Integrated truss type double vertical arm automatic device for refining and slagging of aluminum smelting furnace

Abstract

The utility model relates to the technical field of aluminum and aluminum alloy smelting refining production, the utility model discloses aluminum smelting furnace refining and the integrated truss type double vertical arm automation device of drawing slag, include: multi -foot double portal frame, set up on multi -foot double portal frame Y -axis truss subassembly, set up on Y -axis truss subassembly X -axis truss subassembly, set up on X -axis truss subassembly Y -axis drive subassembly and with Y -axis drive subassembly cooperation Z -axis droop mechanical arm and put the rack, the utility model has the following advantages: the utility model solves the current background art, and multiple machines can complete aluminum refining operation under manual assistance, and the technical problem that cannot realize refining and drawing slag integration, automation, the utility model structure is compact, utilizes the mechanical replacement manual, eliminates the randomness of manual operation, realizes automatic in and out of the furnace, blows material, stirring, drawing slag and other automatic operation, improves aluminum melt refining quality and production efficiency.

Description

Technical Field

[0001] This utility model relates to the field of aluminum and aluminum alloy smelting and refining production technology, specifically to an integrated truss-type double-hanging arm automated device for aluminum smelting furnace refining and slag removal. Background Technology

[0002] Currently, the aluminum and aluminum alloy smelting and refining process is primarily manual. This involves manually dragging refining pipes in and out of the smelting furnace, manually spraying refining agents or blowing refining charges (refining agents and refining gases) into the furnace through the refining pipes, and agitating the molten aluminum to ensure a thorough chemical reaction with the refining charges and molten aluminum. This promotes the separation of the molten aluminum from the slag. Slag removal is then carried out manually using slag rakes or slag removers modified from forklifts or wheel loaders. Workers operate under harsh conditions of heavy loads, high temperatures, high dust, and high intensity, posing significant health risks. Furthermore, the inherent arbitrariness of manual operation leads to difficulties in precisely controlling refining time, uneven spraying of refining charges, incomplete control of the stirring trajectory, and incomplete slag removal, resulting in unstable aluminum molten aluminum refining yield. Therefore, manual refining struggles to guarantee the stability of aluminum product quality, creating a demand for machines to replace manual labor in aluminum refining processes in aluminum product manufacturing enterprises.

[0003] Furthermore, existing published patents and related literature primarily describe devices for aluminum and aluminum alloy smelting and refining processes, often in the form of rail-mounted or wheeled refining machines, feeders, slag removers, and furnace-front refining robots. In reality, companies need to purchase multiple units of these devices and complete the entire refining process with worker assistance. Multi-unit aluminum smelting furnaces, in particular, are difficult to effectively promote and apply due to limitations in site, environment, operating conditions, and process requirements. The drawbacks are: the need for multiple refining machines, feeders, and slag removers operating in a continuous flow, failing to integrate refining and slag removal; and the requirement for worker assistance in operating multiple machines, failing to replace manual labor with machines and thus not achieving automation of refining and slag removal. Utility Model Content

[0004] This utility model aims to solve at least one of the technical problems existing in the prior art. To this end, one objective of this utility model is to propose an integrated truss-type double-hanging-arm automated device for refining and slag removal in aluminum smelting furnaces. This device is applicable to single furnaces and multi-unit connected aluminum smelting furnaces, realizing the integration and automation of aluminum smelting furnace refining and slag removal.

[0005] To solve the above-mentioned technical problems, the technical solution provided by this utility model is: an integrated truss-type double-hanging arm automated device for refining and slag removal in an aluminum smelting furnace, comprising: a multi-legged double gantry frame, a Y-axis truss assembly mounted on the multi-legged double gantry frame, an X-axis truss assembly mounted on the Y-axis truss assembly, a Y-axis drive assembly mounted on the X-axis truss assembly, and a Z-axis downward-hanging robotic arm cooperating with the Y-axis drive assembly, capable of moving in three directions: X, Y, and Z; a placement frame, the placement frame being mounted on the Y-axis truss assembly and having a workpiece mounted on it, the Z-axis downward-hanging robotic arm picking up the workpiece for operation.

[0006] Preferably, the multi-legged double gantry frame is provided in at least one set, and each set of the multi-legged double gantry frame includes two symmetrically arranged gantry frame bodies.

[0007] Preferably, the Y-axis truss assembly is slidably disposed between the two gantry bodies. The Y-axis truss assembly includes a Y-axis truss frame and a Y-axis truss drive mechanism. The Y-axis truss drive mechanism includes a first slide rail disposed on the top surface of the two gantry bodies and a first rack on their opposite side walls. The Y-axis truss frame is provided with a first servo motor on each side, and a first drive gear that cooperates with the first rack is connected to the output shaft of each first servo motor.

[0008] Preferably, the X-axis truss assembly is slidably mounted on the Y-axis truss assembly. The X-axis truss assembly includes an X-axis truss frame and an X-axis truss drive mechanism. The X-axis truss drive mechanism includes a second slide rail mounted on the top surface of the Y-axis truss frame and second racks mounted on its opposite side walls. The X-axis truss frame is provided with second servo motors on both sides, and each second servo motor has a second drive gear connected to its output shaft that meshes with the second rack.

[0009] Preferably, the Y-axis drive assembly has two sets and is disposed on the X-axis truss frame. The Y-axis drive assembly includes screws rotatably disposed on both sides of the X-axis truss frame. The screws adopt Tr40×40 trapezoidal threads, and one end of the screws passes through the X-axis truss frame and is connected to a third servo motor disposed on its side wall. The screws are made of high-temperature resistant alloy, and the surface is ion nitrided to form a nitrided layer with a hardness of not less than HV800.

[0010] Preferably, the Z-axis drooping robotic arm has at least two parts, each cooperating with the Y-axis drive assembly for translation in the Y-axis direction. The Z-axis drooping robotic arm has a through groove, and a third slide rail is provided on the opposite sidewalls of the through groove. A slider cooperating with the third slide rail is provided in the through groove. The slider is threadedly connected to the screw. A dust removal groove is provided on the internal thread surface of the slider, oriented axially. The threaded mating surfaces of the screw and the slider are coated with a molybdenum disulfide-based solid lubricant coating with a thickness of 50-100 μm. The inner wall of the slider has several micro-grease reservoirs filled with polytetrafluoroethylene high-temperature grease. The auxiliary motion achieves continuous lubrication. Air nozzles are provided on both end faces of the slider. A compressed air tank is provided on the X-axis truss frame, and an air pump is provided on the compressed air tank. The air pump is connected to the air nozzles via high-temperature resistant metal pipes. The air outlet direction of the air nozzles is set at a 30° angle to the axis of the screw, forming an annular air curtain. A fourth slide rail is provided on the side wall of the X-axis truss frame along the axial direction of the screw. A moving block that cooperates with the fourth slide rail is provided on the side wall of the Z-axis drooping robotic arm. A mechanical gripper is provided at the bottom of each Z-axis drooping robotic arm. Corresponding robotic arm drive mechanisms are provided on the Z-axis drooping robotic arm and the X-axis truss frame.

[0011] Preferably, the mechanical gripper includes a fourth servo motor located at the bottom of the downward-hanging robotic arm along the Z-axis. A rotating shaft is connected to the output shaft of the fourth servo motor, and two opposing mounting brackets are connected to the bottom end of the rotating shaft. Each of the two mounting brackets has a cooperating gripper rotatably mounted on it. Electric telescopic rods that are rotatably connected to the grippers on the same side are respectively provided on both sides of the mounting bracket.

[0012] Preferably, the robotic arm drive mechanism includes a fifth servo motor mounted on the slider and a third rack mounted on the side wall of the through slot. The output shaft of the fifth servo motor is provided with a third drive gear that cooperates with the third rack. The side wall of the Z-axis drooping robotic arm is provided with a limiting strip, and the moving block is provided with a limiting groove that slides with the limiting strip.

[0013] Preferably, the placement frame includes any one or a combination of two of the refining tube positioning placement frame and the slag rake positioning placement frame. The working parts include the refining tube and the slag rake. The refining tube positioning placement frame and the slag rake positioning placement frame are arranged on the bottom surface of the Y-axis truss frame. The refining tube is placed on the refining tube positioning placement frame, and the slag rake is placed on the slag rake positioning placement frame. The refining tube and the slag rake are provided with locking positions that cooperate with the grippers.

[0014] Preferably, it also includes an electrical cabinet furnace charge feeder basket, which is disposed on the bottom surface of the Y-axis truss frame and located away from the aluminum smelting furnace. The electrical cabinet furnace charge feeder basket is provided with a feeder connected to the refining pipe through a pipeline and a PLC controller cabinet. The PLC controller cabinet is provided with a synchronization control module and a laser ranging sensor disposed on the X-axis truss frame and electrically connected to the synchronization control module. The synchronization control module is electrically connected to the feeder, the Y-axis truss drive mechanism, the X-axis truss drive mechanism, the Y-axis drive assembly, the mechanical gripper, and the mechanical arm drive mechanism, respectively.

[0015] With the above structure, this utility model has the following advantages:

[0016] This utility model adopts a multi-axis truss structure, equipped with a Z-axis downward-hanging robotic arm, and uses PLC control to grasp refining tubes or slag rakes for work, realizing integrated and automated operation of feeding, stirring, and slag removal. It solves the problems of labor health protection and insufficient operators faced by aluminum product enterprises, reduces the number of operators required, and solves the technical problem that under the current technology, multiple machines can only complete aluminum refining operations with manual assistance, and cannot achieve integrated and automated refining and slag removal. This utility model has a compact structure, uses machinery to replace manual labor, eliminates the randomness of manual operation, and realizes automated operations such as automatic furnace loading and unloading, blowing, stirring, and slag removal, thereby improving the quality of aluminum molten refining and production efficiency.

[0017] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the usage state of this utility model.

[0020] Figure 2 This is a schematic diagram of the structure of this utility model. Figure 1 .

[0021] Figure 3 This is a schematic diagram of the structure of this utility model. Figure 2 .

[0022] Figure 4 This is the front view of this utility model.

[0023] Figure 5 yes Figure 4 A schematic diagram of the cross-sectional structure of AA.

[0024] Figure 6 This is a schematic diagram of the Z-axis downward-hanging robotic arm.

[0025] Figure 7 This is the front view of the Z-axis downward-hanging robotic arm.

[0026] Figure 8 This is a schematic diagram of the structure of a slag rake.

[0027] Figure 9 This is a schematic diagram of the refining tube.

[0028] As shown in the figure: 1. Gantry frame body; 2. Y-axis truss frame; 3. X-axis truss frame; 4. Z-axis hanging robotic arm; 5. Aluminum smelting furnace; 6. Slag rake; 7. First servo motor; 8. First rack; 9. Second slide rail; 10. Second rack; 11. Second servo motor; 12. Third servo motor; 13. First slide rail; 14. Placement rack; 15. Furnace charge feeder basket in electrical cabinet; 16. Feeder; 17. Mounting frame; 18. Gripper; 19. Electric telescopic rod; 20. PLC controller cabinet; 21. Slider; 22. Fifth servo motor; 23. Screw; 24. Through slot; 25. Third slide rail; 26. Fourth servo motor; 27. Rotary shaft; 28. Fourth slide rail; 29. ​​Third rack; 30. Refining tube; 31. Clamping position; 32. Compressed air storage tank; 33. Air pump; 34. Air nozzle. Detailed Implementation

[0029] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0030] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0031] Combined with appendix Figures 1-9 An integrated truss-type double-hanging-arm automated device for refining and slag removal in an aluminum smelting furnace includes: a multi-legged double gantry frame, a Y-axis truss assembly mounted on the multi-legged double gantry frame, an X-axis truss assembly mounted on the Y-axis truss assembly, a Y-axis drive assembly mounted on the X-axis truss assembly, and a Z-axis hanging robotic arm 4 and a placement frame 14 that cooperate with the Y-axis drive assembly.

[0032] The Y-axis truss assembly, X-axis truss assembly, and Z-axis drooping robotic arm 4 can move in three directions: X, Y, and Z. The placement frame 14 is mounted on the Y-axis truss assembly and has a workpiece on it. The Z-axis drooping robotic arm 4 picks up the workpiece and performs the operation.

[0033] In one embodiment of this utility model, the multi-legged double gantry frame is provided in at least one set, and each set of the multi-legged double gantry frame includes two symmetrically arranged gantry frame bodies 1. Specifically, as shown... Figure 1 As shown, each gantry frame body 1 is welded together from four columns and a top crossbeam. The bottom of the columns is fixed to the ground with anchor bolts to ensure the overall stability of the device. The columns are made of rectangular steel pipes, made of Q345B material, with a wall thickness of 12mm. The top crossbeam is made of I-beam steel, model HW300×300×10×15, and its span is determined according to the size of the aluminum smelting furnace 5.

[0034] In one embodiment of this utility model, the Y-axis truss assembly is slidably disposed between two gantry bodies 1. The Y-axis truss assembly includes a Y-axis truss frame 2 and a Y-axis truss drive mechanism. The Y-axis truss drive mechanism includes a first slide rail 13 disposed on the top surface of the two gantry bodies 1 and a first rack 8 disposed on their opposite side walls. The Y-axis truss frame 2 is provided with first servo motors 7 on both sides, and each first servo motor 7 has a first drive gear connected to its output shaft that meshes with the first rack 8. Specifically, as shown... Figures 1-3 As shown, the length of the Y-axis truss frame 2 is equal to the span of the gantry frame body 1. The first slide rail 13 consists of two parallel rectangular guide rails, model HJG25CA, with a hardness of HRC58-62, which are fixed to the top surface of the gantry frame body 1 by T-bolts. The first rack 8 has a module m=8 and a number of teeth z=120, and is made of high-strength alloy steel. It is connected to the side wall of the gantry frame body 1 by positioning pins and bolts. Each first servo motor 7 is connected to the first drive gear through a reducer. The first servo motor 7 is model MR-J4-100A with a power of 7.5kW. The reduction ratio of the reducer is i=1:20. The first drive gear has a module m=8 and a number of teeth z=20. The first drive gear meshes with the first rack 8. When the first servo motors 7 on both sides drive synchronously, the Y-axis truss frame 2 moves linearly along the first slide rail 13.

[0035] In one embodiment of this utility model, the X-axis truss assembly is slidably mounted on the Y-axis truss assembly. The X-axis truss assembly includes an X-axis truss frame 3 and an X-axis truss drive mechanism. The X-axis truss drive mechanism includes a second slide rail 9 disposed on the top surface of the Y-axis truss frame 2 and second racks 10 on its opposite side walls. Second servo motors 11 are respectively disposed on both sides of the X-axis truss frame 3, and a second drive gear cooperating with the second rack 10 is connected to the output shaft of each second servo motor 11. Specifically, as shown... Figures 1-3 As shown, the second slide rail 9 consists of two parallel dovetail guide rails, model HG20, with a hardness of HRC55-60. It is fixed to the top surface of the Y-axis truss frame 2 by pressure plates and bolts. The second rack 10 is made of 40Cr alloy steel, with a module of m=6 and a number of teeth z=100. It is connected to the side wall of the Y-axis truss frame 2 by welding and bolts. Each second servo motor 11 is connected to the second drive gear through a reducer. The second servo motor 11 is model MR-J4-70A with a power of 5.5kW. The reduction ratio of the reducer is i=1:15. The second drive gear has a module of m=6 and a number of teeth z=18. The second drive gear meshes with the second rack 10. When the second servo motors 11 on both sides drive synchronously, the X-axis truss frame 3 moves linearly along the second slide rail 9.

[0036] In one embodiment of this utility model, the Y-axis drive assembly has two sets and is disposed on the X-axis truss frame 3. The Y-axis drive assembly includes screws 23 rotatably disposed on both sides of the X-axis truss frame 3. The screws 23 adopt Tr40×40 trapezoidal threads, and one end of the screws penetrates the X-axis truss frame 3 and is connected to a third servo motor 12 disposed on its side wall. The screws 23 are made of high-temperature resistant alloy, and the surface is ion nitrided to form a nitrided layer with a hardness of not less than HV800. Specifically, as shown... Figures 4-5 As shown, the Y-axis drive assembly has two sets symmetrically arranged on both sides of the X-axis truss frame 3. The screw 23 adopts a Tr40×40 trapezoidal thread, is made of GH4169 high-temperature alloy, and has a 0.2mm thick nitrided layer formed by ion nitriding treatment, with a hardness of HV850. The two ends of the screw 23 are rotatably connected to the X-axis truss frame 3 through angular contact ball bearings of model 7210AC. The bearing seats are fixed to the X-axis truss frame 3 by bolts. The third servo motor 12 is connected to one end of the screw 23 through a coupling. The third servo motor 12 is model MR-J4-40A with a power of 3.7kW. The coupling adopts a diaphragm coupling, which can compensate for radial, axial and angular offsets between the two axes. When the third servo motor 12 drives, the screw 23 rotates, causing the slider 21 to move along the Y-axis direction.

[0037] In one embodiment of this utility model, the Z-axis drooping robotic arm 4 is provided with at least two parts, each cooperating with the Y-axis drive assembly to perform translation in the Y-axis direction. The Z-axis drooping robotic arm 4 has a through groove 24, and third slide rails 25 are provided on opposite side walls of the through groove 24. A slider 21 cooperating with the third slide rail 25 is provided in the through groove 24. The slider 21 is threadedly connected to the screw 23. A dust removal groove is provided on the inner thread surface of the slider 21 along its axial direction. The threaded mating surfaces of the screw 23 and the slider 21 are coated with a molybdenum disulfide-based solid lubricant coating with a thickness of 50-100 μm. The inner wall of the slider 21 has several micro-grease reservoirs filled with polytetrafluoroethylene high-temperature grease. Continuous lubrication is achieved through the movement of the threaded joint. Air nozzles 34 are provided on the two end faces of the slider 21. A compressed air tank 32 is provided on the X-axis truss frame 3, and an air pump 33 is provided on the compressed air tank 32. The air pump 33 is connected to the air nozzles 34 via a high-temperature resistant metal pipe. The air outlet direction of the air nozzles 34 is set at a 30° angle to the axis of the screw 23, forming an annular air curtain. A fourth slide rail 28 is provided on the side wall of the X-axis truss frame 3 along the axial direction of the screw 23. A moving block that cooperates with the fourth slide rail 28 is provided on the side wall of the Z-axis drooping robotic arm 4. A mechanical gripper is provided at the bottom of each Z-axis drooping robotic arm 4. A corresponding robotic arm drive mechanism is provided on the Z-axis drooping robotic arm 4 and the X-axis truss frame 3. Specifically, as shown... Figures 4-7As shown, at least two Z-axis drooping robotic arms 4 are provided, each cooperating with a Y-axis drive assembly. The main body of the Z-axis drooping robotic arm 4 is a rectangular frame structure. The third slide rail 25 consists of two parallel linear guide rails, model HGW20CA, with a hardness of HRC58-62. They are fixed to the side wall of the through groove 24 by bolts. Three Al2O3 ceramic wear-resistant blocks are embedded inside the slider 21. The ceramic blocks are bonded to the slider 21 with high-temperature adhesive and mechanically fixed. Four axial dust removal grooves are opened on the internal thread surface of the slider 21, and the dust removal grooves are evenly distributed along the root of the thread. The threaded mating surfaces of the screw 23 and the slider 21 are coated with an 80μm thick molybdenum disulfide-based solid lubricant coating. Six micro-grease reservoirs are evenly distributed on the inner wall of the slider 21. Each micro-grease reservoir is connected to the threaded surface through a 1mm diameter oil outlet hole. The micro-grease reservoirs are filled with polytetrafluoroethylene high-temperature grease. The air nozzle 34 has a ring structure, with the air outlet direction forming a 30° angle with the axis of the screw 23. The compressed air tank 32 is fixed to the X-axis truss frame 3 by a bracket. The air pump 33 is connected to the compressed air tank 32 via a flange. The exhaust volume of the air pump 33 is 0. The compressed air has a flow rate of 0.3 m³ / min and an exhaust pressure of 0.8 MPa. After being dried by a dryer (model QD-10), the compressed air is delivered to the nozzle 34 through a high-temperature resistant metal pipe, forming an annular air curtain on the surface of the screw 23. The fourth slide rail 28 consists of two parallel linear guide rails, model HGW25CA, which are fixed to the side wall of the X-axis truss frame 3 by bolts. The moving block is fixed to the side wall of the Z-axis drooping robot arm 4 by bolts. The moving block slides in conjunction with the fourth slide rail 28 to provide lateral support for the Z-axis drooping robot arm 4. The surface of the screw 23 is coated with a two-layer coating. The molybdenum sulfide solid lubricating coating and the Cu-MoS2-Graphite self-lubricating material of the slider 21 form a dual lubrication. Even without external oil supply, the solid lubricant can maintain the lubricating film through frictional transfer. At the same time, the polytetrafluoroethylene grease built into the slider 21 can enhance the lubrication effect and fill the thread gap to block some dust. The compressed air ejected from the annular jet nozzle 34 forms an air curtain at the thread inlet, blocking more than 90% of the dust. The small amount of dust that enters is discharged through the large gap of the trapezoidal thread and the dust discharge groove of the slider 21, without causing jamming.

[0038] In one embodiment of this utility model, the mechanical gripper includes a fourth servo motor 26 disposed at the bottom of the Z-axis drooping mechanical arm 4. A rotating shaft 27 is connected to the output shaft of the fourth servo motor 26. Two opposing mounting brackets 17 are connected to the bottom end of the rotating shaft 27. Each of the two mounting brackets 17 has a cooperating gripper 18 rotatably mounted on it. Electric telescopic rods 19, rotatably connected to the grippers 18 on the same side, are respectively disposed on both sides of each mounting bracket 17. Specifically, as shown... Figures 6-7As shown, the mechanical gripper includes a fourth servo motor 26, model MR-J4-20A, with a power of 1.5kW. It is fixed to the bottom of the Z-axis hanging robotic arm 4 via a motor mount. The output shaft of the fourth servo motor 26 is connected to a rotating shaft 27 via a spline. The rotating shaft 27 is made of 45# steel and has been heat-treated to a hardness of HB220-250. Its bottom end is connected to two symmetrically arranged mounting brackets 17 via bolts. Each mounting bracket 17 has a gripper 18 rotatably mounted on it via a pin. The gripping surface of the gripper 18 is inlaid with a hard alloy block to improve wear resistance. The two ends of the electric telescopic rod 19 are rotatably connected to the mounting bracket 17 and the gripper 18 via spherical bearings, respectively. When the electric telescopic rod 19 extends or retracts, it drives the gripper 18 to rotate around the pin, realizing the clamping and releasing action of the workpiece. The maximum clamping force is 5kN.

[0039] In one embodiment of this utility model, the robotic arm drive mechanism includes a fifth servo motor 22 mounted on the slider 21 and a third rack 29 mounted on the side wall of the through slot 24. The output shaft of the fifth servo motor 22 is provided with a third drive gear that meshes with the third rack 29. A limiting strip is provided on the side wall of the Z-axis drooping robotic arm 4, and a limiting groove is provided on the moving block that slides with the limiting strip. Specifically, as shown... Figures 6-7 As shown, the robotic arm drive mechanism includes a fifth servo motor 22, model MR-J4-10A, with a power of 0.75kW. It is fixed to the slider 21 via a motor mount. The output shaft of the fifth servo motor 22 is connected to the third drive gear via a key. The third drive gear (module m=4, number of teeth z=20) meshes with the third rack 29 (module m=4, number of teeth z=120). The third rack 29 is fixed to the side wall of the through slot 24 via bolts. The limiting strip is a 45# steel strip with a rectangular cross section, which is fixed to the side wall of the Z-axis drooping robotic arm 4 via bolts. A limiting groove is provided on the moving block. The limiting strip slides into the limiting groove, and the gap is controlled at 0.2-0.5mm to prevent the Z-axis drooping robotic arm 4 from shaking during movement. When the fifth servo motor 22 is driven, the Z-axis drooping robotic arm 4 moves linearly along the third slide rail 25.

[0040] In one embodiment of this utility model, the placement frame 14 includes any one or a combination of two of the refining tube 30 positioning placement frame 14 and the slag rake 6 positioning placement frame 14. The working parts include the refining tube 30 and the slag rake 6. The refining tube 30 positioning placement frame 14 and the slag rake 6 positioning placement frame 14 are disposed on the bottom surface of the Y-axis truss frame 2. The refining tube 30 is placed on the refining tube 30 positioning placement frame 14, and the slag rake 6 is placed on the slag rake 6 positioning placement frame 14. The refining tube 30 and the slag rake 6 are provided with locking positions that cooperate with the gripper 18. Specifically, as shown... Figures 7-9As shown, the placement frame 14 includes a refining tube 30 positioning placement frame 14 and a slag rake 6 positioning placement frame 14. Both are fixed to the bottom surface of the Y-axis truss frame 2 by bolts. The refining tube 30 positioning placement frame 14 consists of two parallel support beams and several positioning blocks. The positioning blocks are fixed to the support beams by bolts. The structure of the slag rake 6 positioning placement frame 14 is similar to that of the refining tube 30 positioning placement frame 14, but the shape of the positioning blocks is designed according to the shape of the slag rake 6. Both the refining tube 30 and the slag rake 6 are provided with locking positions, which are annular grooves that are adapted to the hard alloy blocks of the gripper 18.

[0041] In one embodiment of this utility model, it further includes an electric furnace charge feeder 16 basket 15, which is disposed on the bottom surface of the Y-axis truss frame 2 and located away from the aluminum smelting furnace 5. The electric furnace charge feeder 16 basket 15 contains a feeder 16 connected to the refining pipe 30 via a pipeline and a PLC controller cabinet 20. The PLC controller cabinet 20 contains a synchronization control module and a laser ranging sensor disposed on the X-axis truss frame 3 and electrically connected to the synchronization control module. The synchronization control module is electrically connected to the feeder 16, the Y-axis truss drive mechanism, the X-axis truss drive mechanism, the Y-axis drive assembly, the mechanical gripper, and the mechanical arm drive mechanism. Specifically, as shown... Figure 5 As shown, the furnace charge feeder 16, basket 15, is fixed to the bottom of the Y-axis truss frame 2 via a bracket and is located away from the aluminum smelting furnace 5. The feeder 16 is connected to the top of the refining pipe 30 via a flange. A material level sensor is installed on the hopper of the feeder 16. The PLC controller cabinet 20 (protection level IP54) contains a Siemens S7-1500 PLC main controller. The synchronous control module (model SIMATICNETCP1543-1) is connected to the main controller via a PROFINET bus. The laser rangefinder is fixed to the end of the X-axis truss frame 3 via a bracket and is used to monitor the distance between adjacent devices in real time. The synchronous control module is electrically connected to the feeder 16, the first servo motor 7, the second servo motor 11, the third servo motor 12, the fourth servo motor 26, the fifth servo motor 22, and the electric telescopic rod 19 via cables to realize multi-axis linkage control and automatic replacement of workpieces. The synchronous control module supports 100Mbps industrial Ethernet communication and has redundant communication functions to ensure reliable communication in harsh industrial environments.

[0042] For the collaborative operation of multiple devices in a multi-unit aluminum smelting furnace 5, this invention achieves centralized management through the synchronous control module of the PLC controller cabinet 20. Each device communicates with the main controller via the PROFINET bus (communication rate 100Mbps, delay ≤10ms). A laser rangefinder is installed at the end of the X-axis truss frame 3 near the adjacent device to detect the distance to the adjacent device in real time. When the distance is less than the safety threshold, the anti-collision control unit triggers the low-priority device to pause or deviate from the path to ensure no mechanical interference. At the same time, the main controller allocates operation priorities according to the working progress of the smelting furnace to avoid resource conflicts.

[0043] When multiple devices are used in a multi-unit aluminum smelting furnace 5, the PLC controller cabinet 20 of each device is connected to the industrial network through an Ethernet switch. The main controller stores the preset working areas of each device (e.g., device 1 corresponds to furnaces 1-2, device 2 corresponds to furnaces 3-4). The laser rangefinder sends position data to the synchronization control module every 100ms. When the X-axis position of device A overlaps with the X-axis position of device B and the distance is <500mm, the control unit compares the working status of the two: if device A is refining (high priority), it instructs device B to pause at the current Y-axis position until device A leaves the overlapping area; if both are idle, the device with the smaller instruction number has priority to pass. The software logic of the synchronization control module adopts ladder diagram programming. The core code includes a position comparison subroutine, a priority judgment subroutine, and an avoidance instruction output subroutine, ensuring that those skilled in the art can reproduce it based on the disclosed content.

[0044] In summary, the integrated truss-type double-hanging arm automated device for refining and slag removal in the aluminum smelting furnace of this utility model achieves automated operation of the refining tube 30 and the slag remover 6 in the aluminum smelting furnace 5 through the coordinated movement of the multi-legged double gantry frame, the Y-axis truss assembly, the X-axis truss assembly, the Y-axis drive assembly, and the Z-axis hanging robotic arm 4.

[0045] During the refining process, the first servo motor 7 drives the first drive gear and the first rack 8 to work, which in turn causes the Y-axis truss frame 2 to slide along the first slide rail 13 on the gantry body 1, thus moving in the Y-axis direction until it reaches the furnace opening of the aluminum melting furnace 5. Then, the third servo motor 12 drives the screw 23 to rotate, causing the slider 21 to move linearly along the third slide rail 25 under the limiting action of the third slide rail 25. This, in turn, drives the Z-axis descent robotic arm 4 to move in the Y-axis direction, bringing it closer to the refining tube 30. Next, the fifth servo motor 22 drives the third drive gear and the third rack 29 to work, causing the Z-axis descent robotic arm 4 to descend in the Z-axis direction. At this time, the fourth servo motor 26 drives the rotating shaft 27 to flip towards the refining tube 30. The electric telescopic rod 19 can drive the gripper 18, which is embedded with a hard alloy block, to rotate, so that it opens and accurately grabs the clamp on the refining tube 30.

[0046] The synchronous control module in the PLC controller cabinet 20 coordinates and controls the Y-axis truss drive mechanism, X-axis truss drive mechanism, Y-axis drive assembly, mechanical gripper and mechanical arm drive mechanism to work together to move the refining tube 30 toward the furnace mouth and send the tube head of the refining tube 30 into the aluminum melting furnace 5. The rotating shaft 27 flips the refining tube 30 so that the tube head faces the bottom of the aluminum furnace. The feeder 16 is connected to the tail of the refining tube 30 through a sealing tube and automatically blows solid and gaseous furnace materials into the aluminum melt through the hollow refining tube 30 and the tube head. During this process, the jet nozzles 34 on both sides of the slider 21 continuously spray compressed air to form an annular air curtain, which effectively prevents high-temperature dust in the furnace from entering the threaded mating surface of the screw 23 and the slider 21. In conjunction with the molybdenum disulfide-based solid lubricating coating on the surface of the screw 23, the stable operation of the transmission mechanism is further guaranteed.

[0047] Under the control of the main controller and synchronous control module program set in the PLC controller cabinet 20, the entire device drives the Z-axis hanging robot arm 4 to move in the X, Y and Z axes through the cooperation of the multi-axis truss components. This causes the mechanical gripper to drag the refining tube 30, allowing the tube head to be stirred in the aluminum melt in the aluminum melting furnace 5 in a "U" shaped planar running trajectory. The material is blown and stirred evenly according to the set time and trajectory. After the aluminum melt is separated and slag is removed, the refining process is completed. Then, through the set program and the coordinated operation of each mechanism, the mechanical gripper resets the refining tube 30 to the refining tube 30 positioning frame 14, completing all refining processes.

[0048] During the slag removal process, the mechanical gripper automatically grabs the slag rake 6 from the positioning frame 14 of the slag rake 6 according to the program settings of the PLC controller cabinet 20. The grabbing process is the same as the way the refining tube 30 is grabbed in the refining process mentioned above. That is, the first servo motor 7, the third servo motor 12, and the fifth servo motor 22 drive the movement of each axis respectively, and the fourth servo motor 26 drives the rotating shaft 27 to rotate. The electric telescopic rod 19 drives the gripper 18 to complete the grabbing action.

[0049] Z-axis downward robotic arm 4 moves to the furnace opening of aluminum smelting furnace 5, allowing the slag scraper 6 head to enter the aluminum smelting furnace 5. Under the precise control of the synchronous control module in the PLC controller cabinet 20, the Z-axis downward robotic arm 4 moves along the Y and Z axes, and the X-axis truss assembly moves along the X axis. Through multi-axis linkage, the slag is scraped out of the furnace door, completing the slag scraping process. If it is a multi-unit aluminum smelting furnace 5 with multiple devices working together, the laser rangefinder will monitor the distance between adjacent devices in real time, and the synchronous control module will adjust the path according to the monitoring data to avoid mutual interference between devices.

[0050] After the slag removal is completed, the mechanical gripper will reset the slag rake 6 to the slag rake 6 positioning frame 14 through the set program and the coordinated operation of each drive mechanism, thus completing all the slag removal processes.

[0051] The present invention and its embodiments have been described above. This description is not restrictive, and the embodiments shown throughout the text are only one of the embodiments of the present invention. The actual structure is not limited to this. In conclusion, if a person skilled in the art is inspired by this description and designs a similar structure and embodiment without departing from the inventive spirit of the present invention, such design should fall within the protection scope of the present invention.

Claims

1. An integrated truss-type double-hanging-arm automated device for refining and slag removal in an aluminum smelting furnace, characterized in that, include: The multi-legged double gantry, the Y-axis truss assembly mounted on the multi-legged double gantry, the X-axis truss assembly mounted on the Y-axis truss assembly, the Y-axis drive assembly mounted on the X-axis truss assembly, and the Z-axis drooping robotic arm cooperating with the Y-axis drive assembly can move in three directions: X, Y, and Z. A placement frame is mounted on the Y-axis truss assembly and a workpiece is provided on the placement frame. The Z-axis penetrating robotic arm picks up the workpiece and performs operations.

2. The integrated truss-type double-hanging arm automated device for refining and slag removal in aluminum smelting furnace according to claim 1, characterized in that: The multi-legged double gantry frame is provided in at least one set, and each set of the multi-legged double gantry frame includes two symmetrically arranged gantry frame bodies.

3. The integrated truss-type double-hanging arm automated device for refining and slag removal in an aluminum smelting furnace according to claim 2, characterized in that: The Y-axis truss assembly is slidably disposed between the two gantry bodies. The Y-axis truss assembly includes a Y-axis truss frame and a Y-axis truss drive mechanism. The Y-axis truss drive mechanism includes a first slide rail disposed on the top surface of the two gantry bodies and a first rack on their opposite side walls. The Y-axis truss frame is provided with a first servo motor on each side, and a first drive gear that cooperates with the first rack is connected to the output shaft of each first servo motor.

4. The integrated truss-type double-hanging arm automated device for refining and slag removal in aluminum smelting furnace according to claim 3, characterized in that: The X-axis truss assembly is slidably mounted on the Y-axis truss assembly. The X-axis truss assembly includes an X-axis truss frame and an X-axis truss drive mechanism. The X-axis truss drive mechanism includes a second slide rail mounted on the top surface of the Y-axis truss frame and second racks mounted on its opposite side walls. The X-axis truss frame is provided with second servo motors on both sides, and each second servo motor has a second drive gear connected to its output shaft that engages with the second rack.

5. The integrated truss-type double-hanging arm automated device for refining and slag removal in an aluminum smelting furnace according to claim 4, characterized in that: The Y-axis drive assembly has two sets and is mounted on the X-axis truss frame. The Y-axis drive assembly includes screws that are rotatably mounted on both sides of the X-axis truss frame. The screws adopt Tr40×40 trapezoidal threads, and one end of the screw passes through the X-axis truss frame and is connected to a third servo motor mounted on its side wall. The screws are made of high-temperature resistant alloy and the surface is ion nitrided to form a nitrided layer with a hardness of not less than HV800.

6. The integrated truss-type double-hanging arm automated device for refining and slag removal in aluminum smelting furnace according to claim 5, characterized in that: The Z-axis drooping robotic arm has at least two arms, each cooperating with the Y-axis drive assembly for translation in the Y-axis direction. Each Z-axis drooping robotic arm has a through groove, and third slide rails are provided on opposite side walls of the through groove. A slider cooperating with the third slide rail is located in the through groove. The slider is threadedly connected to the screw. A dust removal groove is formed on the internal thread surface of the slider, oriented axially. The threaded mating surfaces of the screw and the slider are coated with a molybdenum disulfide-based solid lubricant coating with a thickness of 50-100 μm. The inner wall of the slider has several micro-grease reservoirs filled with polytetrafluoroethylene high-temperature grease. The movement is achieved through the threaded connection. To achieve continuous lubrication, the slider has air nozzles on both side end faces. The X-axis truss frame has a compressed air tank with an air pump connected to the air nozzles via high-temperature resistant metal pipes. The air outlet direction of the air nozzles is set at a 30° angle to the axis of the screw, forming an annular air curtain. The side wall of the X-axis truss frame has a fourth slide rail along the axial direction of the screw. The side wall of the Z-axis drooping robot arm has a moving block that cooperates with the fourth slide rail. Each Z-axis drooping robot arm has a mechanical gripper at its bottom. The Z-axis drooping robot arm and the X-axis truss frame have corresponding robot arm drive mechanisms.

7. The integrated truss-type double-hanging arm automated device for refining and slag removal in an aluminum smelting furnace according to claim 6, characterized in that: The mechanical gripper includes a fourth servo motor located at the bottom of the downward-hanging robotic arm along the Z-axis. A rotating shaft is connected to the output shaft of the fourth servo motor. Two opposing mounting brackets are connected to the bottom end of the rotating shaft. Each of the two mounting brackets has a cooperating gripper rotatably mounted on it. Electric telescopic rods that are rotatably connected to the grippers on the same side are located on both sides of the mounting bracket.

8. The integrated truss-type double-hanging arm automated device for refining and slag removal in aluminum smelting furnace according to claim 7, characterized in that: The robotic arm drive mechanism includes a fifth servo motor mounted on the slider and a third rack mounted on the side wall of the through slot. The output shaft of the fifth servo motor is provided with a third drive gear that cooperates with the third rack. The side wall of the Z-axis drooping robotic arm is provided with a limiting strip, and the moving block is provided with a limiting groove that slides with the limiting strip.

9. The integrated truss-type double-hanging arm automated device for refining and slag removal in an aluminum smelting furnace according to claim 8, characterized in that: The placement frame includes any one or a combination of two of the refining tube positioning placement frame and the slag rake positioning placement frame. The working parts include the refining tube and the slag rake. The refining tube positioning placement frame and the slag rake positioning placement frame are set on the bottom surface of the Y-axis truss frame. The refining tube is placed on the refining tube positioning placement frame, and the slag rake is placed on the slag rake positioning placement frame. The refining tube and the slag rake are provided with locking positions that cooperate with the grippers.

10. The integrated truss-type double-hanging arm automated device for refining and slag removal in an aluminum smelting furnace according to claim 9, characterized in that: It also includes an electrical cabinet furnace charge feeder basket, which is located on the bottom surface of the Y-axis truss frame and on the side away from the aluminum smelting furnace. The electrical cabinet furnace charge feeder basket is equipped with a feeder connected to the refining pipe through a pipeline and a PLC controller cabinet. The PLC controller cabinet is equipped with a synchronization control module and a laser ranging sensor that is set on the X-axis truss frame and electrically connected to the synchronization control module. The synchronization control module is electrically connected to the feeder, the Y-axis truss drive mechanism, the X-axis truss drive mechanism, the Y-axis drive assembly, the mechanical gripper, and the mechanical arm drive mechanism.

Images