JP-2026076022-A - Control device, control system, control method, and program for a mold release agent spraying robot.

JP2026076022AJP 2026076022 AJP2026076022 AJP 2026076022AJP-2026076022-A

Abstract

[Challenge] To teach a mold release agent spraying robot in a simulation environment. [Solution] A control device that controls a mold release agent spraying robot that sprays a mold release agent onto an object and is connected to the mold release agent spraying robot comprises: an input unit for inputting user operations; a first simulation unit that constructs a simulation environment for operating the mold release agent spraying robot based on the operations; a teaching unit that performs teaching in the simulation environment for the mold release agent spraying robot to operate in a real environment when the operations are input; and a second simulation unit that simulates the adhesion state in the simulation environment when the mold release agent is sprayed based on the operations, and the adhesion state in which the mold release agent adheres to the object. [Selection Diagram] Figure 21

Inventors

藤井茂登
神戸延尚
石本健
一ノ瀬浩

Assignees

日鉄テックスエンジ株式会社

Dates

Publication Date: 20260511
Application Date: 20241023

Claims (14)

A control device that controls a mold release agent spraying robot that sprays a mold release agent onto an object, and connects to the mold release agent spraying robot, An input section for receiving user input, A first simulation unit constructs a simulation environment for performing a simulation of operating the mold release agent spraying robot based on the above operation, In the aforementioned simulation environment, when the aforementioned operation is input, a teaching unit performs teaching so that the mold release agent spraying robot operates in the actual environment, A control device for a mold release agent spraying robot, comprising: a second simulation unit that simulates the adhesion state in which the mold release agent adheres to the target object when the mold release agent is sprayed based on the above operation, in the simulation environment.
The aforementioned object is It is a mold, The aforementioned mold release agent spraying robot is It has a nozzle for spraying the aforementioned release agent, It is heat-resistant and explosion-proof. The control device for a mold release agent spraying robot according to claim 1, wherein the mold release agent spraying robot is located remotely from the control device.
A first timeline is output showing the speed at which the mold release agent spraying robot moves in parallel or rotates relative to time. A second timeline showing the execution of processing by the nozzle of the mold release agent spraying robot is output for the aforementioned time. The aforementioned input unit is The control device for a mold release agent spraying robot according to claim 1, having a GUI for inputting the operation to change the first timeline or the second timeline.
The first simulation unit is, The release agent spraying robot is operated by a virtual operator shown in the simulation environment in accordance with the operation. A virtual region is set in the simulation environment that restricts the movement of the virtual moving object, including translation or rotation. When the virtual domain is set in the simulation environment and it is determined that the virtual entity becomes the virtual domain, When the operation instructs a translation that includes a first directional component which is a directional component in the direction that restricts the virtual operating body within the virtual region, and a second directional component which is a directional component in the direction that aligns the virtual operating body with the surface of the virtual region, A control device for a mold release agent spraying robot according to claim 1, wherein the direction in which the virtual operating body is translated is corrected based on the surface of the virtual region, and the virtual operating body is translated in the corrected direction in the simulation environment.
The aforementioned virtual area is The control device for a mold release agent spraying robot according to claim 4, which is set to maintain a constant adhesion state.
Based on the dwell time of the nozzle spraying the release agent, the distance between the nozzle and the object, the amount of release agent sprayed, and the angle of the nozzle, The aforementioned adhesion state is, The control device for a mold release agent spraying robot according to claim 1, wherein the thickness of the mold release agent adhering to the object and the area to which the mold release agent is adhering to the object are simulated and output.
Based on the distance between the nozzle and the object, and the type of nozzle, The control device for a mold release agent spraying robot according to claim 1, wherein the shape of adhesion of the mold release agent to the object and the area to which the mold release agent adheres to the object are simulated and output.
In the aforementioned simulation environment, The control device for a mold release agent spraying robot according to claim 1, which outputs a nozzle trajectory in which the nozzle spraying the mold release agent moves in parallel, and an output screen showing the adhesion state.
The control device for a mold release agent spraying robot according to claim 1, which detects the difference between the simulation environment and the actual environment and performs calibration to correct the teaching data generated by the teaching unit based on the difference.
The control device for a mold release agent spraying robot according to claim 9, which involves spraying the mold release agent in the actual environment, detecting the adhesion state of the mold release agent, and determining the difference.
The first simulation unit is, A virtual working body including the mold release agent spraying robot and a virtual model including the object are generated, and the simulation environment is constructed by placing the virtual model in a virtual space. When an instruction is given to the input unit to operate the mold release agent spraying robot, the virtual operating body in the simulation environment performs a translational or rotational movement. The aforementioned teaching unit is, Based on the results of operating the virtual entity in the aforementioned simulation environment, teaching data is generated. The control device for a mold release agent spraying robot according to claim 1, wherein, using the teaching data, the mold release agent spraying robot operates in the actual environment based on the teaching data, and the simulation results are reproduced in the simulation environment.
A control system comprising a mold release agent spraying robot that sprays a mold release agent onto an object, and a control device that controls the mold release agent spraying robot and is connected to the mold release agent spraying robot, The control device is An input section for receiving user input, A first simulation unit constructs a simulation environment for performing a simulation of operating the mold release agent spraying robot based on the above operation, In the aforementioned simulation environment, when the aforementioned operation is input, a teaching unit performs teaching so that the mold release agent spraying robot operates in the actual environment, A control system comprising: a second simulation unit that simulates the adhesion state in which the release agent adheres to the target object when the release agent is sprayed based on the above operation, in the simulation environment.
A control method performed by a control device that controls a mold release agent spraying robot that sprays a mold release agent onto an object, and is connected to the mold release agent spraying robot, Input procedure for receiving user input, A first simulation procedure for constructing a simulation environment for performing a simulation of operating the mold release agent spraying robot based on the above operation, In the aforementioned simulation environment, when the aforementioned operation is input, a teaching procedure is performed to teach the mold release agent spraying robot to operate in the actual environment, A control method comprising a second simulation procedure in which, when the release agent is sprayed based on the above operation, the adhesion state in which the release agent adheres to the object is simulated in the simulation environment.
A program for causing a computer to execute the control method described in claim 13.

Description

This invention relates to a control device, control system, control method, and program for a mold release agent spraying robot. Efforts are underway to promote the Sustainable Development Goals (SDGs, also known as the 2030 Agenda for Sustainable Development, adopted at the UN Summit on September 25, 2015). Specifically, Goal 9 calls for technologies that enable the construction of resilient infrastructure, the promotion of inclusive and sustainable industrialization, and the fostering of innovation. Conventionally, die-casting machines and similar equipment have a process of spraying a mold release agent onto the object being cast, such as a mold. Robots capable of performing this process are known. For example, the end effector of a robot used in a die-casting machine is equipped with an action part such as a spray nozzle. The end effector then corrects the simulated operation, programmed using simulation software, to match the mold by operating a teaching pendant. With a robot equipped with such an end effector, the user operates the teaching pendant from a safe location with good footing, sufficiently far from the high-temperature mold, thus ensuring safety. Techniques for avoiding dangerous work in this way are known (see, for example, Patent Document 1). Furthermore, a method for teaching a mold spray robot, which atomizes a spray agent onto the mold cavity surface in a die-casting machine, is known. Specifically, first, the three-dimensional shape of the mold work surface is input to the robot control device. Next, on the screen provided by the robot control device, necessary single shapes are extracted and combined from among the single shapes. Then, the three-dimensional shape of the mold work surface is converted into a simple model and input to the robot control device. After input to the robot control device, the model is displayed on the screen, and the spray work path is instructed. In this way, a technique for teaching the robot to perform spray operations simply, easily, and efficiently is known (see, for example, Patent Document 2). Furthermore, a mold spray robot is known that atomizes a spray agent onto the mold cavity surface in a die-casting machine. Specifically, the mold spray robot has a fluid pressure cylinder in the middle and is equipped with three sets of extendable rods. The mold spray robot controls its posture by controlling the length of the extendable rods. This posture control changes the intersection direction and angle of the flat plates pin-jointed to the extendable rods. In this way, a technology is known that achieves spray atomization at an appropriate angle suited to the actual situation, reduces the consumption of spray agent, and improves the quality of molded products (see, for example, Patent Document 3). A method for performing interference checks in similar mold spray robots is known. Specifically, the mold spray robot first sets a three-dimensional coordinate region encompassing the area where the tip of the spray nozzle can move and the area where the tip of the robot wrist can move. Next, the mold spray robot determines whether the movement path of the spray nozzle tip and the movement path of the robot wrist, which indicate the work path, deviate from the areas where the spray nozzle tip and the robot wrist can move. Based on this determination, the mold spray robot prevents interference with the mold and surrounding equipment. In this way, a technology is known that achieves appropriate spray angle spraying tailored to the actual situation, reduces spray agent consumption, and improves the quality of molded products (see, for example, Patent Document 4). Patent No. 7275958Japanese Patent Application Publication No. 9-182947Japanese Patent Application Publication No. 9-314305Japanese Patent Application Publication No. 9-314303 This figure shows an example of a control system for a mold release agent spraying robot.This figure shows an example of control device hardware.This figure shows an example of a master-slave configuration environment.This figure shows an example of a simulation environment.This figure shows an example of a completed teaching session.This figure shows an example of a GUI.This figure shows an example of a spray treatment simulation.This figure shows an example of a simulation model for spray treatment.This figure shows an example of a simulation of the concentration of the mold release agent.This figure shows an example of a simulation of the extent of adhesion.This figure shows an example of the nozzle trajectory and adhesion state.This figure shows an example of a 3D output of the simulation results.This figure shows an example of a 3D output of the simulation results from a different perspective.This figure shows an example of how to configure a virtual area.This figure shows an example of limitations imposed by virtual space.This figure shows a first example of a three-dimensional configuration of a virtual domain.This is a cross-