An automatic ingot adding system

Abstract

The application provides an automatic ingot adding system, comprising a bundling belt removing device, an automatic ingot grabbing device and an AGV trolley, the bundling belt removing device comprises a workbench, a cutting mechanism and a recycling mechanism, the cutting mechanism is used for cutting the bundling belt on the aluminum ingot stack on the workbench, and the recycling mechanism is used for separating the cut bundling belt from the bottom of the aluminum ingot stack and recycling, the automatic ingot grabbing device comprises a weighing table, a bearing base and a manipulator, the bearing base is located between the weighing table and a refined aluminum tank, the manipulator is used for grabbing the aluminum ingot in the aluminum ingot stack on the aluminum ingot stack station after the bundling belt is removed to the weighing table for weighing, and then grabbing the aluminum ingot on the weighing table after the weighing is completed to the refined aluminum tank, and the AGV trolley is used for transporting the aluminum ingot stack on the workbench after the bundling belt is removed to the aluminum ingot stack station. The application can automatically complete the cutting and winding of the bundling belt on the aluminum ingot stack into a roll for recycling, and the accurate addition of the aluminum ingot raw material in the refined aluminum tank every day, so that the refined aluminum production efficiency is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of refined aluminum production, and particularly relates to an automatic ingot adding system. BACKGROUND

[0002] During the refined aluminum production process, a certain amount of aluminum ingot raw material needs to be added to the refined aluminum tank every day. Usually, the aluminum ingot stack is moved from the storage area to the refined aluminum tank area by a forklift, and after the binding tape is removed, a certain amount of aluminum ingot is manually moved to a weighing station for weighing, and then the accurately weighed aluminum ingot is transported into the refined aluminum tank. This manual feeding method is low in efficiency, which seriously affects the refined aluminum production efficiency. SUMMARY

[0003] The technical problem to be solved by the present application is to provide an automatic ingot adding system for improving the refined aluminum production efficiency in view of the above-mentioned deficiencies in the prior art.

[0004] The technical solution adopted to solve the technical problem of the present application is as follows:

[0005] The present application provides an automatic ingot adding system, comprising: a binding tape removing device, an aluminum ingot automatic grabbing device and an AGV trolley,

[0006] The binding tape removing device comprises: a workbench, a cutting mechanism and a recycling mechanism, the workbench is used for placing the aluminum ingot stack bound by the binding tape, the cutting mechanism is arranged above the workbench through a mounting frame, and is used for cutting the binding tape of the bound aluminum ingot stack, and the recycling mechanism is located on one side of the workbench, and is used for separating the cut binding tape from the bottom of the aluminum ingot stack and recycling,

[0007] The aluminum ingot automatic grabbing device is located downstream of the binding tape removing device, and comprises: a weighing table, a bearing base and a manipulator, the bearing base is located between the weighing table and the refined aluminum tank, and is provided with an aluminum ingot stack station and a manipulator mounting station, the manipulator is arranged on the manipulator mounting station, and is used for grabbing the aluminum ingot in the aluminum ingot stack with the removed binding tape on the aluminum ingot stack station to the weighing table for weighing, and then grabbing the weighed aluminum ingot on the weighing table into the refined aluminum tank,

[0008] The AGV trolley is used for transporting the aluminum ingot stack with the removed binding tape on the workbench to the aluminum ingot stack station.

[0009] Optionally, the recycling mechanism comprises a pulling assembly and a recycling assembly,

[0010] The pulling assembly comprises a first clamping jaw and a sliding frame, the first clamping jaw is slidably arranged on the sliding frame, and is used for grabbing the cut binding tape on the binding material,

[0011] The recycling assembly comprises a recycling container and a recycling driving part, the recycling driving part is located on one side of the sliding frame, and comprises a winding part and a push-out disc,

[0012] The first clamping jaw is movable relative to the slide in a horizontal direction perpendicular to the axial direction of the winding element to pull the bundling tape through the winding element, the winding element is rotatable in a circumferential direction to wind the bundling tape pulled through the winding element on the winding element, the recycling container is located below the winding element, and the push-out disc is slidably connected with the winding element and movable relative to the winding element in the axial direction of the winding element to push the bundling tape wound on the winding element into the recycling container.

[0013] Optionally, the recycling driving part further comprises a rotating member and a rotating driving mechanism, two ends of the rotating member in the axial direction are connected with the winding element and the rotating driving mechanism respectively, and the rotating driving mechanism is configured to drive the rotating member to rotate in the circumferential direction to drive the winding element to rotate in the circumferential direction.

[0014] The winding element comprises a plurality of winding portions, the plurality of winding portions are distributed in the circumferential direction, and the winding portion at the upper portion and the winding portion at the lower portion have a space for the pulling mechanism to pass through.

[0015] Optionally, the recycling driving part further comprises a second clamping jaw, the second clamping jaw is arranged at one end of the rotating member where the winding element is installed and located in the space enclosed by the plurality of winding portions, and is configured to clamp the bundling tape passing through the winding element to facilitate the winding element to wind the bundling tape passing through the winding element on the winding element when the winding element rotates in the circumferential direction.

[0016] Optionally, the push-out disc is arranged on the plurality of winding portions or is sleeved on the winding element.

[0017] The recycling driving part further comprises a first linear driving mechanism, the first linear driving mechanism is arranged on the rotating member and connected with the push-out disc, and is configured to drive the push-out disc to move in the axial direction of the winding element to push the bundling tape wound on the winding element into the recycling container.

[0018] Optionally, the slide and the rotating driving mechanism are fixed to the upper end of a horizontal frame, the recycling container is arranged on the side of the horizontal frame where the slide is installed, and one end of the recycling container is arranged close to the winding element after passing through the slide.

[0019] Optionally, the recycling mechanism further comprises a pressing assembly, the pressing recycling mechanism is arranged on the horizontal frame and located between the workbench and the recycling assembly, and is configured to press the bundling tape grabbed by the pulling assembly between the horizontal frame and the pressing mechanism or release the bundling tape.

[0020] Optionally, the pressing assembly comprises a pressing member and a deflection driving mechanism.

[0021] The horizontal frame is provided with a pressing plate, the pressing plate is located below the pressing member.

[0022] The deflection driving mechanism is fixed on the horizontal frame and connected with the pressing member, and is used for driving the pressing member to deflect to approach or move away from the pressing plate, so as to press the bundled belt grabbed by the pulling mechanism between the pressing member and the pressing plate or release the bundled belt.

[0023] Optionally, the sliding frame comprises a horizontal sliding frame and a vertical sliding frame, the vertical sliding frame is slidably arranged on the horizontal sliding frame and can move along a horizontal direction perpendicular to the axial direction of the winding member relative to the horizontal sliding frame, and the first clamping jaw is slidably arranged on the vertical sliding frame and can move up and down relative to the vertical sliding frame.

[0024] Optionally, the cutting mechanism is slidably arranged on the mounting frame and can move along a horizontal direction perpendicular to the axial direction of the winding member relative to the mounting frame, so as to cut the bundled belt at different positions of the aluminum ingot stack.

[0025] The workbench is rotatably arranged on a track and can rotate circumferentially relative to the track, so as to rotate the bundled belt in different directions of the aluminum ingot stack to be adapted to the cutting mechanism.

[0026] Optionally, the mechanical arm comprises a mechanical arm and a clamp, the clamp is hingedly arranged at the end of the mechanical arm and is used for clamping or releasing the aluminum ingot in the aluminum ingot stack, the mechanical arm is rotatably arranged on the bearing base and can be folded or elongated, so as to drive the clamp to approach or move away from the aluminum ingot stack on the aluminum ingot stack work station, and the clamp can rotate relative to the mechanical arm around the hinge shaft, so as to finely adjust the position of the clamp relative to the aluminum ingot to be clamped.

[0027] Optionally, the clamp comprises a housing, a primary jaw, a secondary jaw, a primary jaw driving mechanism and a secondary jaw driving mechanism,

[0028] The primary jaw is arranged on the housing and cooperates with the lug of the aluminum ingot, the primary jaw driving mechanism is arranged in the housing and connected with the primary jaw, and is used for driving the primary jaw to open and close, so as to clamp or release the lug of the aluminum ingot,

[0029] The secondary jaw is arranged on the housing and cooperates with the ingot body of the aluminum ingot, the secondary jaw driving mechanism is arranged in the housing and connected with the secondary jaw, and is used for driving the secondary jaw to open and close, so as to clamp or release the ingot body of the aluminum ingot,

[0030] The end section of the mechanical arm can rotate, so as to turn the clamp to the opening of the primary jaw facing the lug of the aluminum ingot to be clamped or to the secondary jaw downward so that the secondary jaw can grab the ingot body of the aluminum ingot.

[0031] Optionally, the aluminum ingot automatic grabbing device further comprises a grabbing frame and a camera device,

[0032] The grabbing frame comprises a first vertical support mechanism, a second vertical support mechanism and a horizontal guide rail, the horizontal guide rail connects the top ends of the first vertical support mechanism and the second vertical support mechanism, and the camera device is slidably arranged on the horizontal guide rail and is used for shooting the stacking mode of the aluminum ingot stack on the aluminum ingot stack work station.

[0033] Optionally, the aluminum ingot stack station is provided with two, and the two aluminum ingot stack stations are arranged on the two sides of the manipulator mounting station.

[0034] In the application, the automatic ingot adding system is designed to include a bundling belt removing device, an aluminum ingot automatic grabbing device and an AGV trolley. The bundling belt removing device includes a workbench, a cutting mechanism and a recycling mechanism. The aluminum ingot automatic grabbing device includes a weighing table, a bearing base and a manipulator. The AGV trolley transports the aluminum ingot stack bundled by the bundling belt to the workbench. The cutting mechanism cuts the bundling belt of the aluminum ingot stack. The recycling mechanism separates the cut bundling belt from the bottom of the aluminum ingot stack and recycles it. The AGV trolley transports the aluminum ingot stack with the removed bundling belt on the workbench to the aluminum ingot stack station. The manipulator grabs the aluminum ingot in the aluminum ingot stack with the removed bundling belt on the aluminum ingot stack station to the weighing table for weighing. The aluminum ingot on the weighing table after weighing is grabbed to the fine aluminum tank. Thus, the cutting and winding of the bundling belt on the aluminum ingot stack and the recycling of the wound roll, and the accurate addition of the aluminum ingot raw material in the fine aluminum tank are automatically completed, which greatly improves the fine aluminum production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 The figure is a schematic diagram of the three-dimensional structure of the automatic ingot adding system provided for the embodiment 1 of the application;

[0036] Figure 2 The figure is a schematic diagram of the three-dimensional structure of the bundling belt removing device;

[0037] Figure 3 The figure is a schematic diagram of the three-dimensional structure of the pulling assembly and the recycling mechanism;

[0038] Figure 4 The figure is a schematic diagram of the three-dimensional structure of the recycling assembly;

[0039] Figure 5 The figure is a schematic diagram of the three-dimensional structure of the aluminum ingot automatic grabbing device;

[0040] Figure 6 The figure is a schematic diagram of the structure of the manipulator;

[0041] Figure 7 The figure is a schematic diagram of the three-dimensional structure of the aluminum ingot stack;

[0042] Figure 8 The figure is a schematic diagram of the structure of the clamp of the manipulator.

[0043] In the figure, 1 is the bundling belt removing device; 2 is the aluminum ingot automatic grabbing device; 3 is the AGV trolley;

[0044] 11 is the cutting mechanism; 12 is the pulling assembly; 121 is the first clamping jaw; 122 is the sliding frame;

[0045] 1221, translation frame; 1222, lifting frame; 13, recycling assembly; 131, recycling container;

[0046] 132, winding piece; 133, push-out disc; 134, rotating piece; 135, rotating driving mechanism;

[0047] 136, clamping jaw; 137, first linear driving mechanism; 14, workbench; 15, pressing mechanism; 151, pressing piece; 152, deflection driving mechanism; 16, horizontal frame; 161, pressing plate; 17, second linear driving mechanism; 18, mounting frame;

[0048] 21, grabbing frame; 211, first vertical support mechanism; 212, second vertical support mechanism; 213, transverse guide rail; 22, bearing base; 221, first aluminum ingot stack station; 222, manipulator mounting station; 223, second aluminum ingot stack station; 23, manipulator; 24, camera device; 231, mechanical arm; 232, clamp; 2321, housing; 2322, primary claw; 2323, secondary claw; 2324, mounting portion. DETAILED DESCRIPTION

[0049] The technical solutions in the application will be described clearly and completely below in combination with the drawings in the application. Obviously, the described embodiments are part of the embodiments of the application, rather than all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the application.

[0050] In the description of the application, it should be noted that the indication of the position or the relationship of the direction of "upper" is based on the position or the relationship of the direction shown in the drawings, and is only for the convenience and simplification of the description, and does not indicate or imply that the device or the element must be provided with a specific position, constructed and operated in a specific position, and therefore cannot be understood as a limitation of the application.

[0051] In the description of the application, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0052] In the description of the application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connection", "setting", "mounting", "fixing" and the like should be understood in a broad sense, for example, can be fixedly connected or detachably connected, or integrally connected; can be directly connected or indirectly connected through an intermediate medium; can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0053] This invention provides an automatic ingot feeding system, comprising: a strapping removal device, an automatic aluminum ingot gripping device, and an AGV trolley.

[0054] The strapping removal device includes a workbench, a cutting mechanism, and a recycling mechanism. The workbench is used to hold stacks of aluminum ingots bundled with strapping. The cutting mechanism, mounted above the workbench, is used to cut the strapping of the aluminum ingot stacks. The recycling mechanism, located on one side of the workbench, is used to pull the cut strapping from the bottom of the aluminum ingot stacks and recycle it.

[0055] The automatic aluminum ingot gripping device is located downstream of the strapping removal device. It includes a weighing platform, a support base, and a robotic arm. The support base is located between the weighing platform and the precision aluminum tank, and it is equipped with an aluminum ingot stacking station and a robotic arm installation station. The robotic arm is installed at the robotic arm installation station and is used to grip the aluminum ingots from the stack of aluminum ingots with the strapping removed at the aluminum ingot stacking station, place them on the weighing platform for weighing, and then grip the weighed aluminum ingots on the weighing platform into the precision aluminum tank.

[0056] The AGV is used to transport stacks of aluminum ingots bundled with strapping to the workbench, and also to transport stacks of aluminum ingots with the strapping removed from the workbench to the aluminum ingot stacking station.

[0057] Example 1:

[0058] like Figure 1 As shown, this embodiment provides an automatic ingot feeding system, including: a strapping removal device 1, an automatic aluminum ingot gripping device 2, and an AGV trolley 3.

[0059] like Figure 2 As shown, the strapping removal device 1 includes a workbench 14, a cutting mechanism 11, and a recycling mechanism. The workbench 14 is used to place the stack of aluminum ingots bundled with strapping. The cutting mechanism 11 is mounted above the workbench 14 via a mounting bracket 18 and is used to cut the strapping of the aluminum ingot stack. The recycling mechanism is located on one side of the workbench 14 and is used to pull the cut strapping from the bottom of the aluminum ingot stack and recycle it.

[0060] The automatic aluminum ingot gripping device 2 is located downstream of the strapping removal device 1, such as... Figure 5 As shown, it includes: a weighing platform 25, a support base 22, and a robot arm 23. The support base 22 is located between the weighing platform 25 and the aluminum refining tank, and is equipped with an aluminum ingot stacking station and a robot arm installation station 222. The robot arm 23 is installed on the robot arm installation station 222 and is used to pick up aluminum ingots from the aluminum ingot stack with the binding straps removed from the aluminum ingot stacking station and place them on the weighing platform 25 for weighing, and then pick up the weighed aluminum ingots from the weighing platform 25 and place them into the aluminum refining tank.

[0061] The AGV 3 is used to transport the aluminum ingot stack bundled by the bundling belt to the workbench 14, and also used to transport the aluminum ingot stack on the workbench 14 with the bundling belt removed to the aluminum ingot stack station.

[0062] Therefore, the aluminum ingot stack bundled by the bundling belt is transported to the workbench 14 by the AGV, the bundling belt 4 of the bundled aluminum ingot stack 5 is cut off by the cutting mechanism 11, and the cut-off bundling belt 4 is separated from the bottom of the aluminum ingot stack 5 and recycled by the recycling mechanism; the AGV transports the aluminum ingot stack 5 on the workbench with the bundling belt removed to the aluminum ingot stack station, the aluminum ingot in the aluminum ingot stack 5 on the aluminum ingot stack station with the bundling belt removed is gripped by the manipulator to the weighing table for weighing, and the aluminum ingot on the weighing table after weighing is gripped to the refined aluminum tank, so that the cutting and winding of the bundling belt on the aluminum ingot stack and the winding recycling of the cut-off bundling belt, and the accurate addition of the aluminum ingot raw material in the refined aluminum tank are automatically completed, which greatly improves the refined aluminum production efficiency.

[0063] In this embodiment, in order to realize the winding and recycling of the cut-off bundling belt, as shown in Figure 3 and 4 the recycling mechanism includes a pulling assembly 12 and a recycling assembly 13,

[0064] The pulling assembly 12 includes a first gripper 121 and a sliding frame 122, the first gripper 121 is slidably arranged on the sliding frame 122, and is used to grab the cut-off bundling belt on the bundling object,

[0065] The recycling assembly 13 includes a recycling container 131 and a recycling driving part, the recycling driving part is located on one side of the sliding frame 122, and includes a winding part 132 and a push-out disc 133,

[0066] The first gripper 121 can move along the horizontal direction perpendicular to the axial direction of the winding part 132 relative to the sliding frame 122, so as to pull the bundling belt to pass through the winding part 132, the winding part 132 can rotate in the circumferential direction, so as to wind the bundling belt passing through the winding part 132 on the winding part 132, the recycling container 131 is located below the winding part 132, and the push-out disc 133 is slidably connected with the winding part 132, and can move along the axial direction of the winding part 132 relative to the winding part 132, so as to push the bundling belt wound on the winding part 132 into the recycling container 131.

[0067] Therefore, after the bundling belt 4 is pulled to pass through the winding part 32 by a certain distance by the pulling assembly 12, the bundling belt 4 will be tensioned between the aluminum ingot stack 5 and the first gripper 121, at this time the winding part 32 rotates in the circumferential direction, so as to effectively wind the bundling belt on the winding part 32, and then the push-out disc 33 acts, so as to push the bundling belt wound on the winding part 32 into the recycling container 31, so as to realize the automatic winding and recycling of the bundling belt, reduce the production operation intensity, and improve the production efficiency.

[0068] In the embodiment, to realize the installation and rotation of the winding member 132, the recovery driving part further comprises a rotating member 134 and a rotating driving mechanism 135. The two ends of the rotating member 134 in the axial direction are connected with the winding member 132 and the rotating driving mechanism 135 respectively. The rotating driving mechanism 135 is used to drive the rotating member 134 to rotate circumferentially, so as to drive the winding member 132 to rotate circumferentially.

[0069] Further, the winding member 132 comprises a plurality of winding portions, and the plurality of winding portions are distributed circumferentially. The winding portion at the upper portion and the winding portion at the lower portion have a space for the pulling mechanism to pass through.

[0070] In other embodiments, the winding member 132 can also be provided as a winding drum structure with openings at both axial ends. A through groove for the first clamping jaw 121 to pass through is formed on the circumferential wall of the winding drum. The through groove can penetrate the two end faces of the winding drum in the axial direction.

[0071] Both of the above-mentioned winding member structures can realize the passing of the first clamping jaw 121 and the circumferential rotation of the winding member 132 when the rotating member 134 rotates, so as to wind the bundling belt passing through the winding member on the winding member 132.

[0072] The above-mentioned two winding member structures are only exemplary embodiments for illustrating the principle of the winding member, and the present application is not limited thereto.

[0073] In the embodiment, the recovery driving part further comprises a second clamping jaw 136. The second clamping jaw 136 is arranged at one end of the rotating member 134 where the winding member 132 is installed, and is located in the space enclosed by the plurality of winding portions. The second clamping jaw 136 is used to clamp the bundling belt passing through the winding member 132, so as to wind the bundling belt passing through the winding member 132 on the winding member 132 when the winding member 132 rotates circumferentially.

[0074] After the first clamping jaw 121 approaches the winding member 132, the second clamping jaw 136 is opened to allow the first clamping jaw 121 to pass through the winding member 132 and the second clamping jaw 136. After the first clamping jaw 121 passes through, the second clamping jaw 136 is closed to clamp the bundling belt passing through the winding member. Thus, the bundling belt is tensioned between the aluminum ingot stack and the second clamping jaw 136. At this time, the first clamping jaw 121 releases the bundling belt, and the winding member 132 rotates circumferentially, so as to effectively wind the bundling belt on the winding member 132.

[0075] The arrangement of the second clamping jaw 136 can avoid the phenomenon that the bundling belt is difficult to be wound due to the bundling belt being too long and the horizontal moving stroke of the first clamping jaw 121 being limited, so that the bundling belt cannot be tensioned.

[0076] In the embodiment, the push-out disc 133 is arranged to pass through the plurality of winding portions or is sleeved on the winding member 132.

[0077] The recovery driving part further comprises a first linear driving mechanism 137, which is arranged on the rotating member 134 and connected with the push-out disc 133, and is used to drive the push-out disc 133 to move along the axial direction of the winding member 132 to push the bundling tape wound on the winding member 132 into the recovery container 131.

[0078] The first linear driving mechanism 137 can adopt a mature screw-nut pair structure or a telescopic cylinder structure in the mechanical field, which will not be described here.

[0079] In the embodiment, the sliding frame 122 and the rotating driving mechanism 135 are fixed to the upper end of a horizontal frame 16, the recovery container 131 is located on the side of the horizontal frame 16 on which the sliding frame 122 is installed, and one end of the recovery container 131 is arranged close to the winding member 132 after penetrating through the sliding frame 122.

[0080] In the embodiment, in order to further realize the tensioning of the bundling tape, the recovery mechanism further comprises a pressing assembly 15, which is arranged on the horizontal frame 16 and located between the workbench 14 and the recovery assembly 13, and is used to press the bundling tape grabbed by the pulling assembly 12 between the horizontal frame 16 and the pressing mechanism or loosen the bundling tape.

[0081] In the embodiment, the pressing assembly 15 comprises a pressing member 151 and a deflection driving mechanism 152,

[0082] The horizontal frame 16 is provided with a pressing plate 161, which is located below the pressing member 151,

[0083] The deflection driving mechanism 152 is fixed to the horizontal frame 16 and connected with the pressing member 151, and is used to drive the pressing member 151 to deflect to approach or move away from the pressing plate 161, so as to press the bundling tape grabbed by the pulling mechanism between the pressing member 151 and the pressing plate 161 or loosen the bundling tape.

[0084] In the embodiment, the sliding frame 122 comprises a translation frame 1221 and a lifting frame 1222, the lifting frame 1222 is slidably arranged on the translation frame 1221 and can move along the horizontal direction perpendicular to the axial direction of the winding member 132 relative to the translation frame 1221, and the first clamping jaw 121 is slidably arranged on the lifting frame 1222 and can move up and down relative to the lifting frame 1222.

[0085] The size of the whole stack after the stacking of different specifications of articles is greatly different, and the lifting frame 222 is arranged to enable the bundling tape removal device in the embodiment to adapt to the clamping and pulling away of the bundling tape on the bundling stack of different heights.

[0086] In this embodiment, to accommodate the cutting of the binding tape on the aluminum ingot stacks bundled in a "well" shape, the cutting mechanism 11 is slidably mounted on the mounting frame 18. It can move relative to the mounting frame 18 in a horizontal direction perpendicular to the axis of the winding member 132 to facilitate cutting the binding tape at different positions on the aluminum ingot stack. For aluminum ingot stacks bundled in a "two" shape and a "well" shape, after cutting the binding tape at one position, the sliding distance of the cutting mechanism 11 is controlled to cut the binding tape at another position.

[0087] The worktable 14 is rotatably mounted on a track and can rotate circumferentially relative to the track so that the binding straps on the aluminum ingot stacks in different directions are rotated to adapt to the cutting mechanism 11. Specifically, for aluminum ingot stacks bundled in a cross shape and a grid shape, after cutting the binding straps in one direction, the rotatable worktable is controlled to rotate 90° to cut the binding straps in the other direction.

[0088] That is, by means of the sliding cutting mechanism 1 and the 90° rotating worktable 3, it can adapt to the cutting of various packaging forms such as "well" shape, "cross" shape, and "two" shape of the strapping.

[0089] Furthermore, the cutting mechanism 11 includes an image recognition module and a laser cutting module. The image recognition module takes pictures of the aluminum ingot stack and determines the position of the strapping by image recognition. The laser cutting module emits a laser towards the strapping to cut the strapping.

[0090] The aforementioned strapping removal device achieves the automatic cutting and automatic winding and recycling of the strapping on the aluminum ingot stacks as follows:

[0091] The AVG trolley transports the bundled aluminum ingot stack to the workbench 14 on the track, and through the cooperation of the sliding of the cutting mechanism 11 and the rotation of the workbench 14, the bundled aluminum ingot stack is matched with the cutting mechanism 11, the cutting mechanism 11 works to cut the bundled aluminum ingot stack. The pulling mechanism and the recycling mechanism are located downstream of the cutting mechanism. After the cutting mechanism cuts the bundled aluminum ingot stack, the first clamping jaw 121 moves towards the aluminum ingot stack relative to the sliding frame 1, and is close to the bundled aluminum ingot stack to be recycled. During the movement, the first clamping jaw 121 can precisely position the bundled aluminum ingot stack to be recycled by lifting. After the bundled aluminum ingot stack is positioned, the first clamping jaw 121 acts to clamp the bundled aluminum ingot stack to be recycled. The first clamping jaw 121 moves towards the recycling mechanism 13 relative to the sliding frame 122, and after the first clamping jaw 121 passes through the winding part 132, the second clamping jaw 136 acts to tension the bundled aluminum ingot stack between the bundled aluminum ingot stack and the second clamping jaw 136. At the same time, the pressing mechanism 15 acts to press the bundled aluminum ingot stack between the pressing part 151 and the pressing plate 141, so as to further tension the bundled aluminum ingot stack. At this time, the first clamping jaw 121 releases the bundled aluminum ingot stack, and the winding part 132 rotates in the circumferential direction, so as to effectively wind the bundled aluminum ingot stack on the winding part 132. Then, the first linear driving mechanism 137 acts to push the push-out disc 133 to move along the winding part in the axial direction, so as to push the bundled aluminum ingot stack wound on the winding part 132 into the recycling container 131.

[0092] After the pulling mechanism separates the cut bundled aluminum ingot stack from the bottom of the aluminum ingot stack, the cutting mechanism 11 and the workbench 14 can start cutting the next bundled aluminum ingot stack, so as to improve the work efficiency of the bundled aluminum ingot stack removal.

[0093] In the embodiment, as shown in Figure 6 The manipulator 23 includes a mechanical arm 231 and a clamp 232. The clamp 232 is hinged to the end of the mechanical arm 231 and is used to clamp or release the aluminum ingot in the aluminum ingot stack. The mechanical arm 231 is rotatably installed on the bearing base 22 and can be folded or elongated to drive the clamp 232 to approach or move away from the aluminum ingot stack on the aluminum ingot stack station. The clamp 232 can rotate relative to the mechanical arm 231 about the hinge shaft to finely adjust the position of the clamp 232 relative to the aluminum ingot to be clamped.

[0094] As shown in Figure 7 The aluminum ingot is a long strip structure, which includes an ingot plate 110 and an ingot body 120 integrally formed on the ingot plate 110. The two ends of the ingot plate 110 in the length direction are provided with ear parts 130. Since the cross section of the ingot body is trapezoidal, in order to ensure the compactness of the aluminum ingot stack, an aluminum ingot with the ingot body downward is usually inserted between two adjacent aluminum ingots with the ingot body upward, and a plurality of rows of aluminum ingots are staggered to form the aluminum ingot stack 100. This stacking method is convenient for bundling and transportation, but is not conducive to clamping by the manipulator.

[0095] As shown in Figure 8As shown, in this embodiment, the clamp 232 comprises a housing 2321, a primary claw 2322, a secondary claw 2323, a primary claw 2322 driving mechanism and a secondary claw 2323 driving mechanism,

[0096] The primary claw 2322 is arranged on the housing 2321 and cooperates with the lug of the aluminum ingot, the primary claw 2322 driving mechanism is arranged in the housing 2321 and connected with the primary claw 2322, for driving the primary claw 2322 to open and close, so as to clamp or release the lug of the aluminum ingot,

[0097] The secondary claw 2323 is arranged on the housing 2321 and cooperates with the ingot body of the aluminum ingot, the secondary claw 2323 driving mechanism is arranged in the housing 2321 and connected with the secondary claw 2323, for driving the secondary claw 2323 to open and close, so as to clamp or release the ingot body of the aluminum ingot,

[0098] The last segment of the mechanical arm 231 can rotate to drive the clamp 232 to turn over, so that the opening of the primary claw 2322 faces the lug of the aluminum ingot to be clamped, or the secondary claw 2323 faces downward so that it can grab the ingot body of the aluminum ingot.

[0099] Thus, by designing the clamp combined with the primary claw 2322 and the secondary claw 2323, the clamp 232 is installed on the mechanical arm 231 in a rotating manner, so that the primary claw 2322 or the secondary claw 2323 is corresponded to the aluminum ingot to be clamped by rotating the clamp, so as to grab the aluminum ingot in two postures in the aluminum ingot stack. Specifically, the primary claw 2322 grabs the lug 130 of the aluminum ingot with the uppermost ingot body 120 facing downward by electric control, and sends it to the weighing station for weighing task. After all the aluminum ingots with the uppermost ingot body 120 facing downward are clamped, the secondary claw 2323 grabs the ingot body 120 of the aluminum ingot with the ingot body 120 facing upward by electric control, and sends it to the weighing station for weighing task. All the aluminum ingots after weighing are grabbed by the primary claw 2322 through the lug 130 for fine aluminum tank feeding task. Thus, the difficulty of mechanical hand control is simplified, and the feeding efficiency is improved.

[0100] In this embodiment, the clamp 32 is articulated to the end of the mechanical arm 31 by a joint arm, which can rotate relative to the mechanical arm 31 around the articulation axis, so as to fine-tune the position of the primary claw 322 or the secondary claw 323 relative to the aluminum ingot to be clamped.

[0101] The mechanical hand and its motion trajectory are mature technologies in the art, and will not be described here.

[0102] In this embodiment, the primary claw 2322 comprises a first primary clamping part and a second primary clamping part, and the primary claw driving mechanism is in transmission connection with the first primary clamping part, for driving the first primary clamping part to approach or move away from the second primary clamping part.

[0103] In the embodiment, the auxiliary claw 2323 comprises a first auxiliary clamping part and a second auxiliary clamping part, and the auxiliary claw driving mechanism is in transmission connection with the first auxiliary clamping part and is used for driving the first auxiliary clamping part to move close to or away from the second auxiliary clamping part.

[0104] The positive claw driving mechanism and the auxiliary claw driving mechanism can adopt the mature motor + screw nut pair mode in the art, and details are not described herein.

[0105] In the embodiment, the housing 2321 is provided with a mounting part 2324 used for being connected with the mechanical arm 231, the mounting part 2324 and the positive claw 2322 are separately arranged on the opposite two end faces of the housing 2321, and the auxiliary claw 2323 is arranged on the side face of the housing 2321 which is perpendicular to the end face on which the positive claw 2322 is arranged.

[0106] In the embodiment, the aluminum ingot automatic grabbing device 2 further comprises a grabbing frame 21 and a camera device 24,

[0107] The grabbing frame 21 comprises a first vertical support mechanism 211, a second vertical support mechanism 212 and a transverse guide rail 213, the transverse guide rail 213 is connected with the top ends of the first vertical support mechanism 211 and the second vertical support mechanism 212, and the camera device 24 is slidably arranged on the transverse guide rail 213 and is used for shooting the stacking mode of the aluminum ingot stack on the aluminum ingot stack station.

[0108] In the embodiment, the aluminum ingot stack station is provided with two aluminum ingot stack stations, including a first aluminum ingot stack station 221 and a second aluminum ingot stack station 223, and the first aluminum ingot stack station 221 and the second aluminum ingot stack station 223 are separately arranged on the two sides of the mechanical hand mounting station 222. The first aluminum ingot stack station 221 and the second aluminum ingot stack station 223 are both provided with an aluminum ingot bearing table used for bearing the aluminum ingot stack.

[0109] After the AGV trolley 3 transports the aluminum ingot stack 5 after the binding belt is removed to the aluminum ingot bearing table of the first aluminum ingot stack station 221 and the second aluminum ingot stack station 223, the camera device 4 is used to first shoot the aluminum ingot stack on the aluminum ingot bearing table of the first aluminum ingot stack station 221, determine the arrangement mode of the top layer of aluminum ingots, and the control system drives the mechanical hand 23 to clamp the top layer of aluminum ingots according to the arrangement mode of the top layer of aluminum ingots.

[0110] After the aluminum ingots on the aluminum ingot bearing table of the first aluminum ingot stack station 221 are grabbed, the camera device is notified to slide to the vicinity of the aluminum ingot bearing table of the second aluminum ingot stack station 223, the camera device 4 is used to first shoot the aluminum ingot stack on the aluminum ingot bearing table of the second aluminum ingot stack station 223, determine the arrangement mode of the top layer of aluminum ingots, and the control system drives the mechanical hand 23 to clamp the top layer of aluminum ingots according to the arrangement mode of the top layer of aluminum ingots.

[0111] Through the above reasonable layout and the assistance of the camera device 24, the mechanical hand 23 can efficiently complete the accurate addition of the daily aluminum ingot raw materials in the refined aluminum tank, and the refined aluminum production efficiency is improved.

[0112] It can be understood that the above embodiments are only exemplary embodiments for illustrating the principles of the present application, and the present application is not limited thereto. Various modifications and improvements can be made by those of ordinary skill in the art without departing from the spirit and essence of the present application, and these modifications and improvements are also considered to be within the scope of protection of the present application.

Claims

1. An automatic ingot adding system characterized by comprising: 1) an ingot adding device for adding an ingot to a predetermined position in a vertical direction of a continuous casting machine, The application relates to a bundle belt removing device (1), an aluminum ingot automatic grabbing device (2) and an AGV trolley (3). The bundle belt removing device (1) comprises a workbench (14), a cutting mechanism (11) and a recycling mechanism. The recycling mechanism is located on one side of the workbench (14) and is used for separating the cut bundle belt from the bottom of the aluminum ingot stack and recycling the bundle belt. The recycling mechanism comprises a pulling assembly (12) and a recycling assembly (13). The pulling assembly (12) comprises a first clamping jaw (121) and a sliding frame (122). The recycling assembly (13) comprises a recycling driving part. The recycling driving part is located on one side of the sliding frame (122) and comprises a winding piece (132). The winding piece (132) comprises a plurality of winding parts which are distributed in a circumferential direction. The first clamping jaw (121) can move along a horizontal direction perpendicular to the axial direction of the winding piece (132) relative to the sliding frame (122) so as to pull the bundle belt through the winding piece (132).

2. The automatic ingot adding system according to claim 1, characterized in that, The winding piece (132) can rotate in a circumferential direction so that the bundle belt passing through the winding piece (132) is wound on the winding piece (132). The aluminum ingot automatic grabbing device (2) is located downstream of the bundle belt removing device (1) and comprises a weighing table (25), a bearing base (22) and a mechanical arm (23).

3. The automatic ingot adding system according to claim 2, characterized in that, The bearing base (22) is located between the weighing table (25) and a refined aluminum tank and is provided with an aluminum ingot stack station and a mechanical arm mounting station (222). The mechanical arm (23) is arranged on the mechanical arm mounting station (222) and is used for clamping the aluminum ingot in the aluminum ingot stack after the bundle belt is removed from the aluminum ingot stack on the aluminum ingot stack station to the weighing table (25) for weighing and then clamping the aluminum ingot after weighing on the weighing table (25) into the refined aluminum tank. The AGV trolley (3) is used for transporting the aluminum ingot stack after the bundle belt is removed from the workbench (14) to the aluminum ingot stack station. The recycling assembly (13) further comprises a recycling container (131) and the recycling driving part further comprises a pushing disc (133). The recycling container (131) is located below the winding piece (132) and the pushing disc (133) is slidably connected with the winding piece (132) and can move along the axial direction of the winding piece (132) so as to push the bundle belt wound on the winding piece (132) into the recycling container (131). The recycling driving part further comprises a rotating piece (134) and a rotating driving mechanism (135). The rotating piece (134) is connected with the winding piece (132) and the rotating driving mechanism (135) at two ends in the axial direction and the rotating driving mechanism (135) is used for driving the rotating piece (134) to rotate in a circumferential direction so as to drive the winding piece (132) to rotate in a circumferential direction.

4. The automatic ingot adding system according to claim 3, characterized in that, The recycling driving part further comprises a second clamping jaw (136) arranged at one end of the rotating member (134) and located in the space enclosed by the plurality of winding parts, and used for clamping the binding belt passing through the winding member (132) so as to wind the binding belt passing through the winding member (132) on the winding member (132) when the winding member (132) rotates circumferentially.

5. The automatic ingot adding system according to claim 3, wherein The push-out disc (133) is arranged on the plurality of winding parts or is sleeved on the winding member (132), The recycling driving part further comprises a first linear driving mechanism (137) arranged on the rotating member (134) and connected with the push-out disc (133), and used for driving the push-out disc (133) to move axially along the winding member (132) to push the binding belt wound on the winding member (132) into the recycling container (131).

6. The automatic ingot adding system according to claim 3, wherein The sliding frame (122) and the rotating driving mechanism (135) are fixed to the upper end of a horizontal frame (16), the recycling container (131) is located at the side of the horizontal frame (16) on which the sliding frame (122) is arranged, and one end of the recycling container (131) is arranged close to the winding member (132) after passing through the sliding frame (122).

7. The automatic ingot adding system according to claim 6, characterized in that The recycling mechanism further comprises a pressing assembly (15) arranged on the horizontal frame (16) and located between the workbench (14) and the recycling assembly (13), and used for pressing the binding belt grabbed by the pulling assembly (12) between the horizontal frame (16) and the pressing mechanism or loosening the binding belt.

8. The automatic ingot adding system according to claim 7, characterized in that The pressing assembly (15) comprises a pressing member (151) and a deflection driving mechanism (152), The horizontal frame (16) is provided with a pressing plate (161) located below the pressing member (151), The deflection driving mechanism (152) is fixed to the horizontal frame (16) and connected with the pressing member (151), and used for driving the pressing member (151) to deflect to approach or move away from the pressing plate (161) so as to press the binding belt grabbed by the pulling mechanism between the pressing member (151) and the pressing plate (161) or loosen the binding belt.

9. The automatic ingot adding system according to any one of claims 2 to 8, characterized in that, The sliding frame (122) comprises a translation frame (1221) and a lifting frame (1222), the lifting frame (1222) is slidably arranged on the translation frame (1221) and can move along the horizontal direction perpendicular to the axial direction of the winding member (132) relative to the translation frame (1221), and the first clamping jaw (121) is slidably arranged on the lifting frame (1222) and can move up and down relative to the lifting frame (1222).

10. The automatic ingot adding system according to any one of claims 2 to 8, characterized in that, The cutting mechanism (11) is slidably arranged on the mounting frame (18) and can move along the horizontal direction perpendicular to the axial direction of the winding member (132) relative to the mounting frame (18) so as to cut the binding belt at different positions on the aluminum ingot stack; The workbench (14) is rotationally arranged on a track and can rotate circumferentially relative to the track so as to rotate the binding belt in different directions on the aluminum ingot stack to be adapted to the cutting mechanism (11).

11. The automatic ingot adding system according to any one of claims 1 to 8, characterized in that, The mechanical arm (23) comprises a mechanical arm (231) and a clamp (232), the clamp (232) is hinged to the end of the mechanical arm (231) and is used for clamping or releasing the aluminum ingot in the aluminum ingot stack, the mechanical arm (231) is rotatably installed on the bearing base (22) and can be folded or elongated to drive the clamp (232) to approach or move away from the aluminum ingot stack on the aluminum ingot stack station, and the clamp (232) can rotate around the hinge shaft relative to the mechanical arm (231) to finely adjust the position of the clamp (232) relative to the aluminum ingot to be clamped.

12. The automatic ingot adding system of claim 11, wherein, The clamp (232) comprises a shell (2321), a primary claw (2322), a secondary claw (2323), a primary claw (2322) driving mechanism and a secondary claw (2323) driving mechanism, The primary claw (2322) is arranged on the shell (2321) and cooperates with the lug of the aluminum ingot, the primary claw (2322) driving mechanism is arranged in the shell (2321) and connected with the primary claw (2322) and is used for driving the primary claw (2322) to open and close to clamp or release the lug of the aluminum ingot, The secondary claw (2323) is arranged on the shell (2321) and cooperates with the ingot body of the aluminum ingot, the secondary claw (2323) driving mechanism is arranged in the shell (2321) and connected with the secondary claw (2323) and is used for driving the secondary claw (2323) to open and close to clamp or release the ingot body of the aluminum ingot, The end section of the mechanical arm (231) can rotate to drive the clamp (232) to overturn to the opening of the primary claw (2322) facing the lug of the aluminum ingot to be clamped or to the secondary claw (2323) downward so that it can grasp the ingot body of the aluminum ingot.

13. The automatic ingot adding system of claim 12, wherein The aluminum ingot automatic grabbing device (2) further comprises a grabbing frame (21) and a camera device (24), The grabbing frame (21) comprises a first vertical support mechanism (211), a second vertical support mechanism (212) and a transverse guide rail (213), the transverse guide rail (213) is connected to the top ends of the first vertical support mechanism (211) and the second vertical support mechanism (212), and the camera device (24) is slidably arranged on the transverse guide rail (213) and is used for shooting the stacking mode of the aluminum ingot stack on the aluminum ingot stack station.

14. The automatic ingot adding system of claim 13, wherein The aluminum ingot stack station is provided with two aluminum ingot stack stations, and the two aluminum ingot stack stations are arranged on the two sides of the mechanical arm installation station (222).

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