| Die casting refers to a casting process,in which the mold is filled with molten alloy under high pressure and speed condition and the alloy finally solidify under high pressure to form a die.In the casting process,it is usual to use some auxiliary machines to cooperate with casting machine to complete the tasks namely having soup, picking and spraying. Improving the automatic and intelligent level of the die casting auxiliary machine is important to improve the efficiency of die casting production, reduce the labor intensity and stabilize casting quality.Thus,we plan to invent a robot with two arms that can pick and spray for280 T die casting machine, and an control system of the robot was also developed.Omron CP1H-XA-40 DT PLC was selected as the control core, and a digital rectangular coordinate system was established by servo motors, by which the robot can locate accurately,not only make the picking arm get and put the part in a particular path but also let the spraying arm work in a designed path.Three-phase AC motors were controlled to modify the speed of having soup and arm rotating,by which the mentioned parts can work smoothly.Cylinders,sensors and spray nozzles were controlled by the I/O interface of PLC,by which the robot can spray in a intelligent way.The die temperature was collected by infrared temperature sensor and saved in PLC through A/D module,by which we can judge whether the temperature is normal. Modular programming method is adopted in the control system,each module can jump between each other through the process-step instructions.Based on WINVIEW touch-screen, a HMI interface was developed,which could interactwith PLC through RS232.In the HMI, users could choose manual or automatic operation mode, set working speed and operation mode, save teaching point coordinate values for having-soup robot arm, picking robot arm and spraying robot arm separately. It can improve the flexibility of the system by setting particular parameters for different types of dies.This control system had been installed and verified that it can automatically finish having soup, picking, spraying action within 20 seconds,the efficiency increased by50%.Research results show that the system was highly precise and flexible and can significantly improve the efficiency of the operation, reduce the labor intensity. |
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