Industrial material calcination intelligent mechanical arm and calcination equipment

Abstract

The application relates to the technical field of chemical equipment, in particular to an industrial material calcination intelligent mechanical arm and a calcination equipment. The industrial material calcination intelligent mechanical arm comprises a base, a feeding seat slidingly arranged on the base, a feeding driving structure installed on the base and connected with the feeding seat, a first rotating arm one end of which is rotatably connected with the feeding seat, a first rotating arm driving structure installed on the feeding seat and connected with the first rotating arm, a second rotating arm rotatably connected with the other end of the first rotating arm, a second rotating arm driving structure installed on the first rotating arm, a telescopic driving drill rod installed on the second rotating arm, and a controller connected with the base driving structure, the feeding driving structure, the first rotating arm driving structure, the second rotating arm driving structure and the telescopic driving structure. The industrial material calcination intelligent mechanical arm is used for crushing the calcination material agglomerates, avoids manual operation, improves the work efficiency, and reduces the operation danger.

Description

Technical Field

[0001] This invention relates to the field of chemical equipment technology, specifically to an intelligent robotic arm and calcination equipment for calcining industrial materials. Background Technology

[0002] New materials refer to substances or materials with special properties or functions that have been discovered or developed in nature or in laboratories in recent years. These new materials typically include the following: advanced metallic materials (e.g., nanometals, high-performance alloys); polymeric materials (e.g., high-performance plastics, elastomers, polymer composites); inorganic non-metallic materials (e.g., nanoceramics, oxides); novel composite materials (e.g., carbon fiber composites, glass fiber composites); functional or intelligent materials (e.g., self-healing materials, conductive paper, magnetic materials); and novel energy materials (e.g., lithium-ion battery cathode materials, fuel cells). The emergence of new materials has greatly promoted technological development and brought many conveniences and innovations to human production and life. For example, in the field of transportation, the application of new lightweight metallic materials makes cars lighter and more efficient; in the medical field, the research and application of biomedical materials has improved surgical outcomes and reduced harm to patients.

[0003] The processing of new materials typically involves several steps: Raw material selection and pretreatment: Selecting appropriate raw materials based on the type of new material to be prepared, and performing necessary pretreatments such as crushing, mixing, and washing. Batching: Proportioning the prepared raw materials according to a specific ratio, and adding appropriate auxiliary agents such as catalysts and plasticizers. Mixing: Thoroughly mixing the batchings to form the desired material. Molding: Calcining the mixed material and then molding it; common molding methods include calendering, extrusion, and injection molding. Drying: Drying the molded product to remove excess moisture and other volatile substances to ensure product quality and stability. Sintering: Sintering the dried product; this step alters the microstructure of the raw materials, thereby giving the material the desired functions and properties. Post-treatment: Post-treatment of the sintered product, such as grinding and surface treatment, to meet usage requirements. It is important to note that different materials and products may require different calcination processes and conditions; therefore, adjustments and optimizations are necessary based on specific circumstances during actual production.

[0004] When calcining new materials, we generally use a calcination tank. During the calcination process, the new materials may clump together, requiring manual breaking with steel rods. This often requires 4-5 people working together. Due to the high temperature environment, the working conditions are poor, the labor intensity is high, and there are dangers involved. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides an intelligent robotic arm for industrial material calcination, used to crush and lift calcined material lumps, thereby facilitating the calcination and transfer of new materials. The intelligent robotic arm for industrial material calcination includes:

[0006] A base is used to slide on the robotic arm track and form a mounting support. The base can be a rectangular plate structure, a square plate structure, or other shapes, ensuring that the upper surface of the base is flat, preferably horizontal. Since it needs to fit the track, the shape of the base is preferably rectangular. Due to process requirements, the centerline of the base can be set to point to the center point of the robotic arm track.

[0007] A base drive structure can be mounted on a base to drive the base to slide on the robotic arm track. The base drive structure can be installed at the bottom of the base, thus reducing installation space and improving the aesthetics of the industrial material calcination intelligent robotic arm. The base drive structure can be driven by a chain pull or by a combination of a motor and drive wheels. When the base drive structure is a combination of a motor and drive wheels, the motor can be mounted at the bottom of the base, with its output shaft coaxially fixed to the center of the drive wheel. The drive wheel contacts the ground level of the robotic arm track or the side of the robotic arm track, preferably through gear meshing.

[0008] The feed seat slides onto the base, forming a support carrier. The sliding path of the feed seat points to the center of the base's movement trajectory. Specifically, the bottom of the feed seat may be equipped with rollers, and the upper surface of the base may be equipped with a rolling track that matches the rollers. The rollers are placed on the rolling track and roll on it, thereby reducing the friction between the feed seat and the base.

[0009] The feed drive structure can be mounted on the base and connected to the feed seat. The feed drive structure is used to drive the feed seat to slide on the base, so that the sliding direction of the feed seat is always on the circular meridian of the base's movement trajectory.

[0010] The first rotating arm has one end rotatably connected to the feed seat. The plane in which the first rotating arm rotates can be perpendicular to the ground. Of course, perpendicularity is only the best way and does not mean that the plane of rotation of the first rotating arm can be set at other angles. The first rotating arm can be made of steel frame structure or other rigid materials to ensure that it has a certain rigidity, so as to form a supporting frame.

[0011] The second rotating arm is rotatably connected to the other end of the first rotating arm. Its rotation plane can match the rotation plane of the first rotating arm. The first and second rotating arms work together to form a structure similar to a human arm, and they cooperate to perform operations.

[0012] The second rotating arm drive structure is mounted on the first rotating arm and is used to drive the second rotating arm to rotate around its rotation connection point.

[0013] A telescopic drive rod, mounted on a second rotating arm, is used to break up calcined and agglomerated materials. The non-connecting end of the telescopic drive rod can be set as a pointed tip to reduce the force-bearing area and facilitate the breaking up of agglomerated materials. The telescopic drive rod needs to be made of high-temperature resistant material to prevent damage during operation.

[0014] The controller is signal-connected to the base drive structure, feed drive structure, first rotating arm drive structure, second rotating arm drive structure, and telescopic drive structure. This connection can be wired or wireless. The controller controls the circumferential movement of the intelligent robotic arm for industrial material calcination, the movement and feeding of the feed seat, the rotation of the first and second rotating arms, and the extension and retraction of the telescopic drive rod. The controller includes a one-button crushing setting, which excludes the movement of the base and feed seat; these movements require manual operation. The controller controls the base drive structure to move the intelligent robotic arm for industrial material calcination to the required circumferential position for crushing, and then controls the feed seat to a specified radial position via the feed drive structure. The one-button crushing control method includes: obtaining the operating depth h; calculating the adjustment length L of the telescopic drive rod; and controlling the length of the telescopic drive rod to L. The controller controls the second rotating arm drive structure to make the included angle δ between the first and second rotating arms. Then, the controller controls the first rotating arm drive structure to move the telescopic drive rod downwards. The telescopic drive rod contacts the material spreading plane and breaks it. After the telescopic drive rod breaks the material, the controller controls the second rotating arm drive structure to increase the angle between the second and first rotating arms. The second rotating arm stops rotating when the first rotating arm rotates to a preset angle A. The controller then controls the second rotating arm drive structure to increase the angle between the second and first rotating arms to a preset angle B to pick up the material, thereby lifting the telescopic drive rod upwards. This completes the crushing of the calcined material and its turning over into the discharge area inside the calcination tank.

[0015] Preferably, the bottom of the base can be provided with a track groove structure that cooperates with the robotic arm track. When the base is placed on the robotic arm track, the robotic arm track can be nested inside the track groove structure. Rollers can be provided inside the track groove structure. The rollers are used to place on the robotic arm track, thereby reducing the friction between the base and the robotic arm track and making the base slide more smoothly.

[0016] Preferably, a sliding stabilizing structure can be provided between the base and the feed seat. The sliding stabilizing structure is used to increase the stability of the feed seat's sliding. The sliding stabilizing structure can include a guide rod and a linear bearing. At least one guide rod can be fixedly provided on the base. The direction of the guide rod is consistent with the sliding direction of the feed seat. A linear bearing is fixedly provided at the bottom of the feed seat. The number and position of the linear bearing correspond to the guide rod. The linear bearing is slidably nested on the guide rod, thereby guiding the sliding of the feed seat and preventing the feed seat from tipping over under force.

[0017] Preferably, the telescopic drive rod can consist of a telescopic drive structure and a rod. One end of the rod is slidably nested inside the second rotating arm, and the other end of the rod is the working end, extending out of the second rotating arm. The telescopic drive structure is installed inside the second rotating arm and is used to drive the rod to slide. The telescopic drive structure can be a hydraulic drive rod or an electric telescopic rod. The feed drive structure, the first rotating arm drive structure, the second rotating arm drive structure, and the telescopic drive structure can all be uniformly set as a hydraulic drive rod, thus facilitating operation and management and saving costs. During operation, it can be controlled by numbering, details of which are not elaborated here.

[0018] Preferably, the operating depth h = H - h1 + h2, where h1 is the working plane height of the intelligent robotic arm for industrial material calcination, i.e., the material accumulation height inside the calcination tank, which can be obtained through detection or visual inspection, and then further obtained through manual or electrical signal input. h2 is the mounting plane height of the first rotating arm, which can be the height of the upper surface of the feed seat when the first rotating arm is a straight line. H is the total depth of the calcination tank, which can be obtained through system input or equipment parameter collection.

[0019] Preferably, the adjustable length L of the telescopic drive rod is L = h - L0 + α, where L0 is the sum of the length of the second rotating arm and the base length of the telescopic drive rod, and α is the breaking insertion depth, the value of which is related to the thickness of the agglomerate and can be fixed, because it is generally calcined from a specific material, and its value is generally 0.1-0.5m.

[0020] Preferably, the crushing insertion depth can be determined according to the material properties and calcination depth. The specific calculation method for the crushing insertion depth α is α = h' + h”, where h' is the spreading thickness of the feed, which is related to the feed flow rate and can be obtained through experience or calculation. h” is the average thickness of the material agglomeration after crushing, which is generally a fixed value between 0.1-0.3m. The specific details are not elaborated here.

[0021] Preferably: the rate at which the angle between the second rotating arm and the first rotating arm increases. Wherein, ω2 is the real-time rotational angular velocity of the first rotating arm, which can be calculated from the extension and retraction speed of the second rotating arm drive structure.

[0022] Preferred: Specifically, it can be the paving thickness of the feed material. Where Q is the feed flow rate per unit time, which can be obtained from the feed flow rate, and ε is the effective paving area ratio factor. Not all surface areas of the calcining tank are paved with material; it is essentially the proportion of the paved area on the exterior of the calcining tank to the total area. Specifically, it can be... Where r is the radius of the non-paved area, which can be obtained from the equipment parameters of the calcination tank; R is the radius of the upper surface of the calcination tank, both of which can be obtained from the equipment parameters, and will not be elaborated here. n is the number of crushing operations per unit time. Generally, when calcining materials, we rotate circumferentially around the calcination tank to simultaneously feed and calcine while crushing, achieving continuous operation.

[0023] Preferably: the controller controls the second rotating arm drive structure so that the angle between the first rotating arm and the second rotating arm is... Wherein, S is the effective length of the first rotating arm, the intersection of the extended line of the first rotating arm end where the first rotating arm connects with the second rotating arm and the plane where the feed seat is located is defined as the effective intersection point, and the length of the line connecting the effective intersection point to the rotation connection point of the first rotating arm and the second rotating arm is defined as the effective length S of the first rotating arm.

[0024] This invention also proposes an intelligent calcination device for industrial materials, which includes:

[0025] A calcination tank is used for calcining and discharging the fed materials. The calcination tank can be an inverted frustum or a cylindrical groove structure, and is equipped with a heating device, a feeding device, a discharging device, a smoke exhaust device, etc. The heating device is used to calcine the materials. The feeding device can feed materials through a pipeline. The discharging device can be set at the center of the calcination tank, and its coverage and extension radius is the radius r of the non-paved area mentioned above. The smoke exhaust device can be located above the calcination tank. A heat-insulating cover with an opening can be installed on the calcination tank.

[0026] The robotic arm track is fixedly installed around the perimeter of the calcination tank and can be concentrically positioned with the upper surface of the tank. The robotic arm track can be a double-track configuration, meaning both tracks are on the same plane and are concentric circles.

[0027] The aforementioned intelligent robotic arm for calcining industrial materials is placed on a robotic arm track and rotates around the calcination tank to break up and transfer the agglomerated material inside the calcination tank.

[0028] The technical effects and advantages of this invention are as follows: This invention utilizes an intelligent robotic arm to break up calcined material lumps, eliminating the need for manual operation, improving work efficiency, and avoiding the dangers of human error. It ensures that the telescopic drive rod is inserted into the lumped material in the most force-efficient manner, preventing equipment damage caused by the deflection force of the drive rod, while increasing the effective use of force. This allows for the fastest possible breaking up of lumped calcined material, improving work efficiency. Semi-automatic control enables one-button crushing and material handling, avoiding separate operation of the first rotating arm, second rotating arm, and telescopic drive rod, and ensuring optimal crushing efficiency, protecting the equipment, and avoiding cumbersome operations. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of an intelligent robotic arm for calcining industrial materials proposed in this invention;

[0030] Figure 2 This is a three-dimensional structural schematic diagram of an intelligent calcination device for industrial materials proposed in this invention;

[0031] Figure 3 This is a top view schematic diagram of an intelligent calcination device for industrial materials proposed in this invention;

[0032] Figure 4 for Figure 3 A partial sectional view of the structure at section AA;

[0033] Figure 5 This is a flowchart of a one-click crushing control method for an intelligent robotic arm for calcining industrial materials, as proposed in this invention.

[0034] Explanation of reference numerals in the attached drawings: calcination tank 1, robotic arm track 2, intelligent robotic arm for calcining industrial materials 3, base 4, feed seat 5, feed drive structure 6, first rotating arm drive structure 7, first rotating arm 8, second rotating arm drive structure 9, second rotating arm 10, telescopic drive rod 11. Detailed Implementation

[0035] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. The embodiments of the present invention are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described to better illustrate the principles and practical application of the invention, and to enable those skilled in the art to understand the invention and design various embodiments with various modifications suitable for a particular purpose.

[0036] Example 1

[0037] refer to Figure 1This embodiment proposes an intelligent robotic arm for industrial material calcination, used to crush and lift calcined material lumps, thereby facilitating the calcination and transfer of new materials. The intelligent robotic arm for industrial material calcination includes:

[0038] The base 4 is slidably mounted on the robotic arm track 2, forming a mounting support. The base 4 can be a rectangular plate structure, a square plate structure, or other shapes, ensuring its upper surface is flat, preferably horizontal. Since it needs to form a track, a rectangular shape is preferred for the base 4. Due to process requirements, the centerline of the base 4 can point to the center point of the robotic arm track 2; specific details are not elaborated here. The bottom of the base 4 can have a track groove structure that mates with the robotic arm track 2. When the base 4 is placed on the robotic arm track 2, the robotic arm track 2 can be nested within the track groove structure. Rollers can be installed inside the track groove structure to reduce friction between the base 4 and the robotic arm track 2, making the sliding of the base 4 smoother. A base drive structure (not shown in the attached diagram) can be mounted on the base 4 to drive the base 4 to slide on the robotic arm track 2. It can also be driven manually, but this is not illustrated here. The aforementioned base drive structure can be installed at the bottom of base 4, thereby reducing the space occupied during installation and enhancing the aesthetics of the intelligent robotic arm for industrial material calcination. The base drive structure can be driven by a chain pull or by a combination of a motor and drive wheels. When the base drive structure is a combination of a motor and drive wheels, the motor can be installed at the bottom of base 4, with its output shaft coaxially fixed to the center of the drive wheel. The drive wheel contacts the ground or the side of the robotic arm track 2, preferably through gear meshing. This gear meshing prevents insufficient driving force caused by insufficient contact pressure between the drive wheel and the ground or the robotic arm track 2. Of course, the base drive structure can have other structures, which will not be elaborated upon here.

[0039] The feed seat 5 is slidably placed on the base 4, forming a support carrier. The sliding path of the feed seat 5 points to the center of the movement trajectory of the base 4. Specifically, the bottom of the feed seat 5 can be provided with a rolling wheel, and the upper surface of the base 4 is provided with a rolling track, which matches the rolling wheel. The rolling wheel is placed on the rolling track and rolls on the rolling track, thereby reducing the friction between the feed seat 5 and the base 4. A sliding stabilizing structure can be provided between the base 4 and the feed seat 5 to increase the sliding stability of the feed seat 5. The sliding stabilizing structure can include a guide rod and a linear bearing. At least one guide rod can be fixedly provided on the base 4, and the direction of the guide rod is consistent with the sliding direction of the feed seat 5. A linear bearing is fixedly provided at the bottom of the feed seat 5, and the number and position of the linear bearing correspond to those of the guide rod. The linear bearing is slidably nested on the guide rod, thereby guiding the sliding of the feed seat 5 and preventing the feed seat 5 from tipping over under force. Of course, the sliding stabilizing structure can also be other structural forms, such as the cooperation of a groove and a protrusion, which will not be elaborated here. The base 4 can have two sets of rolling tracks and rolling wheels. The rolling tracks are two parallel tracks, similar to railway rails, which is existing technology and will not be described in detail here. The feed drive structure 6 can be installed on the base 4 and connected to the feed seat 5. The feed drive structure 6 is used to drive the feed seat 5 to slide on the base 4, so that the sliding direction of the feed seat 5 is always on the circular meridian of the moving trajectory of the base 4. The feed drive structure 6 can be a hydraulic drive rod, an electric telescopic rod, or a motor and lead screw combination structure, with a hydraulic drive rod being preferred. When the feed drive structure 6 is a hydraulic drive rod, the fixed end of the hydraulic drive rod is fixedly installed on the base 4, and the output end of the hydraulic drive rod is fixedly installed on the feed seat 5. The feed seat 5 slides linearly by the extension and retraction of the hydraulic drive rod. Of course, other structural forms of the feed drive structure 6 and the feed seat 5 will not be described in detail here.

[0040] The first rotating arm 8 is rotatably connected at one end to the feed seat 5. The plane in which the first rotating arm 8 rotates can be perpendicular to the ground. However, perpendicularity is only an optimal configuration and does not imply other angles for the rotation plane. The first rotating arm 8 can be made of a steel frame structure or other rigid materials to ensure sufficient rigidity and form a supporting framework. The shape of the first rotating arm 8 can be straight or L-shaped, depending on actual needs. The first rotating arm drive structure 7 is mounted on the feed seat 5 and connected to the first rotating arm 8, used to drive the first rotating arm 8 to rotate. The first rotating arm drive structure 7 can be a hydraulic drive rod, an electric telescopic rod, or a motor and lead screw combination structure, with a hydraulic drive rod being preferred. When the first rotating arm drive structure 7 is a hydraulic drive rod, the hydraulic drive rod is rotatably mounted on the feed seat 5, and the output end of the hydraulic drive rod is rotatably connected to the non-rotating connection end of the first rotating arm 8. The extension and retraction of the hydraulic drive rod causes the first rotating arm 8 to rotate around the rotating connection end. This enables the first rotating arm 8 to rotate on the feed seat 5. Of course, the first rotating arm 8 and the first rotating arm drive structure 7 can also be other structural forms, which will not be elaborated here.

[0041] The second rotating arm 10 is rotatably connected to the other end of the first rotating arm 8. Its rotation plane can coincide with the rotation plane of the first rotating arm 8. The first rotating arm 8 and the second rotating arm 10 cooperate to form a structure similar to a human arm, working together for operation. The second rotating arm drive structure 9 is mounted on the first rotating arm 8 and is used to drive the second rotating arm 10 to rotate around its rotation connection point. The second rotating arm drive structure 9 can be a hydraulic drive rod, an electric telescopic rod, or a motor and lead screw combination structure, with a hydraulic drive rod being preferred. When the second rotating arm drive structure 9 is a hydraulic drive rod, the hydraulic drive rod is rotatably mounted on the first rotating arm 8, and the output end of the hydraulic drive rod is rotatably connected to the second rotating arm 10. By extending and retracting the hydraulic drive rod, the second rotating arm 10 rotates around the rotation connection point between the second rotating arm 10 and the first rotating arm 8, thereby achieving a telescopic arm-like structure. The rotation connection point of the second rotating arm 10 can be the end of the second rotating arm 10 or other positions, with non-end positions being preferred. At this time, the second rotating arm drive structure 9 can be connected to the end of the second rotating arm 10, so that the second rotating arm drive structure 9 can be kept away from the high-temperature working area, avoiding high-temperature damage to the components of the second rotating arm drive structure 9.

[0042] A telescopic drive rod 11, mounted on the second rotating arm 10, is used to break up calcined agglomerated materials. The non-connecting end of the telescopic drive rod 11 can be a pointed tip to reduce the force-bearing area and facilitate the breaking up of agglomerated materials. The telescopic drive rod 11 needs to be made of high-temperature resistant material to prevent damage during operation. When the material height in the calcination tank 1 is constant, the length of the telescopic drive rod 11 can also be fixed, although this is less common. The telescopic drive rod 11 can consist of a telescopic drive structure and a rod. One end of the rod slides and nests inside the second rotating arm 10, while the other end is the working end and extends out of the second rotating arm 10. The telescopic drive structure is installed inside the second rotating arm 10 and is used to drive the rod to slide. The telescopic drive structure can be a hydraulic drive rod or an electric telescopic rod. The feed drive structure 6, the first rotating arm drive structure 7, the second rotating arm drive structure 9, and the telescopic drive structure can all be uniformly set as a hydraulic drive rod, which facilitates operation and management and saves costs. During operation, it can be controlled by numbering, which will not be elaborated here.

[0043] The controller is connected via signal to the base drive structure, feed drive structure 6, first rotating arm drive structure 7, second rotating arm drive structure 9, and telescopic drive structure. This connection can be wired or wireless. The controller controls the circumferential movement of the intelligent robotic arm 3 for industrial material calcination, the movement and feeding of the feed seat 5, the rotation of the first rotating arm 8 and the second rotating arm 10, and the extension and retraction of the telescopic drive rod 11. The controller can be a manual controller, allowing for manual control during operation, or it can be semi-automatic. When the controller is manual, each of the base drive structure, feed drive structure 6, first rotating arm drive structure 7, second rotating arm drive structure 9, and telescopic drive structure corresponds to a control key. Each control key controls the power output direction of the base drive structure, feed drive structure 6, first rotating arm drive structure 7, second rotating arm drive structure 9, and telescopic drive structure by changing the direction of movement. The specific control concept is existing technology and will not be elaborated here. This manual control method requires separate adjustments to the first rotating arm drive structure 7, the second rotating arm drive structure 9, and the telescopic drive rod 11 during crushing, making operation cumbersome and resulting in low crushing and lifting efficiency. When the control key is used for semi-automatic control, a one-button crushing setting can be set. However, this one-button crushing does not include the movement of the base 4 and the feed seat 5; the movement of the base 4 and the feed seat 5 requires manual operation. (Reference) Figure 5The one-click crushing control method includes: controlling the base drive structure to move the intelligent robotic arm 3 for industrial material calcination to the circumferential position to be crushed, and then controlling the feed seat 5 to the specified radial position through the feed drive structure 6. In actual operation, the base 4 can move sequentially and intermittently, and the specified radial movement position of the feed seat 5 can also be fixed, which will not be elaborated here. When the intelligent robotic arm 3 for industrial material calcination is crushing, the length of the first rotating arm 8 and the material accumulation plane are considered to be fixed because the plane where the feed seat 5 is located are fixed. During the material calcination process, material is fed and discharged simultaneously inside the calcination tank 1, so that the material accumulation surface inside the calcination tank 1 is kept in a fixed position. The working plane height of the intelligent robotic arm 3 for industrial material calcination is obtained as h1, that is, the material accumulation height inside the calcination tank 1. This can be obtained by detection or visual inspection, and then by manual or electrical signal input, which will not be elaborated here. Of course, this can also be obtained through the production parameters of feeding and discharging. During the production process, we set certain production parameters to create a dynamic balance inside the calcination tank 1, ensuring that the stacking height inside the calcination tank 1 does not change. Since the height of the feed seat 5 and the length of the first rotating arm 8 are fixed, the extension and retraction of the first rotating arm drive structure 7 and the second rotating arm drive structure 9 correspond one-to-one with the angles between the first rotating arm 8, the feed seat 5, the end of the first rotating arm 8, and the second rotating arm 10. Here, we use the angle between the end of the first rotating arm 8 and the second rotating arm 10, and the angle between the extension line of the end of the first rotating arm 8 and the upper surface of the feed seat 5 for calibration calculation. We can construct an angle-extension information table relating the angle between the plane containing the first rotating arm 8 and the feed seat 5 to the extension and retraction of the first rotating arm drive structure 7. The second rotating arm drive structure 9 and the second rotating arm 10 are similar, and will not be elaborated here. The operating depth h is calculated as h = H - h1 + h2, where h2 is the height of the mounting plane of the first rotating arm 8. When the first rotating arm 8 is a straight line, it can be the height of the upper surface of the feed seat 5. H is the total depth of the calcination tank 1, which can be obtained through system input or equipment parameter collection. The adjustment length L of the telescopic drive rod 11 is calculated as L = h - L0 + α, where L0 is the sum of the length of the second rotating arm 10 and the basic length of the telescopic drive rod 11. It can be considered that when the telescopic drive rod 11 has zero extension, the total length of the telescopic drive rod 11 and the second rotating arm 10 is equal to α. α is the crushing insertion depth, which is related to the agglomeration thickness and can be fixed. Since it is generally calcined for specific materials, its value is generally 0.1-0.5m. Of course, it can also be determined according to the material properties and calcination depth. The specific calculation method for the crushing insertion depth α can be α = h' + h', where h' is the spreading thickness of the feed material, which is related to the feed flow rate and can be obtained through experience or calculation. Specifically, it can be the spreading thickness of the feed material. Where Q is the feed flow rate per unit time, which can be obtained from the feed flow rate, and ε is the effective paving area ratio factor. Not all surface areas of the calcining tank 1 are paved with material; it is essentially the proportion of the external paved area of ​​the calcining tank 1 to the total area. Specifically, it can be... Where r is the radius of the non-paved area, which can be obtained according to the equipment parameters of calcination tank 1; R is the radius of the upper surface of calcination tank 1, which can also be obtained according to the equipment parameters, and will not be elaborated here. n is the number of crushing times per unit time. Generally, when calcining materials, we rotate around calcination tank 1 in the circumferential direction to feed and calcine while crushing, thus achieving continuous operation. h” is the average thickness of the material agglomerates after crushing, which is generally a fixed value between 0.1-0.3m, and will not be elaborated here. The controller controls the second rotating arm drive structure 9 to make the angle between the first rotating arm 8 and the second rotating arm 10 . Where S is the effective length of the first rotating arm 8, the intersection of the extended line of the first rotating arm 8 at the connection point with the second rotating arm 10 and the plane of the feed seat 5 is defined as the effective intersection point, and the length of the line connecting the effective intersection point to the rotation connection point of the first rotating arm 8 and the second rotating arm 10 is defined as the effective length S of the first rotating arm 8. By controlling this method, the telescopic drive rod 11 can be inserted in the most efficient way to break up the agglomerated calcined material, which can be considered as vertical or near-vertical insertion, improving the breaking efficiency. Then, the controller controls the first rotating arm drive structure 7 to move the telescopic drive rod 11 downwards, so that the telescopic drive rod 11 contacts the material spreading plane and breaks it up. After the telescopic drive rod 11 breaks up the material, the controller controls the second rotating arm drive structure 9 to increase the angle between the second rotating arm 10 and the first rotating arm 8 and increase the speed. Wherein, ω2 is the real-time rotational angular velocity of the first rotating arm 8, which can be calculated from the extension and retraction speed of the second rotating arm drive structure 9, and will not be elaborated here. The second rotating arm 10 stops rotating when the first rotating arm 8 rotates to a preset angle A. The preset angle A can be considered as the angle between the first rotating arm 8 and the plane where the feed seat 5 is located when the first rotating arm 8 is parallel to the stacking plane. This ensures that the telescopic drive rod 11 is inserted into the agglomerated material in the most labor-saving way, which can be considered as near-vertical or perpendicular insertion, avoiding equipment damage caused by the deflection force of the telescopic drive rod 11, while increasing the effective use of force, and can break up the agglomerated calcined material as quickly as possible, thus improving work efficiency. Then, the controller controls the second rotating arm drive structure 9 to increase the angle between the second rotating arm 10 and the first rotating arm 8 to a preset angle B for material picking, thereby lifting the telescopic drive rod 11 upward, thus completing the crushing of the calcined material and turning it into the discharge area inside the calcination tank 1. The preset angle B can be the maximum rotation angle of the telescopic drive rod 11 or other angle values, and will not be elaborated here. By using a one-button crushing and material handling system, the separate operation of the first rotating arm 8, the second rotating arm 10, and the telescopic drive rod 11 is avoided, and crushing can be performed in the optimal way, improving crushing efficiency, protecting the equipment, and avoiding cumbersome operations. The working process of this invention revolves around the calcination tank 1, and its operation method is based on calculations of relevant parameters of the calcination tank 1. Equipment delivery also involves adjusting the operating parameters for the calcination tank 1. Therefore, the parameter settings of the calcination tank 1 are also within the protection scope of the aforementioned intelligent robotic arm operation method for industrial material calcination.

[0044] Example 2

[0045] refer to Figure 2-4 The present invention also proposes an intelligent calcination device for industrial materials, the intelligent calcination device for industrial materials comprising:

[0046] The calcination tank 1 is used for calcining and discharging the fed materials. The calcination tank 1 can be an inverted frustum or a cylindrical groove structure. It is equipped with a heating device, a feeding device, a discharging device, a smoke exhaust device, etc. The heating device is used to calcine the materials. The feeding device can feed materials through a pipe. The discharging device can be set at the center of the calcination tank 1, and its coverage and extension radius is the radius r of the non-paved area mentioned above. The smoke exhaust device can be located above the calcination tank 1. The calcination tank 1 can be equipped with a heat-insulating cover with an opening. The structure of the calcination tank 1 is all existing technology and will not be described in detail here.

[0047] The robotic arm track 2 is fixedly installed on the periphery of the calcination tank 1 and can be concentrically set with the upper surface of the calcination tank 1. The robotic arm track 2 can be a double track configuration, that is, two tracks are on the same plane and are concentric circles; details will not be elaborated here.

[0048] The aforementioned intelligent robotic arm 3 for calcining industrial materials is placed on the robotic arm track 2 and rotates around the calcination tank 1 to break up and transfer the calcined material clumps inside the calcination tank 1.

[0049] Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art and related fields based on the embodiments of the present invention without inventive effort should fall within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described and explained in the present invention, unless otherwise specified or limited, shall be implemented according to conventional means in the art.

Claims

1. An intelligent mechanical arm for calcination of industrial materials, characterized in that, The industrial material calcination intelligent mechanical arm comprises: a base; a feeding seat slidingly arranged on the base; a feeding driving structure mounted on the base and connected with the feeding seat, and used for driving the feeding seat to slide on the base; a first rotating arm having one end rotatably connected with the feeding seat; a first rotating arm driving structure mounted on the feeding seat and connected with the first rotating arm, and used for driving the first rotating arm to rotate; a second rotating arm rotatably connected with the other end of the first rotating arm; a second rotating arm driving structure mounted on the first rotating arm, and used for driving the second rotating arm to rotate about the rotating connection point thereof; a telescopic driving drill rod mounted on the second rotating arm, and used for crushing the calcined material block; a controller connected with the base driving structure, the feeding driving structure, the first rotating arm driving structure, the second rotating arm driving structure and the telescopic driving structure. The one-key crushing control method of the industrial material calcination intelligent mechanical arm comprises the following steps: obtaining an operation depth h; calculating an adjustment length L of the telescopic driving drill rod according to the operation depth h, and controlling the controller to control the length of the telescopic driving drill rod to be L; controlling the controller to control the second rotating arm driving structure to make the included angle between the first rotating arm and the second rotating arm be δ, and then controlling the first rotating arm driving structure to make the telescopic driving drill rod move downward, so that the telescopic driving drill rod contacts and crushes the paving plane of the material; when the telescopic driving drill rod crushes the material, the controller controls the second rotating arm driving structure to increase the angle between the second rotating arm and the first rotating arm; when the second rotating arm rotates to a preset angle A, the rotation of the second rotating arm is stopped, and the controller controls the second rotating arm driving structure to increase the angle between the second rotating arm and the first rotating arm to a preset angle B to pick up the material. The operation depth h = H-h1+h2, wherein h1 is the working plane height of the industrial material calcination intelligent mechanical arm, h2 is the installation plane height of the first rotating arm, and H is the total depth of the calcination pool. An included angle between the first rotating arm and the second rotating arm wherein S is an effective length of the first rotating arm; The adjustment length L of the telescopic driving drill rod is h-L0+α, wherein L0 is the sum of the length of the second rotating arm and the basic length of the telescopic driving drill rod, and α is the crushing drill depth. The paving thickness of the feed where Q is the feed flow rate per unit time, ε is the paving effective area proportionality factor, and n is the number of breakages per unit time. The paving effective area proportion factor where r is the radius of the non-paved area and R is the radius of the upper surface of the calcining tank. The crushing drill depth α = h'+h", wherein h' is the paving thickness of the material, and h" is the average thickness of the material block after crushing.

2. The industrial material calcination intelligent mechanical arm according to claim 1, wherein a sliding stabilizing structure is arranged between the base and the feeding seat, and is used for increasing the stability of the sliding of the feeding seat. the rate of increase of the angle between the second rotating arm and the first rotating arm where ω2 is the real-time rotational angular velocity of the first rotating arm.

4. An intelligent calcination apparatus for industrial materials, characterized by, 3. The industrial material calcination intelligent mechanical arm according to claim 1, wherein the industrial material intelligent calcination equipment comprises: a calcination pool used for calcining and discharging the material; a mechanical arm track fixedly mounted on the periphery of the calcination pool; and the industrial material calcination intelligent mechanical arm according to any one of claims 1-3.

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