An automatic ingot loading device

Abstract

The present invention belongs to the technical field of furnace loading of metal ingots, and specifically relates to an automatic furnace loading device for ingots, including a floor scale, a visual positioning mechanism, a horizontal transport mechanism, a robotic arm, a robotic mechanism, a charging platform, a control device and other equipment. The purpose of the automatic furnace loading device for ingots is to grab the metal ingots one by one onto the charging platform at the smelting furnace, so that the charging platform can drop the metal ingots into the smelting furnace under the drive of the corresponding traction mechanism. It overcomes the shortcomings of the accuracy of the outer dimensions of the metal ingots and the difficulty of accurately clamping heavy metal ingots into the furnace. The structure of this solution realizes the actions of accurate automatic identification, grabbing, weighing and the like; it has the advantages of automation, intelligence and high reliability; in addition, it has high furnace loading efficiency, reduces manual labor intensity and high-temperature heat radiation when the metal ingots are loaded into the furnace; it also avoids the loss of melt temperature caused by the metal ingots being put into the smelting furnace one by one, and improves the insulation effect.

Description

Technical Field

[0001] The invention belongs to the technical field of metal ingot furnace charging, and particularly relates to an automatic ingot furnace charging device. Background Art

[0002] A melting furnace is a device that melts metal from a solid state into a liquid state. Before the metal is added to the melting furnace, it is often placed on a charging platform below the furnace mouth. A corresponding traction mechanism pulls the metal ingots upward and uniformly feeds them into the melting furnace. The traditional method of feeding metal ingots currently used has the following drawbacks:

[0003] 1. In the past, when adding metal ingots, multiple metal ingots were often placed on the charging platform below the melting furnace mouth at the same time. However, due to the uneven weight of the metal ingots and large errors, the amount of metal ingots added to the melting furnace each time was uncontrollable.

[0004] 2. If metal ingots are added to the melting furnace one by one, the furnace door at the charging port of the melting furnace will be opened frequently. As the number of openings increases, a large amount of temperature loss in the melting furnace will be caused, which will have an adverse effect on the temperature control in the melting furnace.

[0005] 3. In the past, the operation of placing metal ingots on the feeding table required manual operation, which also consumed a lot of manpower.

[0006] Therefore, it is necessary to design an automatic ingot loading device that can liberate manpower and can realize the transfer of metal ingots one by one to the charging platform and uniformly charge the ingots into the smelting furnace from the charging platform. Summary of the Invention

[0007] In order to realize the automation of adding metal ingots and ensure the controllable amount of metal ingots added each time, this solution provides an automatic ingot loading device.

[0008] The technical solution adopted in the present invention is:

[0009] An automatic ingot charging device, comprising:

[0010] A floor scale is installed on the ground to one side of the smelting furnace. Multiple floor scales are arranged in a straight line and weigh different ingot piles in real time. Each ingot pile includes several long metal ingots stacked in layers. Each layer contains multiple metal ingots stacked side by side, and the metal ingots in adjacent layers are stacked perpendicular to each other. The metal composition or ingot size of the metal ingots in each ingot pile varies.

[0011] A visual positioning mechanism, including a 3D visual device, which identifies the position, shape and stacking direction of the topmost metal ingot from top to bottom;

[0012] The horizontal transport mechanism includes a sliding platform, a transverse track, a fixed platform, and a driving mechanism; the sliding platform is arranged above the fixed platform, the transverse track is arranged on the fixed platform, and the sliding platform is slidably connected to the transverse track via the transverse slide; the driving mechanism can drive the sliding platform to slide along the transverse track;

[0013] A robotic arm is mounted on a sliding platform and is capable of moving with the sliding platform; a robotic arm mechanism is connected to the operating end of the robotic arm; the robotic arm mechanism includes a transverse base plate, a fixed finger plate is provided at one end of the lower portion of the transverse base plate; a movable finger plate is also provided at the lower portion of the transverse base plate, and the movable finger plate can slide toward or away from the fixed finger hook to clamp the metal ingot along the length direction; a fixed finger hook is fixedly provided at the lower portion of the fixed finger plate, and a movable finger hook is rotatably connected to the lower portion of the movable finger plate, and the movable finger hook can rotate toward or away from the fixed finger hook to cooperate in hooking up the edge of the metal ingot;

[0014] The control device is electrically connected to the floor scale, visual positioning mechanism, horizontal transport mechanism, robotic arm and robotic arm mechanism respectively. There is a feeding platform at the smelting furnace, which is located on the side or end of the sliding platform. Under the control of the control device, metal ingots can be grabbed one by one from the floor scale to the feeding platform, and the feeding platform can put the metal ingots into the smelting furnace in a unified manner.

[0015] As an alternative structure or supplementary design of the above-mentioned automatic ingot loading device: the visual positioning mechanism also includes a door-type bracket and a visual transverse movement device; the visual transverse movement device is installed on the door-type bracket, and the 3D vision device is arranged on the visual transverse movement device, and can move laterally under the drive of the visual transverse movement device.

[0016] As an alternative structure or supplementary design of the above-mentioned automatic ingot loading device: the 3D vision equipment is installed on the cross frame of the portal bracket, and a floor scale instrument installation box is provided on the cross frame of the portal bracket, and an instrument connected to the floor scale is installed in the floor scale instrument installation box.

[0017] As an alternative structure or supplementary design of the above-mentioned automatic ingot loading device: clamping slides are respectively provided on both sides of the lower width direction of the horizontal seat plate, and the movable finger plate is slidably connected to the clamping slides through the clamping slide; a screw rod is provided between the two clamping slides, and the screw rod is parallel to the clamping slide rails; a screw rod sleeve is provided between the two clamping slides; the screw rod sleeve is fixedly connected to the upper end of the movable finger plate and cooperates with the screw rod thread.

[0018] As an alternative structure or supplementary design of the above-mentioned automatic ingot loading device: a telescope is provided on the side of the movable finger plate facing away from the fixed finger plate, the handle end of the telescope is rotatably connected to the movable finger plate, and the telescopic end of the telescope is rotatably connected to the movable finger hook; the movable finger hook is connected to the movable finger plate by a hinge, and the rotatable angle of the movable finger hook is greater than 90 degrees.

[0019] As an alternative structure or supplementary design of the above-mentioned automatic ingot loading device: a reinforcing rib plate is welded and connected at the angle between the transverse seat plate and the fixed finger plate; a workpiece is fixedly connected to the side surface of the transverse seat plate; the workpiece includes an upper flange, a lower flange and a column; the upper flange and the lower flange are respectively connected to the two ends of the column; the upper flange is used to be connected to the operating end of the robot arm by bolts; the lower flange is used to be fixed to the transverse seat plate by bolts.

[0020] As an alternative structure or supplementary design of the above-mentioned automatic ingot loading device: the fixed platform includes a crossbeam, an upper longitudinal beam and a lower longitudinal beam; the two crossbeams are arranged in parallel, and multiple upper longitudinal beams are arranged between the upper parts of the two crossbeams, and multiple lower longitudinal beams are arranged between the lower parts of the two crossbeams; foot cups are provided at both ends of the lower longitudinal beam, and the foot cups are used to support the ground; multiple pedals are provided above the upper longitudinal beam, and both sides of the pedals extend to above the crossbeam, and a protective space for the installation of the transverse rail is formed between the pedals and the crossbeam.

[0021] As an alternative structure or supplementary design of the above-mentioned automatic ingot loading device: two transverse rails are respectively arranged on the cross beam, and an L-shaped connector is connected at the edge of the sliding platform, and the lower part of the L-shaped connector is slidably connected to the transverse rail through the transverse slide; a lubricating oil pot is provided on the sliding platform, and the oil outlet of the lubricating oil pot is connected to a hose, the free end of the hose extends to the transverse slide, and allows the lubricating oil in the lubricating oil pot to flow onto the transverse rail.

[0022] As an alternative structure or supplementary design of the above-mentioned automatic ingot loading device: the driving mechanism includes a driving motor, a driving gear and a rack; the rack is installed at the vertical surface of the crossbeam, the driving gear is connected to the output shaft of the reducer connected to the driving motor, and meshes with the rack; a drag chain trough is provided on one side of the fixed platform, a drag chain is provided in the drag chain trough, a drag chain connection fulcrum is provided at the corner of the sliding platform, the end of the drag chain is connected to the drag chain connection fulcrum, and the cable arranged on the inside of the drag chain can control the forward and reverse rotation of the driving motor.

[0023] As an alternative structure or supplementary design of the above-mentioned automatic ingot loading device: a longitudinally extending extension plate is provided at the edge of the fixed table, one side of which extends to the top of the drag chain trough; and in-position sensors are provided on both sides of the length direction of the transverse track.

[0024] The beneficial effects of the present invention are:

[0025] 1. This solution utilizes a horizontal transport mechanism to translate the robotic arm and manipulator mechanism. The track structure and fixed platform design improve the stability of the robotic arm during translation, thereby reducing the risk of the manipulator mechanism falling due to vibration during translation after grasping the metal ingot. Furthermore, the drive mechanism of the sliding platform utilizes a rack-and-pinion structure, which improves the accuracy of the horizontal transport mechanism's translational position.

[0026] 2. This solution uses a robotic arm mechanism to grab metal ingots one by one and place them on the feeding platform. Combined with the weight changes of the floor scale, the weight of the grabbed metal ingots can be accurately calculated. When the metal ingots are stacked on the feeding platform, the weight of all the metal ingots on the feeding platform can also be accurately determined. This ensures the controllability of the amount of metal ingots added. At the same time, the unified feeding by the feeding platform can also avoid heat loss caused by frequently opening the feeding port of the smelting furnace.

[0027] 3. The robot mechanism in this solution can match the grasping of long metal ingots. At the same time, since it adopts a structure in which the movable finger plate and the movable finger hook cooperate with each other, it can improve the stability of the metal ingot after grasping and reduce the risk of the metal ingot falling. In addition, the direction, placement position, and placement height of the metal ingot are judged by 3D visual equipment, which can ensure that the robot mechanism can accurately grasp the metal ingot. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of this solution or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art.

[0029] Figure 1 This is a top view of the automatic ingot loading device in this scheme;

[0030] Figure 2 It is a three-dimensional structural diagram of the horizontal transport mechanism;

[0031] Figure 3 It is a side structural diagram of the horizontal transport mechanism;

[0032] Figure 4 It is a three-dimensional structural diagram of the visual positioning mechanism;

[0033] Figure 5 It is a three-dimensional structural diagram of the manipulator mechanism;

[0034] Figure 6 It is a schematic diagram of the stacking state of metal ingots.

[0035] Figure: 1- scale; 2- vision positioning mechanism; 201- 3D vision equipment; 202- vision mounting plate; 203- door bracket; 204- scale instrument mounting box; 205- vision transverse movement device; 3- horizontal transport mechanism; 301- sliding platform; 302- transverse support beam; 303- foot cup; 304- pedal; 305- drag chain; 306- drag chain connection fulcrum; 307- reducer; 308- drive motor; 309- lubricating oil tank; 310- expansion board; 311- drag chain duct; 312- anti-collision plate; 313- transverse movement track; 314- transverse movement slide Table; 315-L-shaped connector; 316-in-position sensor; 317-lower longitudinal beam; 318-upper longitudinal beam; 4-feeding table; 5-metal ingot; 51-ingot tray; 6-manipulator mechanism; 601-upper flange; 602-lower flange; 603-circular column; 604-screw; 605-clamping slide; 606-transverse seat plate; 607-clamping slide; 608-heat shield; 609-reinforcement rib; 610-fixed finger plate; 611-fixed finger hook; 612-movable finger hook; 613-hinge; 614-movable finger plate; 615-retractor; 616-screw sleeve. DETAILED DESCRIPTION

[0036] The technical solution in this embodiment will be clearly and completely described below in conjunction with the accompanying drawings. The described embodiments are only a part of the embodiments, not all of them. Based on the embodiments in this solution, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this solution.

[0037] Example 1

[0038] like Figures 1 to 6 As shown, this embodiment designs an automatic ingot charging device, which includes a floor scale 1, a visual positioning mechanism 2, a horizontal transport mechanism 3, a robotic arm, a manipulator mechanism 6, a charging platform 4, and a control device. The purpose of this automatic ingot charging device is to grab metal ingots 5 one by one onto the charging platform 4 at the melting furnace, so that the charging platform 4, driven by the corresponding traction mechanism, can drop the metal ingots 5 into the melting furnace.

[0039] A scale 1 is installed on the ground to one side of the smelting furnace; multiple scales 1 are arranged in a straight line, and each scale weighs different ingot piles in real time. The pile of metal ingots 5 can be hoisted by an overhead crane to the scale 1 for weighing. Each time a manipulator mechanism 6 grabs a metal ingot 5, the scale 1 weighs it in real time, allowing the control device to determine the weight of the grabbed metal ingot 5 based on the change in weight before and after. The manipulator mechanism 6 can retrieve metal ingots 5 from different scales according to the load of the feeding platform 4 and the needs of the smelting furnace.

[0040] Each ingot pile generally includes a plurality of long metal ingots 5 stacked in layers, such as Figure 6 As shown, each layer contains multiple metal ingots 5 stacked side by side, with the metal ingots 5 in adjacent layers stacked perpendicular to each other. A pallet is placed beneath the lowest layer of metal ingots 5. This pallet facilitates placement of ropes during lifting and also allows for forklift transportation. The metal ingots 5 in each ingot stack may have different metal compositions or sizes.

[0041] The visual positioning mechanism 2 includes components such as a 3D vision device 201, a gantry bracket 203, and a visual transverse movement device 205. The 3D vision device 201 identifies the position, shape, and stacking direction of the topmost metal ingot 5 from top to bottom. The visual transverse movement device 205 is mounted on the gantry bracket 203. The 3D vision device 201 is set on the visual transverse movement device 205 and can move laterally under the drive of the visual transverse movement device 205. The 3D vision device 201 is mounted on the horizontal frame of the gantry bracket 203. A floor scale meter installation box 204 is set on the horizontal frame of the gantry bracket 203. The floor scale meter installation box 204 contains an instrument connected to the floor scale 1. The 3D vision device 201 uses existing equipment and can be selected from commercially available products based on the required accuracy. The 3D vision device 201 can identify the edge of the metal ingot 5, thereby determining the position and placement direction of the metal ingot 5. The control device can also perform a joint calculation based on the size of the identified edge of the metal ingot 5 and the installation height of the 3D vision device 201 itself, thereby determining the height of the metal ingot 5. The 3D vision device 201 in the above structure can move laterally, so that it can match the position of the manipulator mechanism 6 and move in a matching manner. It can not only perform visual verification of the position of the manipulator mechanism 6 and the metal ingot 5, but also track and identify the position during the grasping process.

[0042] The horizontal transport mechanism 3 adopts a track-type translation structure, and its main function is to drive the robot arm and the robot to move horizontally, so that the robot can grab the metal ingot 5 at the scale 1 and then transfer it to the feeding platform 4.

[0043] The robotic arm is installed on the sliding platform 301 and can move with the sliding platform 301. The robotic arm can adopt the existing six-axis robotic arm interface. Its specific control belongs to the existing technology and will not be repeated here. A robotic arm mechanism 6 is connected to the operating end of the robotic arm. The function of the robotic arm mechanism 6 is to grab the metal ingot 5, and the structure that can grab the long strip metal ingot 5 and can be connected to the robotic arm can also be applied to this embodiment.

[0044] The control device can be an industrial computer, PLC and other equipment. The control device is electrically connected to the floor scale 1, the visual positioning mechanism 2, the horizontal transport mechanism 3, the robotic arm and the robotic arm mechanism 6 respectively. There is a feeding platform 4 at the smelting furnace, and the feeding platform 4 is located on the side or end of the sliding platform 301; under the control of the control device, the metal ingots 5 can be grabbed one by one from the floor scale 1 to the feeding platform 4, so that the feeding platform 4 can uniformly put the metal ingots 5 into the smelting furnace.

[0045] In the structure of this embodiment, the manipulator mechanism grabs the metal ingots one by one to the feeding table, and cooperates with the weight change of the scale to accurately calculate the weight of the grabbed metal ingots. When the metal ingots are stacked on the feeding table, the weight of all the metal ingots on the feeding table can also be accurately judged. The controllability of the amount of metal ingots added is guaranteed, and the unified feeding by the feeding table can also avoid the heat loss caused by frequently opening the feeding port of the smelting furnace, effectively save manpower, and realize automated production.

[0046] Example 2

[0047] On the basis of the structure of embodiment 1, in order to achieve stable grasping of the metal ingot 5, this embodiment designs a manipulator mechanism 6, such as Figure 5 shown.

[0048] Clamping slide rails 605 are respectively provided on both sides of the lower width direction of the horizontal seat plate 606, and the movable finger plate 614 is slidably connected to the clamping slide rail 605 through the clamping slide 607; a screw rod 604 is provided between the two clamping slide rails 605, and the screw rod 604 is parallel to the clamping slide rail 605; a screw rod sleeve 616 is provided between the two clamping slides 607; the screw rod sleeve 616 is fixedly connected to the upper end of the movable finger plate 614, and is threadedly engaged with the screw rod 604.

[0049] A telescope 615 is provided on the side of the movable finger plate 614 facing away from the fixed finger plate 610. The telescope 615 can be an electric telescope 615. The handle end of the telescope 615 is rotatably connected to the movable finger plate 614, and the telescopic end of the telescope 615 is rotatably connected to the movable finger hook 612; the movable finger hook 612 is connected to the movable finger plate 614 through a hinge 613, and the rotatable angle of the movable finger hook 612 is greater than 90 degrees.

[0050] A reinforcing rib plate 609 is welded to the angle between the transverse seat plate 606 and the fixed finger plate 610; an I-shaped part is fixedly connected to the upper side of the transverse seat plate 606; the I-shaped part includes an upper flange 601, a lower flange 602 and a column; the upper flange 601 and the lower flange 602 are respectively connected to the two ends of the column; the upper flange 601 is used to be connected to the operating end of the robot arm by bolts; the lower flange 602 is used to be fixed to the transverse seat plate 606 by bolts.

[0051] The movable finger plate 614 and the fixed finger plate 610 of this embodiment are parallel to each other, and the movable finger plate 614 can move and approach the fixed finger plate 610, so that the two can cooperate to clamp the metal ingot 5 at both ends in the length direction, thereby realizing effective alignment of the manipulator mechanism 6 and the metal ingot 5, and then utilizing the cooperation of the movable finger hook 612 and the fixed finger hook 611 to grasp and lift the metal ingot 5, effectively reducing the probability of the metal ingot 5 falling.

[0052] Example 3

[0053] On the basis of the structure of embodiment 1, in order to improve the stability of the robot arm during translation, the horizontal transport mechanism 3 in this embodiment is designed. Figure 2 and Figure 3 shown.

[0054] The horizontal transport mechanism 3 in this embodiment includes components such as a sliding platform 301, a transverse track 313, a fixed platform and a driving mechanism.

[0055] The sliding platform 301 is arranged above the fixed platform, and the transverse track 313 is arranged on the fixed platform. The sliding platform 301 is slidably connected to the transverse track 313 through the transverse slide 314; the driving mechanism can drive the sliding platform 301 to slide along the transverse track 313;

[0056] The fixed platform includes a crossbeam, an upper longitudinal beam 318, and a lower longitudinal beam 317. The two crossbeams are arranged in parallel, with multiple upper longitudinal beams 318 disposed between their upper portions, and multiple lower longitudinal beams 317 disposed between their lower portions. Foot cups 303 are provided at both ends of the lower longitudinal beams 317 for supporting the ground. Multiple pedals 304 are provided above the upper longitudinal beams 318. Both sides of the pedals 304 extend above the crossbeams, forming a protective space between the pedals 304 and the crossbeams for installing the transverse rails 313. The pedals 304 protect the transverse rails 313 and other components below them, preventing the metal ingots 5 from falling during transportation and damaging the fixed platform and transverse rails 313, thereby improving the service life and protective performance of the horizontal transport mechanism 3.

[0057] The two transverse rails 313 are respectively arranged on the cross beam, and an L-shaped connector 315 is connected to the edge of the sliding platform 301. The lower part of the L-shaped connector 315 is slidably connected to the transverse rail 313 through the transverse slide 314; a lubricating oil pot 309 is arranged on the sliding platform 301, and the oil outlet of the lubricating oil pot 309 is connected to a hose. The free end of the hose extends to the transverse slide 314, and allows the lubricating oil in the lubricating oil pot 309 to flow to the transverse rail 313.

[0058] The driving mechanism includes a driving motor 308, a driving gear and a rack; the rack is installed on the vertical surface of the beam, and the driving gear is connected to the output shaft of the reducer 307 connected to the driving motor 308, and meshes with the rack; a drag chain groove 311 is provided on one side of the fixed platform, a drag chain 305 is provided in the drag chain groove 311, and a drag chain connection fulcrum 306 is provided at the corner of the sliding platform 301, and the end of the drag chain 305 is connected to the drag chain connection fulcrum 306. Different cables arranged on the inside of the drag chain 305 can control the forward and reverse rotation of the driving motor 308 and control the robotic arm and the robotic mechanism 6. A longitudinally extending extension plate 310 is provided at the edge of the fixed platform, and one side of the extension plate 310 extends to the top of the drag chain trough 311, so as to prevent the metal ingot 5 from damaging the drag chain trough 311 and the cables inside it when it falls; in-position sensors 316 are respectively provided on both sides of the length direction of the transverse track 313, and the translational movement of the sliding platform 301 is interrupted by the in-position sensors 316.

[0059] In addition, an anti-collision plate 312 is provided at the end of the fixed platform. The anti-collision plate 312 is arranged vertically, and an anti-collision pad is arranged on the anti-collision plate 312 close to the sliding platform 301, thereby reducing impact damage during the translation of the sliding platform 301.

[0060] The above embodiments are merely examples for the purpose of illustrating the present invention clearly and are not intended to limit the embodiments. It is not necessary and impossible to enumerate all embodiments here. Obvious changes or modifications derived therefrom are still within the scope of protection of this technology.

Claims

1. An automatic ingot charging device, characterized by: include: A floor scale (1) is arranged on the ground at one side of the smelting furnace; a plurality of floor scales (1) are arranged in a line and respectively weigh different ingot piles in real time, each ingot pile comprising a plurality of long strip metal ingots (5) stacked in layers, each layer having a plurality of metal ingots (5) stacked in parallel, and the metal ingots (5) of adjacent layers are stacked perpendicular to each other; the metal composition or ingot size of the metal ingots (5) of each ingot pile is different; A visual positioning mechanism (2) includes a 3D visual device (201), wherein the 3D visual device (201) identifies the position, shape, and stacking direction of the uppermost metal ingot (5) from top to bottom; The horizontal transport mechanism (3) comprises a sliding platform (301), a transverse track (313), a fixed platform and a driving mechanism; the sliding platform (301) is arranged above the fixed platform, the transverse track (313) is arranged on the fixed platform, and the sliding platform (301) is slidably connected to the transverse track (313) via a transverse slide (314); the driving mechanism is capable of driving the sliding platform (301) to slide along the transverse track (313); A robotic arm is mounted on a sliding platform (301) and is capable of moving with the sliding platform (301); a robotic arm mechanism (6) is connected to an operating end of the robotic arm; the robotic arm mechanism (6) includes a transverse seat plate (606), and a fixed finger plate (610) is provided at one end of the lower portion of the transverse seat plate (606); a movable finger plate (614) is further provided at the lower portion of the transverse seat plate (606), and the movable finger plate (614) can slide toward or away from the fixed finger hook (611) to clamp the metal ingot (5) along the length direction; a fixed finger hook (611) is fixedly provided at the lower portion of the fixed finger plate (610), and a movable finger hook (612) is rotatably connected to the lower portion of the movable finger plate (614), and the movable finger hook (612) can rotate toward or away from the fixed finger hook (611) to cooperate with hooking up the edge of the metal ingot (5); and a control device, which is electrically connected to the floor scale (1), the visual positioning mechanism (2), the horizontal transport mechanism (3), the robotic arm and the robotic arm mechanism (6), respectively. A charging platform (4) is provided at the smelting furnace, and the charging platform (4) is located on the side or end of the sliding platform (301); under the control of the control device, metal ingots (5) can be grabbed one by one from the floor scale (1) to the charging platform (4), and the charging platform (4) can uniformly charge the metal ingots (5) into the smelting furnace.

2. The automatic ingot charging device according to claim 1, characterized in that: The visual positioning mechanism (2) further comprises a door-shaped bracket (203) and a visual transverse movement device (205); the visual transverse movement device (205) is mounted on the door-shaped bracket (203), and the 3D visual device (201) is arranged on the visual transverse movement device (205) and is capable of transverse movement driven by the visual transverse movement device (205).

3. The automatic ingot charging device according to claim 2, characterized in that: The 3D visual device (201) is installed on the horizontal frame of the door-shaped bracket (203), and a floor scale instrument installation box (204) is provided on the horizontal frame of the door-shaped bracket (203). An instrument connected to the floor scale (1) is installed in the floor scale instrument installation box (204).

4. The automatic ingot charging device according to claim 1, characterized in that: A clamping slide rail (605) is provided on both sides of the lower width direction of the transverse seat plate (606), and the movable finger plate (614) is slidably connected to the clamping slide rail (605) through the clamping slide (607); a screw rod (604) is provided between the two clamping slide rails (605), and the screw rod (604) is parallel to the clamping slide rail (605); a screw rod sleeve (616) is provided between the two clamping slides (607); the screw rod sleeve (616) is fixedly connected to the upper end of the movable finger plate (614) and is threadedly engaged with the screw rod (604).

5. The automatic ingot charging device according to claim 4, characterized in that: A telescoping device (615) is provided on the side of the movable finger plate (614) facing away from the fixed finger plate (610). The handle end of the telescoping device (615) is rotatably connected to the movable finger plate (614), and the telescopic end of the telescoping device (615) is rotatably connected to the movable finger hook (612); the movable finger hook (612) is connected to the movable finger plate (614) via a hinge (613), and the rotatable angle of the movable finger hook (612) is greater than 90 degrees.

6. The automatic ingot charging device according to claim 5, characterized in that: A reinforcing rib plate (609) is welded and connected at the angle between the transverse seat plate (606) and the fixed finger plate (610); a workpiece is fixedly connected to the upper side of the transverse seat plate (606); the workpiece includes an upper flange (601), a lower flange (602) and a column; the upper flange (601) and the lower flange (602) are respectively connected to the two ends of the column; the upper flange (601) is used to be connected to the operating end of the robot arm by bolts; the lower flange (602) is used to be fixed to the transverse seat plate (606) by bolts.

7. The automatic ingot charging device according to claim 1, characterized in that: The fixed platform comprises a crossbeam, an upper longitudinal beam (318) and a lower longitudinal beam (317); the two crossbeams are arranged in parallel, a plurality of upper longitudinal beams (318) are arranged between the upper parts of the two crossbeams, and a plurality of lower longitudinal beams (317) are arranged between the lower parts of the two crossbeams; foot cups (303) are arranged at both ends of the lower longitudinal beam (317), and the foot cups (303) are used to support the ground; a plurality of pedals (304) are arranged above the upper longitudinal beam (318), and both sides of the pedals (304) extend to the top of the crossbeam, and a protective space for installing a transverse track (313) is formed between the pedals (304) and the crossbeam.

8. The automatic ingot charging device according to claim 7, characterized in that: Two transverse rails (313) are respectively arranged on the crossbeam, and an L-shaped connector (315) is connected to the edge of the sliding platform (301), and the lower part of the L-shaped connector (315) is slidably connected to the transverse rail (313) through the transverse slide (314); a lubricating oil pot (309) is arranged on the sliding platform (301), and the oil outlet of the lubricating oil pot (309) is connected to a hose, and the free end of the hose extends to the transverse slide (314), so that the lubricating oil in the lubricating oil pot (309) flows to the transverse rail (313).

9. The automatic ingot charging device according to claim 8, characterized in that: The driving mechanism includes a driving motor (308), a driving gear and a rack; The rack is installed on the vertical surface of the crossbeam, and the driving gear is connected to the output shaft of the reducer (307) connected to the driving motor (308) and meshes with the rack; a drag chain groove (311) is provided on one side of the fixed platform, a drag chain (305) is provided in the drag chain groove (311), a drag chain connection fulcrum (306) is provided at the corner of the sliding platform (301), the end of the drag chain (305) is connected to the drag chain connection fulcrum (306), and the cable arranged inside the drag chain (305) can control the forward and reverse rotation of the driving motor (308).

10. The automatic ingot charging device according to claim 9, characterized in that: A longitudinally extending expansion plate (310) is provided at the edge of the fixed platform, one side of the expansion plate (310) extending to above the drag chain line groove (311); and in-position sensors (316) are respectively provided on both sides of the longitudinal direction of the transverse track (313).

Images