An automatic control device and method for ingot withdrawal of an extruder

Abstract

The present invention provides an automatic control device and method for the withdrawal of ingots from an extruder, including an ingot withdrawal mechanism, a feeding robot, an ingot support platform, and a PLC control system. The ingot withdrawal mechanism and the feeding robot are both electrically connected to the PLC control system by signals. The ingot withdrawal mechanism and the feeding robot cooperate to withdraw the ingot to the ingot support platform. The PLC control system is electrically connected to an HMI by signals. The PLC control system is used to calculate the ingot length input by the HMI to obtain the pre-stop position L1 of the ingot withdrawal mechanism to withdraw the ingot to the ingot support platform and the starting position L2 of the feeding robot to follow and open, and to monitor the positions of the ingot withdrawal mechanism and the feeding robot in real time to send instructions at the corresponding positions for control. The present invention adjusts the relative positions of the ingot withdrawal arm and the movable telescopic arm of the feeding robot in real time during the withdrawal process to always maintain a dynamic balance, thereby realizing full automation of the ingot withdrawal of the extruder without manual intervention, speeding up the production rhythm, and reducing the safety hazards caused by manual transportation.

Description

Technical Field

[0001] The invention belongs to the technical field of aluminum extruder equipment for metallurgical equipment, and in particular relates to an automatic control device and method for the withdrawal of an extruder ingot. Background Art

[0002] Before the extruder extrudes aluminum profiles, the heated ingot needs to be measured and tested for performance. It is often the case that the ingot temperature or length and other performance indicators fail to meet the process requirements, or the loading robot has delivered the ingot to the extrusion station. At this time, extrusion failures occur and the extrusion needs to be re-processed. In the above cases, the ingot needs to be withdrawn.

[0003] At present, the operation of returning the extruded ingots is basically done manually, using cranes and hoists to lift the ingots away for processing. This traditional transportation method not only takes up manpower and material resources and increases labor costs, but also has a slow pace, low degree of automation, and certain safety hazards. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic control device for withdrawing ingots from an extruder, so as to overcome the above-mentioned technical problems existing in the prior art.

[0005] Another object of the present invention is to provide an automatic control method for withdrawing an ingot for an extruder, so as to realize the automation of withdrawing the ingot for extrusion, reduce labor intensity and labor costs, improve production efficiency and speed up production rhythm.

[0006] To this end, the technical solution provided by the present invention is as follows:

[0007] An automatic control device for ingot withdrawal of an extruder comprises an ingot withdrawal mechanism, a feeding robot, an ingot support platform and a PLC control system. The ingot withdrawal mechanism and the feeding robot are both electrically connected to the PLC control system by signals. The ingot withdrawal mechanism and the feeding robot cooperate to withdraw the ingot to the ingot support platform. The PLC control system is electrically connected to an HMI human-machine interface.

[0008] The PLC control system is used to calculate the ingot length input through the HMI human-machine interface to obtain the pre-stop position L1 where the ingot withdrawal mechanism needs to withdraw the ingot to the ingot support table and the starting position L2 where the loading robot follows and opens, and to monitor the positions of the ingot withdrawal mechanism and the loading robot in real time to send instructions at the corresponding positions for control.

[0009] The ingot withdrawal mechanism includes an ingot withdrawal arm, an ingot withdrawal frequency conversion motor and a stroke detector. The ingot withdrawal frequency conversion motor is used to drive the ingot withdrawal arm to move linearly. The stroke detector is connected to the PLC control system electrical signal. The stroke detector is used to detect the position of the ingot withdrawal arm in real time. The ingot withdrawal arm, loading robot and ingot support platform are located in the same straight line.

[0010] The feeding manipulator comprises a fixed arm, a movable telescopic arm, a movable arm telescopic variable frequency motor and a stroke detector 2, the movable telescopic arm is close to one side of the ingot support platform, a linear guide rail is arranged between the fixed arm and the movable telescopic arm, and the fixed arm and the movable telescopic arm are both provided with manipulator fingers for clamping the ingot 6;

[0011] The movable arm telescopic variable frequency motor is used to drive the movable telescopic arm to perform linear telescopic movement along the linear guide rail. The stroke detector 2 is connected to the PLC control system electrical signal, and the stroke detector 2 is used to detect the position of the spindle withdrawal arm in real time.

[0012] The rotating shaft of the spindle-retracting frequency conversion motor is connected with a synchronous belt pulley, and the spindle-retracting arm is fixed on the synchronous belt of the synchronous belt pulley.

[0013] The stroke detector is a displacement sensor or an ingot withdrawal rotary encoder. The displacement sensor is arranged on the ingot withdrawal arm. The ingot withdrawal rotary encoder is fixed on the rotating shaft of the ingot withdrawal frequency conversion motor. A ingot withdrawal arm backward limit position sensing switch is arranged in front of the ingot withdrawal arm. The ingot withdrawal arm backward limit position sensing switch is connected to the PLC control system electrical signal.

[0014] The linear guide rail is a ball screw, the movable telescopic arm is fixedly connected to a nut sleeved on the ball screw, and the rotating shaft of the movable arm telescopic variable frequency motor is connected to the ball screw.

[0015] The second stroke detector is a displacement sensor or a movable arm rotary encoder. The displacement sensor is arranged on the movable telescopic arm, and the movable arm rotary encoder is arranged on the movable arm telescopic variable frequency motor.

[0016] An automatic control method for the withdrawal of an ingot cast by an extruder, using an automatic control device for the withdrawal of an ingot cast by an extruder, comprises the following steps:

[0017] Step 1) Input the ingot length to be withdrawn through the HMI human-machine interface, and the PLC control system calculates and obtains the pre-stop position L1 of the ingot withdrawal mechanism to be withdrawn to the ingot support table and the starting position L2 of the feeding robot to follow and open;

[0018] Step 2) The PLC control system sends a command to start the ingot withdrawal mechanism. The ingot withdrawal arm of the ingot withdrawal mechanism pushes the ingot forward toward the ingot support platform. When the ingot withdrawal arm moves to the starting position L2 where the loading robot follows and opens, the PLC control system sends a command to start the retractable frequency conversion motor of the movable arm of the loading robot, so that the movable retractable arm moves along the linear guide rail following the ingot withdrawal arm toward the ingot support platform, so that the movable retractable arm opens;

[0019] Step 3) The movable telescopic arm continues to move toward the ingot support platform following the ingot withdrawal arm until the movable telescopic arm moves to the end of the linear guide rail. At this time, the movable telescopic arm is opened to the maximum position, and the PLC control system sends a command to stop the movable arm telescopic variable frequency motor;

[0020] Step 4) The ingot withdrawal arm continues to push the ingot toward the ingot support platform until the ingot withdrawal arm moves to the pre-stop position L1, and returns the ingot to the ingot support platform. The PLC control system sends a command to stop the ingot withdrawal frequency conversion motor of the ingot withdrawal mechanism.

[0021] In step 2), when the movable telescopic arm moves along the linear guide rail following the ingot withdrawal arm toward the ingot support platform, the PLC control system monitors the displacement data changes of the stroke detector 1 of the ingot withdrawal mechanism and the stroke detector 2 of the loading robot in real time, and adjusts the movement speed and position of the ingot withdrawal arm and the upper movable telescopic arm in real time to keep the relative positions of the two in dynamic balance.

[0022] The beneficial effects of the present invention are:

[0023] The automatic control device and method for ingot withdrawal of the extruder provided by the present invention is connected with the electrical signals of the ingot withdrawal mechanism and the loading robot through the PLC control system, and the movement speed and position of the ingot withdrawal arm and the telescopic arm of the loading robot are adjusted in real time to form a closed-loop control, so that the relative positions of the ingot withdrawal arm and the movable telescopic arm of the loading robot always maintain a dynamic balance, thereby ensuring smooth ingot withdrawal.

[0024] The invention has reasonable design, simple structure, excellent process, high automation and is applicable to both single-acting and double-acting extruders. It realizes full automation of extruder withdrawal without manual intervention, greatly reduces labor and production costs, speeds up production rhythm, and reduces safety hazards caused by manual transportation.

[0025] In order to make the above contents of the present invention more clearly understood, preferred embodiments are given below and described in detail in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of an implementation mode of the present invention;

[0027] Figure 2 is a flow chart of the method of the present invention.

[0028] In the figure:

[0029] Description of reference numerals:

[0030] 1. Ingot withdrawal mechanism; 2. Loading robot; 3. Ingot support platform; 4. HMI human-machine interface; 5. PLC control system; 6. Ingot casting; 101. Ingot withdrawal arm; 102. Ingot withdrawal frequency conversion motor; 103. Ingot withdrawal rotary encoder; 104. Ingot withdrawal arm backward limit position induction switch; 201. Movable telescopic arm; 202. Movable arm telescopic frequency conversion motor; 203. Fixed arm; 204. Linear guide; 205. Movable arm rotary encoder. DETAILED DESCRIPTION

[0031] The following describes the implementation of the present invention through specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0032] It should be noted that, in the present invention, the up, down, left and right in the figure are regarded as the up, down, left and right of the automatic control device for withdrawing the ingot of the extruder described in this specification.

[0033] The exemplary embodiments of the present invention are now described with reference to the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to disclose the present invention in detail and completely and to fully convey the scope of the present invention to those skilled in the art. The terms used in the exemplary embodiments shown in the accompanying drawings are not intended to limit the present invention. In the accompanying drawings, the same units / elements are marked with the same reference numerals.

[0034] Unless otherwise specified, the terms (including technical terms) used herein have the commonly understood meanings to those skilled in the art. In addition, it is understood that the terms defined in commonly used dictionaries should be understood to have the same meanings as those in the context of the relevant fields, and should not be understood as idealized or overly formal meanings.

[0035] Embodiment 1:

[0036] The present embodiment provides an automatic control device for withdrawing an ingot from an extruder, comprising an ingot withdrawal mechanism 1, a loading robot 2, an ingot support platform 3 and a PLC control system 5. The ingot withdrawal mechanism 1 and the loading robot 2 are both electrically connected to the PLC control system 5 by signals. The ingot withdrawal mechanism 1 and the loading robot 2 cooperate to withdraw the ingot 6 to the ingot support platform 3. The PLC control system 5 is electrically connected to an HMI human-machine interface 4 by signals.

[0037] Specifically, the working process or application process of the automatic control device for ingot withdrawal of the extruder provided in this embodiment is as follows:

[0038] During the retraction of the ingot 6 of the extruder, the HMI human-machine interface 4 inputs the length of the ingot 6 to be withdrawn this time, and the PLC control system 5 calculates the pre-stop position L1 of the ingot withdrawal mechanism 1 to the ingot support table 3 and the starting position L2 of the loading robot 2 to follow and open, and then feeds back the corresponding control values ​​calculated to the travel control devices of the ingot withdrawal mechanism 1 and the loading robot 2. During the retraction process, the PLC control system 5 monitors the displacement data changes of the ingot withdrawal mechanism 1 and the loading robot 2 in real time, and adjusts the movement speed and position of the ingot withdrawal mechanism 1 and the loading robot 2 in real time to form a closed-loop control, so that the relative position of the ingot withdrawal mechanism 1 and the loading robot 2 always maintains a dynamic balance to ensure smooth withdrawal.

[0039] The invention has a high degree of automation and is applicable to both single-action and double-action extruders. It realizes full automation of the extruder ingot withdrawal without manual intervention, greatly reduces labor and production costs, speeds up production rhythm, and reduces safety hazards caused by manual transportation.

[0040] Embodiment 2:

[0041] On the basis of Example 1, this embodiment provides an automatic control device for withdrawing ingots from an extruder, wherein the PLC control system 5 is used to calculate the length of the ingot 6 inputted from the HMI human-machine interface 4 to obtain the pre-stop position L1 where the ingot withdrawal mechanism 1 needs to withdraw the ingot to the ingot support table 3 and the starting position L2 where the loading robot 2 follows and opens, and to monitor the positions of the ingot withdrawal mechanism 1 and the loading robot 2 in real time to send instructions at the corresponding positions for control.

[0042] The ingot withdrawal mechanism 1 includes an ingot withdrawal arm 101, an ingot withdrawal frequency conversion motor 102 and a stroke detector 1. The ingot withdrawal frequency conversion motor 102 is used to drive the ingot withdrawal arm 101 to move linearly. The stroke detector 1 is connected to the PLC control system 5 by electrical signals. The stroke detector 1 is used to detect the position of the ingot withdrawal arm 101 in real time. The ingot withdrawal arm 101, the loading robot 2 and the ingot support platform 3 are located on the same straight line.

[0043] The ingot withdrawal arm 101 is driven by the ingot withdrawal frequency conversion motor 102 to carry out reciprocating transportation, and the ingot 6 is pushed to the ingot support platform 3 by the ingot withdrawal arm 101. In the process of the ingot withdrawal arm 101 pushing the ingot 6 back, the PLC control system 5 monitors the displacement value of the stroke detector 1 in real time. When the ingot withdrawal arm 101 moves to the starting position L2 where the feeding robot 2 follows and opens, the PLC control system 5 sends a command to open the feeding robot 2. When the ingot withdrawal arm 101 moves to the pre-stop position L1 where the ingot needs to be withdrawn to the ingot support platform 3, the PLC control system 5 sends a command to stop the ingot withdrawal frequency conversion motor 102.

[0044] Embodiment 3:

[0045] Based on Example 2, this embodiment provides an automatic control device for the withdrawal of ingots from an extruder, such as Figure 1 As shown, the loading manipulator 2 includes a fixed arm 203, a movable telescopic arm 201, a movable arm telescopic variable frequency motor 202 and a stroke detector 2, the movable telescopic arm 201 is close to one side of the ingot support platform 3, a linear guide rail 204 is provided between the fixed arm 203 and the movable telescopic arm 201, and the fixed arm 203 and the movable telescopic arm 201 are both provided with manipulator fingers for clamping the ingot 6;

[0046] The movable arm telescopic variable frequency motor 202 is used to drive the movable telescopic arm 201 to perform linear telescopic movement along the linear guide rail 204. The stroke detector 2 is connected to the PLC control system 5 by electrical signals. The stroke detector 2 is used to detect the position of the spindle withdrawal arm 101 in real time.

[0047] When the ingot 6 needs to be withdrawn, the loading robot 2 moves to the ingot withdrawal position. At this time, the loading robot 2 is not opened, that is, the movable telescopic arm 201 is located on the side of the linear guide 204 close to the fixed arm 203, and the ingot 6 is clamped by the robot fingers of the fixed arm 203 and the movable telescopic arm 201, and then the ingot withdrawal arm 101 of the ingot withdrawal mechanism 1 pushes the ingot 6 to move toward the ingot support platform 3. During the entire withdrawal process, the robot fingers are in a clamping state, and the ingot withdrawal arm 101 can pass through the robot fingers of the fixed arm 203.

[0048] When the ingot withdrawal arm 101 moves to the starting position L2 where the movable telescopic arm 201 of the loading robot 2 follows and opens, the PLC control system 5 sends an instruction to start the movable arm telescopic frequency conversion motor 202, driving the movable telescopic arm 201 to move along the linear guide rail 204 toward the ingot support platform 3 until the movable telescopic arm 201 opens to the maximum position (i.e. moves to the rightmost end of the linear guide rail 204), and then the ingot withdrawal arm 101 pushes the ingot 6 to continue to move toward the ingot support platform 3 until it moves to the pre-stop position L1 where the ingot needs to be withdrawn to the ingot support platform 3.

[0049] During this process, in order to always maintain a dynamic balance between the relative positions of the ingot withdrawal mechanism 1 and the loading robot 2, the PLC control system 5 monitors the displacement values ​​of the stroke detector 1 of the estimation mechanism and the stroke detector 2 of the loading robot 2 in real time, thereby adjusting the speed of the movable arm telescopic frequency conversion motor 202 and the ingot withdrawal frequency conversion motor 102 to achieve real-time adjustment of the movement speed and position of the ingot withdrawal mechanism 1 and the loading robot 2.

[0050] Among them, the determination of the starting position L2 and the pre-stop position L1 is related to the distance between the fixed arm 203 and the movable telescopic arm 201 of the loading robot 2 and the distance between the movable telescopic arm 201 and the ingot support platform when the movable telescopic arm 201 is opened to the maximum. For a device implemented on site, these distances are all determined and can be set in advance in the HMI human-machine interface.

[0051] Embodiment 4:

[0052] On the basis of Example 2, this example provides an automatic control device for withdrawing ingots from an extruder, wherein the rotating shaft of the ingot withdrawing variable frequency motor 102 is connected to a synchronous pulley, and the ingot withdrawing arm 101 is fixed on the synchronous belt of the synchronous pulley.

[0053] In this embodiment, the ingot withdrawal frequency conversion motor 102 drives the synchronous pulley to rotate, the synchronous pulley drives the synchronous belt to move, and the synchronous belt drives the ingot withdrawal arm 101 to move back and forth, pushing the ingot 6 to withdraw.

[0054] Embodiment 5:

[0055] On the basis of Example 2, this example provides an automatic control device for withdrawing ingots from an extruder, wherein the rotating shaft of the ingot withdrawing variable frequency motor 102 is connected with a gear, the gear is meshed with a rack, and the ingot withdrawing arm 101 is fixed on the rack.

[0056] In this embodiment, the ingot withdrawing variable frequency motor 102 drives the gear to rotate, and the gear meshes with the rack, and the rack drives the ingot withdrawing arm 101 to perform a reciprocating motion, thereby pushing the ingot 6 to withdraw.

[0057] Embodiment 6:

[0058] On the basis of Example 2, this embodiment provides an automatic control device for the retraction of an ingot cast by an extruder, wherein the stroke detector is a displacement sensor or an ingot retraction rotary encoder 103, wherein the displacement sensor is arranged on the ingot retraction arm 101, and the ingot retraction rotary encoder 103 is fixed on the rotating shaft of the ingot retraction frequency conversion motor 102. A retraction arm backward limit position sensing switch 104 is arranged in front of the ingot retraction arm 101, and the retraction arm backward limit position sensing switch 104 is electrically connected to the PLC control system 5 by signal.

[0059] The displacement of the unspindle arm 101 is detected by a displacement sensor or an unspindle rotary encoder 103. In order to avoid the deviation of the displacement sensor or the unspindle rotary encoder 103, the initial movement position of the unspindle arm 101 and the loading robot 2 is based on the unspindle arm back limit position induction switch 104 as the zero position.

[0060] Embodiment 7:

[0061] Based on Example 3, this example provides an automatic control device for retracting an ingot of an extruder, wherein the linear guide rail 204 is a ball screw, the movable telescopic arm is fixedly connected to a nut sleeved on the ball screw, and the rotating shaft of the movable arm telescopic variable frequency motor 202 is connected to the ball screw.

[0062] The movable telescopic arm is driven by the movable arm telescopic variable frequency motor 202 to drive the ball screw to rotate, thereby driving the movable telescopic arm to perform linear telescopic movement on the linear guide rail 204.

[0063] Among them, the second stroke detector is a displacement sensor or a movable arm rotary encoder 205, the displacement sensor is arranged on the movable telescopic arm, and the movable arm rotary encoder 205 is arranged on the movable arm telescopic variable frequency motor 202.

[0064] Embodiment 8:

[0065] This embodiment provides an automatic control method for the withdrawal of an ingot cast by an extruder, using the automatic control device for the withdrawal of an ingot cast by an extruder of Embodiment 3, such as Figure 2 As shown, the following steps are included:

[0066] Step 1) Input the length of the ingot 6 to be withdrawn through the HMI human-machine interface, and the PLC control system 5 calculates and obtains the pre-stop position L1 of the ingot withdrawal mechanism 1 to be withdrawn to the ingot support table 3 and the starting position L2 of the feeding robot 2 to follow and open;

[0067] Step 2) The PLC control system 5 sends a command to start the ingot withdrawal mechanism 1. The ingot withdrawal arm 101 of the ingot withdrawal mechanism 1 pushes the ingot 6 toward the ingot support platform 3. When the ingot withdrawal arm 101 moves to the starting position L2 where the loading robot 2 follows and opens, the PLC control system 5 sends a command to start the movable arm telescopic variable frequency motor 202 of the loading robot 2, so that the movable telescopic arm 201 moves along the linear guide rail 204 following the ingot withdrawal arm 101 toward the ingot support platform 3, so that the movable telescopic arm 201 opens;

[0068] Step 3) The movable telescopic arm 201 continues to move toward the ingot support platform 3 following the ingot withdrawal arm 101 until the movable telescopic arm 201 moves to the end of the linear guide rail 204. At this time, the movable telescopic arm 201 is opened to the maximum position, and the PLC control system 5 sends a command to stop the movable arm telescopic variable frequency motor 202;

[0069] Step 4) The ingot withdrawing arm 101 continues to push the ingot 6 toward the ingot support platform 3 until the ingot withdrawing arm 101 moves to the pre-stop position L1, and returns the ingot 6 to the ingot support platform 3 . The PLC control system 5 sends a command to stop the ingot withdrawing variable frequency motor 102 of the ingot withdrawing mechanism 1 .

[0070] Embodiment 9:

[0071] On the basis of Example 8, this embodiment provides an automatic control method for the ingot retraction of an extruder. First, the feeding robot 2 moves to the ingot retraction position, the robot fingers clamp the ingot 6, the HMI human-machine interface 4 inputs the length of the ingot 6 that needs to be retracted, and the PLC control system 5 calculates the best pre-stop position L1 of the corresponding ingot retraction arm 101 to push the ingot to the ingot support platform 3 and the starting position L2 of the movable telescopic arm 201 of the feeding robot 2 to follow and open. The corresponding control value calculated is fed back to the variable frequency walking control of the ingot retraction arm 101 and the movable telescopic arm 201 of the feeding robot 2. During the ingot retraction process, the PLC control system 5 monitors the displacement data changes of the ingot pushing rotary encoder and the movable arm rotary encoder 205 in real time, and adaptively adjusts the movement speed and the follow-up position change of the ingot retraction arm and the movable telescopic arm 201 of the feeding robot 2 in real time, forming a closed-loop control, so that the relative position of the ingot retraction arm and the movable telescopic arm of the feeding robot 2 always maintains a dynamic balance, ensuring smooth ingot retraction.

[0072] Embodiment 10:

[0073] On the basis of Example 8, this embodiment provides an automatic control method for the withdrawal of ingots from an extruder. In step 2), when the movable telescopic arm 201 follows the ingot withdrawal arm 101 along the linear guide rail 204 to move toward the ingot supporting platform 3, the PLC control system 5 monitors the displacement data changes of the stroke detector 1 of the ingot withdrawal mechanism 1 and the stroke detector 2 of the loading robot 2 in real time, and adjusts the movement speed and position of the ingot withdrawal arm 101 and the upper movable telescopic arm 201 in real time to keep the relative positions of the two in dynamic balance.

[0074] In the above embodiments, the PLC control system is the prior art. The PLC control system includes a PLC controller (model 1756-L72), a signal input module (model 1734-SSI), a digital output module (model 1794-OB32) and a digital input module (model 1794-IB32). The PLC controller calculates and compares the positions of each encoder in real time, connects each part in series into a network through TCP / IP Ethernet communication, and shares data. Multiple encoders or displacement sensors transmit the measured continuously changing displacement value signals to the signal input module 1734-SSI of the PLC controller respectively, and the trigger signal of the back limit position sensing switch of the retracting arm is connected to the digital input module 1794-IB32 in the PLC control system. The operating parameters of each variable frequency motor are exchanged through TCP / IP communication data between the frequency converter and the PLC controller.

[0075] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present invention, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present invention.

Claims

1. An automatic control device for the withdrawal of ingots from an extruder, characterized in that: It comprises an ingot-retracting mechanism (1), a feeding robot (2), an ingot-carrying platform (3) and a PLC control system (5), wherein the ingot-retracting mechanism (1) and the feeding robot (2) are both electrically connected to the PLC control system (5), the ingot-retracting mechanism (1) and the feeding robot (2) cooperate to return the ingot (6) to the ingot-carrying platform (3), and the PLC control system (5) is electrically connected to an HMI human-machine interface (4); The PLC control system (5) is used to calculate the length of the ingot (6) inputted through the HMI human-machine interface (4) to obtain the pre-stop position L1 where the ingot withdrawal mechanism (1) needs to withdraw the ingot to the ingot support platform (3) and the starting position L2 where the loading robot (2) follows and opens, and to monitor the positions of the ingot withdrawal mechanism (1) and the loading robot (2) in real time so as to send instructions at corresponding positions for control; The ingot withdrawal mechanism (1) comprises an ingot withdrawal arm (101), an ingot withdrawal frequency conversion motor (102) and a stroke detector 1, wherein the ingot withdrawal frequency conversion motor (102) is used to drive the ingot withdrawal arm (101) to move linearly, the stroke detector 1 is connected to a PLC control system (5) via an electrical signal, and the stroke detector 1 is used to detect the position of the ingot withdrawal arm (101) in real time, and the ingot withdrawal arm (101), the loading robot (2) and the ingot support platform (3) are located on the same straight line; The loading robot (2) comprises a fixed arm (203), a movable telescopic arm (201), a movable arm telescopic variable frequency motor (202) and a second stroke detector, the movable telescopic arm (201) being close to one side of the ingot support platform (3), a linear guide rail (204) being provided between the fixed arm (203) and the movable telescopic arm (201), and robot fingers for clamping the ingot (6) being provided on both the fixed arm (203) and the movable telescopic arm (201); The movable arm telescopic variable frequency motor (202) is used to drive the movable telescopic arm (201) to perform linear telescopic motion along the linear guide rail (204); the second stroke detector is connected to the PLC control system (5) via an electrical signal; the second stroke detector is used to detect the position of the spindle withdrawal arm (101) in real time.

2. The automatic control device for ingot withdrawal of an extruder according to claim 1, characterized in that: The rotating shaft of the spindle-retracting frequency conversion motor (102) is connected to a synchronous belt pulley, and the spindle-retracting arm (101) is fixed on the synchronous belt of the synchronous belt pulley.

3. The automatic control device for ingot withdrawal of an extruder according to claim 1, characterized in that: The stroke detector is a displacement sensor or an ingot-retracting rotary encoder (103), the displacement sensor is arranged on the ingot-retracting arm (101), the ingot-retracting rotary encoder (103) is fixed on the rotating shaft of the ingot-retracting frequency conversion motor (102), and an ingot-retracting arm backward limit position sensing switch (104) is arranged in front of the ingot-retracting arm (101), and the ingot-retracting arm backward limit position sensing switch (104) is connected to the PLC control system (5) by electrical signals.

4. The automatic control device for ingot withdrawal of an extruder according to claim 1, characterized in that: The linear guide rail (204) is a ball screw, the movable telescopic arm is fixedly connected to a nut sleeved on the ball screw, and the rotating shaft of the movable arm telescopic variable frequency motor (202) is connected to the ball screw.

5. The automatic control device for ingot withdrawal of an extruder according to claim 1, characterized in that: The second stroke detector is a displacement sensor or a movable arm rotary encoder (205), the displacement sensor is arranged on the movable telescopic arm, and the movable arm rotary encoder (205) is arranged on the movable arm telescopic variable frequency motor (202).

6. An automatic control method for the withdrawal of an ingot cast by an extruder, using the automatic control device for the withdrawal of an ingot cast by an extruder according to claim 1, characterized in that: The following steps are involved: Step 1) The length of the ingot (6) to be withdrawn is input through the HMI human-machine interface, and the PLC control system (5) calculates and obtains the pre-stop position L1 where the ingot withdrawal mechanism (1) needs to withdraw the ingot to the ingot support table (3) and the starting position L2 where the loading robot (2) follows and opens; Step 2) the PLC control system (5) sends a command to start the ingot withdrawal mechanism (1), and the ingot withdrawal arm (101) of the ingot withdrawal mechanism (1) pushes the ingot (6) forward in the direction of the ingot support platform (3). When the ingot withdrawal arm (101) moves to the starting position L2 where the loading robot (2) follows and opens, the PLC control system (5) sends a command to start the movable arm telescopic variable frequency motor (202) of the loading robot (2), so that the movable telescopic arm (201) moves along the linear guide rail (204) following the ingot withdrawal arm (101) in the direction of the ingot support platform (3), so that the movable telescopic arm (201) opens; Step 3) the movable telescopic arm (201) continues to move along with the ingot withdrawal arm (101) toward the ingot support platform (3) until the movable telescopic arm (201) moves to the end of the linear guide rail (204). At this time, the movable telescopic arm (201) is opened to the maximum position, and the PLC control system (5) sends a command to stop the movable arm telescopic variable frequency motor (202); Step 4) the ingot withdrawal arm (101) continues to push the ingot (6) toward the ingot support platform (3) until the ingot withdrawal arm (101) moves to the pre-stop position L1, and the ingot (6) is returned to the ingot support platform (3). The PLC control system (5) sends a command to stop the ingot withdrawal variable frequency motor (102) of the ingot withdrawal mechanism (1).

7. The automatic control method for ingot withdrawal of an extruder according to claim 6, characterized in that: In step 2), when the movable telescopic arm (201) moves along the linear guide rail (204) following the ingot withdrawal arm (101) toward the ingot support platform (3), the PLC control system (5) monitors the displacement data changes of the stroke detector 1 of the ingot withdrawal mechanism (1) and the stroke detector 2 of the loading robot (2) in real time, and adjusts the movement speed and position of the ingot withdrawal arm (101) and the upper movable telescopic arm (201) in real time, so that the relative positions of the two maintain dynamic balance.

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