired connection, such as through a data transmission line, or a wireless connection, such as through WLAN (Wireless Local Area Network) or 5G (fifth-generation data transmission technology). In order to facilitate the movement of the handling robot 104, the connection between the robot control terminal 101 and the handling robot 104 can be a wireless connection. The robot control terminal 101 can periodically obtain the status information of each handling robot 104 managed by heartbeat detection, such as the position of the handling robot 104, whether it is idle (i.e., whether it is performing a handling task), etc. Each handling robot 104 is used to perform a handling task under the control of the robot control terminal 101. The die-casting control terminal 102 and the automotive integrated die-casting equipment 103 can also be connected for communication through a wired connection or a wireless connection.

[0073] The robot control terminal 101 is used to control the transport robot 104 to transport the aluminum ingots from the material storage area where the aluminum ingots are stored to the die-casting line station upon receiving the material on-line instruction;

[0074] In the integrated die-casting workshop, there is a die-casting production line for die-casting aluminum ingots, and the die-casting production line is provided with a die-casting on-line station, an automobile integrated die-casting device 103, and a die-casting off-line station. Among them, the die-casting on-line station is used to receive the aluminum ingots to be die-cast, so that the aluminum ingots to be die-cast enter the die-casting production line. The die-casting on-line station can be provided with a transmission device, such as a ground roller or a robotic arm, etc., for receiving the aluminum ingots transported by the transport robot 104 to the die-casting production line; the automobile integrated die-casting device 103 is a device for producing integrated parts of automobiles. The integrated parts of automobiles can be integrated body frames, chassis or other parts. The automobile integrated die-casting device 103 can perform die-casting operations on aluminum ingots to obtain die-cast products, which are the above-mentioned integrated parts of automobiles; the die-casting off-line station is used to place the die-cast products to be transported away.

[0075] When there is a need to die-cast aluminum ingots, a staff member may send a material online instruction to the robot control terminal 101, or a production line information system, such as MES (Manufacturing Execution System) or MOM (Manufacturing Operation Management), may send a material online instruction to the robot control terminal 101 according to the production plan of the production line when the aluminum ingots need to be die-cast. Upon receiving the material online instruction, the robot control terminal 101 may select one or more handling robots 104 to transport the aluminum ingots from the material storage area where the aluminum ingots are stored to the die-casting online station. In this case, the robot control terminal 101 may give priority to selecting the handling robot 104 that is closest to the material storage area and is idle.

[0076] The material online instruction can also be sent by the die-casting control terminal 102. For example, if a die-casting production line is used to produce only one product, the die-casting control terminal 102 can also send it to the sending robot control terminal 101 to facilitate scheduling. If a die-casting production line can produce different products, that is, it can switch to producing product B after producing product A for a period of time, in this case, the material online instruction can be sent by the production line information system.

[0077] Since aluminum ingots are usually placed on shelves, the robot control end 101 can control the transport robot 104 to transport the shelves loaded with aluminum ingots to the die-casting line station, and after all the aluminum ingots on the shelves are transported to the die-casting production line, control the transport robot 104 to transport the empty shelves to the shelf storage area.

[0078] If the robot control terminal 101 simultaneously controls multiple transfer robots 104 to perform the task of transporting aluminum ingots, the multiple transfer robots 104 can move to the queue area preset for the die-casting line station after transporting aluminum ingots from the material storage area, and wait in turn for the aluminum ingots in the transported shelves to be picked up by the die-casting production line before transporting the empty shelves to the shelf storage area. If the number of aluminum ingots transported by the transfer robots 104 controlled by the robot control terminal 101 at a time is insufficient to meet the current production demand, the robot control terminal 101 can perform the above process multiple times.

[0079] The die-casting control terminal 102 is used to control the automotive integrated die-casting equipment 103 to perform die-casting operations on the aluminum ingots arriving at the die-casting upstream station to obtain die-cast products; send a first transport instruction to transport the die-cast products obtained by the die-casting operation to the die-casting downstream station, and send a first transport departure instruction when the die-cast products arrive at the die-casting downstream station;

[0080] After the aluminum ingot is received by the die-casting production line, the die-casting control terminal 102 can control the conveyor belt or robotic arm to transport the aluminum ingot to the automotive integrated die-casting equipment 103, thereby controlling the automotive integrated die-casting equipment 103 to perform the die-casting operation. After the automotive integrated die-casting equipment 103 die-casts the aluminum ingot and cools it, a die-cast product can be obtained. The die-casting control terminal 102 can then send a first transport instruction to control the conveyor belt or robotic arm to transport the die-cast product to the die-casting offline station. When the die-cast product arrives at the die-casting offline station, it can send a first departure instruction to the robot control terminal 101.

[0081] The automotive integrated die-casting equipment 103 is used to perform die-casting operations on aluminum ingots arriving at the die-casting line station upon receiving a die-casting instruction;

[0082] In one implementation, the die-casting instruction can be sent from the die-casting control terminal 102 to the automotive integrated die-casting equipment 103. In another implementation, the robot control terminal 101 can also send the instruction to the automotive integrated die-casting equipment 103 after the handling robot 104 transports the aluminum ingot to the die-casting line station.

[0083] The robot control terminal 101 is also used to control the transport robot 104 to transport the die-cast products located at the die-casting offline workstation to the die-cast product storage area when receiving the first transport instruction.

[0084] In one implementation, upon receiving the first departure instruction, the robot control end 101 may select an idle handling robot 104 to move to the die-casting offline station, and after the handling robot 104 moves to the die-casting offline station, the handling robot 104 may then transport the die-cast product to the die-casting product storage area. Alternatively, the robot control end 101 may first control an idle handling robot 104 to wait at the die-casting offline station, and upon receiving the first departure instruction, control the handling robot 104 to transport the die-cast product to the die-casting product storage area, while simultaneously controlling another idle handling robot 104 to move to the die-casting offline station to continue waiting for the next die-cast product to be transferred to the die-casting offline station.

[0085] After the transport robot 104 transports the die-cast products to the die-cast product storage area, the robot control terminal 101 can also update the inventory information in the die-cast product storage area to achieve automated warehouse management and improve inventory accuracy.

[0086] In this embodiment, under the control of the robot control end and the die-casting control end, the handling robot can transport aluminum ingots from the material storage area to the die-casting on-line station, and transport the die-cast products obtained by die-casting from the die-casting off-line station to the die-casting product storage area, thereby realizing unmanned material on-line and product off-line operations, improving the efficiency of logistics operations, reducing labor costs, and avoiding the burden on staff due to the high temperature of the die-casting environment and the poor working environment.

[0087] In one embodiment of the present application, Figure 2 As shown, the system further includes: a first visual inspection device 105 and a die-casting conveying robot arm 106; the die-casting conveying robot arm 106 is communicatively connected to the die-casting control terminal 102; the first visual inspection device 105 is communicatively connected to the die-casting control terminal 102; the die-casting off-line stations include: a die-casting qualified product off-line station and a die-casting unqualified product off-line station;

[0088] Among them, the connection mode between the die-casting conveying robot arm 106 and the die-casting control end 102 can be a wired connection or a wireless connection; the connection mode between the first visual inspection device 105 and the die-casting control end 102 can also be a wired connection or a wireless connection.

[0089] The die-casting control terminal 102 is used to send a first grabbing instruction to control the die-casting conveying robot arm 106 to grab the obtained die-cast product and move it to the die-casting inspection area of ​​the first visual inspection device 105 after the die-casting operation is performed to obtain the die-cast product;

[0090] After the die-casting control terminal 102 controls the die-casting conveying robot arm 106 to grab the die-casting product to the die-casting inspection area, it can send an inspection instruction to the first visual inspection device 105 to notify the first visual inspection device 105 to inspect the die-casting product in the die-casting inspection area.

[0091] The first visual inspection device 105 is used to detect whether the die-cast product in the die-casting inspection area has defects and send a first inspection result to the die-casting control terminal 102;

[0092] Visual inspection involves converting a captured object into an image signal using a visual camera and transmitting it to a dedicated image processor. The image processor then performs various operations on the image signal to extract features of the captured object and, based on these features, determines whether the captured object has defects. The first visual inspection device 105 in this embodiment can be any device that performs visual inspection on die-cast products. For example, it can detect defects in die-cast products, such as skin separation, protrusions, missing material, excess material, cracks, and scratches.

[0093] The die-casting control terminal 102 may also send a second grabbing instruction based on the first detection result to control the die-casting conveying robot arm 106 to grab the die-casting products without defects from the die-casting detection area to the die-casting qualified product off-line station, and control the die-casting conveying robot arm 106 to grab the die-casting products with defects from the die-casting detection area to the die-casting unqualified product off-line station. When the die-casting products arrive at the die-casting qualified product off-line station, the die-casting control terminal 102 may also send a first transport away instruction for the die-casting qualified product off-line station; when the die-casting products arrive at the die-casting unqualified product off-line station, the die-casting control terminal 102 may also send a first transport away instruction for the die-casting unqualified product off-line station.

[0094] That is to say, in this embodiment, the above-mentioned first transport instruction may include a first grabbing instruction and a second grabbing instruction. The first grabbing instruction controls the die-casting conveying robot arm 106 to grab the die-cast product to the die-casting inspection area, and the second grabbing instruction controls the die-casting conveying robot arm 106 to grab the die-cast product to the die-casting qualified product offline station or the die-casting unqualified product offline station.

[0095] In another implementation, after the first visual inspection device 105 completes the inspection, the first visual inspection device 105 can also directly send a second grabbing instruction to the conveying robot arm 106, so that the die-casting conveying robot arm 106 grabs the die-cast product to the die-casting qualified product offline station or the die-casting unqualified product offline station. This is both possible.

[0096] A visual camera, specifically a 3D (Dimensions) visual camera, may be provided on the surface of the die-casting conveying robot arm 106 to guide the die-casting conveying robot arm 106 to grasp the die-cast products.

[0097] In a specific scenario, the die-casting conveying robot arm 106 can be set according to the layout of the production line. It can be used to transport the die-cast products from the die-casting production line to the die-casting inspection area of ​​the first visual inspection equipment 105. After the inspection is completed, under the control of the die-casting control terminal 102, the die-cast products without defects are grabbed from the die-casting inspection area to the die-casting qualified product offline station, and the die-cast products with defects are grabbed from the die-casting inspection area to the die-casting unqualified product offline station. Depending on the layout of the production line, the die-casting conveying robot arm 106 can be single or multiple, for example, there can be two, one for grabbing the die-cast products to the die-casting inspection area, and the other for grabbing the die-cast products to the die-casting offline station or the die-casting unqualified product offline station.

[0098] When the die-cast product arrives at the die-cast qualified product off-line station, the die-casting control end 102 can send a first transport away instruction for the die-cast qualified product off-line station to the robot control end 101, so that the robot control end 101 can, upon receiving the first transport away instruction for the die-cast qualified product off-line station, control the handling robot 104 to transport the die-cast product at the die-cast qualified product off-line station to a storage area for die-cast products without defects. When the die-cast product arrives at the die-cast unqualified product off-line station, the die-casting control end 102 can send a first transport away instruction for the die-cast unqualified product off-line station to the robot control end 101. So that the robot control end 101 can, upon receiving the first transport away instruction for the die-cast unqualified product off-line station, control the handling robot 104 to transport the die-cast product at the die-cast unqualified product off-line station to a storage area for die-cast products with defects. The die-cast product storage area for storing defective die-cast products and the die-cast product storage area for storing non-defective die-cast products may be in the same warehouse or in different warehouses.

[0099] In this embodiment, unmanned material loading and product unloading operations are achieved, improving the efficiency of logistics operations. Furthermore, the die-casting control terminal controls the die-casting conveying robot arm to grab the die-cast products to the die-casting inspection area, and uses the first visual inspection device to detect whether the die-cast products in the die-casting inspection area have defects, and controls the die-casting conveying robot arm to grab the defective die-cast products to the die-casting unqualified product unloading station. This can automatically realize the quality inspection of die-cast products, improve the efficiency and accuracy of the quality inspection of die-cast products, solve the business pain points of low efficiency and easy omission of manual quality inspection, and can automatically separate defective die-cast products from non-defective die-cast products, further improving the efficiency of die-casting production.

[0100] In one embodiment of the present application, Figure 2As shown, the integrated die-casting control system provided in the embodiment of the present application further includes: a die-casting offline robot arm 107 provided at the die-casting offline station; the die-casting offline robot arm 107 is communicatively connected to the die-casting control terminal 102;

[0101] Among them, the connection mode between the die-casting offline robot arm 107 and the die-casting control terminal 102 communication connection can be a wired connection or a wireless connection. According to the layout of the production line, the die-casting offline robot arm 107 and the die-casting conveying robot arm 106 can be the same robot arm or different robots. The die-casting control terminal 102 in this embodiment can be a device, that is, only one device is used to realize the control of the automotive integrated die-casting equipment 103, the first visual inspection equipment 105, the die-casting offline robot arm 107 and the die-casting conveying robot arm 106. The die-casting control terminal 102 can also include multiple devices, that is, the automotive integrated die-casting equipment 103, the first visual inspection equipment 105, the die-casting offline robot arm 107 and the die-casting conveying robot arm 106 are controlled by different devices respectively.

[0102] The die-casting control terminal 102 is specifically used to send a first transportation instruction when the die-cast product arrives at the die-casting offline station if there is no container at the die-casting offline station or the container at the die-casting offline station is full; specifically, the first transportation instruction can be sent to the robot control terminal 101.

[0103] The robot control terminal 101 is specifically used to control the transport robot 104 to transport the empty container from the container storage area to the die-casting offline station when receiving the first transport instruction; and send a first arrival signal when the transport robot 104 transporting the empty container arrives at the die-casting offline station; specifically, the first arrival signal can be sent to the die-casting control terminal 102.

[0104] The die-casting control terminal 102 is also used to control the die-casting offline robot arm 107 to grab the die-cast products from the die-casting offline station to the container transported by the handling robot 104 when receiving the first arrival signal; and when the container is full, send a first full box signal; specifically, the first full box signal can be sent to the robot control terminal 101.

[0105] A visual camera may also be provided on the surface of the die-casting offline robot arm 107 to guide the die-casting offline robot arm 107 to accurately grasp the die-cast products and place them in a container located at the die-casting offline station.

[0106] In one implementation, the die-casting control end 102 can determine whether the current container is full by counting. For example, each container can accommodate 3 die-cast products. Then, after receiving the first arrival signal, the die-casting control end 102 controls the die-casting offline robot arm 107 to grab the die-casting products from the container currently located at the die-casting offline workstation. When the number reaches 3, it determines that the container is full, and thus sends the first full box signal to the robot control end 101.

[0107] The robot control terminal 101 is also used to control the transport robot 104 to transport the filled container at the die-casting offline workstation to the die-casting product storage area when receiving the first full box signal.

[0108] The robot control end 101 can control the handling robot 104 to carry the empty container to wait at the die-casting offline station until the container is full, and then carry the container to the die-casting product storage area. In the case where the robot control end 101 controls multiple handling robots 104 to perform the task of handling die-casting products, it can control the multiple handling robots 104 to move to the queue area preset for the die-casting offline station after carrying the empty container. In other words, the handling robot 104 at the back of the queue can wait for the previous handling robot 104 to transport the full container away, move to the die-casting offline station, and wait until the container it is carrying is full before carrying the container to the die-casting product storage area.

[0109] It is understandable that both the die-cast qualified product off-line station and the die-cast unqualified product off-line station can be equipped with robotic arms, so that the handling robot 104 can pack and store both defective die-cast products and non-defective die-cast products.

[0110] In one implementation, the multiple handling robots 104 may include a lurking robot and a counterbalanced forklift robot. The robot control terminal 101 may select a lurking robot or a counterbalanced forklift robot to carry containers to the die-casting on-line station based on the working height of the conveying equipment at the die-casting on-line station. When the working height of the conveying equipment is low, a lurking robot may be selected; when the working height of the conveying equipment is high, a counterbalanced forklift robot may be selected. Similarly, the robot control terminal 101 may also select a lurking robot or a counterbalanced forklift robot to carry containers to the die-casting off-line station based on the working height of the die-casting off-line robot arm 107 provided at the die-casting off-line station.

[0111] The robot control terminal 101 can then control the latent robot to carry a container full of die-cast products to the die-cast product storage area, and when the controlled latent robot arrives at the die-cast product storage area, control the counterbalanced forklift robot to stack the container carried by the latent robot. In other words, when the latent robot carries a container full of die-cast products to the die-cast product storage area, the latent robot is unable to perform the stacking operation due to its low height. At this time, the robot control terminal 101 can select an idle counterbalanced forklift robot to dock with the latent robot, take the container carried by the latent robot, and then stack the container in the die-cast product storage area, that is, store the containers in a stacked manner to improve the utilization rate of the storage area.

[0112] Alternatively, the robot control end 101 can control the counterbalanced forklift robot to transport the container filled with die-cast products to the die-cast product storage area, and when the controlled counterbalanced forklift robot arrives at the die-cast product storage area, directly control the counterbalanced forklift robot to stack the transported container.

[0113] By controlling the counterbalanced forklift robot to dock with the lurking robot, and controlling the counterbalanced forklift robot to stack containers in the die-casting product storage area, the utilization rate of the storage area can be improved.

[0114] In this embodiment, unmanned material loading and product unloading operations are achieved, thereby improving the production efficiency of die-casting. Furthermore, the robot control terminal controls the handling robot to transport empty containers from the container storage area to the die-casting offline station; and when the handling robot carrying the empty container arrives at the die-casting offline station, it sends a first arrival signal. Upon receiving the first arrival signal, the die-casting control terminal controls the die-casting offline robotic arm to grab the die-casting product from the die-casting offline station and place it in the container being transported by the handling robot; and when the container is full, it sends a first full box signal. Upon receiving the first full box signal, the robot control terminal controls the handling robot to transport the filled container at the die-casting offline station to the die-casting product storage area, thus achieving automated boxing and automated warehousing of the die-casting products.

[0115] In one embodiment of the present application, Figure 3 As shown, the integrated die-casting control system provided in the embodiment of the present application may further include: a visual code reading device 108; the visual code reading device 108 is communicatively connected to the robot control terminal 101;

[0116] The connection between the visual code reading device 108 and the robot control terminal 101 can be a wired connection or a wireless connection.

[0117] The robot control terminal 101 is also used to control the transport robot 104 to move to the receiving docking point when receiving the aluminum ingot docking instruction, and control the transport robot 104 to transport the aluminum ingot to be stored to the code reading area of ​​the visual code reading device 108;

[0118] When the aluminum ingots to be stored are transported to the receiving docking point, the staff can send an aluminum ingot docking instruction to the robot control terminal 101. The robot control terminal 101 can control the transport robot 104 to move to the receiving docking point to transport the aluminum ingots upon receiving the aluminum ingot docking instruction.

[0119] In one implementation, a cargo detection device can be installed at the receiving docking point. This device can use infrared or laser light to detect whether the height of the shelf being transported by the transport robot 104 has changed. If so, the loading operation can be considered complete, and a completion instruction can be sent to the robot control terminal 101. The robot control terminal 101 can then control the transport robot 104 to transport the aluminum ingots to the barcode reading area of ​​the visual barcode reading device 108. After the transport robot 104 reaches the barcode reading area, it sends a barcode reading instruction to the visual barcode reading device 108.

[0120] The visual code reading device 108 is used to read the material label information of the aluminum ingot located in the code reading area and send the read material label information to the robot control terminal 101;

[0121] The visual code reading device 108 can be a visual code reading door, and the handling robot 104 can carry the aluminum ingot to the bottom of the visual code reading door to read the code. Of course, the visual code reading device 108 can also be other code reading devices.

[0122] The robot control terminal 101 is also used to record the material label information of the aluminum ingot read by the visual code reading device 108, and control the transport robot 104 that transports the aluminum ingot to transport the aluminum ingot from the code reading area to the material storage area.

[0123] The handling robot 104 can take the aluminum ingots to the code reading area of ​​the visual code reading device 108, or the handling robot 104 can also move the empty shelves from the shelf storage area to the receiving docking point, and then move the aluminum ingots to the shelves, and then move the shelves containing aluminum ingots to the code reading area of ​​the visual code reading device 108. After the visual code reading device 108 reads the code, the handling robot 104 moves the shelves containing aluminum ingots to the material storage area.

[0124] After receiving the material tag information of the aluminum ingot, the robot control terminal 101 can also allocate a storage location for the aluminum ingot, thereby controlling the handling robot 104 to transport the aluminum ingot to the allocated storage location for storage, and update the inventory information to complete the warehousing. If there are other aluminum ingot warehousing tasks, the above process can be repeated until all the aluminum ingots to be warehousing are completed. Of course, the robot control terminal 101 can also control multiple handling robots 104 to perform the warehousing task of aluminum ingots at the same time. In this case, multiple handling robots 104 can queue up in the queue area preset for the receiving docking point to wait for the aluminum ingots to be received.

[0125] In this embodiment, unmanned material loading and product unloading operations are achieved, thereby improving the production efficiency of die-casting. Furthermore, the robot control terminal is also used to control the handling robot to move to the receiving docking point when receiving the aluminum ingot docking instruction, and transport the aluminum ingot to be stored to the code reading area of ​​the visual code reading device. The visual code reading device reads the material label information of the aluminum ingot located in the code reading area and sends the read material label information to the robot control terminal. The robot control terminal records the material label information of the aluminum ingot read by the visual code reading device and controls the handling robot that transports the aluminum ingot to transport the aluminum ingot from the code reading area to the material storage area. This can automatically realize the warehousing task of the aluminum ingot and further improve the production efficiency of the integrated die-casting process.

[0126] In one embodiment of the present application, Figure 4 As shown, the integrated die-casting control system provided in the embodiment of the present application may further include: a production control terminal 401; the production control terminal 401 is communicatively connected to the robot control terminal 101; a production line robot arm 402 provided at the production line station; and the production line robot arm 402 is communicatively connected to the production control terminal 401;

[0127] Among them, the connection method between the production control terminal 401 and the robot control terminal 101 can be a wired connection or a wireless connection; the connection method between the production line robot arm 402 and the production control terminal 401 can also be a wired connection or a wireless connection.

[0128] The robot control terminal 101 is also used to control the transport robot 104 to transport the container containing the die-cast products from the die-cast product storage area to the processing line station when receiving the die-cast product online instruction, and send a second arrival signal; specifically, the second arrival signal can be sent to the production control terminal 401.

[0129] Similarly, when further machining or assembly of the die-cast product is required, a staff member can send a die-cast product launch instruction to the robot control terminal 101. Alternatively, the production line information system or the production control terminal 401 can send a die-cast product launch instruction to the robot control terminal 101 based on the production line's production plan when machining or assembly of the die-cast product is required. The production control terminal 401 can be a control device for a machining production line or an assembly production line, such as a PLC-based device. The production control terminal 401 and the die-casting control terminal 102 can be the same device, or they can be different devices.

[0130] The production control terminal 401 is used to control the production line robot arm 402 to grab the die-cast product from the container arriving at the production line workstation when receiving the second arrival signal, and send a first empty box signal when the container is empty; specifically, the first empty box signal can be sent to the robot control terminal 101.

[0131] A visual camera can be installed on the surface of the production line robot arm 402 to guide the production line robot arm 402 in grabbing die-cast products from the container. In one implementation, the number of die-cast products that each container can hold is fixed, and the production control terminal 401 can determine whether the current container has been empty by counting. For example, if each container can hold three die-cast products, then after receiving the second arrival signal, the production control terminal 401 controls the production line robot arm 402 to grab the die-cast products from the container currently located at the production line workstation. When the number reaches three, the container is determined to be empty and the first empty box signal is sent to the robot control terminal 101.

[0132] The robot control terminal 101 is further used to control the transport robot 104 to transport the empty container located at the production line station to the container storage area after receiving the first empty container signal;

[0133] The robot control terminal 101 can control one or more transfer robots 104 to transport containers containing die-cast products from the die-cast product storage area to the production line station. If the robot control terminal 101 controls multiple transfer robots 104 to perform the transfer task, after transporting the containers, the multiple transfer robots 104 can move to the queue area preset for the production line station, wait in turn, and then move the empty containers to the container storage area.

[0134] The production control terminal 401 is also used to control the machining equipment to perform machining processing operations on the die-cast products grasped by the production line robot arm 402, or to control the assembly equipment to perform assembly processing operations on the die-cast products grasped by the production line robot arm 402; send a second transportation instruction to transport the die-cast finished products obtained by the processing operation to the production line station, and send a second transportation departure instruction when the die-cast finished products arrive at the production line station; specifically, the second transportation departure instruction can be sent to the robot control terminal 101.

[0135] When the production control terminal 401 is used to control a machining production line, the production line robot arm 402 can grab the die-cast product and bring it to the machining equipment, so that the machining equipment can machine the die-cast product to produce a finished die-cast product. When the production control terminal 401 is used to control an assembly line, the production line robot arm 402 can grab the die-cast product and bring it to the assembly equipment, so that the assembly equipment can assemble the die-cast product to produce a finished die-cast product.

[0136] After the processing operation is performed to obtain the die-cast finished product, the production control end 401 can transfer the die-cast finished product to the production offline station through a conveyor belt or a robotic arm, and send a second transportation instruction when the die-cast finished product arrives at the production offline station; specifically, the second transportation instruction can be sent to the robot control end 101.

[0137] The robot control terminal 101 is further used to control the transport robot 104 to transport the die-cast finished products located at the production line station to the die-cast finished product storage area after receiving the second transport instruction.

[0138] In one implementation, upon receiving the second departure instruction, the robot control end 101 may select an idle handling robot 104 to move to the production line station, and after the handling robot 104 moves to the production line station, the handling robot 104 may transport the die-cast finished product to the die-cast finished product storage area. Alternatively, the robot control end 101 may control an idle handling robot 104 to wait at the production line station for the die-cast finished product to be transferred to the production line station, control the handling robot 104 to transport the die-cast finished product to the die-cast finished product storage area, and simultaneously control another idle handling robot 104 to move to the production line station and continue to wait for the next die-cast finished product to be transferred to the production line station.

[0139] In this embodiment, when the die-cast products need to be further produced and processed, under the control of the robot control end and the die-casting control end, the handling robot can transport the die-cast products from the die-cast product storage area to the production line station, and transport the obtained die-cast finished products from the production line station to the die-cast finished product storage area, thereby improving the efficiency of logistics operations in the subsequent processing and assembly process, and thus improving production efficiency.

[0140] In one embodiment of the present application, Figure 4 As shown, the system may further include: a second visual inspection device 403; and a production conveying robot arm 404; the production conveying robot arm 404 is communicatively connected to the production control terminal 401; the second visual inspection device 403 is communicatively connected to the production control terminal 401; the production off-line station includes: a production qualified product off-line station and a production unqualified product off-line station;

[0141] Among them, the connection between the production conveying robot arm 404 and the production control terminal 401 can be a wired connection or a wireless connection; the connection between the second visual inspection equipment 403 and the production control terminal 401 can also be a wired connection or a wireless connection.

[0142] The production control terminal 401 is further configured to send a third grabbing instruction to control the production conveying robot arm 404 to grab the obtained die-cast product and bring it to the production inspection area of ​​the second visual inspection device 403 after the die-cast product is obtained through processing.

[0143] After the production control terminal 401 controls the production conveying robot arm 404 to grab the die-cast finished product to the production inspection area, it can send an inspection instruction to the second visual inspection device 403 to notify the second visual inspection device 403 to inspect the die-cast finished product in the production inspection area.

[0144] The second visual inspection device 403 is used to detect whether the die-cast products in the production inspection area have defects and send the inspection results to the production control terminal 401;

[0145] The second visual inspection device 403 in this embodiment can be any device that performs visual inspection on the die-cast finished product, for example, it can perform machined hole inspection on the die-cast finished product, such as detecting whether the hole is covered with content, whether the through hole is completely opened, whether the threaded hole has threads, whether the pre-cast hole has a machined surface, etc. The second visual inspection device 403 can also perform other appearance inspections.

[0146] The production control terminal 401 is also used to send a fourth grabbing instruction based on the second detection result to control the production conveying robot arm 404 to grab the die-cast finished products without defects from the production inspection area to the production qualified product offline station, and control the production conveying robot arm 404 to grab the die-cast finished products with defects from the production inspection area to the production unqualified product offline station; when the die-cast finished products arrive at the production qualified product offline station, the production control terminal 401 can also send a second transportation away instruction for the production qualified product offline station; when the die-cast finished products arrive at the production unqualified product offline station, the production control terminal 401 can also send a second transportation away instruction for the production unqualified product offline station.

[0147] That is to say, in this embodiment, the above-mentioned second transport instruction may include a third grabbing instruction and a fourth grabbing instruction. The third grabbing instruction controls the production conveying robot arm 404 to grab the die-cast finished product to the production inspection area, and the fourth grabbing instruction controls the production conveying robot arm 404 to grab the die-cast finished product to the production qualified product offline station or the production unqualified product offline station.

[0148] In another implementation, after the first visual inspection device 105 completes the inspection, the second visual inspection device 403 can also directly send a second grabbing instruction to the production conveying robot arm 404, so that the production conveying robot arm 404 grabs the die-cast finished product to the production qualified product offline station or the production unqualified product offline station. This is both possible.

[0149] A visual camera can be set on the surface of the production conveying robot arm 404 to guide the production conveying robot arm 404 to grab the die-cast finished product. In a specific scenario, the production conveying robot arm 404 can be set according to the layout of the production line. It can be used to transport the die-cast finished product from the machining equipment or assembly equipment to the die-casting inspection area of ​​the second visual inspection equipment 403, and after the inspection is completed, under the control of the production control terminal 401, the die-cast finished product without defects will be grabbed from the production inspection area to the production qualified product offline station, and the die-cast finished product with defects will be grabbed from the production inspection area to the production unqualified product offline station. The production conveying robot arm 404 can be single or multiple, for example, it can be two, one for grabbing the die-cast finished product to the production inspection area, and the other for grabbing the die-cast finished product to the production offline station.

[0150] The robot control end 101 can, upon receiving the second transport away instruction for the production station of qualified products, control the handling robot 104 to transport the die-cast finished products of the production station of qualified products to the storage area for die-cast finished products without defects. The robot control end 101 can, upon receiving the second transport away instruction for the production station of unqualified products, control the handling robot 104 to transport the die-cast finished products of the production station of unqualified products to the storage area for die-cast finished products with defects. The storage area for die-cast finished products with defects and the storage area for die-cast finished products without defects can be in the same warehouse or in different warehouses.

[0151] In this embodiment, the production control end controls the production conveying robot arm to grab the die-cast finished product to the die-casting inspection area, and uses the second visual inspection equipment to detect whether the die-cast finished product in the production inspection area has defects, and controls the production conveying robot arm to grab the defective die-cast finished product to the production line station for unqualified products. This can automatically realize the quality inspection of the die-cast finished product, improve the quality inspection efficiency and accuracy of the die-cast finished product, solve the business pain points of low efficiency and easy omission of manual quality inspection, and can automatically separate the die-cast finished product with defects from the die-cast finished product without defects, further improving the efficiency of die-casting production.

[0152] In one embodiment of the present application, Figure 4 As shown, the system may further include a production line robot arm 405 provided at the production line station; the production line robot arm 405 is in communication connection with the production control terminal 401;

[0153] The connection between the offline robot arm 405 and the production control terminal 401 can be a wired connection or a wireless connection. Depending on the layout of the production line, the offline robot arm 405, the production conveying robot arm 404 and the online robot arm 402 can be the same robot arm or different robots.

[0154] The production control terminal 401 is specifically used to send a third departure instruction when the die-cast finished product arrives at the production line station if there is no container at the production line station or the container at the production line station is full; specifically, the third departure instruction can be sent to the robot control terminal 101.

[0155] The robot control terminal 101 is specifically used to control the transport robot 104 to transport the empty container from the container storage area to the production offline station when receiving the third transport instruction; and send a second arrival signal when the transport robot 104 transporting the empty container arrives at the production offline station; specifically, the second arrival signal can be sent to the production control terminal 401.

[0156] The production control terminal 401 is also used to control the production offline robot arm 405 to grab the die-cast finished product into the container carried by the handling robot 104 when receiving the second arrival signal, and send a second full box signal when the container is full; the second full box signal can be sent to the robot control terminal 101 today.

[0157] A visual camera may also be provided on the surface of the production line robot arm 405 to guide the production line robot arm 405 to accurately grasp the die-cast finished products and place them in a container located at the production line station. In one implementation, the number of die-cast finished products that each container can accommodate is fixed, and the production control terminal 401 may determine whether the current container is full by counting. For example, if each container can accommodate 3 die-cast finished products, then after receiving the second arrival signal, the production control terminal 401 controls the production line robot arm 405 to grasp the die-cast finished products from the container currently located at the production line station. When the number reaches 3, the container is determined to be full, and a second full box signal is sent to the robot control terminal 101.

[0158] The robot control terminal 101 is also used to control the transport robot 104 to transport the full container at the production line station to the die-cast finished product storage area when receiving the second full box signal.

[0159] The robot control terminal 101 can control the handling robot 104 to carry the empty container to wait at the production line station until the container is full, and then carry the container to the die-cast finished product storage area. In the case where the robot control terminal 101 controls multiple handling robots 104 to perform the task of handling die-cast finished products, it can control multiple handling robots 104 to move to the queue area preset for the production line station after carrying the empty container. In other words, the handling robot 104 at the back of the queue can wait for the previous handling robot 104 to transport the full container away, move to the production line station, and wait until the container it is carrying is full before carrying the container to the die-cast finished product storage area.

[0160] It is understandable that both the qualified product off-line station and the unqualified product off-line station can be equipped with robotic arms, so that the handling robot 104 can pack and store both defective die-cast products and non-defective die-cast products.

[0161] In this embodiment, the production control terminal 401 can be a single device, i.e., only one device controls the processing operation, the second visual inspection device 403, the production end robot 405, and the production conveying robot 404. The production control terminal 401 can also include multiple devices, i.e., different devices respectively control the processing operation, the second visual inspection device 403, the production end robot 405, and the production conveying robot 404.

[0162] Similarly, the multiple handling robots 104 include latent robots and counterbalanced forklift robots; the robot control end 101 is specifically used to control the latent robot to transport the container full of die-cast finished products to the die-cast finished product storage area, and when the controlled latent robot arrives at the die-cast finished product storage area, control the counterbalanced forklift robot to stack the container transported by the latent robot; or, control the counterbalanced forklift robot to transport the container full of die-cast finished products to the die-cast finished product storage area, and when the controlled counterbalanced forklift robot arrives at the die-cast finished product storage area, control the counterbalanced forklift robot to stack the transported container to improve the utilization rate of the storage area.

[0163] In this embodiment, unmanned material loading and product unloading operations are achieved, improving the efficiency of logistics operations. Furthermore, the robot control terminal controls the handling robot to transport empty containers from the container storage area to the production line station; and when the handling robot carrying the empty container arrives at the production line station, it sends a second arrival signal. Upon receiving the second arrival signal, the production control terminal controls the production line robotic arm to grab the die-cast finished product and place it into the container being carried by the handling robot. When the container is full, it sends a second full box signal. Upon receiving the second full box signal, the robot control terminal controls the handling robot to transport the filled container at the production line station to the die-cast finished product storage area, thus achieving automated boxing and warehousing of the die-cast finished products.

[0164] In one embodiment of the present application, Figure 5 As shown, the integrated die-casting control system may further include: a welding control terminal 501, and a welding line robot arm 502 provided at a welding demand point; the welding control terminal 501 is communicatively connected to the robot control terminal 101; the welding control terminal 501 is communicatively connected to the welding line robot arm 502; the welding demand point includes: a welding workshop or a welding line station;

[0165] The connection between the welding control terminal 501 and the robot control terminal 101 can be wired or wireless. The connection between the welding control terminal 501 and the welding line robot arm 502 can also be wired or wireless. The welding control terminal 501 can be a control device for the welding production line, such as a PLC-based device. The welding control terminal 501, the production control terminal 401, and the die-casting control terminal 102 can be the same device or different devices.

[0166] The welding workshop can be divided into two types according to the production line layout. One type does not have a connection between the production line and the welding workshop, and the die-cast finished products need to be transported directly to the welding workshop. In this case, the welding demand point is the welding workshop. The other type has a welding line station, and the die-cast finished products can be transported to the welding line station and then transported to the welding workshop by conveyor belt. In this case, the welding demand point is the welding line station. After the die-cast finished products arrive at the welding workshop, they can be welded in the welding workshop.

[0167] The robot control terminal 501 is used to control the transport robot 104 to transport the container containing the die-cast finished products from the die-cast finished product storage area to the welding demand point when receiving the welding online instruction;

[0168] When there is a need to weld the die-cast products, the staff can send a welding online instruction to the robot control terminal 501. The robot control terminal 501 can then select an idle transport robot 104 to go to the die-cast product storage area and move the container containing the die-cast products to the welding demand point.

[0169] The welding control terminal 501 is also used to control the welding line robot arm 502 to grab the die-cast finished product from the container that reaches the welding demand point, and send a second empty box signal when the container is empty; specifically, the second empty box signal can be sent to the robot control terminal 101.

[0170] Similarly, a visual camera can be installed on the surface of the welding line robot arm 502 to guide the production line robot arm 402 to grab the die-cast finished product from the container. In one implementation, the welding control terminal 501 can also determine whether the current container has been grabbed by counting. When the container is determined to be empty, it sends a second empty box signal to the robot control terminal 101.

[0171] The robot control terminal 101 is further used to control the transport robot 104 to transport the empty container located at the welding demand point to the container storage area after receiving the second empty container signal.

[0172] The robot control terminal 101 can control one or more transport robots 104 to transport containers containing die-cast products from the die-cast product storage area to the welding and assembly demand point. If the robot control terminal 101 controls multiple transport robots 104 to perform the transport task, after transporting the containers, the multiple transport robots 104 can move to the queue area preset for the welding and assembly demand point, wait in turn, and after all the die-cast products in the transported containers are grabbed, they can move the empty containers they are carrying to the container storage area.

[0173] In this embodiment, when the robot control end receives the welding online instruction, it controls the transport robot to transport the container containing the die-cast finished products from the die-cast finished product storage area to the welding demand point; the welding control end controls the welding online robotic arm to grab the die-cast finished products from the container that arrives at the welding demand point, and sends a second empty box signal when the container is empty; after receiving the second empty box signal, the robot control end controls the transport robot to transport the empty container located at the welding demand point to the container storage area, automatically realizing the transportation of the container containing the die-cast finished products to the welding demand point, and the transportation of the empty container, thereby improving logistics efficiency.

[0174] For ease of understanding, the integrated die-casting control system provided by the embodiment of the present application is introduced below in conjunction with the accompanying drawings and specific application scenarios. The aluminum ingot storage process and the die-casting on-line and off-line process can be as follows: Figure 6 As shown:

[0175] 10. When the truck carrying aluminum ingots arrives at the receiving docking point, a manual docking instruction is issued, and the handling robot transports the empty shelves from the warehouse area to the receiving docking point;

[0176] In this step, when the robot control end receives the aluminum ingot docking instruction, it controls the transport robot to move to the receiving docking point, and controls the transport robot to transport the aluminum ingots to be stored to the code reading area of ​​the visual code reading device.

[0177] 20. The handling robot takes aluminum ingots from the delivery vehicle and places them on the empty shelves;

[0178] 30. The cargo detection device automatically detects the height change of the shelf and issues an instruction to complete the operation;

[0179] 40. The robot control terminal receives the job completion instruction, controls the transport robot to transport the full shelf to the code reading area, and sends the code reading instruction when the transport robot arrives;

[0180] 50. The visual code reading device reads the material label information of the aluminum ingot and reports the material label information read by the robot control terminal;

[0181] 60. The robot control terminal receives the material tag information, allocates the storage space, dispatches the transport robot to move the full shelf into the warehouse, and updates the inventory;

[0182] 70. The die-casting line station issues material online instructions;

[0183] 80. The robot control terminal allocates inventory and issues the task of removing aluminum ingot shelves from the warehouse, and controls the transport robot to transport the shelves loaded with aluminum ingots to the conveyor line connection point of the die-casting line station;

[0184] In this step, when the robot control terminal receives the material on-line instruction, it controls the transport robot to transport the aluminum ingots from the material storage area where the aluminum ingots are stored to the die-casting on-line station.

[0185] 90. The conveyor line transports the aluminum ingot racks to the die-casting line station, and the empty racks return to the conveyor line connection point. The handling robot transports the empty racks back to the rack storage area;

[0186] 100. After aluminum melting, die casting and cooling, the die casting conveyor robot grabs the die casting product and takes it to the die casting inspection area;

[0187] In this step, after the die-casting control end performs the die-casting operation to obtain the die-cast product, it controls the die-casting conveying robot arm to grab the die-cast product and bring it to the die-casting inspection area of ​​the first visual inspection device.

[0188] 110. The first visual equipment performs defect detection to detect whether the die-cast products have defects;

[0189] 120. Deliver defect-free die-cast products to the die-casting offline station and send a removal instruction;

[0190] In this step, the die-casting control end is specifically used to control the die-casting conveying robot arm to grab the die-cast products that have been detected as having no defects from the die-casting inspection area to the die-casting qualified product offline station, and send the first transportation instruction for the die-casting qualified product offline station to the robot control end.

[0191] 130. Deliver defective die-cast products to the unqualified die-cast product offline station and send a removal instruction;

[0192] In this step, the die-casting control end is specifically used to control the die-casting conveying robot arm to grab the die-casting products with defects in the inspection results from the die-casting inspection area to the die-casting unqualified product offline station, and send the first transportation instruction for the die-casting unqualified product offline station to the robot control end.

[0193] 140. The robot control terminal receives the command and dispatches the transport robot to carry the empty equipment to the corresponding offline workstation;

[0194] In this step, when the robot control end receives the first transport instruction, it controls the transport robot to transport the die-cast products located at the die-casting offline station to the die-casting product storage area; and when the transport robot transporting the empty container arrives at the die-casting offline station, it sends a first arrival signal to the die-casting control end.

[0195] 150. Guide the die-casting offline robotic arm to pack;

[0196] 160. The die-casting offline robot arm sends the first full box signal after being fully loaded;

[0197] In this step, the die-casting control end is also used to control the die-casting offline robot arm to grab the die-cast products from the die-casting offline station to the container carried by the handling robot when receiving the first arrival signal. Specifically, the die-casting offline robot arm can be guided to pack through the visual camera; and when the container is full, the first full box signal is sent to the robot control end.

[0198] 170. The robot control terminal receives the first full box signal and dispatches the transport robot to transport the full equipment to the die-cast product storage area.

[0199] That is, when the robot control end receives the first full box signal, it controls the transport robot to transport the full container at the die-casting offline station to the die-casting product storage area.

[0200] The machining and welding processes of die-cast products can be as follows: Figure 7 As shown:

[0201] 180. The production line station issues the instruction to put the die-casting products online;

[0202] 190. The robot control terminal receives the command and dispatches the transport robot to carry the full equipment to the required workstation;

[0203] That is, when the robot control end receives the die-cast product online instruction, it controls the transport robot to transport the container containing the die-cast products from the die-cast product storage area to the processing online station, and sends a second arrival signal to the production control end.

[0204] 200. Guide the production line to use robotic arms to grab parts;

[0205] In this step, when the production control end receives the second arrival signal, it controls the production line robot arm to grab the die-cast product from the container that arrives at the production line station. Specifically, the production line robot arm can be guided to grab the part through a visual camera.

[0206] 210. After the production line robot arm grabs the empty box, it sends the first empty box signal. The production line performs machining and / or assembly operations on the die-cast products and transports the obtained die-cast products to the production inspection area.

[0207] In this step, after the production control end performs processing operations to obtain the die-cast product, it controls the production conveying robot arm to grab the obtained die-cast product and bring it to the production inspection area of ​​the second visual inspection equipment.

[0208] 220. The second visual inspection equipment performs defect detection to check whether the die-cast finished product has defects;

[0209] 230. Deliver defect-free die-cast products to the production line and send a departure instruction;

[0210] In this step, the production control end controls the production conveying robot arm to grab the die-cast finished products that have been inspected as having no defects from the production inspection area to the production qualified product offline station, and sends a second transportation instruction for the production qualified product offline station to the robot control end.

[0211] 240. Deliver defective die-cast products to the unqualified product off-line station and send a removal instruction;

[0212] In this step, the production control end controls the production conveying robot arm to grab the die-cast finished products with defects in the inspection results from the production inspection area to the production unqualified product offline station, and sends a second transportation instruction for the production unqualified product offline station to the robot control end.

[0213] 250. The robot control terminal receives the command and dispatches the transport robot to carry the empty equipment to the corresponding on-line workstation;

[0214] In this step, when the robot control end receives the second transport instruction, it controls the transport robot to transport the empty container from the container storage area to the production offline station; and when the transport robot transporting the empty container arrives at the production offline station, it sends a second arrival signal to the production control end.

[0215] 260. Guide the robotic arm to pack the products off the production line;

[0216] 270. After the production line robot arm is full, it sends the second full box signal;

[0217] In this step, when the production control end receives the second arrival signal, it controls the production offline robotic arm to grab the die-cast finished product and put it into the container carried by the handling robot, and when the container is full, it sends a second full box signal to the robot control end.

[0218] 280. The robot control terminal receives the signal and dispatches the transport robot to carry the full equipment to the die-cast finished product storage area;

[0219] In this step, when the robot control terminal receives the second full box signal, it controls the transport robot to transport the full container at the production line station to the die-cast finished product storage area.

[0220] 290. The welding line station or welding workshop issues the welding line instruction;

[0221] 300. The robot control terminal receives the instruction and dispatches the transport robot to transport the container containing the die-cast finished product to the required point;

[0222] In this step, when the robot control end receives the welding online instruction, it controls the transport robot to transport the container containing the die-cast finished products from the die-cast finished product storage area to the welding demand point.

[0223] 310. Guide the welding assembly line robot arm to grab the parts;

[0224] That is, the welding receiving end controls the welding on-line robot arm to grab the die-cast finished product from the container that reaches the welding demand point.

[0225] 320. After the online robotic arm grabs the empty container, it sends the second empty box signal (the handling robot transports the empty container to the container storage area), and the conveyor line transports the parts to the welding workshop.

[0226] In this step, after receiving the second empty container signal, the robot control end controls the transport robot to transport the empty container located at the welding demand point to the container storage area.

[0227] Each embodiment in this specification is described in a related manner. The same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

[0228] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are included in the scope of protection of the present invention.

Claims

1. An integrated die-casting control system, characterized in that: The system includes: a robot control terminal, a die-casting control terminal, an automobile integrated die-casting device, and a plurality of handling robots; the robot control terminal is communicatively connected to each handling robot, and the robot control terminal is communicatively connected to the die-casting control terminal; wherein: The robot control terminal is used to control the transport robot to transport the aluminum ingots from the material storage area where the aluminum ingots are stored to the die-casting line station when receiving the material on-line instruction; The die-casting control terminal is used to control the automotive integrated die-casting equipment to perform die-casting operations on the aluminum ingots arriving at the die-casting upstream station; send a first transport instruction to transport the die-cast products obtained from the die-casting operation to the die-casting downstream station, and send a first departure instruction when the die-cast products arrive at the die-casting downstream station; The automotive integrated die-casting equipment is used to perform die-casting operations on the aluminum ingots arriving at the die-casting upper line station upon receiving a die-casting instruction; The robot control end is further used to control the transport robot to transport the die-cast products located at the die-casting offline workstation to the die-cast product storage area upon receiving the first transport away instruction; The transport robot is used to perform transport tasks under the control of the robot control terminal.

2. The system according to claim 1, wherein: The system further comprises: a first visual inspection device and a die-casting conveying robot arm; the die-casting conveying robot arm is in communication with the die-casting control terminal; the first visual inspection device is in communication with the die-casting control terminal; the die-casting off-line stations comprise: a die-casting qualified product off-line station and a die-casting unqualified product off-line station; The die-casting control end is used to send a first grabbing instruction to control the die-casting conveying robot arm to grab the die-casting product to the die-casting inspection area of ​​the first visual inspection device after the die-casting operation is performed to obtain the die-cast product; The first visual inspection device is used to detect whether the die-cast product in the die-cast inspection area has defects and send a first inspection result; The die-casting control end is also used to send a second grabbing instruction based on the first detection result to control the die-casting conveying robot arm to grab the die-casting products without defects from the die-casting detection area to the die-casting qualified product offline station, and to control the die-casting conveying robot arm to grab the die-casting products with defects from the die-casting detection area to the die-casting unqualified product offline station.

3. The system according to claim 1, wherein: The system further comprises: a die-casting offline robot arm provided at the die-casting offline station; the die-casting offline robot arm is in communication connection with the die-casting control terminal; The die-casting control end is specifically used to send a first departure instruction when the die-cast product arrives at the die-casting offline station if there is no container at the die-casting offline station or the container at the die-casting offline station is full; The robot control terminal is specifically configured to control the transport robot to transport the empty container from the container storage area to the die-casting offline station upon receiving the first transport instruction; and to send a first arrival signal when the transport robot transporting the empty container arrives at the die-casting offline station; The die-casting control end is further configured to control the die-casting offline robot arm to grab the die-cast products from the die-casting offline station and place them in a container carried by the handling robot upon receiving the first arrival signal; and to send a first full box signal when the container is full; The robot control end is further used to control the transport robot to transport the filled container at the die-casting offline workstation to the die-casting product storage area when receiving the first full box signal.

4. The system according to claim 3, characterized in that Multiple handling robots including lurking robots and counterbalanced forklift robots; The robot control end is specifically used to control the latent robot to carry the container filled with die-cast products to the die-cast product storage area, and when the controlled latent robot arrives at the die-cast product storage area, control the counterbalanced forklift robot to stack the container carried by the latent robot; or, The robot control end is specifically used to control the counterbalanced forklift robot to transport containers filled with die-cast products to the die-cast product storage area, and when the controlled counterbalanced forklift robot arrives at the die-cast product storage area, control the counterbalanced forklift robot to stack the transported containers.

5. The system according to claim 1, wherein: The system further comprises: a visual code reading device; the visual code reading device is communicatively connected to the robot control terminal; The robot control terminal is further used to control the transport robot to move to the receiving docking point when receiving the aluminum ingot docking instruction, and control the transport robot to transport the aluminum ingot to be stored to the code reading area of ​​the visual code reading device; The visual code reading device is used to read the material label information of the aluminum ingot located in the code reading area and send the read material label information to the robot control end; The robot control end is also used to record the material label information of the aluminum ingot read by the visual code reading device, and control the transport robot that transports the aluminum ingot to transport the aluminum ingot from the code reading area to the material storage area.

6. The system according to claim 3, wherein: The system further includes: a production control terminal; the production control terminal is in communication with the robot control terminal; a production line robot arm provided at the production line station; and the production line robot arm is in communication with the production control terminal; The robot control terminal is further configured to control the transport robot to transport the container containing the die-cast products from the die-cast product storage area to the processing line station and send a second arrival signal when receiving the die-cast product online instruction; The production control terminal is configured to control the production line robot arm to grab the die-cast product from the container arriving at the production line station when receiving the second arrival signal, and to send a first empty box signal when the container is empty; The robot control terminal is further configured to control the transport robot to transport the empty container located at the production line station to the container storage area after receiving the first empty container signal; The production control terminal is further used to control the machining equipment to perform machining processing operations on the die-cast products grasped by the production line robot arm, or control the assembly equipment to perform assembly processing operations on the die-cast products grasped by the production line robot arm; send a second transportation instruction to transport the die-cast products obtained by the processing operation to the production line station, and send a second departure instruction when the die-cast products arrive at the production line station; The robot control end is further used to control the transport machine to transport the die-cast finished product located at the production off-line station to the die-cast finished product storage area after receiving the second transport instruction.

7. The system according to claim 6, characterized in that The system further comprises: a second visual inspection device; and a production conveying robot arm; the production conveying robot arm is in communication with the production control terminal; the second visual inspection device is in communication with the production control terminal; the production off-line station comprises: a production qualified product off-line station and a production unqualified product off-line station; The production control end is used to send a third grabbing instruction to control the production conveying robot arm to grab the obtained die-cast product to the production inspection area of ​​the second visual inspection equipment after the die-cast product is obtained through processing; The second visual inspection device is used to detect whether the die-cast finished product in the production inspection area has defects and send a second inspection result; The production control end is also used to send a fourth grabbing instruction based on the second detection result to control the production conveying robot arm to grab the die-cast finished products without defects from the production detection area to the production qualified product offline station, and to control the production conveying robot arm to grab the die-cast finished products with defects from the production detection area to the production unqualified product offline station.

8. The system according to claim 6, wherein: The system further comprises: a production line robot arm provided at the production line station; the production line robot arm is in communication connection with the production control terminal; The production control terminal is specifically configured to send a second departure instruction when the die-cast finished product arrives at the production off-line station if there is no container at the production off-line station or the container at the production off-line station is full; The robot control terminal is specifically configured to control the transport robot to transport the empty container from the container storage area to the production line station upon receiving the second transport instruction; and to send a second arrival signal when the transport robot transporting the empty container arrives at the production line station; The production control end is further configured to control the production offline robot arm to grab the die-cast finished product and place it into the container carried by the handling robot when receiving the second arrival signal, and to send a second full box signal when the container is full; The robot control end is further used to control the transport robot to transport the filled container at the production offline workstation to the die-cast finished product storage area when receiving the second full box signal.

9. The system according to claim 8, characterized in that Multiple handling robots including lurking robots and counterbalanced forklift robots; The robot control end is specifically used to control the latent robot to transport the container filled with die-cast finished products to the die-cast finished product storage area, and when the controlled latent robot arrives at the die-cast finished product storage area, select the counterbalanced forklift robot to stack the container carried by the latent robot; or, The robot control end is specifically used to control the counterbalanced forklift robot to transport the container filled with die-cast finished products to the die-cast finished product storage area, and when the controlled counterbalanced forklift robot arrives at the die-cast finished product storage area, control the counterbalanced forklift robot to stack the transported container.

10. The system according to claim 8, wherein: The system further comprises: a welding receiving end and a welding line robot arm provided at a welding demand point; the welding receiving end is in communication connection with the robot control end; the welding receiving end is in communication connection with the welding line robot arm; the welding demand point comprises: a welding workshop or a welding line station; The robot control terminal is used to control the transport robot to transport the container containing the die-cast finished products from the die-cast finished product storage area to the welding demand point when receiving the welding online instruction; The welding receiving end is further used to control the welding line robot arm to grab the die-cast product from the container that reaches the welding demand point, and send a second empty box signal when the container is empty; The robot control end is further used to control the transport robot to transport the empty container located at the welding demand point to the container storage area after receiving the second empty box signal.

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