Aluminum liquid refining device based on multi-freedom hybrid robotic arm and control method thereof

Abstract

A molten aluminum refining device based on a multi-freedom hybrid robotic arm and its control method, specifically relating to the technical field of automated operations in the molten aluminum refining process. The present invention aims to address the current problems in the molten aluminum refining industry, such as the difficulty in worker operation, low efficiency, toxic dust affecting health, difficulty in ensuring refining quality, and the inability of existing general-purpose robotic arms to carry large-inertia tooling and perform smooth operations in long-distance blind spots. The present invention comprises a robotic arm main unit, a gravity moment compensation unit, a tooling clamping and conveying unit, and a tooling replacement unit. The robotic arm main unit includes an arc-shaped slide rail, an arc-shaped slider mechanism, a pitch moment compensation platform, a yaw swivel mechanism, a rotating upper arm mechanism, a rotating lower arm mechanism, and a three-degree-of-freedom parallel platform. The present invention is used for molten aluminum refining.

Description

Technical Field

[0001] The present invention relates to the technical field of automated operations of a molten aluminum refining process, and in particular to a molten aluminum refining device based on a multi-freedom hybrid robotic arm and a control method thereof. Background Art

[0002] A multi-freedom robotic arm is a complex mechanical system with multiple inputs, multiple outputs, strong coupling, and nonlinearity. It can efficiently and flexibly perform functions such as grasping, moving, conveying, transferring, and processing within a workspace.

[0003] Aluminum, due to its various excellent properties, has become a national metal resource. However, the molten aluminum refining industry for special high-voltage aluminum wire still relies on traditional manual labor. This not only results in low efficiency but also creates a high labor intensity due to the 24 / 7 continuous operation. The volatile dust produced by the reaction is toxic and poses a health hazard. More importantly, the quality of the molten aluminum refining is closely related to the operator's experience. Furthermore, the advent of Industry 4.0 requires the widespread implementation of automated factories in heavy industry, making the automation of molten aluminum refining an inevitable development trend. The high temperatures exceeding 900°C within the molten aluminum holding furnace require a robotic arm with a long-pole tooling for remote and telecentric operations. The workspace is located near the robotic arm, making remote operation unsuitable. The long-pole tooling experiences significant inertia variations when operating over a wide area, creating the risk of instability due to collisions with the furnace body. This requires the robotic arm to possess high stability under large inertia perturbations and strong external disturbances. General-purpose robotic arms are unable to operate in blind spots and furnace door restraints, necessitating the design of specialized robotic arms for automated operations. Summary of the Invention

[0004] To address the current problems in the aluminum liquid refining industry, such as the difficulty of workers' operation, low efficiency, toxic dust affecting their health, difficulty in ensuring refining quality, and the inability of existing general-purpose robotic arms to carry large-inertia tooling and perform flexible operations in long-distance blind spots, the present invention proposes an aluminum liquid refining device based on a multi-freedom hybrid robotic arm and a control method thereof.

[0005] The technical solution adopted by the present invention to solve the above technical problems is:

[0006] A liquid aluminum refining device based on a multi-freedom hybrid robotic arm includes a robotic arm main unit, a gravity moment compensation unit, a tool holding and conveying unit, and a tool replacement unit. The robotic arm main unit includes an arc-shaped slide rail, an arc-shaped slider mechanism, a pitch moment compensation platform, a yaw rotary block mechanism, a rotating large arm mechanism, a rotating small arm mechanism, and a three-degree-of-freedom parallel platform. The arc-shaped slider mechanism is slidingly connected to the arc-shaped slide rail, the upper end of the rotating large arm mechanism is connected to the lower end of the arc-shaped slider mechanism through the yaw rotary block mechanism, the middle part of the three-degree-of-freedom parallel platform is connected to the lower end of the rotating large arm mechanism through the rotating small arm mechanism, the pitch moment compensation platform is arranged between the arc-shaped slider mechanism and the three-degree-of-freedom parallel platform, the tool holding and conveying unit is connected to the three-degree-of-freedom parallel platform through the gravity moment compensation unit, and the tool replacement unit is arranged on one side of the arc-shaped slide rail.

[0007] Furthermore, the arc slider mechanism includes an arc slider, an arc slider driving motor and an arc slider grating sensor. The arc slider is mounted on the outside of the arc slide rail, the arc slider driving motor is arranged at the upper end of the arc slider, and the output shaft of the arc slider driving motor drives the arc slider to move along the length direction of the arc slide rail, and the arc slider grating sensor is arranged on one side of the output shaft of the arc slider driving motor.

[0008] Furthermore, the pitch moment compensation platform includes a winch wheel drive motor, a winch wheel drive motor encoder, a winch wheel and a cable. The winch wheel is arranged on one side of the arc-shaped slider mechanism, the output shaft of the winch wheel drive motor is fixedly connected to the winch wheel, one end of the cable is fixedly connected to the outer side wall of the winch wheel, and the other end of the cable is fixedly connected to one side of the upper end of the three-degree-of-freedom parallel platform. The winch wheel drive motor encoder is arranged on one side of the output shaft of the winch wheel drive motor.

[0009] Furthermore, the yaw swivel mechanism includes a yaw swivel, a yaw swivel drive motor and a yaw swivel motor encoder. The yaw swivel is rotatably connected to the lower end of the arc-shaped slider mechanism. The yaw swivel drive motor is arranged on one side of the yaw swivel, and the output shaft of the yaw swivel drive motor drives the yaw swivel to rotate around the vertical axis. The yaw swivel motor encoder is arranged on one side of the yaw swivel output shaft.

[0010] Furthermore, the rotating boom mechanism includes a rotating boom, a rotating boom drive motor and a rotating boom motor encoder, the upper end of the rotating boom is rotatably connected to the lower end of the yaw rotary block mechanism, the rotating boom drive motor is arranged on one side of the upper end of the rotating boom, and the output shaft of the rotating boom drive motor drives the rotating boom to rotate around the horizontal axis, and the rotating boom motor encoder is arranged on one side of the output shaft of the rotating boom drive motor;

[0011] The rotating arm mechanism includes a rotating arm, a rotating arm motor and a rotating arm motor encoder. The upper end of the rotating arm is rotatably connected to the lower end of the rotating arm. The rotating arm drive motor is arranged on one side of the upper end of the rotating arm, and the output shaft of the rotating arm drive motor drives the rotating arm to rotate around the horizontal axis. The rotating arm motor encoder is arranged on one side of the output shaft of the rotating arm drive motor.

[0012] Furthermore, the three-degree-of-freedom parallel platform includes a fixed platform drive motor, a one-dimensional pitch torque sensor, a fixed platform, a moving platform, three platform connecting rails, two platform connecting rail moving unit drive motors and encoder groups, three platform connecting guide rods, a platform connecting rod rotation unit drive motor and a platform connecting rod rotation unit encoder, the middle part of the upper end surface of the fixed platform is rotatably connected to the lower end of the rotating small arm mechanism, the fixed platform drive motor is arranged on one side of the middle part of the upper end surface of the fixed platform, and the output shaft of the fixed platform drive motor drives the fixed platform to rotate around the horizontal axis, and the one-dimensional pitch torque sensor is arranged on one side of the output shaft of the fixed platform drive motor;

[0013] The movable platform is arranged directly below the fixed platform. Three groups of support units are symmetrically arranged along the circumferential direction between the fixed platform and the movable platform. Each group of support units includes a platform connecting guide rail and a platform connecting guide rod. The platform connecting guide rail and the platform connecting guide rod are coaxially arranged. The lower end of the platform connecting guide rail is sleeved on the outer side of the upper end of the platform connecting guide rod and is slidably connected to the platform connecting guide rod. The upper end of the platform connecting guide rail is rotatably connected to the lower end surface of the fixed platform through a ball joint pair.

[0014] The three groups of support units are the main drive support unit, the auxiliary drive support unit and the passive drive support unit. The lower end of the platform connecting guide rod of the main drive support unit is rotatably connected to the upper end surface of the moving platform through a rotating pair. The platform connecting rod rotation unit drive motor is arranged on one side of the upper end surface of the moving platform, and the output shaft of the platform connecting rod rotation unit drive motor drives the rotating pair to rotate around the horizontal axis. The platform connecting rod rotation unit encoder is arranged on one side of the output shaft of the platform connecting rod rotation unit drive motor. The main drive support unit and the auxiliary drive support unit are both equipped with a platform connecting guide rail moving unit drive motor and an encoder group. The lower end of the platform connecting guide rod of the auxiliary drive support unit and the passive drive support unit is rotatably connected to the upper end surface of the moving platform through a ball joint pair.

[0015] Furthermore, the gravity torque compensation unit includes a gravity torque compensation mechanism, which is a first-level inverted pendulum. The gravity torque compensation mechanism includes a gravity torque compensation mechanism moving slider, a flywheel, a gravity torque compensation mechanism flywheel guide rod, a gravity torque compensation mechanism driving motor and a gravity torque compensation mechanism encoder. A gravity torque compensation mechanism slide groove is provided on the upper end surface of the moving platform in the radial direction, and a gravity torque compensation mechanism driving motor is provided on one side of the gravity torque compensation mechanism slide groove. A rotating screw is provided inside the gravity torque compensation mechanism slide groove along the length direction, and the output shaft of the gravity torque compensation mechanism driving motor is connected to the rotating screw through an orthogonal bevel gear set. A moving nut is rotatably connected to the moving slider of the gravity torque compensation mechanism, and the moving nut is screwed on the rotating screw. The moving slider of the gravity torque compensation mechanism is slidably connected to the gravity torque compensation mechanism slide groove, and the upper end surface of the moving slider of the gravity torque compensation mechanism is connected to the flywheel through the gravity torque compensation mechanism flywheel guide rod, and the gravity torque compensation mechanism encoder is arranged on one side of the output shaft of the gravity torque compensation mechanism slide groove.

[0016] Furthermore, the tooling holding and conveying unit includes a holding and conveying mechanism, which includes a one-dimensional yaw moment sensor, a holding mechanism bracket, a holding mechanism drive motor, a holding mechanism position sensor, a holding mechanism drive slider, two holding mechanism straight connecting rods, two holding mechanism bent connecting rods, a tooling position laser rangefinder, four holding mechanism semi-open tracks, four sets of holding mechanism semi-open track wheels, two holding mechanism semi-open track drive motors, two holding mechanism track wheel mounting plates, two holding mechanism passive compression spring mounting plates, two sets of holding mechanism passive compression springs, two holding mechanism passive spring position sensors, two holding mechanism pre-compression wheels, two holding mechanism pre-compression wheel mounting plates, two holding mechanism pre-compression passive springs and two holding mechanism pre-compression mechanism mounting plates;

[0017] The clamping mechanism bracket is fixed to the lower end of the three-degree-of-freedom parallel platform, and a one-dimensional yaw moment sensor is provided between the clamping mechanism bracket and the three-degree-of-freedom parallel platform. A clamping mechanism guide rod is vertically fixed to the middle of the lower end surface of the clamping mechanism bracket. The clamping mechanism driving slider is slidably connected to the clamping mechanism guide rod. The clamping mechanism driving motor is provided on one side of the clamping mechanism driving slider, and the clamping mechanism driving motor drives the clamping mechanism driving slider to move along the length direction of the clamping mechanism guide rod. The clamping mechanism position sensor is provided on On the other side of the clamping mechanism driving slider, the tooling position laser rangefinder is arranged at the lower end of the clamping mechanism guide rod, the upper end of the clamping mechanism straight connecting rod is rotatably connected to the end of the clamping mechanism bracket, the lower end of the clamping mechanism straight connecting rod is rotatably connected to the bending part of the clamping mechanism bending connecting rod, the clamping mechanism bending connecting rod is relatively arranged on both sides of the clamping mechanism guide rod, the upper end of the clamping mechanism bending connecting rod is rotatably connected to the side wall of the clamping mechanism driving slider, and the lower end of the clamping mechanism bending connecting rod is fixedly connected to the clamping mechanism track wheel mounting plate;

[0018] The wheelbase is shortened and the shifting position is adjusted accordingly, so that the train is able to move forwards and backwards, thereby ensuring that the train is kept in a state of hysteresis whilst retaining its position relative to the wheelbase, and the train is kept in a state of hysteresis whereby the train is kept in a state of hysteresis whereby the train is kept in a state of hysteresis.

[0019] The clamping mechanism pre-compression mechanism mounting plate is relatively fixed to the front end of the lower part of the clamping mechanism track wheel mounting plate, the clamping mechanism pre-compression wheel mounting plate is arranged on the inner side of the clamping mechanism pre-compression mechanism mounting plate, the clamping mechanism pre-compression passive spring is fixed between the clamping mechanism pre-compression wheel mounting plate and the clamping mechanism pre-compression mechanism mounting plate, the clamping mechanism pre-compression wheel is arranged on the inner side of the clamping mechanism pre-compression wheel mounting plate and is rotatably connected to the clamping mechanism pre-compression wheel mounting plate.

[0020] A control method for a molten aluminum refining device based on a multi-freedom hybrid robotic arm includes a trajectory tracking control system, a furnace door collision detection compliance control system, a slip compensation control system, and a gravity moment compensation control system;

[0021] The trajectory tracking control system runs through the entire movement of the robotic arm to ensure that the robotic arm runs along the predetermined trajectory during the movement;

[0022] The furnace door collision detection compliance control system is triggered when the robot arm body deviates from the predetermined trajectory or there is an error in the preset trajectory, causing the robot arm's operating tooling to collide with the furnace door or furnace arm. The planned robot arm trajectory is locally optimized to generate new refined robot arm trajectory information to avoid collision with the furnace door.

[0023] The slip compensation control system is triggered when the tooling slips, driving the clamping mechanism to drive the slider to move so that sufficient friction is generated between the clamping conveying mechanism and the tooling;

[0024] The gravity moment compensation control system runs through the entire movement of the robotic arm, reducing the influence of the inertia effect caused by the movement of the tooling.

[0025] Furthermore, in the trajectory tracking control system, the trajectory tracking controller of the trajectory tracking control system outputs a control signal to cause the arc slider drive motor, the yaw rotary block drive motor, the rotating boom drive motor, the rotating small arm drive motor, the fixed platform drive motor, the platform connecting rod rotating unit drive motor and the clamping mechanism half-open crawler drive motor to coordinately drive to form the robot arm body to move along a predetermined trajectory, and the trajectory is monitored and real-time online feedback is provided through the arc slider grating sensor, the yaw rotary block motor encoder, the rotating boom motor encoder, the rotating small arm motor encoder, the one-dimensional pitch torque sensor and the platform connecting rod rotating unit encoder;

[0026] In the furnace door collision detection compliance control system, the furnace door collision compliance detection controller of the control system sets thresholds for pitch moment and yaw moment, and monitors the motion of the entire robotic arm by acquiring one-dimensional pitch moment sensing and one-dimensional yaw moment sensing in real time. When the feedback information exceeds the preset threshold, the furnace door collision detection compliance controller performs power feedforward of the robotic arm according to a preset trajectory, and performs online secondary planning of the current trajectory based on the feedback information at this time in combination with the trajectory tracking controller, and outputs corresponding control information to each drive module of the robotic arm body, thereby avoiding continuous collisions between the robotic arm operating tooling and the refining furnace, and improving the compliance and safety of the entire robotic arm system.

[0027] In the slip compensation control system, the slip compensation controller of the slip compensation control system monitors the axial movement of the tooling in real time by acquiring the trajectory motion information of the robot body and the laser rangefinder information of the tooling position in real time. When the slip compensation controller detects that the tooling is slipping, it outputs a control signal to the clamping mechanism drive motor, and the clamping mechanism drive motor drives the clamping mechanism drive slider to move downward along the clamping mechanism guide rod. Under the action of the clamping mechanism straight connecting rod and the clamping mechanism bent connecting rod, the clamping mechanism half-opens the crawler tracks on both sides of the tooling to provide greater clamping force, so that the tooling has sufficient friction for rapid axial movement.

[0028] In the gravity torque compensation control system, the gravity compensation controller of the gravity torque compensation control system obtains the trajectory motion information of the robot arm body, and the gravity torque compensation mechanism drives the motor to perform corresponding inertia compensation in real time to reduce the impact of the inertia effect on the robot arm body when the large inertia tooling moves over long distances.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] This invention proposes a molten aluminum refining device based on a multi-freedom robotic arm with a hybrid series-parallel mechanism, featuring gravity torque compensation with center-of-mass tracking, high stability over a wide range of inertia perturbations, tooling slip compensation, and collision detection and compliance control, as well as a highly stable and compliant control method. This invention overcomes the shortcomings of existing technologies by replacing manual labor in harsh environments with a machine-controlled aluminum refining operation, thereby improving production efficiency, ensuring aluminum refining quality, and reducing production costs. The invention utilizes a hybrid series-parallel robotic arm mode, combining the flexibility of a series mechanism with the high load-bearing capacity of a parallel mechanism. A rope gravity balancing mechanism is designed to reduce the driving torque of the robot joints, effectively increasing the overall weight of the device. This allows for carrying high-inertia tooling and reduces the gravitational torque effects caused by tooling remote movement, allowing for remote operations. Furthermore, axial tooling slip compensation and lateral tooling collision detection control improve the safety and compliance of the aluminum refining arm, thereby meeting the automation requirements of aluminum refining operations, improving production efficiency, and providing technical support for the digital development of smart factories. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the overall structure of the aluminum liquid refining device based on the multi-freedom hybrid robotic arm of the present invention;

[0032] Figure 2 yes Figure 1 The enlarged view of point I in FIG.

[0033] Figure 3 yes Figure 1 The main view;

[0034] Figure 4 It is a front view of the three-degree-of-freedom parallel platform 7 of the present invention;

[0035] Figure 5 It is a front view of the holding conveying mechanism 9 of the present invention;

[0036] Figure 6 It is a side view of the holding conveying mechanism 9 of the present invention;

[0037] Figure 7 It is an axonometric view of the holding conveying mechanism 9 of the present invention;

[0038] Figure 8 It is an axonometric view of the tool replacement platform 11 of the present invention;

[0039] Figure 9 This is a flow chart of a control method for an aluminum liquid refining device based on a multi-freedom hybrid robotic arm of the present invention. DETAILED DESCRIPTION

[0040] Specific implementation method 1: Combination Figures 1 to 9Describe this embodiment. The aluminum liquid refining device based on a multi-freedom hybrid robotic arm described in this embodiment includes a robotic arm main unit, a gravity torque compensation unit, a tool holding and conveying unit, and a tool replacement unit. The robotic arm main unit includes an arc slide rail 1, an arc slider mechanism, a pitch torque compensation platform 3, a yaw rotary block mechanism, a rotating boom mechanism, a rotating small arm mechanism, and a three-degree-of-freedom parallel platform 7. The arc slider mechanism is slidingly connected to the arc slide rail 1. The upper end of the rotating boom mechanism is connected to the lower end of the arc slider mechanism through the yaw rotary block mechanism. The middle part of the three-degree-of-freedom parallel platform 7 is connected to the lower end of the rotating boom mechanism through the rotating small arm mechanism. The pitch torque compensation platform 3 is arranged between the arc slider mechanism and the three-degree-of-freedom parallel platform 7. The tool holding and conveying unit is connected to the three-degree-of-freedom parallel platform 7 through the gravity torque compensation unit. The tool replacement unit is arranged on one side of the arc slide rail 1.

[0041] Specific implementation method 2: Combination Figures 1 to 9 This embodiment describes a curved slider mechanism comprising a curved slider 2, a curved slider drive motor 2-1, and a curved slider grating sensor 2-2. The curved slider 2 is mounted on the outside of the curved rail 1. The curved slider drive motor 2-1 is located at the upper end of the curved slider 2. The output shaft of the curved slider drive motor 2-1 drives the curved slider 2 along the length of the curved rail 1. The curved slider grating sensor 2-2 is located on one side of the output shaft of the curved slider drive motor 2-1. The undisclosed technical features of this embodiment are the same as those of the first embodiment.

[0042] Specific implementation method three: Combination Figures 1 to 9 This embodiment describes the pitching moment compensation platform 3, which includes a winch drive motor 3-1, a winch drive motor encoder 3-2, a winch wheel 3-3, and a cable 3-4. The winch wheel 3-3 is positioned on one side of the arc-shaped slider mechanism. The output shaft of the winch drive motor 3-1 is fixedly connected to the winch wheel 3-3. One end of the cable 3-4 is fixedly connected to the outer wall of the winch wheel 3-3, and the other end of the cable 3-4 is fixedly connected to one side of the upper end of the three-degree-of-freedom parallel platform 7. The winch drive motor encoder 3-2 is positioned on one side of the output shaft of the winch drive motor 3-1. The undisclosed technical features of this embodiment are the same as those of the second specific embodiment.

[0043] The pitching moment compensation platform 3 can adopt the above-mentioned winch-type mechanism to perform active pitching moment compensation, or can adopt a passive pitching moment compensation in which elastic elements are connected at both ends.

[0044] Specific implementation method four: Combination Figures 1 to 9This embodiment describes a yaw swivel mechanism comprising a yaw swivel 4, a yaw swivel drive motor 4-1, and a yaw swivel motor encoder 4-2. The yaw swivel 4 is rotatably connected to the lower end of the arc-shaped slider mechanism. The yaw swivel drive motor 4-1 is disposed on one side of the yaw swivel 4. The output shaft of the yaw swivel drive motor 4-1 drives the yaw swivel 4 to rotate about a vertical axis. The yaw swivel motor encoder 4-2 is disposed on one side of the output shaft of the yaw swivel drive motor 4-1. Undisclosed technical features in this embodiment are the same as those in Specific Embodiment 3.

[0045] Specific implementation method five: Combination Figures 1 to 9 This embodiment is described. The rotating boom mechanism of this embodiment includes a rotating boom 5, a rotating boom drive motor 5-1, and a rotating boom motor encoder 5-2. The upper end of the rotating boom 5 is rotatably connected to the lower end of the yaw rotary block mechanism. The rotating boom drive motor 5-1 is arranged on one side of the upper end of the rotating boom 5, and the output shaft of the rotating boom drive motor 5-1 drives the rotating boom 5 to rotate around the horizontal axis. The rotating boom motor encoder 5-2 is arranged on one side of the output shaft of the rotating boom drive motor 5-1.

[0046] The rotating arm mechanism includes a rotating arm 6, a rotating arm motor 6-1 and a rotating arm motor encoder 6-2. The upper end of the rotating arm 6 is rotatably connected to the lower end of the rotating arm 5. The rotating arm drive motor 6-1 is arranged on one side of the upper end of the rotating arm 6, and the output shaft of the rotating arm drive motor 6-1 drives the rotating arm 6 to rotate around the horizontal axis. The rotating arm motor encoder 6-2 is arranged on one side of the output shaft of the rotating arm drive motor 6-1.

[0047] The undisclosed technical features in this embodiment are the same as those in the fourth embodiment.

[0048] Specific implementation method six: combination Figures 1 to 9 To illustrate this embodiment, the three-degree-of-freedom parallel platform 7 described in this embodiment includes a fixed platform drive motor 7-1, a one-dimensional pitch torque sensor 7-2, a fixed platform 7-3, a moving platform 7-4, three platform connecting guide rails 7-5, two platform connecting guide rail moving unit drive motors and encoder groups 7-6, three platform connecting guide rods 7-7, a platform connecting rod rotation unit drive motor 7-8 and a platform connecting rod rotation unit encoder 7-9. The middle part of the upper end surface of the fixed platform 7-3 is rotatably connected to the lower end of the rotating arm mechanism. The fixed platform drive motor 7-1 is arranged on one side of the middle part of the upper end surface of the fixed platform 7-3, and the output shaft of the fixed platform drive motor 7-1 drives the fixed platform 7-3 to rotate around the horizontal axis. The one-dimensional pitch torque sensor 7-2 is arranged on one side of the output shaft of the fixed platform drive motor 7-1;

[0049] The movable platform 7-4 is arranged directly below the fixed platform 7-3. Three groups of support units are symmetrically arranged along the circumferential direction between the fixed platform 7-3 and the movable platform 7-4. Each group of support units includes a platform connecting guide rail 7-5 and a platform connecting guide rod 7-7. The platform connecting guide rail 7-5 and the platform connecting guide rod 7-7 are coaxially arranged. The lower end of the platform connecting guide rail 7-5 is sleeved on the outer side of the upper end of the platform connecting guide rod 7-7 and is slidably connected to the platform connecting guide rod 7-7. The upper end of the platform connecting guide rail 7-5 is rotatably connected to the lower end surface of the fixed platform 7-3 through a ball joint pair.

[0050] The three groups of support units are the main drive support unit, the auxiliary drive support unit and the passive drive support unit. The lower end of the platform connecting guide rod 7-7 of the main drive support unit is rotatably connected to the upper end surface of the moving platform 7-4 through a rotating pair. The platform connecting rod rotation unit drive motor 7-8 is arranged on one side of the upper end surface of the moving platform 6-4, and the output shaft of the platform connecting rod rotation unit drive motor 7-8 drives the rotating pair to rotate around the horizontal axis. The platform connecting rod rotation unit encoder 7-9 is arranged on one side of the output shaft of the platform connecting rod rotation unit drive motor 7-8. The main drive support unit and the auxiliary drive support unit are both equipped with a platform connecting guide rail moving unit drive motor and an encoder group 7-6. The lower end of the platform connecting guide rod 7-7 of the auxiliary drive support unit and the passive drive support unit is rotatably connected to the upper end surface of the moving platform 7-4 through a ball joint pair.

[0051] The undisclosed technical features in this embodiment are the same as those in the first, second, third, fourth or fifth embodiment.

[0052] The coordination of the three driving motors of the three-degree-of-freedom parallel platform 7 can enable the movable platform 7-4 to have two rotational degrees of freedom and one translational degree of freedom relative to the fixed platform 7-3.

[0053] Specific implementation method seven: combination Figures 1 to 9The present embodiment is described. The gravity moment compensation unit described in the present embodiment includes a gravity moment compensation mechanism 8. The gravity moment compensation mechanism 8 is a first-order inverted pendulum. The gravity moment compensation mechanism 8 includes a gravity moment compensation mechanism moving slider 8-1, a flywheel 8-2, a gravity moment compensation mechanism flywheel guide rod 8-3, a gravity moment compensation mechanism driving motor 8-4 and a gravity moment compensation mechanism encoder 8-5. A gravity moment compensation mechanism slide groove 8-6 is provided on the upper end surface of the moving platform 7-4 in the radial direction. A gravity moment compensation mechanism slide groove 8-6 is provided on one side of the gravity moment compensation mechanism slide groove 8-6. The compensation mechanism drives a motor 8-4. A rotating screw is provided along the length of the gravity torque compensation mechanism chute 8-6. The output shaft of the gravity torque compensation mechanism drive motor 8-4 is connected to the rotating screw via an orthogonal bevel gear set. A moving nut is rotatably connected to the gravity torque compensation mechanism movable slider 8-1, which is screwed onto the rotating screw. The gravity torque compensation mechanism movable slider 8-1 is slidably connected to the gravity torque compensation mechanism chute 8-6. The upper end surface of the gravity torque compensation mechanism movable slider 8-1 is connected to the flywheel 8-2 via the gravity torque compensation mechanism flywheel guide rod 8-3. The gravity torque compensation mechanism encoder 8-5 is located on one side of the output shaft of the gravity torque compensation mechanism chute 8-6. The undisclosed technical features of this embodiment are the same as those of the sixth embodiment.

[0054] The gravity moment compensation mechanism 8 causes the position change of the flywheel 8-2 relative to the moving platform 7-4 to offset the inertia effect on the entire robotic arm when the tooling moves.

[0055] Specific implementation method eight: combination Figures 1 to 9 Explain this embodiment. The tooling holding and conveying unit in this embodiment includes a holding and conveying mechanism 9. The holding and conveying mechanism 9 includes a one-dimensional yaw moment sensor 9-1, a holding mechanism bracket 9-2, a holding mechanism drive motor 9-3, a holding mechanism position sensor 9-4, a holding mechanism drive slider 9-5, two holding mechanism straight connecting rods 9-6, two holding mechanism bending connecting rods 9-7, a tooling position laser rangefinder 9-8, four holding mechanism semi-open crawlers 9-9, and four sets of holding mechanism semi-open crawler wheels. 9-10, two clamping mechanism half-open track drive motors 9-11, two clamping mechanism track wheel mounting plates 9-12, two clamping mechanism passive compression spring mounting plates 9-13, two sets of clamping mechanism passive compression springs 9-14, two clamping mechanism passive spring position sensors 9-15, two clamping mechanism pre-compression wheels 9-16, two clamping mechanism pre-compression wheel mounting plates 9-17, two clamping mechanism pre-compression passive springs 9-18 and two clamping mechanism pre-compression mechanism mounting plates 9-19;

[0056] The clamping mechanism bracket 9-2 is fixedly connected to the lower end of the three-degree-of-freedom parallel platform 7, and a one-dimensional yaw torque sensor 9-1 is provided between the clamping mechanism bracket 9-2 and the three-degree-of-freedom parallel platform 7. A clamping mechanism guide rod 9-20 is vertically fixedly connected to the middle of the lower end face of the clamping mechanism bracket 9-2. The clamping mechanism driving slider 9-5 is slidably connected to the clamping mechanism guide rod 9-20. The clamping mechanism driving motor 9-3 is provided on one side of the clamping mechanism driving slider 9-5, and the clamping mechanism driving motor 9-3 drives the clamping mechanism driving slider 9-5 to move along the length direction of the clamping mechanism guide rod 9-20. The clamping mechanism position sensor 9-4 is provided On the other side of the clamping mechanism driving slider 9-5, the tooling position laser rangefinder 9-8 is arranged at the lower end of the clamping mechanism guide rod 9-20, the upper end of the clamping mechanism straight link 9-6 is rotatably connected to the end of the clamping mechanism bracket 9-2, the lower end of the clamping mechanism straight link 9-6 is rotatably connected to the bending part of the clamping mechanism bent link 9-7, the clamping mechanism bent link 9-7 is relatively arranged on both sides of the clamping mechanism guide rod 9-20, the upper end of the clamping mechanism bent link 9-7 is rotatably connected to the side wall of the clamping mechanism driving slider 9-5, and the lower end of the clamping mechanism bent link 9-7 is fixed to the clamping mechanism track wheel mounting plate 9-12;

[0057] The upper and lower parts of the inner end surface of each clamping mechanism track wheel mounting plate 9-12 are respectively connected with a set of clamping mechanism half-open track wheels 9-10, and each set of clamping mechanism half-open track wheels 9-10 are evenly arranged along the length direction of the clamping mechanism track wheel mounting plate 9-12 and are rotatably connected to the clamping mechanism track wheel mounting plate 9-12. The outer side of each of the clamping mechanism is provided with a half-open track 9-9, the clamping mechanism half-open track wheel 9-10 at the front end of the lower part is connected with a clamping mechanism half-open track drive motor 9-11, the clamping mechanism passive compression spring mounting plate 9-13 is sleeved on the outer side of the upper part of the clamping mechanism track wheel mounting plate 9-12, and is slidably connected along the vertical direction of the clamping mechanism track wheel mounting plate 9-12, the clamping mechanism passive spring position sensor 9-15 is arranged on the outer side of the clamping mechanism passive compression spring mounting plate 9-13, and each group of clamping mechanism passive compression springs 9-14 are vertically fixed between the clamping mechanism track wheel mounting plate 9-12 and the clamping mechanism passive compression spring mounting plate 9-13;

[0058] The clamping mechanism pre-tensioning mechanism mounting plate 9-19 is relatively fixed to the front end of the lower part of the clamping mechanism track wheel mounting plate 9-12, the clamping mechanism pre-tensioning wheel mounting plate 9-17 is arranged on the inner side of the clamping mechanism pre-tensioning mechanism mounting plate 9-19, the clamping mechanism pre-tensioning passive spring 9-18 is fixed between the clamping mechanism pre-tensioning wheel mounting plate 9-17 and the clamping mechanism pre-tensioning mechanism mounting plate 9-19, the clamping mechanism pre-tensioning wheel 9-16 is arranged on the inner side of the clamping mechanism pre-tensioning wheel mounting plate 9-17 and is rotatably connected to the clamping mechanism pre-tensioning wheel mounting plate 9-17.

[0059] The undisclosed technical features in this embodiment are the same as those in the first embodiment.

[0060] The cross-section of the aluminum liquid refining tool 10 is square, which can prevent the aluminum liquid from slipping.

[0061] When the clamping conveyor 9 clamps the tooling 10, the two clamping mechanism half-open crawlers 9-9 and the clamping mechanism pre-load wheels 9-16 at the upper end of the clamping conveyor 9 first contact the tooling 10, generating a certain clamping force. As the clamping conveyor 9 clamps, the two clamping conveyor mechanisms 9 at the lower end of the clamping conveyor 9 contact, generating a clamping force. The clamping mechanism pre-load wheels 9-16 prevent the tooling from falling off during the clamping process.

[0062] The half-open crawler track 9-9 of the clamping mechanism at the upper end of the clamping conveying mechanism and the clamping mechanism pre-tensioning wheels 9-16 on both sides of the clamping conveying mechanism are connected to the clamping mechanism track wheel mounting plate 9-12 with passive spring clamping mechanism passive compression spring 9-14 and clamping mechanism pre-tensioning passive spring 9-18 and form a small-range moving pair, which has a certain smooth effect on the entire clamping tooling process.

[0063] The half-open crawler wheel 9-9 of the clamping mechanism forms a friction force by pressing against the square tooling 10, and the half-open crawler wheel 9-10 of the clamping mechanism rotates to drive the tooling to move axially.

[0064] The arc-shaped guide rail 1 has an arc-shaped conductor, the center of which coincides with the center of the refining furnace, so that the remote operation end of the tooling has a larger working space; the wrist joint of the robotic arm has two rotational degrees of freedom and one mobile degree of freedom, and has a decoupled central parallel platform structure; the passive inertia compensation mechanism adopts a first-stage inverted pendulum, and the top of the inverted pendulum is connected to a high-inertia flywheel.

[0065] The cross section of the tooling 10 is square, and the surface where the half-open crawler 9-9 of the clamping mechanism contacts the tooling has a coating that increases friction.

[0066] The tooling replacement unit includes a tooling replacement platform 11, which includes a tooling replacement platform winch 11-1, two tooling replacement platform conveyor belts 11-2 and a tooling replacement platform bracket 11-3. The tooling replacement platform winch 11-1 is arranged at the upper end of the tooling replacement platform bracket 11-3, and a tooling replacement roller 11-4 is provided on each side of the tooling replacement platform bracket 11-3. A tooling replacement platform conveyor belt 11-2 is provided between the end of the tooling replacement platform winch 11-1 and the tooling replacement roller 11-4, and a plurality of tooling slots 11-5 are evenly distributed on the outer wall of the tooling replacement platform conveyor belt 11-2 along the length direction.

[0067] Specific implementation method nine: Combination Figures 1 to 9 This embodiment describes a control method for a molten aluminum refining device based on a multi-freedom hybrid robotic arm, which includes a trajectory tracking control system, a furnace door collision detection compliance control system, a slip compensation control system, and a gravity moment compensation control system.

[0068] The trajectory tracking control system runs through the entire movement of the robotic arm to ensure that the robotic arm runs along the predetermined trajectory during the movement;

[0069] The furnace door collision detection compliance control system is triggered when the robot arm body deviates from the predetermined trajectory or there is an error in the preset trajectory, causing the robot arm's operating tooling to collide with the furnace door or furnace arm. The planned robot arm trajectory is locally optimized to generate new refined robot arm trajectory information to avoid collision with the furnace door.

[0070] The slip compensation control system is triggered when the tooling slips, driving the clamping mechanism to drive the slider 9-5 to move so that sufficient friction is generated between the clamping conveying mechanism 9 and the tooling 10;

[0071] The gravity moment compensation control system runs through the entire movement of the robotic arm, reducing the influence of the inertia effect caused by the movement of the tooling 10.

[0072] Specific implementation method ten: Combination Figures 1 to 9To explain this embodiment, in the trajectory tracking control system described in this embodiment, the trajectory tracking controller of the trajectory tracking control system outputs a control signal to cause the arc slider drive motor 2-1, the yaw rotary block drive motor 4-1, the rotating arm drive motor 5-1, the rotating arm drive motor 6-1, the fixed platform drive motor 7-1, the platform link rotation unit drive motor 7-8 and the clamping mechanism half-open crawler drive motor 9-11 to coordinately drive to form the robot arm body to move along a predetermined trajectory, and the trajectory is monitored and real-time online feedback is provided by the arc slider grating sensor 2-2, the yaw rotary block motor encoder 4-2, the rotating arm motor encoder 5-2, the rotating arm motor encoder 6-2, the one-dimensional pitch torque sensor 7-2 and the platform link rotation unit encoder 7-9;

[0073] In the furnace door collision detection compliance control system, the furnace door collision compliance detection controller of the furnace door collision detection compliance control system sets thresholds for pitch moment and yaw moment, and monitors the movement of the entire robotic arm by acquiring the one-dimensional pitch moment sensor 7-2 and the one-dimensional yaw moment sensor 9-1 in real time; when the feedback information exceeds the preset threshold, the furnace door collision detection compliance controller performs power feedforward of the robotic arm according to the preset trajectory and performs online secondary planning of the current trajectory based on the feedback information at this time in combination with the trajectory tracking controller, and outputs corresponding control information to each drive module of the robotic arm body, thereby avoiding continuous collision between the robotic arm operating tooling and the refining furnace, and improving the compliance and safety of the entire robotic arm system;

[0074] In the slip compensation control system, the slip compensation controller of the slip compensation control system monitors the axial movement of the tooling in real time by acquiring the trajectory motion information of the robot body and the information of the tooling position laser rangefinder 9-8 in real time; when the slip compensation controller detects that the tooling is slipping, it outputs a control signal to the clamping mechanism drive motor 9-3, and the clamping mechanism drive motor 9-3 drives the clamping mechanism drive slider 9-5 to move downward along the clamping mechanism guide rod 9-20. Under the action of the clamping mechanism straight link 9-6 and the clamping mechanism bent link 9-7, the clamping mechanism half-open crawler 9-9 on both sides of the tooling provides a greater clamping force, so that the tooling has sufficient friction for rapid axial movement;

[0075] In the gravity torque compensation control system, the gravity compensation controller of the gravity torque compensation control system obtains the trajectory motion information of the robot arm body, and the gravity torque compensation mechanism drives the motor 8-4 to perform corresponding inertia compensation in real time to reduce the influence of the inertia effect of large inertia tooling on the robot arm body when moving long distances.

[0076] The undisclosed technical features in this embodiment are the same as those in the ninth embodiment.

[0077] When the tooling changes from a relatively slow axial movement to a fast axial movement rapidly, and the friction force provided by the current holding and conveying mechanism 9 for the tooling is insufficient to provide the acceleration required for the required fast axial movement, the tooling will slip.

[0078] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, tasks, devices, components and / or combinations thereof.

[0079] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0080] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A molten aluminum refining device based on a multi-freedom hybrid robotic arm, characterized by: The invention comprises a mechanical arm main unit, a gravity moment compensation unit, a tool holding and conveying unit and a tool replacement unit. The mechanical arm main unit comprises an arc slide rail (1), an arc slider mechanism, a pitch moment compensation platform (3), a yaw rotary block mechanism, a rotating large arm mechanism, a rotating small arm mechanism and a three-degree-of-freedom parallel platform (7). The arc slider mechanism is slidably connected to the arc slide rail (1). The upper end of the rotating large arm mechanism is connected to the lower end of the arc slider mechanism through the yaw rotary block mechanism. The middle part of the three-degree-of-freedom parallel platform (7) is connected to the lower end of the rotating large arm mechanism through the rotating small arm mechanism. The pitch moment compensation platform (3) is arranged between the arc slider mechanism and the three-degree-of-freedom parallel platform (7). The tool holding and conveying unit is connected to the three-degree-of-freedom parallel platform (7) through the gravity moment compensation unit. The tool replacement unit is arranged on one side of the arc slide rail (1).

2. The aluminum liquid refining device based on a multi-freedom hybrid robotic arm according to claim 1, characterized in that: The arc-shaped slider mechanism comprises an arc-shaped slider (2), an arc-shaped slider driving motor (2-1) and an arc-shaped slider grating sensor (2-2); the arc-shaped slider (2) is sleeved on the outside of the arc-shaped slide rail (1); the arc-shaped slider driving motor (2-1) is arranged at the upper end of the arc-shaped slider (2); and the output shaft of the arc-shaped slider driving motor (2-1) drives the arc-shaped slider (2) to move along the length direction of the arc-shaped slide rail (1); and the arc-shaped slider grating sensor (2-2) is arranged on one side of the output shaft of the arc-shaped slider driving motor (2-1).

3. The aluminum liquid refining device based on a multi-freedom hybrid robotic arm according to claim 2, characterized in that: The pitching moment compensation platform (3) comprises a winch wheel drive motor (3-1), a winch wheel drive motor encoder (3-2), a winch wheel (3-3) and a cable (3-4); the winch wheel (3-3) is arranged on one side of the arc-shaped slider mechanism; the output shaft of the winch wheel drive motor (3-1) is fixedly connected to the winch wheel (3-3); one end of the cable (3-4) is fixedly connected to the outer side wall of the winch wheel (3-3); the other end of the cable (3-4) is fixedly connected to one side of the upper end of the three-degree-of-freedom parallel platform (7); and the winch wheel drive motor encoder (3-2) is arranged on one side of the output shaft of the winch wheel drive motor (3-1).

4. The aluminum liquid refining device based on a multi-freedom hybrid robotic arm according to claim 3, characterized in that: The yaw rotary block mechanism comprises a yaw rotary block (4), a yaw rotary block drive motor (4-1) and a yaw rotary block motor encoder (4-2); the yaw rotary block (4) is rotatably connected to the lower end of the arc-shaped slider mechanism; the yaw rotary block drive motor (4-1) is arranged on one side of the yaw rotary block (4); and the output shaft of the yaw rotary block drive motor (4-1) drives the yaw rotary block (4) to rotate around a vertical axis; and the yaw rotary block motor encoder (4-2) is arranged on one side of the output shaft of the yaw rotary block drive motor (4-1).

5. The aluminum liquid refining device based on a multi-freedom hybrid robotic arm according to claim 4, characterized in that: The rotating boom mechanism comprises a rotating boom (5), a rotating boom drive motor (5-1) and a rotating boom motor encoder (5-2); the upper end of the rotating boom (5) is rotatably connected to the lower end of the yaw rotary block mechanism; the rotating boom drive motor (5-1) is arranged on one side of the upper end of the rotating boom (5); and the output shaft of the rotating boom drive motor (5-1) drives the rotating boom (5) to rotate around a horizontal axis; and the rotating boom motor encoder (5-2) is arranged on one side of the output shaft of the rotating boom drive motor (5-1); The rotating arm mechanism comprises a rotating arm (6), a rotating arm drive motor (6-1) and a rotating arm motor encoder (6-2); the upper end of the rotating arm (6) is rotatably connected to the lower end of the rotating arm (5); the rotating arm drive motor (6-1) is arranged on one side of the upper end of the rotating arm (6); the output shaft of the rotating arm drive motor (6-1) drives the rotating arm (6) to rotate around a horizontal axis; and the rotating arm motor encoder (6-2) is arranged on one side of the output shaft of the rotating arm drive motor (6-1).

6. The aluminum liquid refining device based on a multi-freedom hybrid robotic arm according to claim 1, 2, 3, 4 or 5, characterized in that: The three-degree-of-freedom parallel platform (7) comprises a fixed platform drive motor (7-1), a one-dimensional pitch torque sensor (7-2), a fixed platform (7-3), a moving platform (7-4), three platform connecting guide rails (7-5), two platform connecting guide rail moving unit drive motors and encoder groups (7-6), three platform connecting guide rods (7-7), a platform connecting rod rotating unit drive motor (7-8) and a platform connecting rod rotating unit encoder (7-9); the middle portion of the upper end surface of the fixed platform (7-3) is rotatably connected to the lower end of the rotating small arm mechanism; the fixed platform drive motor (7-1) is arranged on one side of the middle portion of the upper end surface of the fixed platform (7-3); and the output shaft of the fixed platform drive motor (7-1) drives the fixed platform (7-3) to rotate around a horizontal axis; and the one-dimensional pitch torque sensor (7-2) is arranged on one side of the output shaft of the fixed platform drive motor (7-1); The movable platform (7-4) is arranged directly below the fixed platform (7-3). Three groups of support units are symmetrically arranged between the fixed platform (7-3) and the movable platform (7-4) along the circumferential direction. Each group of support units includes a platform connecting guide rail (7-5) and a platform connecting guide rod (7-7). The platform connecting guide rail (7-5) and the platform connecting guide rod (7-7) are coaxially arranged. The lower end of the platform connecting guide rail (7-5) is sleeved on the outer side of the upper end of the platform connecting guide rod (7-7) and is slidably connected to the platform connecting guide rod (7-7). The upper end of the platform connecting guide rail (7-5) and the lower end surface of the fixed platform (7-3) are rotatably connected via a ball joint pair. The three groups of support units are respectively a main drive support unit, an auxiliary drive support unit and a passive drive support unit. The lower end of the platform connecting guide rod (7-7) of the main drive support unit is rotatably connected to the upper end surface of the moving platform (7-4) through a rotating pair. The platform connecting rod rotating unit driving motor (7-8) is arranged on one side of the upper end surface of the moving platform (7-4), and the output shaft of the platform connecting rod rotating unit driving motor (7-8) drives the rotating pair to rotate around the horizontal axis. The platform connecting rod rotating unit encoder (7-9) is arranged on one side of the output shaft of the platform connecting rod rotating unit driving motor (7-8). The main drive support unit and the auxiliary drive support unit are both provided with a platform connecting guide rail moving unit driving motor and an encoder group (7-6). The lower ends of the platform connecting guide rods (7-7) of the auxiliary drive support unit and the passive drive support unit are rotatably connected to the upper end surface of the moving platform (7-4) through a ball joint pair.

7. The aluminum liquid refining device based on a multi-freedom hybrid robotic arm according to claim 6, characterized in that: The gravity moment compensation unit comprises a gravity moment compensation mechanism (8), which is a first-order inverted pendulum. The gravity moment compensation mechanism (8) comprises a gravity moment compensation mechanism moving slider (8-1), a flywheel (8-2), a gravity moment compensation mechanism flywheel guide rod (8-3), a gravity moment compensation mechanism driving motor (8-4) and a gravity moment compensation mechanism encoder (8-5). A gravity moment compensation mechanism sliding groove (8-6) is provided on the upper end surface of the moving platform (7-4) in a radial direction. A gravity moment compensation mechanism driving motor (8-4) is provided on one side of the gravity moment compensation mechanism sliding groove (8-6). A rotating screw is provided inside along the length direction; the output shaft of the gravity moment compensation mechanism driving motor (8-4) is connected to the rotating screw via an orthogonal bevel gear set; a moving nut is rotatably connected to the moving slider (8-1) of the gravity moment compensation mechanism; the moving nut is screwed onto the rotating screw; the moving slider (8-1) of the gravity moment compensation mechanism is slidably connected to the gravity moment compensation mechanism slide groove (8-6); the upper end surface of the moving slider (8-1) of the gravity moment compensation mechanism is connected to the flywheel (8-2) via the gravity moment compensation mechanism flywheel guide rod (8-3); and the gravity moment compensation mechanism encoder (8-5) is arranged on one side of the output shaft of the gravity moment compensation mechanism slide groove (8-6).

8. The aluminum liquid refining device based on a multi-freedom hybrid robotic arm according to claim 7, characterized in that: The tooling holding and conveying unit comprises a holding and conveying mechanism (9), which comprises a one-dimensional yaw moment sensor (9-1), a holding mechanism bracket (9-2), a holding mechanism drive motor (9-3), a holding mechanism position sensor (9-4), a holding mechanism drive slider (9-5), two holding mechanism straight connecting rods (9-6), two holding mechanism bending connecting rods (9-7), a tooling position laser rangefinder (9-8), four holding mechanism half-open crawlers (9-9), four sets of holding mechanism half-open crawler wheels (9-10), and a plurality of holding mechanism half-open crawler wheels. ), two clamping mechanism half-open crawler drive motors (9-11), two clamping mechanism track wheel mounting plates (9-12), two clamping mechanism passive compression spring mounting plates (9-13), two sets of clamping mechanism passive compression springs (9-14), two clamping mechanism passive spring position sensors (9-15), two clamping mechanism pre-compression wheels (9-16), two clamping mechanism pre-compression wheel mounting plates (9-17), two clamping mechanism pre-compression passive springs (9-18) and two clamping mechanism pre-compression mechanism mounting plates (9-19); The clamping mechanism bracket (9-2) is fixedly connected to the lower end of the three-degree-of-freedom parallel platform (7), and a one-dimensional yaw moment sensor (9-1) is provided between the clamping mechanism bracket (9-2) and the three-degree-of-freedom parallel platform (7). A clamping mechanism guide rod (9-20) is vertically fixedly connected to the middle of the lower end surface of the clamping mechanism bracket (9-2). The clamping mechanism driving slider (9-5) is slidably connected to the clamping mechanism guide rod (9-20). The clamping mechanism driving motor (9-3) is provided on one side of the clamping mechanism driving slider (9-5), and the clamping mechanism driving motor (9-3) drives the clamping mechanism driving slider (9-5) to move along the length direction of the clamping mechanism guide rod (9-20). The clamping mechanism position sensor (9-4) The clamping mechanism is arranged on the other side of the driving slider (9-5), the tooling position laser rangefinder (9-8) is arranged at the lower end of the clamping mechanism guide rod (9-20), the upper end of the clamping mechanism straight link (9-6) is rotatably connected to the end of the clamping mechanism bracket (9-2), the lower end of the clamping mechanism straight link (9-6) is rotatably connected to the bending portion of the clamping mechanism bent link (9-7), the clamping mechanism bent link (9-7) is relatively arranged on both sides of the clamping mechanism guide rod (9-20), the upper end of the clamping mechanism bent link (9-7) is rotatably connected to the side wall of the clamping mechanism driving slider (9-5), and the lower end of the clamping mechanism bent link (9-7) is fixedly connected to the clamping mechanism track wheel mounting plate (9-12); The upper and lower parts of the inner end surface of each clamping mechanism track wheel mounting plate (9-12) are respectively connected with a group of clamping mechanism half-open track wheels (9-10), each group of clamping mechanism half-open track wheels (9-10) are evenly arranged along the length direction of the clamping mechanism track wheel mounting plate (9-12), and are rotatably connected to the clamping mechanism track wheel mounting plate (9-12), and the outer side of each group of clamping mechanism half-open track wheels (9-10) is provided with a clamping mechanism half-open track (9-9), and the clamping mechanism half-open track wheel (9-10) at the front end of the lower part is connected with a clamping mechanism half-open track A driving motor (9-11) is provided. A clamping mechanism passive compression spring mounting plate (9-13) is sleeved on the outer side of the upper portion of the clamping mechanism track wheel mounting plate (9-12) and is slidably connected to the clamping mechanism track wheel mounting plate (9-12) in a vertical direction. A clamping mechanism passive spring position sensor (9-15) is provided on the outer side of the clamping mechanism passive compression spring mounting plate (9-13). Each group of clamping mechanism passive compression springs (9-14) is vertically fixed between the clamping mechanism track wheel mounting plate (9-12) and the clamping mechanism passive compression spring mounting plate (9-13). The clamping mechanism pre-compression mechanism mounting plate (9-19) is relatively fixed to the front end of the lower part of the clamping mechanism track wheel mounting plate (9-12); the clamping mechanism pre-compression wheel mounting plate (9-17) is arranged on the inner side of the clamping mechanism pre-compression mechanism mounting plate (9-19); the clamping mechanism pre-compression passive spring (9-18) is fixed between the clamping mechanism pre-compression wheel mounting plate (9-17) and the clamping mechanism pre-compression mechanism mounting plate (9-19); the clamping mechanism pre-compression wheel (9-16) is arranged on the inner side of the clamping mechanism pre-compression wheel mounting plate (9-17) and is rotatably connected to the clamping mechanism pre-compression wheel mounting plate (9-17).

9. The control method of the aluminum liquid refining device based on the multi-freedom hybrid robotic arm according to claim 8, characterized in that: The method includes a trajectory tracking control system, a furnace door collision detection compliance control system, a slip compensation control system and a gravity moment compensation control system; The trajectory tracking control system runs through the entire movement of the robotic arm to ensure that the robotic arm runs along the predetermined trajectory during the movement; The furnace door collision detection compliance control system is triggered when the robot arm body deviates from the predetermined trajectory or there is an error in the preset trajectory, causing the robot arm's operating tooling to collide with the furnace door or furnace arm. The planned robot arm trajectory is locally optimized to generate new refined robot arm trajectory information to avoid collision with the furnace door. The slip compensation control system is triggered when the tooling slips, driving the clamping mechanism to drive the slider (9-5) to move, thereby generating sufficient friction between the clamping conveying mechanism (9) and the tooling (10); The gravity moment compensation control system runs through the entire movement of the robotic arm, reducing the influence of the inertia effect caused by the movement of the tooling (10).

10. The control method of the aluminum liquid refining device based on the multi-freedom hybrid robotic arm according to claim 9, characterized in that: In the trajectory tracking control system, a trajectory tracking controller of the trajectory tracking control system outputs a control signal to cause the arc slider drive motor (2-1), the yaw rotary block drive motor (4-1), the rotating arm drive motor (5-1), the rotating small arm drive motor (6-1), the fixed platform drive motor (7-1), the platform connecting rod rotating unit drive motor (7-8) and the clamping mechanism half-open crawler drive motor (9-11) to coordinately drive to form the robot arm body to move along a predetermined trajectory, and to perform trajectory monitoring and real-time online feedback through the arc slider grating sensor (2-2), the yaw rotary block motor encoder (4-2), the rotating arm motor encoder (5-2), the rotating small arm motor encoder (6-2), the one-dimensional pitch torque sensor (7-2) and the platform connecting rod rotating unit encoder (7-9); In the furnace door collision detection compliance control system, a furnace door collision compliance detection controller of the furnace door collision detection compliance control system sets thresholds for pitch moment and yaw moment, and monitors the motion of the entire robotic arm by acquiring a one-dimensional pitch moment sensor (7-2) and a one-dimensional yaw moment sensor (9-1) in real time; when the feedback information exceeds the preset threshold, the furnace door collision detection compliance controller performs power feedforward of the robotic arm according to a preset trajectory, and performs online secondary planning of the current trajectory based on the feedback information at this time in combination with the trajectory tracking controller, and outputs corresponding control information to each drive module of the robotic arm body, thereby avoiding continuous collision between the robotic arm operating tooling and the refining furnace, and improving the compliance and safety of the entire robotic arm system; In the slip compensation control system, the slip compensation controller of the slip compensation control system monitors the axial movement of the tooling in real time by acquiring the trajectory motion information of the robot body and the tooling position laser rangefinder (9-8) in real time; when the slip compensation controller detects that the tooling is slipping, it outputs a control signal to the clamping mechanism drive motor (9-3), and the clamping mechanism drive motor (9-3) drives the clamping mechanism drive slider (9-5) to move downward along the clamping mechanism guide rod (9-20), and under the action of the clamping mechanism straight connecting rod (9-6) and the clamping mechanism bent connecting rod (9-7), the clamping mechanism half-open crawlers (9-9) on both sides of the tooling provide greater clamping force, so that the tooling has sufficient friction to move axially quickly; In the gravity moment compensation control system, the gravity compensation controller of the gravity moment compensation control system obtains the trajectory motion information of the robot arm body, and the gravity moment compensation mechanism drives the motor (8-4) to perform corresponding inertia compensation in real time to reduce the influence of the inertia effect generated by the large inertia tooling on the robot arm body when moving over a long distance.

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