CN-122008617-A - Automatic slag scraping treatment system and self-adaptive control method

CN122008617ACN 122008617 ACN122008617 ACN 122008617ACN-122008617-A

Abstract

The invention provides an automatic slag scraping treatment system and a self-adaptive control method, which relate to the technical field of slag scraping treatment and comprise symmetrically arranged slide rails, a multi-layer slag scraping assembly synchronously driven by a rotary driving shaft and a corresponding machine vision detection mechanism. After the controller executes the first global cleaning operation, whether the cleaning effect meets the standard is intelligently judged based on the image information acquired by each machine vision detection mechanism, and if the cleaning effect does not meet the standard, all slag scraping assemblies are controlled to execute cleaning again, so that closed-loop control and accurate cleaning are realized, the consistency of cleaning quality is effectively ensured, and the product forming quality is improved.

Inventors

ZHENG TAO
ZENG ZHI
ZENG XUEWEN
WU GUANGQI
YI JIAN

Assignees

成都正西机器人有限公司

Dates

Publication Date: 20260512
Application Date: 20260327

Claims (10)

1. An automatic slag scraping treatment system, comprising: Symmetrically arranged slide rails (2); the longitudinal moving plates (3) are sequentially arranged from top to bottom and are slidably arranged on the symmetrical sliding rails (2); A plurality of fixing plates (4) fixedly installed on the longitudinal moving plates (3) respectively; The slag scraping assemblies (7) are respectively and fixedly arranged on the top surface of the fixed plate (4), and the slag scraping assemblies (7) respectively slide back and forth on the top surface of the corresponding fixed plate (4); a rotary driving shaft (6) in transmission connection with a plurality of slag scraping assemblies (7), wherein the slag scraping assemblies (7) are synchronously driven by the rotary driving shaft (6); The machine vision detection mechanisms are arranged in one-to-one correspondence with the slag scraping assemblies (7) and are used for collecting image information of the inner wall of the corresponding station die; a controller in signal connection with the rotary drive shaft (6) and the plurality of machine vision detection mechanisms, the controller configured to: controlling the slag scraping assembly (7) to execute a first global cleaning operation; after the first global cleaning operation is finished, judging cleaning effects of all stations based on image information acquired by all the machine vision detection mechanisms; and if the stations reach no standard, controlling all the slag scraping assemblies (7) to execute cleaning operation again.
2. The automatic slag scraping and processing system according to claim 1, wherein the slag scraping assembly (7) comprises a cantilever (70), the cantilever (70) is slidably connected to the top surface of the fixed plate (4) through a guide rail pair, a driving wheel (71) is rotatably connected to the top surface of one end of the cantilever (70), a first driven wheel (72) is rotatably connected to the other end of the cantilever, the driving wheel (71) is connected with the first driven wheel (72) through a transmission chain (73), the driving wheel (71) is in transmission connection with the rotary driving shaft (6), a rotatable cleaning brush head (75) is in transmission connection with the first driven wheel (72), a wide-angle fan-shaped nozzle (76) is further arranged in the middle of the cleaning brush head (75), a translation driving mechanism (8) is mounted on two sides of the cantilever (70) through fixing seats respectively, and the translation driving mechanism (8) drives the cantilever (70) to reciprocate transversely.
3. An automatic slag scraping system as claimed in claim 2, wherein said rotary drive shaft (6) is rotated by a rotary drive mechanism (5), said rotary drive mechanism (5) being fixedly mounted at one end of either of said cantilevers (70).
4. An automatic slag scraping and processing system as claimed in claim 1, characterized in that two adjacent said longitudinal moving plates (3) are detachably connected by a connecting plate (9).
5. The automated slag scraping system of claim 1, wherein the controller, prior to performing the first global cleaning job, is further configured to: Based on the initial images acquired by the machine vision detection mechanisms, identifying a station with the worst slag charge condition as a reference station; and calculating and determining global parameters of the first global cleaning operation based on the slag condition parameters of the reference station.
6. An adaptive control method for an automatic slag scraping treatment system according to any of claims 1-5, comprising the steps of: S10, a first vision acquisition and planning step, namely controlling the machine vision detection mechanism to acquire a first image so as to acquire an initial image, and planning global cleaning parameters of the first global cleaning operation based on the initial image; S20, a first cleaning step, namely controlling all slag scraping assemblies (7) to execute a first global cleaning operation; S30, a secondary vision acquisition and effect judgment step, namely controlling the machine vision detection mechanism to acquire a second image after the primary cleaning step to acquire the second image; s40, a decision step, namely ending the cleaning flow if all stations reach the standard based on the decision result of the step S30, and generating a re-cleaning instruction if stations which do not reach the standard exist; S50, a re-cleaning step, namely controlling all the slag scraping assemblies (7) to execute re-cleaning operation in response to the re-cleaning instruction; and S60, a final vision acquisition and judgment step, namely controlling the machine vision detection mechanism to acquire a third image to obtain a third image after the secondary cleaning step, judging whether the cleaning effect meets the standard or not based on the third image, ending the cleaning flow if the cleaning effect meets the standard, and outputting an alarm signal if the cleaning effect does not meet the standard.
7. The adaptive control method according to claim 6, wherein the step S10 includes: s11, based on the initial image, evaluating the cleaning difficulty of each station; S12, determining a station with the worst slag condition as a reference station; And S13, planning global cleaning parameters of the first global cleaning operation by taking the cleaning requirement of the reference station as a target.
8. The adaptive control method according to claim 7, wherein the formula for calculating the cleaning difficulty quantization value of each station in step S11 is: , wherein, D is a quantized value of the cleaning difficulty of the slag condition calculated and output by the station; t max is the maximum slag charge thickness of the station; A is the ratio of the coverage area of the station slag to the total area of the station; gamma is a preset weighting coefficient greater than zero.
9. The adaptive control method according to claim 7, wherein the global cleaning parameters in step S10 include calculating a first slag scraping speed V 1 according to the following calculation formula: , wherein, T base is the maximum slag thickness of the reference station; k is a resistance coefficient; F is the effective scraping force of the slag scraping assembly (7); η is a predetermined safety and efficiency coefficient.
10. The method according to claim 9, wherein the re-cleaning step S50 includes calculating a re-cleaning speed V 2, , wherein gamma slow is a deceleration coefficient, and gamma slow is a preset coefficient smaller than 1 and larger than 0, wherein the cleaning speed V 2 is lower than the first cleaning speed V 1 in the first cleaning step S10, and the re-cleaning speed V 2 is determined by V 2 =γ slow ×V 1 ; the deceleration coefficient is determined according to the residual thickness of the slag after the first cleaning, and the calculation formula is as follows: , wherein, T remain is the maximum residual thickness of slag in the station which is not up to standard in the S30 effect judgment; t base is the maximum slag charge thickness of the reference station determined in the step S12; delta is a preset safety factor less than 1.

Description

Automatic slag scraping treatment system and self-adaptive control method Technical Field The invention relates to the technical field of slag scraping treatment, in particular to an automatic slag scraping treatment system and a self-adaptive control method. Background In the metal plastic working industries such as forging and drawing, impurities (commonly called "sarcomas") such as oxide skin and metal scraps are unevenly adhered to the inner wall of a cylindrical die under the cyclic operation of high temperature and high pressure. To ensure the quality of the subsequent product and the life of the mold, these impurities must be cleaned and lubricated effectively between the processes. At present, cleaning and lubrication of the mold in the industry mainly depend on a manual mode, namely, operators use simple tools to manually scrape slag and then brush or spray the slag to lubricate. The method has the inherent defects of poor consistency of cleaning and lubricating effects, low efficiency, high labor cost and the like, seriously damages the health of operators under the severe environment of high temperature and high dust, and cannot meet the requirements of modern automatic production. To replace the manual work, some automatic cleaning equipment appears on the market. Most automated equipment is equipped with independent drive motors (e.g., servo motors), drive mechanisms, and control systems for each cleaning station individually, in order to achieve independent precise control of each station. Although the scheme can realize flexibility, the device has complex structure and high manufacturing cost and maintenance cost. More importantly, in the forging workshop environment with large vibration impact and serious dust, the reliability, durability and stability of a large number of precise electric elements face serious challenges, faults frequently occur, and the operating rate of the whole equipment is reduced. The existing lubrication mode, whether manual or automatic, is difficult to realize accurate and uniform delivery of the lubricant in the complex cavity. Therefore, there is an urgent need in the art for an automated solution that can fundamentally promote the reliability and economy of the device in harsh industrial environments. The invention has extremely simple mechanical structure and low manufacturing cost, can naturally adapt to the severe working condition of a forging workshop, and can ensure the basic cleaning and lubricating effects. Disclosure of Invention The invention aims to solve the problems in the prior art, and provides an automatic slag scraping treatment system and an adaptive control method. In order to achieve the above purpose, the present invention adopts the following technical scheme: An automatic slag scraping treatment system comprising: Symmetrically arranged slide rails; the plurality of longitudinal moving plates are sequentially arranged from top to bottom and are arranged on symmetrical sliding rails in a sliding manner; the fixed plates are respectively and fixedly arranged on the longitudinal moving plates; the slag scraping assemblies are respectively and fixedly arranged on the top surfaces of the fixing plates, and respectively slide back and forth on the top surfaces of the corresponding fixing plates; the rotating driving shaft is in transmission connection with the slag scraping assemblies, and the slag scraping assemblies are synchronously driven by the rotating driving shaft; the machine vision detection mechanisms are arranged in one-to-one correspondence with the slag scraping assemblies and are used for collecting image information of the inner wall of the corresponding station die; a controller in signal connection with the rotary drive shaft and the plurality of machine vision detection mechanisms, the controller configured to: Controlling the slag scraping assembly to execute a first global cleaning operation; After the first global cleaning operation is finished, judging cleaning effects of all stations based on image information collected by all machine vision detection mechanisms; And if the stations reach no standard, controlling all the slag scraping assemblies to execute cleaning operation again. The slag scraping assembly comprises a cantilever, the cantilever is connected to the top surface of the fixed plate in a sliding manner through a guide rail pair, the top surface of one end of the cantilever is rotatably connected with a driving wheel, the other end of the cantilever is rotatably connected with a first driven wheel, the driving wheel is connected with the first driven wheel through a transmission chain, the driving wheel is in transmission connection with a rotary driving shaft, a rotatable cleaning brush head is in transmission connection with the first driven wheel, a wide-angle fan-shaped nozzle is further arranged in the middle of the cleaning brush head, two sides of the cantilever are respectively provided with a transla