An intelligent slag removal system for aluminum ingot casting

Abstract

The present invention discloses an intelligent slag removal system for aluminum ingot casting, comprising: an industrial robot, arranged on the side of an aluminum ingot casting machine, comprising a controller and a robot arm, the controller controlling the movement of the robot arm; a slag removal device, comprising a slag removal blade, the slag removal blade being arranged on the robot arm, and the slag removal blade following the movement of the robot arm; a slag scraping device, comprising a slag scraping blade, arranged on the side of the aluminum ingot casting machine; wherein the controller controls the slag removal blade to move between a slag removal state and a slag cleaning state, in which the slag removal blade moves forward synchronously with the carrying conveyor platform, and the slag removal blade moves along the length direction in the casting mold; in the slag cleaning state, the slag removal blade moves in contact with the slag scraping blade, thereby scraping the aluminum slag away from the slag removal blade. The present invention utilizes an industrial robot to realize fully automated slag removal suspended in the casting mold during the casting process, and does not require machine downtime, which can greatly improve the production efficiency of aluminum ingot casting.

Description

Technical Field

[0001] The invention relates to an intelligent slag removal system for aluminum ingot casting, and belongs to the technical field of automatic casting production in aluminum electrolytic casting workshops and related application fields such as metallurgical casting. Background Art

[0002] Aluminum ingot casting consists of a series of processes such as casting, slag removal, condensation, demoulding, stacking, and bundling. Slag removal is a key process to remove the slag on the surface of the aluminum liquid in the casting mold. The traditional slag removal process is that the worker stands next to the aluminum ingot casting machine. When the drive chain drives the casting mold that has not been slag removed to move to the worker's side and pauses, the worker uses a slag removal shovel to remove the slag in the casting mold. After completion, the drive chain continues to drive the casting mold forward for a distance, and then repeats the slag removal process for subsequent casting molds. Since the traditional slag removal process requires the movement of the casting mold to be suspended during slag removal, the slag removal time is extended, which in turn affects the efficiency of the entire aluminum ingot casting.

[0003] In addition, the traditional slag removal process also has problems such as poor working environment and high production cost. The poor working environment is caused by high temperature and strong heat radiation on site, and the splashing of high-temperature molten aluminum can injure people. The high production cost is because aluminum ingot casting is an assembly line operation, and the longest continuous working time for a worker is half an hour. One shift requires three slag removal workers. The standard foundry is equipped with four shifts, requiring a total of 12 slag removal workers, and the labor cost investment is very high. Summary of the invention

[0004] Based on the above, it is necessary to provide an intelligent slag removal system for aluminum ingot casting that can realize non-stop slag removal and automatic operation to address the problems of long time, harsh working environment and high production cost in the traditional slag removal process.

[0005] The technical solution of the present invention is: an intelligent slag removal system for aluminum ingot casting, comprising an aluminum ingot casting machine, the aluminum ingot casting machine comprising a casting mold and a carrying and conveying platform, the casting mold is driven forward by the carrying and conveying platform, and an intelligent slag removal system is arranged on the aluminum ingot casting machine, the intelligent slag removal system comprises:

[0006] An industrial robot is arranged on a side of the aluminum ingot casting machine, and the industrial robot comprises a controller and a robot arm, and the controller controls the movement of the robot arm;

[0007] The slag scooping device comprises a slag scooping blade, wherein the slag scooping blade is arranged on the robot arm and moves along with the robot arm;

[0008] A slag scraping device, comprising a slag scraping blade, wherein the slag scraping blade is arranged on a side of the aluminum ingot casting machine;

[0009] Among them, the controller controls the slag scooping blade to move between a slag scooping state and a slag cleaning state. In the slag scooping state, the slag scooping blade moves forward synchronously with the carrying conveyor platform, and at the same time, the slag scooping blade moves along its length direction in the casting mold; in the slag cleaning state, the slag scooping blade moves and contacts with the slag scraping blade, thereby scraping the aluminum slag away from the slag scooping blade.

[0010] In one example, the carrying and conveying platform is a driving chain, and a synchronous detection device is provided on the driving chain, and the synchronous detection device includes:

[0011] A base, arranged on the aluminum ingot casting machine;

[0012] A movable support, arranged on the base;

[0013] A rotating shaft, rotatably disposed on the movable support platform;

[0014] A rotating gear, arranged at one end of the rotating shaft, the rotating gear is meshed with the driving chain, and a detection hole is provided on the rotating gear;

[0015] A proximity switch, arranged on the movable support and corresponding to the detection hole;

[0016] A rotary encoder is arranged on the rotating shaft.

[0017] Wherein, the proximity switch and the rotary encoder are both electrically connected to the controller. As the driving chain drives the rotating gear to rotate, the rotary encoder can measure the rotational speed of the rotating shaft, and when the detection hole moves to a position corresponding to the proximity switch, the proximity switch generates an induction signal, which serves as a starting signal for the controller to control the slag scooping blade to move down into the casting mold.

[0018] In one example, the bottom surface of the movable support platform away from the rotating gear is rotatably arranged on the base, and the movable support platform can rotate with the bottom surface away from the rotating gear as the center. A support frame is arranged on the bottom surface of the movable support platform close to the rotating gear, and the height of the support frame is set so that the movable support platform is in a horizontal state when no force is applied.

[0019] In one example, the synchronization detection device further includes:

[0020] The heat insulation cover is arranged above the movable support platform and is used for covering the rotating gear and the rotating shaft therein.

[0021] In one example, the slag removal device further comprises:

[0022] The slag scooping frame is a long strip structure;

[0023] A first connecting slot is provided on the slag scooping frame;

[0024] A second connecting slot is rotatably disposed on the first connecting slot;

[0025] A torsion spring, arranged between the first connecting slot and the second connecting slot;

[0026] Among them, the slag scooping blade is arranged on the second connecting slot, the second connecting slot can be rotated laterally relative to the first connecting slot, the slag scooping blade can move with the second connecting slot, and in a natural state, under the action of the torsion spring, the slag scooping blade can move from the side yielding position to the initial working position.

[0027] In one example, a rotating shaft is provided between the second connecting slot and the second connecting slot, the main body of the torsion spring is installed on the rotating shaft, one fulcrum of the torsion spring is fixed on the first connecting slot, and the other fulcrum is fixed on the second connecting slot.

[0028] In one example, the slag scooping blade is formed by connecting a vertical portion and a slag scooping portion, the slag scooping portion is plate-shaped, and has a guide groove thereon, and the guide groove is formed by extending inward from the edge of the slag scooping portion.

[0029] In one example, a connecting arm is provided on the slag scooping frame, and the connecting arm is used to connect with a robot arm.

[0030] In one example, the scraping device further comprises:

[0031] The scraper frame has a long strip structure;

[0032] An aluminum slag bucket is placed below the slag scraping frame and is used to receive aluminum slag;

[0033] The scraping blade is arranged on the scraping frame.

[0034] In one example, the scraper blade is a plate-shaped structure, one end of the scraper blade is installed on the scraper frame, and the scraper blade is tilted downward, with an inclination angle of 30 to 80° relative to the horizontal direction, and the width of the scraper blade is larger than the width of the scraper blade.

[0035] The beneficial effects of the present invention are as follows: when working, the carrying and conveying platform drives the casting mold containing aluminum liquid to move forward continuously. When passing the industrial robot, the controller controls the slag scooping blade to move between the slag scooping state and the slag cleaning state. In the slag scooping state, the slag scooping blade and the carrying and conveying platform move forward synchronously, and at the same time, the slag scooping blade moves along its length direction in the casting mold to complete the slag scooping action; in the slag cleaning state, the slag scooping blade moves and contacts with the slag scraping blade, thereby scraping the aluminum slag away from the slag scooping blade to complete the slag cleaning action.

[0036] The present invention can replace traditional manual slag removal and utilize an industrial robot to fully automatically remove the slag suspended in the casting mold during the casting process without stopping the machine, which can greatly improve the production efficiency of aluminum ingot casting. At the same time, the standardized operation of slag removal can also improve the surface quality of the finished aluminum ingot casting product.

[0037] In addition, the present invention can solve the safety problems existing in the traditional manual slag removal process, reduce the labor intensity of workers and the damage caused by high temperature heat radiation. According to the on-site conditions, the slag removal robot can be equipped with 2-4 slag removal blades, so the industrial robot can remove the slag from several casting molds at a time, and the work efficiency is improved several times. At the same time, the present invention can also reduce the number of slag removal workers, saving a lot of labor costs for the company every year. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a schematic diagram of the overall structure of an intelligent slag removal system for aluminum ingot casting according to an embodiment of the present invention;

[0039] Figure 2 This is a schematic diagram of the structure of the slag removal device from one angle;

[0040] Figure 3 This is a schematic diagram of the structure of the slag removal device from another angle;

[0041] Figure 4 This is a schematic diagram of the structure of the scraping device from one angle;

[0042] Figure 5 It is a schematic diagram of the structure of the scraping device from another angle;

[0043] Figure 6 It is a structural schematic diagram of a synchronization device;

[0044] Figure 7 This is a schematic diagram of the structure of the synchronization device (excluding the heat shield) from one angle;

[0045] Figure 8 This is a schematic diagram of the structure of the synchronization device (excluding the heat shield) from another angle;

[0046] Description of reference numerals:

[0047] 10Aluminum ingot casting machine;

[0048] 20 industrial robot, 21 robot arm, 22 controller;

[0049] 30 slag scooping device, 31 connecting arm, 32 connecting flange, 33 slag scooping frame, 34 first connecting slot, 35 second connecting slot, 36 torsion spring, 37 rotating shaft, 38 mounting plate, 39 slag scooping blade, 391 vertical part, 392 slag scooping part, 393 guide groove;

[0050] 40 slag scraping device, 41 slag scraping frame, 42 slag scraping blade, 43 aluminum slag bucket;

[0051] 50 synchronous detection device, 51 base, 52 bracket, 53 rotating shaft, 54 support frame, 55 movable support platform, 56 bearing base, 57 rotating shaft, 58 rotating gear, 59 rotary encoder, 60 heat insulation cover, 61 proximity switch, 62 detection hole, 63 mounting seat, 64 heat dissipation hole. DETAILED DESCRIPTION

[0052] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific implementation disclosed below.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0054] See also Figures 1 to 8 An embodiment of the present invention provides an intelligent slag removal system for aluminum ingot casting, including an aluminum ingot casting machine 10, an industrial robot 20, a slag removal device 30, a slag scraping device 40 and a synchronous detection device 50.

[0055] The aluminum ingot casting machine 10 includes a casting mold and a carrying and conveying platform, and the casting mold is driven by the carrying and conveying platform to continuously move forward. In this embodiment, the carrying and conveying platform is a driving chain. In the working state, the casting mold is filled with aluminum liquid, and the driving chain drives the workpiece to continuously move forward. In other embodiments, the carrying and conveying platform can also be an assembly line in the form of a belt or a plate chain.

[0056] The industrial robot 20 is mainly used to drive the slag scooping device 30 to realize the slag scooping and slag cleaning functions. Specifically, the industrial robot 20 is installed on the side of the aluminum ingot casting machine 10, and includes a controller 22 and a robot arm 21, and the controller 22 controls the movement of the robot arm 21.

[0057] Please also read Figure 1 , Figure 2 and Figure 3 The slag scooping device 30 is mainly used to scoop out the slag in the casting mold, and includes a connecting arm 31, a slag scooping frame 33, a first connecting slot 34, a second connecting slot 35, a torsion spring 36 and a slag scooping blade 39.

[0058] The connecting arm 31 is used as a connecting piece between the slag scooping frame 33 and the manipulator 21 of the industrial robot 20. Specifically, one end of the connecting arm 31 is fixedly connected to the manipulator 21 via a connecting flange 32.

[0059] The slag scooping frame 33 is a long strip structure, and is mainly used to install the slag scooping blade 39. The slag scooping frame 33 is fixedly connected to the other end of the connecting arm 31. The connecting arm 31 can be connected to the slag scooping frame 33 by bolts and a retaining ring. In other embodiments, the connecting arm 31 can also be directly welded to the slag scooping frame 33.

[0060] The first connection slot 34 is provided on the slag scooping frame 33. Specifically, the first connection slot 34 is formed by two opposite vertical plates connected to the bottom surface of the slag scooping frame 33, and both sides thereof are open. The first connection slot 34 and the slag scooping frame 33 can be integrally formed.

[0061] The second connection slot 35 is rotatably disposed on the first connection slot 34, and the second connection slot 35 can rotate sideways relative to the first connection slot 34. The second connection slot 35 is U-shaped, and its opening is rotatably connected to the opening of the first connection slot 34. Specifically, a rotating shaft 37 is disposed between the second connection slot 35 and the second connection slot 35, and the second connection slot 35 can rotate around the rotating shaft 37, that is, rotate toward the two sides (opening direction) of the first connection slot 34.

[0062] The torsion spring 36 is installed between the first connection slot 34 and the second connection slot 35 . Specifically, the main body of the torsion spring 36 is installed on the rotating shaft 37 , one fulcrum of the torsion spring 36 is fixed on the first connection slot 34 , and the other fulcrum is fixed on the second connection slot 35 .

[0063] The slag scooping blade 39 is disposed on the second connecting slot 35 . Specifically, the second connecting slot 35 has a mounting plate 38 extending downward, and the slag scooping blade 39 is fixed on the mounting plate 38 by a fastener, and the slag scooping blade 39 can move with the second connecting slot 35 .

[0064] The slag scooping blade 39 has an initial working position and a side yielding position. In the initial working position, the slag scooping blade 39 is not subjected to lateral force, and at this time, the slag scooping blade 39 is directly below the first connecting slot 34; in the side yielding position, the slag scooping blade 39 swings to the side relative to the first connecting slot 34 to a certain position, and at this time, the slag scooping blade 39 is subjected to the restoring force of the torsion spring 36, and this force attempts to return the slag scooping blade 39 to the initial working position. The advantage of this structure is that when the robot stops due to a fault during operation, if the slag scooping blade is still in the casting mold, the slag scooping blade 39 can be rotated sideways so that it will not get stuck in the casting mold, thereby protecting the entire slag scooping robot and the casting production line. In addition, when the slag scooping blade 39 is scooping slag in the casting mold, due to its yielding property, the slag scooping blade 39 is not easy to get stuck in the casting mold.

[0065] The slag scooping blade 39 is formed by connecting a vertical portion 391 and a slag scooping portion 392, wherein the slag scooping portion 392 is plate-shaped. When working, the slag scooping portion 392 directly contacts the molten casting aluminum liquid, and is used to scoop the aluminum slag floating on the surface of the aluminum liquid in the casting mold. In one example, the slag scooping portion 392 and the vertical portion 391 form an obtuse angle of 90 to 120 degrees. At this time, the slag scooping portion 392 gradually tilts from the connection end to the free end. When scooping the aluminum slag, it can facilitate the aluminum liquid to flow back into the casting mold to prevent the aluminum liquid from being wasted.

[0066] In one example, the slag scooping portion 392 has a plurality of guide grooves 393 arranged side by side, and the guide grooves 393 extend inward from the edge of the slag scooping portion 392. These guide grooves are used to filter the aluminum liquid carried during the scooping process, so that the aluminum liquid drips back into the casting mold to prevent the aluminum liquid from being wasted. At the same time, since the guide grooves can increase the friction with the aluminum slag, they can also prevent the aluminum slag from slipping off the slag scraping blade during transportation.

[0067] In one example, a plurality of slag scooping blades 39 may be provided on the slag scooping frame 33 , and the intervals between the blades 39 are determined according to the adjacent casting molds, so that slag scooping can be performed on a plurality of casting molds at one time, which can greatly improve the slag scooping efficiency.

[0068] Please also read Figure 1 , Figure 4 and Figure 5 The scraping device 40 is mainly used to scrape off the aluminum slag on the slag scooping blade 39. It includes a scraping frame 41, a scraping blade 42 and an aluminum slag bucket 43.

[0069] The scraper frame 41 is a long strip structure, and is mainly used to install the scraper blade 42. One end of the scraper frame 41 is fixed to the base 51 of the robot, and the other end is a free end. Specifically, the end of the scraper frame 41 is connected to the base 51 of the robot through a connecting flange 32, so as to facilitate disassembly and maintenance. The scraper frame 41 can be a steel pipe.

[0070] It should be noted that the scraper frame 41 can also be separately arranged beside the aluminum ingot casting machine 10 , for example, the scraper frame 41 can be supported and suspended in the air by the bracket 52 .

[0071] The scraper blade 42 is arranged on the scraper frame 41, and is used to remove the aluminum slag from the moving scraper blade 39. A plurality of scraper blades 42 are installed at intervals on the scraper frame 41, and the number and position of the scraper blades 42 correspond to the number and position of the scraper blades 39. The scraper blade 42 is a plate-like structure, and one end of the scraper blade 42 is installed on the scraper frame 41, for example, it can be welded on the scraper frame 41, or it can be connected to the scraper frame 41 in a detachable manner.

[0072] In one example, the scraping blade 42 is tilted downward, and its tilt angle relative to the horizontal direction is 30 to 80 degrees. According to the applicant's test, this structure can improve the slag cleaning effect, that is, the aluminum slag on the scraping blade 39 can be removed quickly and stably.

[0073] In one example, the width of the scraping blade 42 is larger than the width of the slag scooping blade 39 so that the aluminum slag on the slag scooping blade 39 can be completely scraped off in one go.

[0074] The aluminum slag bucket 43 is disposed below the scraper frame 41 and is used to receive the aluminum slag. Specifically, the aluminum slag dropped or scraped off from the scraper blade 42 falls into the aluminum slag bucket 43 for recycling.

[0075] Please also read Figure 1 , Figure 6 , Figure 7 and Figure 8 The synchronous detection device 50 is mainly used to detect the running speed of the casting machine and the number of casting machine molds, and feed back the detection information to the slag removal robot. The robot determines the time point of lowering the knife to remove the slag according to the detection signal. At the same time, the robot follows the running direction of the casting machine to run synchronously to achieve synchronous operation. The synchronous detection device 50 includes a base 51, a movable support 55, a rotating shaft 57, a rotating gear 58, a proximity switch 61, a rotary encoder 59 and a heat shield 60.

[0076] The base 51 is installed on the casting machine and plays a supporting role. It is mainly used to support components such as the movable support 55, the rotating shaft 57, the rotating gear 58, the proximity switch 61, the rotary encoder 59 and the heat insulation cover 60.

[0077] The movable support platform 55 is arranged on the base 51. The bottom of one side of the movable support platform 55 is rotatably arranged on the base 51. For example, a bracket 52 is arranged on the base 51, and the bottom of the movable support platform 55 is installed on the bracket 52 through a rotating shaft 53. At this time, the movable support platform 55 can swing around the rotating shaft 53. A support frame 54 is arranged at the bottom of the other side of the movable support platform 55. The height of the support frame 54 is set so that the movable support platform 55 is in a horizontal state when no force is applied, that is, when the movable support platform 55 is not rotated upward, the movable support platform 55 remains in a horizontal static state.

[0078] Two bearing bases 56 are installed on the upper end surface of the movable support 55, and the rotating shaft 57 is installed on the two bearing bases 56. The rotating shaft 57 is supported by the two bearing bases 56 to rotate. A rotating gear 58 is installed at one end of the rotating shaft 57, and the rotating gear 58 is engaged with the driving chain. When the driving chain moves, the rotating gear 58 rotates synchronously. A rotary encoder 59 is installed at the other end of the rotating shaft 57, and the rotary encoder 59 detects the rotation speed of the rotating shaft 57. Since the rotating shaft 57 is connected to the driving chain through the rotating gear 58, the rotary encoder 59 can detect the moving speed of the driving chain, and the speed can be used as a basis for the speed of the synchronous movement of the slag removal robot and the casting machine.

[0079] The rotating gear 58 is arranged on the side of the movable support 55 away from the rotating shaft 53, and the rotating gear 58 can swing along with the movable support 55. During the actual movement of the casting machine, there will be protrusions between the links of the driving chain that drives the casting mold to move. In order to protect the safety of the equipment, when the rotating gear 58 passes through the protruding chain, the rotating platform can be raised around the rotating shaft 53 to a certain height, thereby protecting the rotating gear 58 from colliding with the driving chain, thereby ensuring smooth movement.

[0080] A detection hole 62 is provided on the rotating gear 58, and a proximity switch 61 is correspondingly installed on the movable support 55. Specifically, a mounting seat 63 is provided at the bottom of one side of the movable support 55 close to the rotating gear 58, and the proximity switch 61 is installed on the mounting seat 63. Preferably, the detection hole 62 is a radial long hole provided on the rotating gear 58, and a waist-shaped hole is correspondingly provided on the mounting seat 63, and the proximity switch 61 is installed in the waist-shaped hole. This structure can improve the accuracy of detection and avoid the problem that the proximity switch 61 cannot effectively sense the detection hole 62 and generate a detection signal when the rotating gear 58 shakes.

[0081] In one example, the correspondence between the number of teeth of the driving chain and the casting mold is used to record the number of casting molds passed when the rotating gear 58 rotates one circle, that is, when the proximity switch 61 corresponds to the detection hole 62 again, or when the adjacent detection hole 62 corresponds to the proximity switch 61. A plurality of detection holes 62 can be provided on the rotating gear 58 as needed.

[0082] The number of detection holes 62 m, the slag removal blade 39n, one slag removal cycle through the casting mold p, the number of chain links q, and the number of gear teeth r have the following relationship:

[0083] q=xp;

[0084] q=r;

[0085] m=p / n;

[0086] Where x is an arbitrary integer, determined according to the actual situation on site, and p is an even number.

[0087] According to the above relationship, the number of casting molds (the number of which is consistent with the slag scooping blade 39) passing through each signal cycle (the proximity switch 61 and the detection hole 62 generate signals relative to each other) can be obtained, and this can be used as the timing for the robot to determine whether to start the slag scooping blade 39 to shovel down.

[0088] A heat shield 60 is installed above the movable support 55 to cover the rotating gear 58 and the rotating shaft 57. Since the temperature of the aluminum liquid in the casting mold is about 700°C and the air temperature is about 70°C, the heat shield 60 can protect various detection sensors and various control circuits in the device. In order to ensure that the hot air in the heat shield 60 can be dispersed in time, the heat shield 60 is provided with heat dissipation holes 64. Preferably, the heat dissipation holes 64 are arranged on the vertical side of the heat shield 60, and the heat dissipation holes 64 can be honeycomb holes.

[0089] During operation, the driving chain drives the casting mold filled with molten aluminum to move forward continuously. When passing the industrial robot 20, the controller 22 controls the slag scooping blade 39 to move between the slag scooping state and the slag cleaning state. In the slag scooping state, the slag scooping blade 39 moves forward synchronously with the carrying conveyor platform, and at the same time, the slag scooping blade 39 moves along its length direction in the casting mold to complete the slag scooping action; in the slag cleaning state, the slag scooping blade 39 moves and contacts with the slag scraping blade 42, thereby scraping the aluminum slag away from the slag scooping blade 39 to complete the slag cleaning action.

[0090] Specifically, when the driving chain drives the casting mold to move forward, the rotary encoder 59 detects the speed signal of the rotating shaft 57 (the forward speed of the driving chain can be obtained according to the relationship between the rotating shaft 57, the rotating gear 58 and the driving chain). When the rotating gear 58 rotates to the detection hole 62 corresponding to the proximity switch 61, the proximity switch 61 generates a sensing signal. When the aforementioned speed signal and sensing signal are received, the controller 22 controls the slag scooping blade 39 to enter the casting machine mold. While controlling the slag scooping blade 39 to move forward synchronously with the carrying and conveying platform, the slag scooping blade 39 is controlled to move along its length direction in the casting mold to complete the scooping. Slag action; after the slag scooping is completed, the controller 22 controls the slag scooping blade 39 to move upward and away from the casting mold, and controls the slag scooping blade 39 to move horizontally to the slag scraping blade 42, so that the slag scraping blade 42 contacts the root of the slag scooping blade 39 (the connection between the vertical portion 391 and the slag scooping portion 392), and then moves the slag scooping blade 39 to make the slag scooping blade 39 move and contact relative to the slag scraping blade 42, thereby scraping off the aluminum slag on the slag scooping blade 39, and the aluminum slag falls into the aluminum slag bucket 43, completing the slag cleaning action, and then the controller 22 controls the slag scooping blade 39 to hover above the casting mold, and enters the next slag scooping and slag cleaning cycle again after receiving the sensing signal.

[0091] The present invention can replace the traditional manual slag removal, and utilize the industrial robot 20 to realize the fully automated removal of the slag suspended in the casting mold during the casting process, without the need to stop the machine for operation, which can greatly improve the production efficiency of aluminum ingot casting. At the same time, the standardized operation of slag removal can also improve the surface quality of the finished aluminum ingot casting. In addition, the present invention can solve the safety problems existing in the traditional manual slag removal process, reduce the labor intensity of workers and the damage caused by high-temperature thermal radiation. According to the on-site conditions, the slag removal robot can be installed with 2-4 slag removal blades, so the industrial robot 20 can remove the slag from several casting molds at a time, and the work efficiency is improved several times. At the same time, the present invention can also reduce the number of slag removal workers, saving a large amount of labor costs for the company every year.

[0092] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An intelligent slag removal system for aluminum ingot casting, comprising an aluminum ingot casting machine (10), wherein the aluminum ingot casting machine (10) comprises a casting mold and a carrying and conveying platform, wherein the casting mold is driven forward by the carrying and conveying platform, and characterized in that: An intelligent slag removal system is provided on the aluminum ingot casting machine (10), and the intelligent slag removal system comprises: An industrial robot (20) is arranged on a side of the aluminum ingot casting machine (10), the industrial robot (20) comprising a controller (22) and a robot arm (21), and the controller (22) controls the movement of the robot arm (21); A slag scooping device (30) comprising a slag scooping blade (39), wherein the slag scooping blade (39) is arranged on the robot arm (21), and the slag scooping blade (39) moves following the movement of the robot arm (21); A slag scraping device (40) comprising a slag scraping blade (42), wherein the slag scraping blade (42) is arranged on a side of the aluminum ingot casting machine (10); The controller (22) controls the slag scooping blade (39) to move between a slag scooping state and a slag cleaning state. In the slag scooping state, the slag scooping blade (39) moves forward synchronously with the carrying and conveying platform, and the slag scooping blade (39) moves along the length direction of the casting mold. In the slag cleaning state, the slag scooping blade (39) moves and contacts with the slag scraping blade (42), thereby scraping aluminum slag away from the slag scooping blade (39). The carrying and conveying platform is a driving chain, and a synchronous detection device (50) is provided on the driving chain. The synchronous detection device (50) comprises: A base (51) arranged on the aluminum ingot casting machine (10); A movable support platform (55) is arranged on the base (51); A rotating shaft (57) rotatably disposed on the movable support platform (55); a rotating gear (58) disposed at one end of the rotating shaft (57), the rotating gear (58) being meshed with the driving chain, and a detection hole (62) being provided on the rotating gear (58); A proximity switch (61) is disposed on the movable support platform (55) and corresponds to the detection hole (62); A rotary encoder (59) is arranged on the rotating shaft (57). The proximity switch (61) and the rotary encoder (59) are both electrically connected to the controller (22); as the driving chain drives the rotary gear (58) to rotate, the rotary encoder (59) can measure the rotation speed of the rotary shaft (57); and when the detection hole (62) moves to a position corresponding to the proximity switch (61), the proximity switch (61) generates a sensing signal, which serves as a start signal for the controller (22) to control the slag scooping blade (39) to move downward into the casting mold; the bottom surface of the movable support (55) away from the rotary gear (58) is rotatably arranged on the base (51); the movable support (55) can rotate around the bottom surface of the side away from the rotary gear (58); a support frame (54) is arranged on the bottom surface of the movable support (55) close to the rotary gear (58); the height of the support frame (54) is set so that the movable support (55) is in a horizontal state when no force is applied; The slag scooping device (30) further comprises: The slag scooping frame (33) is in the form of a long strip; A first connecting slot (34) is provided on the slag scooping frame (33); A second connecting slot (35) rotatably disposed on the first connecting slot (34); A torsion spring (36) is arranged between the first connection slot (34) and the second connection slot (35); The slag scooping blade (39) is arranged on the second connecting slot (35); the second connecting slot (35) can rotate sideways relative to the first connecting slot (34); the slag scooping blade (39) can move along with the second connecting slot (35); in a natural state, under the action of the torsion spring (36), the slag scooping blade (39) can move from a side yielding position to an initial working position; a rotating shaft (37) is arranged between the second connecting slot (35) and the first connecting slot (34); The main body of the torsion spring (36) is mounted on the rotating shaft (37); one fulcrum of the torsion spring (36) is fixed on the first connecting slot (34), and the other fulcrum is fixed on the second connecting slot (35); the slag scooping blade (39) is formed by connecting a vertical portion (391) and a slag scooping portion (392); the slag scooping portion (392) is plate-shaped; the slag scooping portion (392) is provided with a guide groove (393); the guide groove (393) is formed by extending inward from the edge of the slag scooping portion (392).

2. The intelligent slag removal system for aluminum ingot casting according to claim 1 is characterized in that: The synchronization detection device (50) further comprises: A heat insulation cover (60) is arranged above the movable support platform (55) and is used to cover the rotating gear (58) and the rotating shaft (57) therein.

3. The intelligent slag removal system for aluminum ingot casting according to claim 1 is characterized in that: The slag scooping frame (33) is provided with a connecting arm (31), and the connecting arm (31) is used to be connected to the robot arm (21).

4. The intelligent slag removal system for aluminum ingot casting according to claim 1 is characterized in that: The scraping device (40) further comprises: The scraper frame (41) is in the form of a long strip; An aluminum slag bucket (43) is placed below the slag scraping frame (41) and is used to receive aluminum slag; The scraping blade (42) is arranged on the scraping frame (41).

5. The intelligent slag removal system for aluminum ingot casting according to claim 4 is characterized in that: The scraping blade (42) is in a plate-like structure. One end of the scraping blade (42) is mounted on the scraping frame (41). The scraping blade (42) is in a downwardly inclined state, and its inclination angle relative to the horizontal direction is 30 to 80 degrees. The width of the scraping blade (42) is larger than the width of the scraping blade (39).

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