An intelligent adjustment system and method for a hydraulic mechanical arm for industrial material calcination

Abstract

The application relates to the technical field of chemical equipment, in particular to an industrial material calcination hydraulic mechanical arm intelligent adjusting system and method. The industrial material calcination hydraulic mechanical arm intelligent adjusting system comprises a space coordinate system construction module used for constructing a space coordinate system. A work positioning module is used for positioning the hydraulic mechanical arm and obtaining work coordinates of the hydraulic mechanical arm. An operation control module is used for receiving a crushing signal, controlling the hydraulic mechanical arm to move close to a calcination furnace, controlling the hydraulic mechanical arm to initialize, then judging whether the maximum activity of the hydraulic mechanical arm is greater than a preset material stirring range, if yes, controlling the hydraulic mechanical arm to stir materials according to the preset material stirring range, and if not, controlling the hydraulic mechanical arm to increase radial output and simultaneously pick materials at the maximum activity. The application realizes intelligent control, avoids multi-person operation, reduces work load, realizes all-around work, and improves work efficiency.

Description

Technical Field

[0001] This invention relates to the field of chemical equipment technology, specifically to an intelligent adjustment system and method for a hydraulic robotic arm used in the calcination of 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, agglomeration occurs. Existing agglomerates need to be manually broken up, requiring 3-4 skilled workers to coordinate and cooperate. In order to facilitate the work, the calcination furnace cannot be equipped with railings, resulting in a harsh working environment, high risk, and low efficiency. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides an intelligent adjustment system for a hydraulic robotic arm in industrial material calcination. This system utilizes a robotic arm to break up and move agglomerated materials during the calcination process, particularly enabling omnidirectional operation of materials within the calcination furnace. The aforementioned intelligent adjustment system for a hydraulic robotic arm in industrial material calcination includes:

[0006] The spatial coordinate system construction module is used to construct a spatial coordinate system that covers the entire calcining furnace and the annular track. This spatial coordinate system can be designed according to actual conditions; this embodiment uses an angular coordinate system for calculation.

[0007] The operation positioning module is used to position the hydraulic robotic arm and obtain its operating coordinates (θ, L, z). This embodiment uses an angular coordinate system. θ is the rotation angle of the hydraulic robotic arm, L is the feed length of the hydraulic robotic arm, and z is the insertion depth of the end of the telescopic drive crusher rod of the hydraulic robotic arm, thus completing the positioning of the hydraulic robotic arm. The rotation angle θ of the hydraulic robotic arm can be positioned by the output of the base drive structure.

[0008] The operation control module receives the crushing signal and controls the hydraulic robotic arm to move closer to the calcining furnace, while controlling the radial output of the hydraulic robotic arm to L0. It then initializes the hydraulic robotic arm and controls the insertion depth of the working end of the hydraulic robotic arm to z = -H0 + h1 - h2, where H0 is the installation depth of the calcining furnace, h1 is the loading depth, and h2 is the crushing depth. Next, it determines whether the maximum material-moving range Q of the hydraulic robotic arm is greater than a preset material-moving range Q'. If so, it controls the hydraulic robotic arm to move material according to the preset material-moving range Q'. If not, it controls the radial output of the hydraulic robotic arm to increase by Q' - Q, and simultaneously picks up material with the maximum movement Q. After picking up material, it controls the hydraulic robotic arm to return to its initial position. Finally, it controls the hydraulic robotic arm to move circumferentially at an angle θ' and performs the above operations.

[0009] Preferably, the hydraulic robotic arm for calcining industrial materials includes:

[0010] A circumferential base is used for sliding installation on a circular track, forming a mounting support. The circumferential base can be a rectangular plate structure, a square plate structure, or other shapes, ensuring that the upper surface of the circumferential base is flat. The bottom of the circumferential base may have rolling wheels that mate with the circular track. These rolling wheels are placed on the circular track to reduce friction between the circumferential base and the track, making the sliding of the circumferential base smoother.

[0011] A base drive structure can be mounted on a circumferential base for driving the circumferential base to slide on a circular track. The base drive structure may include a motor and a drive wheel. The motor can be mounted at the bottom of the circumferential base, and its output shaft is coaxially and fixedly connected to the center of the drive wheel. The drive wheel engages with the teeth on the sidewall of the circular track.

[0012] The feed seat is slidably placed on the circumferential base, and the sliding path of the feed seat points towards the center of the calcining furnace. Specifically, the bottom of the feed seat can be provided with rolling wheels, and the upper surface of the circumferential base is provided with rolling tracks, and the rolling tracks match the rolling wheels. The rolling wheels are placed on the rolling tracks and roll on the rolling tracks, thereby reducing the friction between the circumferential base and the feed seat.

[0013] The feed hydraulic rod can be mounted on the circumferential base and connected to the feed seat. The feed hydraulic rod is used to drive the feed seat to slide on the circumferential base.

[0014] The first rotating arm is rotatably connected at one end to the feed seat. The first rotating arm can be made of a steel frame structure or other rigid material to ensure that it has a certain rigidity, thereby forming a supporting frame. The shape of the first rotating arm can be straight or L-shaped, which can be set according to actual needs.

[0015] A first driving hydraulic rod is mounted on the feed seat and connected to the first rotating arm to drive the first rotating arm to rotate. One end of the first driving hydraulic rod is rotatably mounted on the feed seat, and the output end of the first driving hydraulic rod is rotatably connected to the non-rotating connection end of the first rotating arm. By extending and retracting the first driving hydraulic rod, the first rotating arm rotates around the rotatable connection end, thereby realizing the rotation of the first rotating arm on the feed seat.

[0016] The second rotating arm is rotatably connected to the other end 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.

[0017] The second drive hydraulic rod is mounted on the first rotating arm and is used to drive the second rotating arm to rotate around its rotational connection point. The second rotating arm is rotatably mounted on the first rotating arm, and the output end of the second drive hydraulic rod is rotatably connected to the second rotating arm. The second rotating arm is rotated by the extension and retraction of the second drive hydraulic rod, thereby realizing a similar arm-like movable structure.

[0018] A telescopic drive crushing rod, mounted on a second rotating arm, is used to crush calcined agglomerated materials. The crushing end of the telescopic drive crushing rod, i.e., the working end of the hydraulic robotic arm, can be set as a pointed tip to reduce the force-bearing area and facilitate the crushing of agglomerated materials. The telescopic drive crushing rod needs to be made of high-temperature resistant materials to prevent damage during operation. The telescopic drive crushing rod can consist of a telescopic drive structure and a chisel. One end of the chisel slides and is nested inside the second rotating arm, while the other end is the working end and extends out of the second rotating arm. The telescopic drive structure is installed inside the second rotating arm and is used to drive the chisel to slide.

[0019] Preferred method for obtaining the rotation angle θ of the hydraulic robotic arm includes: a pressure sensor is installed on the side wall of the circular track, and an output sensor is installed on the base drive structure. The output sensor is used to sense the output of the base drive structure. When the base drive structure drives the hydraulic robotic arm to slide on the circular track, the circumferential base of the hydraulic robotic arm can press the pressure sensor. This initializes the hydraulic robotic arm using the positioning module, i.e., calibrates θ to 0. Then, the rotation angle of the hydraulic robotic arm is calculated by sensing the circumferential output of the hydraulic robotic arm through the output sensor. Where N is the output amount sensed by the output sensor for one revolution of the hydraulic robotic arm, and n is the output amount sensed by the current output sensor. The press sensor can be installed at an angle calibrated to 0, and the output sensor can sense the number of revolutions of the drive wheel. The specific structure will not be described in detail here.

[0020] Preferably, the calculation method for the feed length L of the feed hydraulic rod can be L = L' - L”, where L' is the starting position coordinate of the hydraulic manipulator, that is, the coordinate of the working end of the hydraulic manipulator without considering the extension and retraction of the hydraulic manipulator. It can be measured when the extension and retraction of the hydraulic manipulator is 0, which will not be elaborated here. L” is the extension and retraction of the working end of the hydraulic manipulator, which is the crushing end of the telescopic drive crushing rod. L” is a comprehensive evaluation of the output of the feed hydraulic rod, the first drive hydraulic rod, the second drive hydraulic rod, and the telescopic drive crushing rod.

[0021] Preferably, L” = L0 + L1, where L0 is the extension / retraction amount of the feed hydraulic rod in the hydraulic robotic arm, and the extension / retraction amount L0 of the feed hydraulic rod can be obtained directly. L1 is obtained by comprehensively calculating the output of the first driving hydraulic rod, the second driving hydraulic rod, and the extension / retraction driving crushing rod.

[0022] Preferably, L1 = l1cosα + (l2 + l3)cosβ, where l1 is the effective length of the first rotating arm, which can be understood as the length of the line connecting the two rotating connection points of the first rotating arm; α is the angle between the first rotating arm and the ground plane; l2 is the sum of the lengths of the second rotating arm and the telescopic driving crusher when the telescopic driving crusher's extension is 0, which can be obtained through equipment parameters and measurements, and will not be elaborated here; l3 is the extension of the telescopic driving crusher, and will not be elaborated here; β is the angle between the second rotating arm and the ground plane. The angles between either the first or second rotating arm and the ground can be controlled by the output of the first and second driving hydraulic rods. α and β correspond one-to-one with the output of the first and second driving hydraulic rods, so this embodiment uses the angles between the first and second rotating arms and the ground plane for calibration.

[0023] Preferably, z is the insertion depth of the working end of the hydraulic robotic arm, which can be z = h0 + l1 sinα - (l2 + l3)sinβ, where h0 is the height coordinate of the plane where the feed seat is located.

[0024] Preferably, the hydraulic robotic arm moves closer to the calcining furnace, and the output of the feed hydraulic rod is L0 = L' - R + r0. Then, the output of the feed hydraulic rod is controlled to be L0, and the working end of the hydraulic robotic arm enters the working area of ​​the calcining furnace. Then, the first and second drive hydraulic rods of the hydraulic robotic arm are controlled to run to the initial state with maximum output. The maximum output of the second drive hydraulic rod makes β less than or equal to 90°, preferably 90°, to avoid damage to the second rotating arm and the telescopic drive crushing rod. At this time, the output of the first and second drive hydraulic rods are fixed values, which will not be elaborated here.

[0025] Preferred: Output of the telescopic drive crusher Where h0 is the height coordinate of the plane where the feed seat is located, H0 is the installation depth of the calcining furnace, h1 is the loading depth, h2 is the crushing depth, l1 is the effective length of the first rotating arm, which can be understood as the length of the line connecting the two rotating connection points of the first rotating arm 9, α is the angle between the first rotating arm and the ground plane, l2 is the sum of the lengths of the second rotating arm and the telescopic driving crushing rod when the telescopic driving crushing rod extension is 0, and β is the angle between the second rotating arm 11 and the ground plane.

[0026] Preferably, the preset material feeding range Q', i.e. the length of the material feeding, needs to be determined according to the equipment parameters of the calcining furnace. Specifically, it can be calculated based on the radius of the calcining furnace and the radius of the material feeding device. Specifically, the preset material feeding range Q' = R - R0 - R1, where R is the radius of the calcining furnace, R0 is the radius of the material feeding device, and R1 is the material feeding gap. The material feeding gap is the distance the material moves based on factors such as inertia and gravity.

[0027] Preferably: the maximum range of motion of the second rotating arm The maximum range of motion of the second rotating arm, calculated using this method, is used for material feeding. This ensures that the working end of the telescopic drive crusher will not exceed the material accumulation plane when picking up material, thus avoiding incomplete material feeding and the material returning to its original position, which would render the feeding ineffective and ensure feeding efficiency.

[0028] Preferably, the moving angle θ' can be determined based on the historical average width of the material agglomerates. Where b is the average width of historical agglomerates in the material.

[0029] Preferably, the calcining furnace is equipped with a heat insulation cover, which is slidably placed on a circular track. The heat insulation cover is used to keep the calcining process inside the furnace warm, thus avoiding heat waste and improving the working environment for workers. The heat insulation cover is equipped with at least one switch door. The circumferential base can be fixedly connected to the heat insulation cover. The position of the hydraulic robotic arm corresponds to the switch door. The specific structure is not described in detail here.

[0030] This method also proposes an intelligent adjustment method for a hydraulic robotic arm in the calcination of industrial materials, including the following steps:

[0031] S1, A breakage signal has been received;

[0032] S2. The hydraulic robotic arm moves closer to the calcining furnace, and the radial output of the hydraulic robotic arm is controlled to be L0.

[0033] S3. Initialize the hydraulic robotic arm;

[0034] S4. Then control the insertion depth of the working end of the hydraulic robotic arm to be z = -H0 + h1 - h2, where H0 is the installation depth of the calcining furnace, h1 is the loading depth, and h2 is the crushing depth.

[0035] S5. Then determine whether the maximum movement Q of the hydraulic robotic arm is greater than a preset material feeding range Q'. If yes, execute S6; otherwise, execute S7.

[0036] S6. Control the hydraulic robotic arm to feed materials according to the preset feeding range Q';

[0037] S7. Control the radial output increase of the hydraulic robotic arm to Q'-Q, and simultaneously pick up the material with the maximum range of motion Q;

[0038] S8. After the material handling is completed, control the hydraulic robotic arm to return to its initial position;

[0039] S9. Control the hydraulic robotic arm to move circumferentially with a movement angle of θ', and execute S1.

[0040] The technical effects and advantages of this invention are as follows: This method can realize the automatic crushing and material removal of calcined materials that are agglomerated. Since the calcining furnace generates a lot of heat during operation and the working environment is particularly harsh, manual operation is not required. This achieves intelligent control, avoids multiple people operating the equipment, reduces workload, realizes all-round crushing and material removal, and improves work efficiency. Attached Figure Description

[0041] Figure 1 This is a three-dimensional structural diagram of the hydraulic robotic arm and the calcination furnace in an intelligent adjustment system for industrial material calcination proposed in this invention.

[0042] Figure 2 This is a front view schematic diagram of the hydraulic robotic arm and calcination furnace in an intelligent adjustment system for industrial material calcination proposed in this invention.

[0043] Figure 3 This is a schematic diagram of the hydraulic robotic arm in an intelligent adjustment system for industrial material calcination proposed in this invention.

[0044] Figure 4 This is a schematic diagram of the hydraulic robotic arm in an intelligent adjustment system for industrial material calcination proposed in this invention.

[0045] Figure 5 This is a block diagram of an intelligent adjustment system for a hydraulic robotic arm used in the calcination of industrial materials, as proposed in this invention.

[0046] Explanation of reference numerals in the attached drawings: calcining furnace 1, heat preservation cover 2, circular track 3, hydraulic mechanical arm 4, circumferential base 5, feed seat 6, feed hydraulic rod 7, first drive hydraulic rod 8, first rotating arm 9, second drive hydraulic rod 10, second rotating arm 11, telescopic drive crushing rod 12. Detailed Implementation

[0047] 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.

[0048] Example 1

[0049] refer to Figures 1-3 This embodiment proposes an intelligent adjustment system for a hydraulic robotic arm in industrial material calcination. The system utilizes a robotic arm to break up and move agglomerated materials during the calcination process, particularly enabling comprehensive operation of the materials within the calcination furnace. The intelligent adjustment system for the hydraulic robotic arm in industrial material calcination includes:

[0050] The calcining furnace 1 is used for calcining and feeding materials. The calcining furnace 1 can be an inverted frustum or a cylindrical groove structure, with the inverted frustum groove structure being preferred to facilitate feeding of the calcined materials. The calcining furnace 1 is equipped with a heating device, a feeding device, a feeding device, a smoke exhaust device, etc. The heating device is used for calcining the materials. The feeding device can feed materials through a pipe. The feeding device can be set at the center of the calcining furnace 1. The structure of the calcining furnace 1 is all existing technology and will not be described in detail here.

[0051] The annular track 3 is fixedly installed on the periphery of the calcining furnace 1. It can be set concentrically with the upper surface of the calcining furnace 1. The annular track 3 can be a double track, that is, the two tracks are on the same plane and are concentric circles. The specifics will not be elaborated here.

[0052] A hydraulic robotic arm 4 is used to crush and separate agglomerated materials during the calcination process of industrial materials. The structure of the hydraulic robotic arm 4 can vary, and it can be a lever structure that moves back and forth. The hydraulic robotic arm 4 may also include:

[0053] The circumferential base 5 is slidably mounted on the annular track 3, forming a mounting support. The circumferential base 5 can be a rectangular plate structure, a square plate structure, or other shapes, ensuring that the upper surface of the circumferential base 5 is flat. The bottom of the circumferential base 5 may have rolling wheels that mate with the annular track 3. These rolling wheels are placed on the annular track 3 to reduce friction between the circumferential base 5 and the annular track 3, making the sliding of the circumferential base 5 smoother.

[0054] A base drive structure (not shown in the attached drawings) can be mounted on the circumferential base 5 to drive the circumferential base 5 to slide on the annular track 3. The base drive structure may include a motor and a drive wheel. The motor can be mounted on the bottom of the circumferential base 5, and the output shaft of the motor is coaxially fixedly connected to the center position of the drive wheel. The drive wheel meshes with the teeth on the side wall of the annular track 3.

[0055] The feed seat 6 is slidably placed on the circumferential base 5, and the sliding path of the feed seat 6 points towards the center of the calcining furnace 1. Specifically, the bottom of the feed seat 6 can be provided with rolling wheels, and the upper surface of the circumferential base 5 is provided with rolling tracks, and the rolling tracks and rolling wheels are matched. The rolling wheels are placed on the rolling tracks and roll on the rolling tracks, thereby reducing the friction between the circumferential base 5 and the feed seat 6.

[0056] The feed hydraulic rod 7 can be installed on the circumferential base 5 and connected to the feed seat 6. The feed hydraulic rod 7 is used to drive the feed seat 6 to slide on the circumferential base 5.

[0057] The first rotating arm 9 is rotatably connected at one end to the feed seat 6. The first rotating arm 9 can be made of a steel frame structure or other rigid material to ensure that it has a certain rigidity, thereby forming a supporting frame. The shape of the first rotating arm 9 can be straight or L-shaped, and can be set according to actual needs.

[0058] A first driving hydraulic rod 8 is mounted on the feed seat 6 and connected to the first rotating arm 9, used to drive the first rotating arm 9 to rotate. One end of the first driving hydraulic rod 8 is rotatably mounted on the feed seat 6, and the output end of the first driving hydraulic rod 8 is rotatably connected to the non-rotating connection end of the first rotating arm 9. The extension and retraction of the first driving hydraulic rod 8 causes the first rotating arm 9 to rotate around the rotatable connection end. This achieves the rotation of the first rotating arm 9 on the feed seat 6.

[0059] The second rotating arm 11 is rotatably connected to the other end of the first rotating arm 9. The first rotating arm 9 and the second rotating arm 11 cooperate to form a structure similar to a human arm, and work together to perform tasks.

[0060] The second drive hydraulic rod 10 is mounted on the first rotating arm 9 and is used to drive the second rotating arm 11 to rotate around its rotation connection point. The second rotating arm 11 is rotatably mounted on the first rotating arm 9, and the output end of the second drive hydraulic rod 10 is rotatably connected to the second rotating arm 11. The second rotating arm 11 is rotated by the extension and retraction of the second drive hydraulic rod 10, thereby realizing a telescopic arm-like structure.

[0061] A telescopic drive crushing rod 12, mounted on the second rotating arm 11, is used to crush calcined agglomerated materials. The crushing end of the telescopic drive crushing rod 12, i.e., the working end of the hydraulic robotic arm 4, can be set as a pointed tip to reduce the force-bearing area and facilitate the crushing of agglomerated materials. The telescopic drive crushing rod 12 needs to be made of high-temperature resistant material to prevent damage during operation. The telescopic drive crushing rod 12 can consist of a telescopic drive structure and a chisel. One end of the chisel is slidably nested inside the second rotating arm 11, and the other end of the chisel is the working end that extends out of the second rotating arm 11. The telescopic drive structure is installed inside the second rotating arm 11 and is used to drive the chisel to slide.

[0062] refer to Figure 4 The spatial coordinate system construction module is used to construct a spatial coordinate system that covers the entire calcining furnace 1 and the annular track 3. This spatial coordinate system can be designed according to actual conditions. For example, we can set the north direction as the x-axis, the east direction as the y-axis, and the vertical upward direction as the z-axis. This is just a simple example. Of course, the spatial coordinate system can also be based on the center of the horizontal surface of the calcining furnace 1 as the origin, the initial radial position of the hydraulic robotic arm 4 as the x-axis, the direction perpendicular to the x-axis on the ground plane as the y-axis, and the vertical upward direction as the z-axis. Further details are omitted here. The spatial coordinate system can also be an angular coordinate system. For ease of calculation, this embodiment uses an angular coordinate system.

[0063] The operation positioning module is used to position the hydraulic robotic arm 4 and obtain its operating coordinates (θ, L, z). This embodiment uses an angular coordinate system. θ is the rotation angle of the hydraulic robotic arm 4, defined as its circumferential movement angle. L is the feed length of the hydraulic robotic arm 4, and z is the insertion depth of the end of the telescopic drive crushing rod 12 of the hydraulic robotic arm 4, thus completing the positioning of the working end of the hydraulic robotic arm 4. The rotation angle θ of the hydraulic robotic arm 4 can be determined by the output of the base drive structure. Specifically, a pressure sensor can be installed on the side wall of the annular track 3, and an output sensor can be installed on the base drive structure. The output sensor is used to sense the output of the base drive structure. When the base drive structure drives the hydraulic robotic arm 4 to slide on the annular track 3, the circumferential base 5 of the hydraulic robotic arm 4 can press the pressure sensor. The operation positioning module initializes the hydraulic robotic arm 4 by calibrating θ to 0, and then calculates the rotation angle of the hydraulic robotic arm 4 by sensing the annular output of the output sensor. Where N is the output amount sensed by the output sensor of the hydraulic robotic arm 4 rotating one revolution, and n is the output amount sensed by the current output sensor. The press sensor can be installed at an angle calibrated to 0, and the output sensor can sense the number of revolutions of the drive wheel. The specific structure is not described in detail here. The calculation method for the feed length L of the hydraulic robotic arm 4 can be L = L' - L”, where L' is the starting position coordinate of the hydraulic robotic arm 4, that is, the coordinate of the working end of the hydraulic robotic arm 4 without considering the extension and retraction of the hydraulic robotic arm 4. It can be measured when the extension and retraction of the hydraulic robotic arm 4 is 0. The specific details are not described in detail here. L” is the extension and retraction of the working end of the hydraulic robotic arm 4, which is the crushing end of the extension and retraction drive crushing rod 12. L” is the comprehensive evaluation of the output of the feed hydraulic rod 7, the first drive hydraulic rod 8, the second drive hydraulic rod 10 and the extension and retraction drive crushing rod 12. The L” = L0 + L1, where L0 is the extension and retraction of the feed hydraulic rod 7 in the hydraulic robotic arm 4, the feed hydraulic rod 7 is the extension and retraction of the feed hydraulic rod 7, the feed hydraulic rod 8 ...8, the feed hydraulic rod 8 is the extension and retraction of the feed hydraulic rod 8, the feed hydraulic rod 8 is The extension / retraction amount L0 of the pressure rod 7 can be directly obtained, which we define as the radial output of the hydraulic robotic arm 4. L1 is obtained by comprehensively calculating the output of the first driving hydraulic rod 8, the second driving hydraulic rod 10, and the telescopic driving crushing rod 12. Specifically, L1 = l1cosα + (l2 + l3)cosβ, where l1 is the effective length of the first rotating arm 9, which can be understood as the length of the line connecting the two rotating connection points of the first rotating arm 9, α is the angle between the first rotating arm 9 and the ground plane, l2 is the sum of the lengths of the second rotating arm 11 and the telescopic driving crushing rod 12 when the extension / retraction amount of the telescopic driving crushing rod 12 is 0, which can be obtained through equipment parameters and measurements, and will not be elaborated here. l3 is the extension / retraction amount of the telescopic driving crushing rod 12, and will not be elaborated here. β is the angle between the second rotating arm 11 and the ground plane. The angle between either the first rotating arm 9 or the second rotating arm 11 and the ground can be controlled by the output of the first driving hydraulic rod 8 and the second driving hydraulic rod 10. α and β correspond one-to-one with the output of the first driving hydraulic rod 8 and the second driving hydraulic rod 10. Therefore, this embodiment uses the angle between the first rotating arm 9, the second rotating arm 11 and the ground plane for calibration. z is the insertion depth of the working end of the hydraulic robotic arm 4, specifically z = h0 + l1sinα - (l2 + l3)sinβ, where h0 is the height coordinate of the plane where the feed seat 6 is located. For example, in actual work, the specific length is expressed in meters.The hydraulic robotic arm 4 is in its initial position. The coordinate depth of the circular track 3 is 10. The first rotating arm 9 is connected to the feed seat 6 at position 8. The angle α of the first rotating arm 9 is 30°. The angle β of the second rotating arm 11 is 60°. The arm length l1 of the first rotating arm 9 is 2. The height of the feed seat 6 is 0.5. The initial length of the second rotating arm 11 and the telescopic drive crushing rod 12 is 2. The extension of the telescopic drive crushing rod 12 is 0.5. The extension of the feed hydraulic rod 7 is 0.5. Therefore, we can calculate that θ is 0, L... 1 = l1cosα + (l2 + l3)cosβ = 2cos30° + (2 + 0.5)cos60° = 1.732 + 1.25 = 2.98. Then we can calculate L = 8 - 0.5 - 2.98 = 4.5, z = h0 + l1sinα - (l2 + l3)sinβ = 0.5 + 2sin30° - (2 + 0.5)sin60° = 0.5 + 1 - 2.13 = -0.625. Of course, this is just a simple example, and the details will not be elaborated here.

[0064] The operation control module controls the hydraulic robotic arm 4 to crush and remove calcined agglomerates of new material inside the calcining furnace 1. Specifically, this can include the hydraulic robotic arm 4 moving closer to the calcining furnace 1 when the equipment is not in operation (θ = 0), with the working end length L = R - r0, where R is the radius of the calcining furnace 1, which can be obtained based on the equipment parameters of the calcining furnace 1 (details omitted here). r0 is the insertion clearance, typically 0.01-0.2m, which can be understood as the distance between the working end of the telescopic drive crushing rod 12 and the inner wall of the calcining furnace 1, preventing collision damage between the telescopic drive crushing rod 12 and the inner wall of the calcining furnace 1 (details omitted here). When the hydraulic robotic arm 4 is inserting the rod, the angle of the first rotating arm 9 can be the minimum angle, and the angle of the second rotating arm 11 can be the maximum angle, thus maximizing the material removal angle of the hydraulic robotic arm 4. We define the state of the first rotating arm 9 and the second rotating arm 11 at this time as the initial state of the hydraulic robotic arm 4. At this point, L = L' - L0. We know that the output of the control feed hydraulic rod 7 is L0 = L' - R + r0. Then, the output of the control feed hydraulic rod 7 is L0, and the working end of the hydraulic robotic arm 4 enters the working area of ​​the calcining furnace 1. Then, the first drive hydraulic rod 8 and the second drive hydraulic rod 10 of the hydraulic robotic arm 4 are controlled to run to the initial state with the maximum output. The maximum output of the second drive hydraulic rod 10 makes β less than or equal to 90°, with 90° being preferable, to avoid damage to the second rotating arm 11 and the telescopic drive crushing rod 12 due to force. At this point, the output of the first drive hydraulic rod 8 and the second drive hydraulic rod 10 are both fixed values. We define the position and state of the hydraulic robotic arm 4 at this point as the initial position, which will not be elaborated here. Then, the insertion depth of the working end of the hydraulic robotic arm 4 is controlled as z = -H0 + h1 - h2, where H0 is the installation depth of the calcining furnace 1, h1 is the loading depth, and h2 is the crushing depth. The installation depth H0 can be obtained based on the equipment parameters of the calcining furnace 1 or by measurement, and will not be elaborated here. h1 can be calculated or measured based on the feeding amount. The crushing depth h2 can be designed based on the material properties, generally 0.2-1m, and will not be elaborated here. The output of the telescopic drive crushing rod 12 at this time is calculated. Then, it is determined whether the maximum range of motion Q of the second rotating arm 11 is greater than a preset material feeding range Q'. If so, the second drive hydraulic rod 10 is controlled to retract, causing the second rotating arm 11 to feed material according to the preset material feeding range Q'. The rotation of the second rotating arm 11 is defined as the material feeding activity of the mechanical arm 4. The preset material feeding range Q', i.e., the feeding length, needs to be determined based on the equipment parameters of the calcining furnace 1. Specifically, it can be calculated based on the radius of the calcining furnace 1 and the radius of the feeding device. The specific preset material feeding range Q' = R - R0 - R1, where R is the radius of the calcining furnace 1, R0 is the radius of the feeding device, and R1 is the feeding gap. The feeding gap is the distance the material moves based on factors such as inertia and gravity. For example, if the radius R of the calcining furnace 1 is 3m, the diameter R0 of the feeding device is 1m, and the feeding gap R1 is 0.1m, then we can calculate the feeding range Q' = 3 - 1 - 0.1 = 1.9m. The maximum range of motion of the second rotating arm 11... The maximum range of motion of the second rotating arm 11, calculated using this method, is used for material handling. This ensures that the working end of the telescopic drive crushing rod 12 will not exceed the material accumulation plane when picking up material, preventing incomplete material handling and material returning to its original position, thus ensuring efficient material handling. If not, the output of the feed hydraulic rod 7 in the hydraulic robotic arm 4 is increased by Q'-Q, and the material is picked up using the maximum range of motion Q of the second rotating arm 11. After picking up the material, the hydraulic robotic arm 4 is returned to its initial position, meaning the angle of the first rotating arm 9 can be at its minimum, and the angle of the second rotating arm 11 can be at its maximum. This maximizes the material handling angle of the hydraulic robotic arm 4, and the output of the feed hydraulic rod 7 is L0 = L'-R+r0, while the output of the telescopic drive crushing rod 12 is 0. Then, the hydraulic robotic arm 4 is moved circumferentially by the base drive structure at an angle of θ'. The above steps are repeated to continuously crush the material until the hydraulic robotic arm 4 is closed. The moving angle θ' can be determined based on the historical average width of the material agglomerates. Where b is the historical average width of material agglomerates. This method enables automatic crushing and material removal of calcined material agglomerates. Since the calcining furnace 1 generates a large amount of heat during operation, and the working environment is particularly harsh, manual operation is not required. This achieves intelligent control, avoids multiple operators, reduces workload, and enables all-round crushing and material removal, while improving efficiency.

[0065] Example 2

[0066] The calcining furnace 1 is equipped with a heat insulation cover 2, which is slidably placed on the annular track 3. The heat insulation cover 2 is used to keep the calcining work inside the calcining furnace 1 warm, avoiding heat waste and improving the working environment for workers. The heat insulation cover 2 is equipped with at least one switch door. The circumferential base 5 can be fixedly connected to the heat insulation cover 2. The position of the hydraulic robotic arm 4 corresponds to the switch door. The specific structure is not described in detail here.

[0067] Example 3

[0068] refer to Figure 5 This embodiment proposes an intelligent adjustment method for a hydraulic robotic arm used in the calcination of industrial materials, comprising the following steps:

[0069] S1, A breakage signal has been received;

[0070] S2, the hydraulic robotic arm 4 moves closer to the calcining furnace 1, and the radial output of the hydraulic robotic arm 4 is controlled to be L0;

[0071] S3, Initialize the hydraulic robotic arm 4;

[0072] S4. Then control the insertion depth of the working end of the hydraulic robotic arm 4 to be z = -H0 + h1 - h2, where H0 is the installation depth of the calcining furnace 1, h1 is the loading depth, and h2 is the crushing depth.

[0073] S5. Then determine whether the maximum movement Q of the hydraulic robotic arm 4 is greater than a preset material feeding range Q'. If yes, execute S6; otherwise, execute S7.

[0074] S6. Control the hydraulic robotic arm 4 to feed materials according to the preset feeding range Q';

[0075] S7. Control the radial output increase of the hydraulic robotic arm 4 to be Q'-Q, and simultaneously pick up the material with the maximum range of motion Q;

[0076] S8. After the material picking is completed, control the hydraulic robotic arm 4 to return to the initial position;

[0077] S9. Control the hydraulic robotic arm to move 4 circumferentially at an angle of θ', and execute S1. This method can realize the automatic crushing and material removal of calcined materials that have agglomerated. Since the calcining furnace 1 generates a lot of heat during operation and the working environment is particularly harsh, manual operation is not required. This realizes intelligent control, avoids multiple people operating, reduces workload, realizes all-round crushing and material removal, and improves efficiency.

[0078] 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 adjustment system of hydraulic mechanical arm for industrial material calcination, characterized in that, The industrial material calcination hydraulic mechanical arm intelligent adjustment system comprises: a space coordinate system construction module for constructing a space coordinate system; a work positioning module for positioning the hydraulic mechanical arm and obtaining work coordinates (θ, L, z) of the hydraulic mechanical arm; θ is a rotation angle of the hydraulic mechanical arm, and L is a feeding length of the hydraulic mechanical arm; an operation control module for receiving a crushing signal; controlling the hydraulic mechanical arm to move close to the calcination furnace, and controlling a radial output amount of the hydraulic mechanical arm to be L0; controlling the hydraulic mechanical arm to initialize; then controlling a drill insertion depth of a working end of the hydraulic mechanical arm to be z=-H0+h1-h2, wherein H0 is an installation depth of the calcination furnace, h1 is a charging depth, and h2 is a crushing depth; then judging whether a maximum activity amount Q of the hydraulic mechanical arm is greater than a preset range Q' of material stirring, if yes, controlling the hydraulic mechanical arm to stir materials according to the preset range Q' of material stirring, and if no, controlling the radial output amount of the hydraulic mechanical arm to be Q'-Q, and simultaneously controlling the hydraulic mechanical arm to pick materials at the maximum activity amount Q; after the picking is completed, controlling the hydraulic mechanical arm to return to the initial position; controlling the hydraulic mechanical arm to move circumferentially and the moving angle to be θ', and executing the above work; the industrial material calcination hydraulic mechanical arm comprises: a circumferential base for being slidably mounted on a ring track; a base driving structure for driving the circumferential base to slide on the ring track; a feeding base slidably placed on the circumferential base; a feeding hydraulic rod mounted on the circumferential base and connected with the feeding base, the feeding hydraulic rod being used to drive the feeding base to slide on the circumferential base; a first rotating arm having one end rotatably connected with the feeding base; a first driving hydraulic rod mounted on the feeding base and connected with the first rotating arm, the first driving hydraulic rod being used to drive the first rotating arm to rotate; a second rotating arm rotatably connected with the other end of the first rotating arm; a second driving hydraulic rod mounted on the first rotating arm, the second driving hydraulic rod being used to drive the second rotating arm to rotate around the rotating connection point of the second rotating arm; a telescopic driving crushing rod mounted on the second rotating arm, the telescopic driving crushing rod being used to crush calcination clumped materials; The specific method for obtaining the rotation angle θ of the hydraulic mechanical arm includes: a pressing sensor is arranged on the side wall of the annular track, and an output sensor is arranged on the base driving structure, and the output sensor is used for sensing the output of the base driving structure; when the base driving structure drives the hydraulic mechanical arm to slide on the annular track, the hydraulic mechanical arm presses the pressing sensor, so that the operation positioning module initializes the hydraulic mechanical arm, and then the output of the hydraulic mechanical arm is sensed and obtained through the output sensor, and the rotation angle of the hydraulic mechanical arm is calculated and obtained Wherein N is the output of the output sensor sensed when the hydraulic mechanical arm rotates one circle, and n is the output sensed by the current output sensor. a feeding length L of the hydraulic mechanical arm is L'-L", wherein L' is a starting position coordinate of the hydraulic mechanical arm, and L" is a telescopic amount of a working end of the hydraulic mechanical arm, the telescopic amount L" of the working end of the hydraulic mechanical arm is L0+L1, wherein L0 is a radial output amount of the hydraulic mechanical arm, and L1 is an output amount of the first driving hydraulic rod, the second driving hydraulic rod and the telescopic driving crushing rod obtained by comprehensive calculation, L1=l1cosα+(l2+l3)cosβ, wherein l1 is an effective length of the first rotating arm, ɑ is an included angle between the first rotating arm and a ground plane, l2 is a sum of the second rotating arm and a length of the telescopic driving crushing rod when the telescopic amount of the telescopic driving crushing rod is 0, β is an included angle between the second rotating arm and the ground plane, and l3 is an output amount of the telescopic driving crushing rod; the hydraulic mechanical arm moves close to the calcination furnace, and the radial output amount L0 of the hydraulic mechanical arm is L'-R+r0, wherein L' is a starting position coordinate of the hydraulic mechanical arm, R is a radius of the calcination furnace, and r0 is a grafting clearance. The output of the telescopic drive breaking rod when the working end of the hydraulic mechanical arm is inserted into the drill to a depth of z = -H0 + h1 - h2 where h0 is the height coordinate of the plane where the feed seat is located, H0 is the installation depth of the calcining furnace, h1 is the charging depth, and h2 is the breaking depth The preset stirring range Q'=R-R0-R1, wherein R is the radius of the calcining furnace, R0 is the radius of the stirring device, and R1 is the stirring gap; The maximum activity of the hydraulic mechanical arm The moving angle Wherein, b is the historical average width of the material block; The calcining furnace is provided with a heat preservation cover, the heat preservation cover is slidably arranged on the annular track, the heat preservation cover is used for heat preservation for the calcination work in the calcining furnace, and at least one opening door is arranged on the heat preservation cover.

2. The adjustment method of the intelligent adjustment system of the hydraulic mechanical arm for the calcination of industrial materials according to claim 1, comprising the following steps: S1, receiving the crushing signal; S2, moving the hydraulic mechanical arm close to the calcining furnace, and controlling the radial output of the hydraulic mechanical arm to be L0; S3, initializing the hydraulic mechanical arm; S4, then control the working end of the hydraulic mechanical arm to insert the depth of the drill bit z = -H0+ h1- h2, wherein, H0 is the installation depth of the calcining furnace, h1 is the loading depth, and h2 is the crushing depth; S5, then judging whether the maximum activity Q of the hydraulic mechanical arm is greater than a preset stirring range Q', if yes, executing S6, and if no, executing S7; S6, controlling the hydraulic mechanical arm to stir according to the preset stirring range Q'; S7, controlling the radial output of the hydraulic mechanical arm to increase by Q'-Q, and simultaneously picking the materials with the maximum activity Q; S8, after the picking is completed, controlling the hydraulic mechanical arm to return to the initial position; S9, controlling the hydraulic mechanical arm to move circumferentially by an angle of θ', and executing S1.

Images