A method for realizing accurate positioning of aluminum electrolysis multifunctional overhead crane

Abstract

A method for realizing precise positioning of a multifunctional overhead crane for aluminum electrolysis can reduce motion mechanisms, greatly reduce motion inertia, and facilitate precise positioning. The method for realizing precise positioning of a multifunctional overhead crane for aluminum electrolysis adds a set of XY plane motion systems to the trolley of the multifunctional overhead crane, and installs the shell breaking mechanism, anode replacement device, and slag scooping mechanism on the multifunctional overhead crane on the XY plane moving system. The XY plane moving system is equipped with a set of closed-loop control drive systems, which drive the XY plane moving system to drive the shell breaking mechanism, anode replacement device, and slag scooping mechanism to move precisely to the specified position coordinates in the XY plane.

Description

Technical Field

[0001] The invention relates to the technical field of nonferrous metallurgy aluminum electrolysis, and in particular to a method for realizing precise positioning of a multifunctional overhead crane for aluminum electrolysis. Background Art

[0002] The multifunctional overhead crane for electrolytic aluminum is the main equipment to assist in the production of electrolytic aluminum in the process of aluminum electrolysis. After more than 30 years of development, the electrolytic aluminum industry has gradually become an important basic industry in China. At present, most electrolytic aluminum processes at home and abroad adopt the process of cryolite-alumina molten salt electrolysis. Molten cryolite is the solvent, alumina is the solute, carbonite is the anode, and aluminum liquid is the cathode. After a strong direct current is passed, an electrochemical reaction is carried out at the two poles in the electrolytic cell at 950℃-970℃, that is, electrolysis. In the process of electrolytic aluminum production, the carbon block of the anode guide rod will burn out and become a residual electrode after a period of use, and it needs to be replaced regularly. The replacement process of the anode guide rod is as follows: first, the anode guide rod should be marked and the fine material covering the surface of the anode guide rod should be cleaned; then the hard covering material covering the anode guide rod should be impacted and crushed with a pneumatic hammer impact device, and then the broken covering material should be cleaned up, and finally the anode guide rod and the residual carbon block should be pulled out as a whole. After the anode guide rod is pulled out, the electrolytic impurities in the electrolytic cell need to be slag-removed, and then a new anode guide rod is replaced. The entire replacement process of the anode guide rod involves three key processes, namely, the knocking and breaking of the anode guide rod covering material, the twisting and pulling out of the damaged anode guide rod, and the slag removal of the impurities in the electrolytic cell.

[0003] At present, the multifunctional overhead crane used by enterprises to complete the three key processes mentioned above has a structure in which a large car straddles the tracks on both sides of the workshop and moves along the tracks on both sides of the workshop. A small car perpendicular to the direction of movement of the large car is installed on the large car, and a tool rotating device is installed on the small car. Then, a shelling mechanism, an anode replacement device, a slag scooping mechanism, and other operating mechanisms are installed on the tool scooping device. The specific operation steps are: the worker manually operates the controller to control the large car to drive the small car and the tool scooping device and the end-operating tool on it to move forward. When the large car moves to the vicinity of the working position, the small car is operated to drive the tool scooping device and the operating mechanism on it to move in a direction perpendicular to the direction of movement of the large car. During the movement, the worker observes and operates while dynamically controlling and adjusting the movement of the large car and the small car, thereby driving the position of the operating mechanism. After the operating mechanism reaches the exact position of the operation, the worker operates the end-operating tool to descend and perform the corresponding shelling, twisting, scooping, and other operating processes. During the entire operation process, the worker needs to observe and operate the large car and the small car in real time. The positioning accuracy and positioning efficiency of the operation process are completely dependent on the manual operation level and proficiency.

[0004] Problems with existing multifunctional overhead cranes:

[0005] 1. The positioning accuracy of the crane trolley is poor. Since the multifunctional crane has a large operating range and a large running span, which is generally more than 20 meters, the distance between the driving wheels on both sides is also more than 20 meters, and the rollers on both sides are driven separately, the synchronization is poor. Therefore, when the crane trolley drives the overall movement, the positioning accuracy is very poor.

[0006] 2. The crane has a large inertia. The multifunctional crane has a large mass. In addition, there are many mechanisms installed on it, such as shell breaking mechanism, anode replacement device, slag scooping mechanism, material spreading device, hydraulic system, etc., which makes the overall mass of the multifunctional crane large, weighing about 50 tons, and has a large inertia, which is not conducive to precise positioning.

[0007] 3. The drive control accuracy of ordinary motors and reducers is poor. The existing multifunctional overhead cranes all use ordinary motors and reducers. The driving process lacks motion detection feedback. The movement process is open and relies on workers to control it. The positioning during the operation process is completely dependent on manual operation, and automatic and precise positioning cannot be achieved.

[0008] At present, as people pay more attention to their health, harsh working conditions like electrolysis workshops have a great impact on the health of operators. Therefore, the automation and intelligent development of multifunctional overhead cranes in electrolysis workshops is an inevitable trend. The use of automation and intelligent equipment can greatly reduce the number of on-site operators, which is of great significance to the efficient and healthy development of electrolytic aluminum enterprises and the improvement of technical level and core competitiveness. The premise of realizing intelligence is to realize automation, and to realize automation, the problem of precise positioning must be solved. Summary of the invention

[0009] In order to overcome the defects of the prior art, the technical problem to be solved by the present invention is to provide a method for realizing precise positioning of a multifunctional overhead crane for aluminum electrolysis, which can reduce the motion mechanism, greatly reduce the motion inertia, and facilitate the realization of precise positioning.

[0010] The technical solution of the present invention is: this method for realizing precise positioning of a multifunctional overhead crane for aluminum electrolysis, adding a set of XY plane motion systems to the trolley of the multifunctional overhead crane, installing a shell breaking mechanism, an anode replacement device, and a slag scooping mechanism on the multifunctional overhead crane on the XY plane motion system, and the XY plane motion system is equipped with a set of closed-loop control drive systems, which drive the XY plane motion system to drive the shell breaking mechanism, the anode replacement device, the slag scooping mechanism and other operating mechanisms to move precisely to the specified position coordinates in the XY plane.

[0011] The present invention adds a set of XY plane motion systems to the trolley of the multifunctional overhead crane, and installs the shell breaking mechanism, anode replacement device and slag scooping mechanism on the multifunctional overhead crane on the XY plane motion system. The XY plane motion system is equipped with a set of closed-loop control driving systems, which drive the XY plane motion system to drive the shell breaking mechanism, anode replacement device and slag scooping mechanism to accurately move to the specified position coordinates in the XY plane, thereby reducing the motion mechanism, greatly reducing the motion inertia, and facilitating the realization of precise positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is the principle front view of the existing multifunctional overhead crane mechanism.

[0013] Figure 2 It is a principle top view of the existing multifunctional overhead crane mechanism.

[0014] Figure 3 It is the main view of the mechanism principle of the present invention.

[0015] Figure 4 It is a top view of the mechanism principle of the present invention.

[0016] Figure 5 It is a workshop layout diagram of the present invention.

[0017] Figure 6 It is a flow chart of an embodiment of a method for realizing precise positioning of a multifunctional overhead crane for aluminum electrolysis according to the present invention. DETAILED DESCRIPTION

[0018] This method for achieving precise positioning of the multifunctional overhead crane for aluminum electrolysis adds a set of XY plane motion systems to the trolley of the multifunctional overhead crane, and installs the shell breaking mechanism 3, the anode replacement device 1, and the slag scooping mechanism 2 on the multifunctional overhead crane on the XY plane motion system. The XY plane motion system is equipped with a set of closed-loop control drive systems, which drive the XY plane motion system to drive the shell breaking mechanism, the anode replacement device, the slag scooping mechanism and other operating mechanisms to move precisely to the specified position coordinates in the XY plane.

[0019] The present invention adds a set of XY plane motion systems to the trolley of the multifunctional overhead crane, and installs the shell breaking mechanism, anode replacement device and slag scooping mechanism on the multifunctional overhead crane on the XY plane motion system 7. The XY plane motion system is equipped with a set of closed-loop control drive systems, which drive the XY plane motion system to drive the shell breaking mechanism, anode replacement device and slag scooping mechanism to accurately move to the specified position coordinates in the XY plane. Therefore, the motion mechanism can be reduced, the motion inertia is greatly reduced, and it is conducive to achieving precise positioning.

[0020] Preferably, if Figure 3-6 As shown, the method comprises the following steps:

[0021] (1) After the overhead crane starts working, the large car 4 and the small car 5 move quickly to the predetermined position of the working electrolytic cell in the electrolysis workshop;

[0022] (2) The XY plane motion system installed on the trolley is started, a position detection sensor is arranged on the working mechanism, and a positioning point is set at each working station. When the position sensor detects the data of the distance from the working position, the detection data is fed back to the control system of the XY plane drive system, and then the control system issues a drive command to start driving the Y direction moving mechanism 9 (which moves on the Y direction support track 8) to drive the X direction moving mechanism 11 installed thereon (which moves on the X direction support track 10) and the working mechanism to move along the Y direction;

[0023] (3) The Y-direction moving mechanism stops moving after it moves to the position according to the feedback detection data, and then the X-direction moving mechanism is started to drive the tool rotating device 6 and the end effector thereon to move;

[0024] (4) When the position detection sensor detects that the working mechanism has reached the accurate working position, the detection result is fed back to the control system, and the control system issues a command to control the X-direction moving mechanism to stop moving; the detection information is fed back online in real time through the position sensor installed on the end working tool. When the working mechanism is driven by the X-direction moving mechanism to move, automatic positioning is achieved based on the closed-loop feedback data.

[0025] Preferably, the driving elements of the closed-loop controlled drive system are driven by screws and servo motors respectively installed on the X and Y plane moving mechanisms, or by servo electric cylinders and servo oil cylinders. After the trolley and carriage of the multifunctional overhead crane reach the predetermined positions, this servo drive system will drive the XY plane moving mechanism to perform compound plane movement, thereby driving the operating mechanism installed on the XY plane moving mechanism to reach the specified position, thereby achieving precise positioning.

[0026] Preferably, the servo drive system adopts an industrial robot, and utilizes the industrial robot to drive the XY plane motion mechanism to drive the operating mechanism to achieve precise positioning.

[0027] Preferably, the shell breaking mechanism, the anode replacement device and the slag scooping mechanism are dispersedly arranged on respective lifting drive units.

[0028] Preferably, an independent driving unit with lifting function is arranged on the XY plane motion mechanism. The independent driving unit replaces the shell breaking mechanism, the anode device and the slag scooping mechanism, and realizes precise positioning to complete the tasks of shell breaking, anode replacement and slag scooping under the drive of the XY plane motion mechanism.

[0029] Preferably, the X-direction moving mechanism is first installed on the trolley of the overhead crane, and then the Y-direction moving mechanism is installed on the X-direction moving mechanism, and finally the operating mechanism is installed on the Y-direction moving mechanism.

[0030] The beneficial effects of the present invention are as follows:

[0031] The movement of the large and small trolleys of the existing multifunctional overhead crane is used as a rapid movement stroke. The movement stroke of the large and small trolleys is relatively large, and the original driving method is adopted to quickly move to the predetermined position. The large and small trolleys stop after reaching the predetermined position. Then the XY plane drive system starts to start, driving the moving mechanism of the X and Y planes to transport the operating mechanism to the final working position by driving the tool rotating device installed on the X and Y planes.

[0032] After the trolley and the small car are in place, based on the on-site implementation inspection feedback, a set of X, Y plane drive systems added to the small car are started to drive the operating mechanism, and automatic and precise positioning is achieved based on the on-site real-time closed-loop detection system.

[0033] When positioning the operating mechanism, it no longer relies on manual control of the movement of the trolley and the carriage to achieve positioning. Instead, an additional set of X, Y plane drive systems on the carriage is used to drive the X, Y plane moving mechanism, and the tool rotating device installed on the X, Y plane moving mechanism and the operating mechanisms such as shell breaking, anode replacement, and slag removal installed thereon are driven to move accurately in the X, Y plane. The tool rotating device drives the operating mechanism to achieve precise positioning, the number of moving mechanisms is reduced, and the movement inertia is greatly reduced, which is conducive to achieving precise positioning.

[0034] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the protection scope of the technical solution of the present invention.

Claims

1. A method for realizing accurate positioning of a multifunctional overhead crane for aluminum electrolysis, characterized in that: A set of XY plane motion system is added to the trolley of the multifunctional overhead crane, and the shell breaking mechanism, anode replacement device and slag scooping mechanism on the multifunctional overhead crane are installed on the XY plane moving system. The XY plane moving system is equipped with a set of closed-loop control drive system, which drives the XY plane moving system to drive the shell breaking mechanism, anode replacement device and slag scooping mechanism to move accurately to the specified position coordinates in the XY plane.

2. The method for realizing accurate positioning of the aluminum electrolysis multifunctional overhead crane according to claim 1 is characterized in that: The method comprises the following steps: (1) After the overhead crane starts working, the trolley and the carriage quickly move to the predetermined position of the working electrolytic cell in the electrolysis workshop; (2) The XY plane motion system installed on the trolley is started, a position detection sensor is arranged on the operating mechanism, and a positioning point is set at each operating station. When the position sensor detects the data of the distance from the working position, the detection data is fed back to the control system of the XY plane drive system, and then the control system issues a drive command to start driving the Y direction moving mechanism to drive the X direction moving mechanism and the operating mechanism installed thereon to move along the Y direction; (3) The Y-direction moving mechanism moves to the position according to the feedback detection data and then stops moving, and then the X-direction moving mechanism is started to drive the tool rotating device and the end effector thereon to move; (4) When the position detection sensor detects that the working mechanism has reached the accurate working position, the detection result is fed back to the control system, and the control system issues a command to control the X-direction moving mechanism to stop moving; the detection information is fed back online in real time through the position sensor installed on the end working tool. When the working mechanism is driven by the X-direction moving mechanism to move, automatic positioning is achieved based on the closed-loop feedback data.

3. The method for realizing accurate positioning of the aluminum electrolysis multifunctional overhead crane according to claim 2 is characterized in that: The driving elements of the closed-loop controlled driving system are driven by screws and servo motors respectively installed on the X and Y plane moving mechanisms, or by servo electric cylinders and servo oil cylinders. After the trolley and carriage of the multifunctional overhead crane reach the predetermined positions, this servo driving system will drive the XY plane moving mechanism to perform compound plane movement, thereby driving the operating mechanism installed on the XY plane moving mechanism to reach the specified position, thereby achieving precise positioning.

4. The method for realizing accurate positioning of the aluminum electrolysis multifunctional overhead crane according to claim 3 is characterized in that: The servo drive system adopts an industrial robot, and utilizes the industrial robot to drive the XY plane motion mechanism to drive the operating mechanism to achieve precise positioning.

5. The method for realizing accurate positioning of the aluminum electrolysis multifunctional overhead crane according to claim 4 is characterized in that: The shell breaking mechanism, anode replacement device and slag scooping mechanism are dispersedly arranged on respective lifting drive units.

6. The method for realizing accurate positioning of the aluminum electrolysis multifunctional overhead crane according to claim 4 is characterized in that: An independent driving unit with lifting function is arranged on the XY plane motion mechanism. The independent driving unit replaces the shell breaking mechanism, the anode device and the slag scooping mechanism, and realizes precise positioning to complete the tasks of shell breaking, anode replacement and slag scooping under the drive of the XY plane motion mechanism.

7. The method for realizing accurate positioning of the aluminum electrolysis multifunctional overhead crane according to claim 1 is characterized in that: The X-direction moving mechanism is first installed on the trolley of the overhead crane, and then the Y-direction moving mechanism is installed on the X-direction moving mechanism, and finally the operating mechanism is installed on the Y-direction moving mechanism.

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