An adaptive conveying control system and method for ingots in an extrusion production line

Abstract

The present invention provides an ingot adaptive conveying control system and method for an extrusion production line, comprising a PLC control system, a feeding and discharging mechanism and an ingot clamping manipulator, wherein the ingot clamping manipulator is arranged on a track 1, and a storage table and an ingot bearing table are respectively located below the two ends of the track 1, the feeding and discharging mechanism is arranged between the storage table and the ingot bearing table and close to the ingot bearing table, and one end of the feeding and discharging mechanism is an induction heating furnace; a storage table ingot induction switch is installed on one side of the storage table, an ingot bearing table counter-induction switch is installed on one side of the ingot bearing table, and a feeding and discharging counter-induction switch is installed on one side of the feeding and discharging mechanism, and rotary encoders are installed on the feeding and discharging mechanism and the ingot clamping manipulator, and the storage table ingot induction switch, the ingot bearing table counter-induction switch, the feeding and discharging counter-induction switch and the rotary encoder are all connected to the PLC control system by electrical signals. The present invention realizes the intelligent linkage and interaction of ingot replenishment and conveying according to the ingot calling signal of the extruder and the ingot request signal of the induction heating furnace.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic control of aluminum extruder equipment for metallurgical equipment, and in particular relates to an adaptive conveying control system and method for ingots in an extrusion production line. Background Art

[0002] During the continuous extrusion production process of the extrusion production line, the heated ingots need to be continuously transported to the extruder for continuous production, and the cold ingots need to be filled into the induction heating furnace for heating. The round-trip transport response speed of the ingots is a key factor affecting the speed of the extrusion production line. At present, the traditional ingot transportation of the extrusion production line mostly relies on overhead cranes or forklifts, and some are completed by manual instructions through material transport carts. These transportation methods have a slow rhythm, low degree of automation, and certain safety hazards. Summary of the invention

[0003] The purpose of the present invention is to provide an ingot adaptive conveying control system for an extrusion production line to overcome the above-mentioned technical problems existing in the prior art.

[0004] Another object of the present invention is to provide an adaptive conveying control method for ingots in an extrusion production line, which intelligently links ingot replenishment and conveying according to ingot request signals from the extruder and the ingot request signals from the induction heating furnace.

[0005] To this end, the technical solution provided by the present invention is as follows:

[0006] An ingot adaptive conveying control system for an extrusion production line, comprising a PLC control system, a feeding and discharging mechanism and an ingot clamping manipulator, wherein the ingot clamping manipulator is arranged on a track 1, and a storage table and an ingot bearing table are respectively located below the two ends of the track 1, the feeding and discharging mechanism is arranged between the storage table and the ingot bearing table and is close to the ingot bearing table, and one end of the feeding and discharging mechanism is an induction heating furnace;

[0007] A storage table ingot induction switch is installed on one side of the storage table, an ingot holding table opposite-shooting induction switch is installed on one side of the ingot holding table, and an inlet and outlet opposite-shooting induction switch is installed on one side of the feed and unload mechanism. Rotary encoders are installed on the feed and unload mechanism and the ingot clamping robot. The storage table ingot induction switch, the ingot holding table opposite-shooting induction switch, the feed and outlet opposite-shooting induction switch and the rotary encoder are all connected to the PLC control system electrical signal.

[0008] The feeding and discharging mechanism includes track 2, a guide wheel bracket and a feeding and discharging frequency conversion motor reducer. Track 2 is arranged on the guide wheel bracket. The feeding and discharging frequency conversion motor reducer drives track 2 through a synchronous belt. The feeding and discharging frequency conversion motor reducer is equipped with a feeding and discharging rotary encoder. The feeding and discharging opposing induction switch is installed on one side of track 2. A laser thermometer is provided on the other side of track 2. The feeding and discharging frequency conversion motor reducer, the feeding and discharging rotary encoder and the laser thermometer are all connected to the PLC control system electrical signal.

[0009] The ingot clamping robot comprises a base, a robot travel frequency conversion motor and a movable gripper mechanism, wherein the robot travel frequency conversion motor and the movable gripper mechanism are both arranged on the base, the robot travel frequency conversion motor is equipped with a travel encoder, and the movable gripper mechanism can move up and down in a vertical direction, and the robot travel frequency conversion motor, the travel encoder and the movable gripper mechanism are all connected to the PLC control system electrical signal.

[0010] The PLC control system includes a PLC controller, a digital input module and an analog input module. The storage table ingot induction switch, the ingot support table shooting induction switch, and the inlet and outlet shooting induction switch are all connected to the digital input module signal, and the rotary encoder is connected to the analog input module signal.

[0011] A stopper is arranged on the second track.

[0012] A track three is fixed on the base, and the track three is perpendicular to the track one. The movable claw mechanism includes a movable claw and a movable claw variable frequency motor reducer. The movable claw is connected to the track three. A gear is connected to the rotating shaft of the movable claw variable frequency motor reducer, and the gear is meshed with the track three. An encoder is installed on the movable claw variable frequency motor reducer. The movable claw variable frequency motor reducer and the encoder are both connected to the electrical signal of the PLC control system.

[0013] The movable gripper includes movable gripper 1, movable gripper 2, movable gripper 1 variable frequency motor reducer and movable gripper 2 variable frequency motor reducer. The movable gripper 1 and movable gripper 2 are arranged opposite to each other and the straight line where they are located is parallel to track 1. The movable gripper 1 is close to one side of the ingot bearing platform, and the movable gripper 2 is close to one side of the storage platform.

[0014] There are two tracks three, which are respectively connected to movable gripper one and movable gripper two. Encoder one is installed on the variable frequency motor reducer of movable gripper one, and encoder two is installed on the variable frequency motor reducer of movable gripper two. Encoder one and encoder two are both connected to the PLC control system electrical signal.

[0015] An ingot adaptive conveying control method for an extrusion production line comprises the following steps:

[0016] Step 1) During the ingot conveying process of the extrusion production line, the PLC control system determines whether the storage table has stored a cold ingot through the electrical signal sent by the ingot induction switch of the storage table. When the judgment is true, the ingot clamping manipulator moves along the track 1 to the position L1 above the storage table, and controls the movable gripper 2 to grab the cold ingot;

[0017] Step 2) The ingot clamping robot moves along the track to L2 above the storage table and waits. When the PLC control system sends an ingot call request command to the feeding and unloading mechanism, the feeding and unloading mechanism transports the heated ingot out. After the PLC control system receives the ingot discharge arrival signal and the laser thermometer detects that the ingot temperature reaches the extrusion requirement, it controls the movable claw to grab the heated ingot.

[0018] Step 3) The PLC control system controls the ingot clamping manipulator to move along Track 1 to L3 above the storage table, and the movable gripper 2 puts the cold ingot on Track 2 of the feed-in and feed-out mechanism. After the feed-in and feed-out shooting induction switch on one side of Track 2 senses the cold ingot, it sends a signal to the PLC control system, and the PLC control system controls the cold ingot to be transported along Track 2 to the furnace of the induction heating furnace for heating;

[0019] Step 4) The PLC control system controls the ingot clamping robot to move along track 1 to position L4 above the storage table, and then uses the movable claw 1 to place the hot ingot on the ingot holding table;

[0020] Step 5) The PLC control system controls the ingot clamping robot to return to the storage table along track 1 and enter the next ingot adaptive conveying cycle.

[0021] The specific process of controlling the movable gripper 2 to grab the cold cast ingot in step 1) is as follows: the PLC control system sends a command to start the variable frequency motor reducer of the movable gripper 2, and the variable frequency motor reducer of the movable gripper 2 drives the movable gripper 2 to descend along the track 3 to grab the ingot, and then rises along the track 3. During this process, the PLC control system monitors the encoder 2 data of the variable frequency motor reducer of the movable gripper 2 in real time.

[0022] The PLC control system controls the ingot clamping manipulator to move along the track to L1-L4 above the storage table, and controls the horizontal movement displacement of the ingot clamping manipulator by real-time monitoring the data of the walking encoder.

[0023] The beneficial effects of the present invention are:

[0024] The ingot adaptive conveying control system of the extrusion production line provided by the present invention realizes the intelligent linkage and interaction of ingot replenishment and conveying according to the ingot calling signal of the extruder and the ingot request signal of the induction heating furnace. The PLC control system is connected with the electrical signal of the discharging mechanism and the ingot clamping manipulator, so that in the whole ingot conveying cycle, the active gripper 1 takes the ingot and puts the ingot and the active gripper 2 takes the ingot and puts the ingot always maintains a dynamic balance, ensuring the smooth conveying of the ingot of the extrusion production line.

[0025] Through the PLC control system electrically connected to each frequency conversion motor, the position of grabbing, placing and transporting the ingot can be accurately controlled. The entire production process is compact, orderly and fully automated without human intervention, which greatly reduces labor and production costs, speeds up production pace, and reduces safety hazards caused by manual transportation.

[0026] 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

[0027] Figure 1 is a schematic top view of an embodiment of the present invention;

[0028] Figure 2 It is a front view schematic diagram of an embodiment of the present invention;

[0029] Figure 3 It is the principle block diagram of the PLC control system;

[0030] Figure 4 It is a flow chart of a method according to an embodiment of the present invention.

[0031] In the figure:

[0032] Description of reference numerals:

[0033] 1. Ingot clamping robot; 2. Feeding and discharging mechanism; 3. Storage table; 4. Ingot holding table; 5. Induction heating furnace; 6. Track 1; 7. PLC control system; 8. Ingot; 101. Frequency conversion motor for robot travel; 102. Travel encoder; 103. Movable gripper 1; 104. Frequency conversion motor reducer for movable gripper 1; 105. Encoder 1; 106. Movable gripper 2; 107. Frequency conversion motor reducer for movable gripper 2; 108. Encoder 2; 201. Frequency conversion motor reducer for feeding and discharging; 202. Feeding and discharging rotary encoder; 203. Track 2; 204. Guide wheel bracket; 205. Laser thermometer; 206. Feeding and discharging opposite-shooting induction switch; 301. Ingot casting induction switch for storage table; 401. Opposing induction switch for ingot holding table. DETAILED DESCRIPTION

[0034] 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.

[0035] 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 ingot adaptive conveying control system of the extrusion production line described in this specification.

[0036] 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.

[0037] 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.

[0038] Embodiment 1:

[0039] The present embodiment provides an ingot adaptive conveying control system for an extrusion production line, comprising a PLC control system 7, a material feeding and discharging mechanism 2 and an ingot clamping manipulator 1, wherein the ingot clamping manipulator 1 is arranged on a track 6, and a storage table 3 and an ingot support table 4 are located below the two ends of the track 6, respectively. The material feeding and discharging mechanism 2 is arranged between the storage table 3 and the ingot support table 4 and is close to the ingot support table 4, and one end of the material feeding and discharging mechanism 2 is an induction heating furnace 5;

[0040] A storage table ingot induction switch 301 is installed on one side of the storage table 3, an ingot holding table opposite-shooting induction switch 401 is installed on one side of the ingot holding table 4, and an inlet and outlet opposite-shooting induction switch 206 is installed on one side of the feed and outlet mechanism 2. Rotary encoders are installed on the feed and outlet mechanism 2 and the ingot clamping robot 1. The storage table ingot induction switch 301, the ingot holding table opposite-shooting induction switch 401, the feed and outlet opposite-shooting induction switch 206 and the rotary encoder are all connected to the PLC control system 7 with electrical signals.

[0041] The ingot holding table shooting induction switch 401 is used to detect whether there is an ingot 8 stored on the ingot holding table 4, the storage table ingot induction switch 301 is used to detect whether there is a cold ingot 8 stored on the storage table 3, the feed and discharge shooting induction switch 206 is used to detect whether there is an ingot 8 to be transported on the feed and discharge mechanism 2, the rotary encoder installed on the ingot clamping robot 1 is used to detect the horizontal walking displacement of the ingot clamping robot 1 in real time, and the rotary encoder installed on the feed and discharge mechanism 2 is used to detect the displacement of the ingot 8 driven forward (ingot out) or backward (ingot in) by the feed and discharge mechanism 2 in real time.

[0042] The working process or application process is as follows:

[0043] During the conveying process of the ingot 8 of the extrusion production line, the PLC control system 7 determines whether the storage table 3 has stored the cold ingot 8 through the ingot induction switch 301 of the storage table. When the judgment is true, the ingot clamping robot 1 walks to the position L1 above the storage table 3 to grab the cold ingot 8, and then the ingot clamping robot 1 walks to the position L2 above the discharge table to wait for the PLC control system 7 to issue an ingot call request instruction. After receiving the ingot call request, the heated ingot 8 is transported out of the heating furnace through the feeding and discharging mechanism 2. After receiving the ingot 8 discharge completion signal and the laser thermometer 205 detects that the temperature of the ingot 8 reaches the extrusion requirement, the ingot 8 is transported out of the heating furnace through the feeding and discharging mechanism 2. After the request, the PLC control system 7 controls the ingot clamping robot 1 to grab the ingot 8 after heating, and controls the ingot clamping robot 1 to move to L3 above the feed and discharge mechanism 2, and the ingot clamping robot 1 places the cold ingot on the feed and discharge mechanism 2. After the feed and discharge shooting induction switch 206 senses the ingot 8, the feed and discharge mechanism 2 transports the cold ingot 8 to the furnace of the induction heating furnace 5 for heating. At the same time, the ingot clamping robot 1 moves to L4 above the ingot supporting platform 4, and places the hot ingot 8 on the ingot supporting platform 4. Finally, the ingot clamping robot 1 returns to the ingot 8 storage platform 3 to enter the next ingot 8 adaptive conveying cycle.

[0044] During the entire ingot 8 conveying cycle, the ingot clamping robot 1 always maintains a dynamic balance when taking and placing the ingot, ensuring the smooth conveying of the ingot 8 on the extrusion production line.

[0045] Embodiment 2:

[0046] On the basis of Example 1, this embodiment provides an adaptive conveying control system for ingots of an extrusion production line, wherein the feed-in and feed-out mechanism 2 comprises a track 203, a guide wheel bracket 204 and a feed-in and feed-out variable frequency motor reducer 201, wherein the track 203 is arranged on the guide wheel bracket 204, and the feed-in and feed-out variable frequency motor reducer 201 drives the track 203 through a synchronous belt, and the feed-in and feed-out variable frequency motor reducer 201 is equipped with a feed-in and feed-out rotary encoder 202, and the feed-in and feed-out opposing induction switch 206 is installed on one side of the track 203, and a laser thermometer 205 is provided on the other side of the track 203, and the feed-in and feed-out variable frequency motor reducer 201, the feed-in and feed-out rotary encoder 202 and the laser thermometer 205 are all electrically connected to the PLC control system 7 by signals.

[0047] like Figure 1 As shown, the frequency conversion motor reducer 201 for feeding and discharging drives the rotating wheel through the synchronous belt driving track 203 to reciprocate on the guide wheel bracket 204 to move the ingot 8 in and out of the induction heating furnace 5.

[0048] The PLC control system 7 monitors the value of the inlet and outlet rotary encoder 202 in real time to obtain the displacement change of the track 2 203 and the ingot 8 on the synchronous belt.

[0049] Embodiment 3:

[0050] Based on Example 1, this example provides an adaptive conveying control system for ingots in an extrusion production line, wherein the ingot clamping robot 1 comprises a base, a robot travel frequency conversion motor 101 and a movable gripper mechanism, wherein the robot travel frequency conversion motor 101 and the movable gripper mechanism are both arranged on the base, the robot travel frequency conversion motor 101 is equipped with a travel encoder 102, and the movable gripper mechanism can move up and down in a vertical direction, and the robot travel frequency conversion motor 101, the travel encoder 102 and the movable gripper mechanism are all electrically connected to the PLC control system 7 by signals.

[0051] like Figure 1 , Figure 2 As shown, the ingot clamping manipulator 1 is mounted above the feeding and discharging mechanism 2, the ingot support table 4 and the ingot 8 storage table 3. A gear is connected to the rotating shaft of the manipulator travel frequency conversion motor 101, and the gear is meshed with the rack of the track 6. The horizontal travel displacement of the ingot clamping manipulator 1 is detected in real time by the travel encoder 102. The movable claw mechanism can move up and down in the vertical direction, and then rise after grabbing or putting down the ingot 8 in the downward movement.

[0052] Embodiment 4:

[0053] On the basis of Example 1, this embodiment provides an adaptive conveying control system for ingots of an extrusion production line, wherein the PLC control system 7 includes a PLC controller, a digital input module and an analog input module, the storage table ingot induction switch 301, the ingot holding table shooting induction switch 401, and the inlet and outlet shooting induction switch 206 are all connected to the digital input module signal, and the rotary encoder is connected to the analog input module signal.

[0054] like Figure 3 As shown, the controller (model 1756-L72S) in the PLC control system 7 connects each part in series into a network and shares data through TCP / IP Ethernet communication. The feedback signals of each encoder are 4~20ma current signals, and the analog input modules convert their analog signals into digital signals and transmit them to the PLC controller. The signals of the inlet and outlet induction switch 206, the storage table ingot induction switch 301, and the ingot holding table induction switch 401 are fed back to the digital input module in the PLC control system 7 to complete.

[0055] Embodiment 5:

[0056] On the basis of Example 2, this example provides an adaptive conveying control system for ingots in an extrusion production line, wherein a block is provided on the track 203 .

[0057] A stopper is fixed on the second track 203, so that the ingot 8 and the arc roller can be relatively stationary during feeding and discharging to avoid sliding.

[0058] Embodiment 6:

[0059] On the basis of Example 3, this embodiment provides an adaptive conveying control system for ingots of an extrusion production line, wherein a track three is fixedly provided on the base, and the track three is perpendicular to the track one 6, and the movable claw mechanism includes a movable claw and a movable claw variable frequency motor reducer, and the movable claw is connected to the track three, and a gear is connected to the rotating shaft of the movable claw variable frequency motor reducer, and the gear is meshed with the track three, and an encoder is installed on the movable claw variable frequency motor reducer, and the movable claw variable frequency motor reducer and the encoder are both electrically connected to the PLC control system 7.

[0060] The encoder is used to detect the vertical displacement of the movable gripper 103 in real time. During the conveying process of the ingot 8, when the ingot 8 manipulator is waiting for the PLC control system 7 to issue an ingot call request instruction at L2 above the inlet and outlet mechanism, after receiving the ingot call request, the inlet and outlet frequency conversion motor reducer 201 drives the synchronous belt to drive the track 2 203 to transport the heated ingot 8. After receiving the ingot 8 discharge signal and the laser thermometer 205 detecting that the temperature of the ingot 8 reaches the extrusion requirement, the movable gripper frequency conversion motor reducer drives the movable gripper to descend along the track 3 to grab the heated ingot 8 and then rise. Then the ingot clamping manipulator 1 walks to L4 above the ingot support platform 4, and the movable gripper frequency conversion motor reducer drives the movable gripper to descend along the gear guide rail to place the hot ingot 8 on the ingot support platform 4 and then rise.

[0061] When the PLC control system 7 determines whether the storage table 3 has stored the cold ingot 8, when the judgment is true, the ingot clamping robot 1 moves to L1 above the storage table 3, the movable claw frequency conversion motor reducer drives the movable claw to descend along the gear track three to grab the ingot 8 and then rise, the ingot clamping robot 1 moves to L3 above the discharging table, the movable claw of the ingot clamping robot 1 descends to put the cold ingot on the track two 203 and then rises, after the feed and discharge shooting induction switch 206 senses the ingot 8, the feed and discharge frequency conversion motor reducer 201 drives the synchronous belt to drive the track two 203 to transport the cold ingot 8 to the furnace of the induction heating furnace 5 for heating.

[0062] Embodiment 7:

[0063] On the basis of Example 6, this embodiment provides an adaptive conveying control system for ingots in an extrusion production line, wherein the movable gripper includes a movable gripper 103, a movable gripper 2 106, a movable gripper 1 variable frequency motor reducer 104, and a movable gripper 2 variable frequency motor reducer 107, wherein the movable gripper 103 and the movable gripper 2 106 are arranged opposite to each other and the straight line on which they are located is parallel to the track 1 6, the movable gripper 103 is close to one side of the ingot support platform 4, and the movable gripper 2 106 is close to one side of the storage platform 3;

[0064] There are two tracks three, which are respectively connected to movable gripper one 103 and movable gripper two 106. Encoder one 105 is installed on the variable frequency motor reducer 104 of movable gripper one, and encoder two 108 is installed on the variable frequency motor reducer 107 of movable gripper two. Encoder one 105 and encoder two 108 are both connected to the PLC control system 7 with electrical signals.

[0065] The movable gripper 103 is used to grab and put down the heated hot ingot 8, and the movable gripper 2 106 is used to grab and put down the cold ingot 8. In the entire ingot 8 conveying cycle, the movable gripper 103 takes and puts the ingot and the movable gripper 2 106 takes and puts the ingot to maintain a dynamic balance, ensuring the smooth conveying of the ingot 8 of the extrusion production line.

[0066] By electrically connecting the PLC control system 7 with each variable frequency motor, the positions of grabbing the ingot 8, placing the ingot 8 and conveying the ingot 8 can be accurately controlled. The entire production process is compact, orderly and fully automated without manual intervention, which greatly reduces labor and production costs, speeds up production pace and reduces safety hazards caused by manual transportation.

[0067] Embodiment 8:

[0068] This embodiment provides an ingot adaptive conveying control system for an extrusion production line, including an ingot clamping robot 1, a track 6, a feeding and discharging mechanism 2, a storage table 3, an ingot holding table 4, a laser thermometer 205 and a PLC control system 7.

[0069] like Figure 1 As shown, the ingot clamping manipulator 1 is set above the feeding and discharging mechanism 2, the storage platform 3 and the ingot support platform 4 through the track 1 6. The feeding and discharging mechanism 2 includes a feeding and discharging variable frequency motor reducer 201, a track 203 and a guide wheel bracket 204, and the track 203 is located above the guide wheel bracket 204. The feeding and discharging variable frequency motor reducer 201 drives the rotating wheel to drive the track 203 through the synchronous belt to reciprocate on the guide wheel bracket 204 to move the ingot 8 in and out of the induction heating furnace 5. The track 203 is fixed with a stopper, and the ingot 8 and the track 203 are relatively stationary during feeding and discharging, and are not subject to any dynamic friction. The guide wheel bracket 204 is equipped with an inlet and outlet shooting induction switch 206 and a laser thermometer 205. The inlet and outlet frequency conversion motor reducer 201 is equipped with an inlet and outlet rotary encoder 202. The inlet and outlet rotary encoder 202 is used to detect the position on track 2 203 in real time to determine whether the ingot 8 has entered the furnace of the induction heating furnace 5 or whether it has reached the position where the movable claw of the ingot clamping robot 1 can grasp the ingot 8. The inlet and outlet shooting induction switch 206 is used to detect whether the ingot 8 is placed on track 2 203, and the laser thermometer 205 is used to detect the temperature of the ingot 8 in real time.

[0070] A beam sensing switch is fixedly installed on the storage platform 3, and the beam sensing switch of the ingot 8 storage platform 3 is electrically connected to the PLC control system 7. The beam sensing switch of the storage platform 3 is used to detect whether an ingot 8 is stored on the ingot 8 storage platform 3. A beam sensing switch is fixedly installed on the ingot holding platform 4, and the beam sensing switch of the ingot 8 storage platform 3 is electrically connected to the PLC control system 7. The beam sensing switch 401 of the ingot holding platform is used to detect whether an ingot 8 is stored on the ingot holding platform 4.

[0071] The ingot clamping robot 1 includes a base, on which a robot walking mechanism and a movable claw mechanism are provided. The robot walking mechanism includes a robot walking frequency conversion motor 101 and a walking encoder 102. A gear is connected to the rotating shaft of the robot walking frequency conversion motor 101, and the gear is engaged with a rack track 6. The walking frequency conversion motor and the walking encoder 102 are both connected to the PLC control system 7 by electrical signals. The walking encoder 102 is used to detect the horizontal walking displacement of the ingot clamping robot 1 in real time.

[0072] Among them, the movable gripper mechanism includes movable gripper 1 103, movable gripper 2 106, rack track 3, movable gripper 1 variable frequency motor reducer 104, movable gripper 2 variable frequency motor reducer 107, encoder 1 105, encoder 2 108, the rotating shafts of the variable frequency motors on movable gripper 103 and movable gripper 2 106 are connected with gears, the gears are meshed with the vertical rack track 3, the movable gripper 1 variable frequency motor reducer 104 and encoder 1 105 are both connected with the PLC control system 7 by electrical signals, and encoder 1 105 is used to detect the vertical walking displacement of movable gripper 1 103 in real time. The movable gripper 2 variable frequency motor reducer 107 and encoder 2 108 are both connected with the PLC control system 7 by electrical signals, and encoder 2 108 is used to detect the vertical walking displacement of movable gripper 2 106 in real time.

[0073] like Figure 3 As shown, the PLC control system 7 is mainly based on the controller (model 1756-L72S), and the various parts are connected in series into a network and data is shared through TCP / IP Ethernet communication. The feedback signals of the ingot casting 8 robot walking encoder 102, encoder 1 105, encoder 2 108, feeding and discharging rotary encoder 202, and laser thermometer 205 are all 4~20mA current signals. The analog input module (model 1794-IE8) in the PLC control system 7 converts their analog signals into digital signals and transmits them to the PLC controller. The signals of the ingot casting and discharging induction switch 206, the ingot casting induction switch 301 of the storage platform, and the ingot bearing platform induction switch 401 are fed back to the digital input module (model 1794-IB32) in the PLC control system 7 to complete the data exchange between the operating parameters of the ingot casting 8 robot walking variable frequency motor 101 reducer, the movable claw 1 variable frequency motor reducer 104, and the movable claw 2 variable frequency motor reducer 107 and the PLC controller through TCP / IP communication.

[0074] Embodiment 9:

[0075] This embodiment provides an ingot adaptive conveying control method for an extrusion production line, comprising the following steps:

[0076] Step 1) During the conveying process of the ingot 8 of the extrusion production line, the PLC control system 7 determines whether the storage table 3 has stored the cold ingot 8 through the electrical signal sent by the ingot induction switch 301 of the storage table. When the judgment is true, the ingot clamping robot 1 moves along the track 1 6 to the position L1 above the storage table 3, and controls the movable claw 2 106 to grab the cold ingot 8;

[0077] Step 2) The ingot clamping robot 1 moves along the track 6 to the position L2 above the storage table 3 and waits. When the PLC control system 7 sends an ingot call request instruction to the feeding and unloading mechanism 2, the feeding and unloading mechanism 2 transports the heated ingot 8 out. After the PLC control system 7 receives the ingot 8 discharge arrival signal and the laser thermometer 205 detects that the ingot 8 temperature reaches the extrusion requirement, it controls the movable claw 103 to grab the heated ingot 8.

[0078] Step 3) The PLC control system 7 controls the ingot clamping manipulator 1 to move along the track 1 6 to the position L3 above the storage table 3, and the movable gripper 2 106 puts the cold ingot 8 on the track 2 203 of the feeding and discharging mechanism 2. After the feeding and discharging opposing induction switch 206 on one side of the track 203 senses the cold ingot 8, it sends a signal to the PLC control system 7, and the PLC control system 7 controls the cold ingot 8 to be transported along the track 2 203 to the furnace of the induction heating furnace 5 for heating;

[0079] Step 4) The PLC control system 7 controls the ingot clamping robot 1 to move along the track 6 to the position L4 above the storage platform 3, and then enables the movable claw 103 to place the hot ingot 8 on the ingot receiving platform 4;

[0080] Step 5) The PLC control system 7 controls the ingot clamping robot 1 to return to the storage table 3 along the track 6 and enter the next ingot 8 adaptive conveying cycle. Figure 4 shown.

[0081] Embodiment 10:

[0082] On the basis of Example 9, this example provides an adaptive conveying control method for ingots in an extrusion production line. The specific process of controlling the movable gripper 2 106 to grab the cold cast ingot 8 in step 1) is as follows: the PLC control system 7 sends an instruction to start the movable gripper 2 variable frequency motor reducer 107, and the movable gripper 2 variable frequency motor reducer 107 drives the movable gripper 2 106 to descend along track 3 to grab the ingot 8, and then rises along track 3. During this process, the PLC control system 7 monitors the encoder 2 108 data of the movable gripper 2 variable frequency motor reducer 107 in real time.

[0083] The PLC control system 7 controls the ingot clamping robot 1 to move along the track 6 to the L1-L4 above the storage platform 3, and controls the horizontal movement displacement of the ingot clamping robot 1 by real-time monitoring the data of the walking encoder 102.

[0084] 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 adaptive conveying control system for ingots in an extrusion production line, characterized in that: It comprises a PLC control system (7), a material feeding and discharging mechanism (2) and an ingot clamping robot (1), wherein the ingot clamping robot (1) is arranged on a track (6), and below the two ends of the track (6) are a storage table (3) and an ingot holding table (4), respectively; the material feeding and discharging mechanism (2) is arranged between the storage table (3) and the ingot holding table (4) and is close to the ingot holding table (4), and one end of the material feeding and discharging mechanism (2) is an induction heating furnace (5); A storage platform ingot induction switch (301) is installed on one side of the storage platform (3), an ingot support platform cross-beam induction switch (401) is installed on one side of the ingot support platform (4), and an inlet and outlet cross-beam induction switch (206) is installed on one side of the feed and outlet mechanism (2). Rotary encoders are installed on the feed and outlet mechanism (2) and the ingot clamping manipulator (1), and the storage platform ingot induction switch (301), the ingot support platform cross-beam induction switch (401), the feed and outlet cross-beam induction switch (206) and the rotary encoder are all connected to the PLC control system (7) via electrical signals; The ingot clamping manipulator (1) comprises a base, a manipulator travel frequency conversion motor (101) and a movable gripper mechanism, the manipulator travel frequency conversion motor (101) and the movable gripper mechanism are both arranged on the base, the manipulator travel frequency conversion motor (101) is equipped with a travel encoder (102), the movable gripper mechanism can move up and down in a vertical direction, and the manipulator travel frequency conversion motor (101), the travel encoder (102) and the movable gripper mechanism are all connected to a PLC control system (7) via electrical signals; The base is fixedly provided with a track three, the track three is perpendicular to the track one (6), the movable claw mechanism includes a movable claw and a movable claw variable frequency motor reducer, and the movable claw is connected to the track three; the movable claw includes a movable claw one (103), a movable claw two (106), a movable claw one variable frequency motor reducer (104) and a movable claw two variable frequency motor reducer (107), the movable claw one (103) and the movable claw two (106) are arranged opposite to each other and the straight line on which they are located is parallel to the track one (6), the movable claw one (103) is close to one side of the ingot support platform (4), and the movable claw two (106) is close to one side of the storage platform (3); The PLC control system (7) comprises a PLC controller, a digital quantity input module and an analog quantity input module; the storage platform ingot casting induction switch (301), the ingot holding platform cross-shooting induction switch (401) and the inlet and outlet cross-shooting induction switch (206) are all connected to the digital quantity input module signal; and the rotary encoder is connected to the analog quantity input module signal.

2. The ingot adaptive conveying control system for an extrusion production line according to claim 1, characterized in that: The feeding and discharging mechanism (2) comprises a track 2 (203), a guide wheel bracket (204) and a feeding and discharging variable frequency motor reducer (201); the track 2 (203) is arranged on the guide wheel bracket (204); the feeding and discharging variable frequency motor reducer (201) drives the track 2 (203) via a synchronous belt; the feeding and discharging variable frequency motor reducer (201) is equipped with a feeding and discharging rotary encoder (202); the feeding and discharging opposite-direction induction switch (206) is installed on one side of the track 2 (203); a laser thermometer (205) is provided on the other side of the track 2 (203); the feeding and discharging variable frequency motor reducer (201), the feeding and discharging rotary encoder (202) and the laser thermometer (205) are all connected to a PLC control system (7) via electrical signals.

3. The ingot adaptive conveying control system for an extrusion production line according to claim 2, characterized in that: A stopper is provided on the track 2 (203).

4. The ingot adaptive conveying control system for an extrusion production line according to claim 1, characterized in that: A gear is connected to the rotating shaft of the variable frequency motor reducer of the movable hand grip, and the gear is meshed with the track. An encoder is installed on the variable frequency motor reducer of the movable hand grip, and the variable frequency motor reducer and the encoder are both connected to the PLC control system (7) by electrical signals.

5. The ingot adaptive conveying control system for an extrusion production line according to claim 4, characterized in that: The rails three are two and are respectively connected to the movable gripper one (103) and the movable gripper two (106); the movable gripper one variable frequency motor reducer (104) is equipped with an encoder one (105); the movable gripper two variable frequency motor reducer (107) is equipped with an encoder two (108); the encoder one (105) and the encoder two (108) are both connected to the PLC control system (7) via electrical signals.

6. An adaptive conveying control method for ingots in an extrusion production line, using the adaptive conveying control system for ingots in an extrusion production line according to claim 5, characterized in that: The following steps are involved: Step 1) During the conveying process of the ingot (8) of the extrusion production line, the PLC control system (7) determines whether the storage table (3) has stored the cold ingot (8) through the electrical signal emitted by the ingot induction switch (301) of the storage table. When the judgment is true, the ingot clamping robot (1) moves along the track 1 (6) to the position L1 above the storage table (3), and controls the movable claw 2 (106) to grab the cold ingot (8); Step 2) the ingot holding robot (1) moves along the track 1 (6) to the position L2 above the storage table (3) and waits. When the PLC control system (7) sends an ingot call request instruction to the feeding and unloading mechanism (2), the feeding and unloading mechanism (2) transports the heated ingot (8). After the PLC control system (7) receives the ingot (8) discharge arrival signal and the laser thermometer (205) detects that the ingot (8) temperature reaches the extrusion requirement, it controls the movable gripper 1 (103) to grab the heated ingot (8); Step 3) The PLC control system (7) controls the ingot clamping robot (1) to move along the track 1 (6) to the position L3 above the storage table (3), and the movable gripper 2 (106) places the cold ingot (8) on the track 2 (203) of the feeding and discharging mechanism (2). After the feeding and discharging opposing induction switch (206) on one side of the track 2 (203) senses the cold ingot (8), it sends a signal to the PLC control system (7), and the PLC control system (7) controls the cold ingot (8) to be transported along the track 2 (203) to the furnace of the induction heating furnace (5) for heating; Step 4) The PLC control system (7) controls the ingot clamping robot (1) to move along the track 1 (6) to a position L4 above the storage platform (3), and then enables the movable claw 1 (103) to place the hot ingot (8) onto the ingot holding platform (4); Step 5) The PLC control system (7) controls the ingot clamping robot (1) to return to the storage table (3) along track 1 (6) and enter the next ingot (8) adaptive conveying cycle.

7. The method for controlling the ingot self-adaptive conveying of an extrusion production line according to claim 6, characterized in that: The specific process of controlling the movable gripper 2 (106) to grab the cold cast ingot (8) in step 1) is as follows: the PLC control system (7) sends a command to start the movable gripper 2 variable frequency motor reducer (107), and the movable gripper 2 variable frequency motor reducer (107) drives the movable gripper 2 (106) to descend along the track 3 to grab the ingot (8), and then rise along the track 3. During this process, the PLC control system (7) monitors the encoder 2 (108) data of the movable gripper 2 variable frequency motor reducer (107) in real time.

8. The method for controlling the ingot self-adaptive conveying of an extrusion production line according to claim 6, characterized in that: The PLC control system (7) controls the ingot clamping manipulator (1) to move along the track 1 (6) to the position L1-L4 above the storage platform (3), and controls the horizontal movement displacement of the ingot clamping manipulator (1) by real-time monitoring of data from the movement encoder (102).

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