Intelligent slag removal robot used in special environment of aluminum electrolysis

Abstract

The invention relates to the technical field of robot slag removal, and particularly discloses an intelligent slag removal robot used in a special aluminum electrolysis environment, the intelligent slag removal robot comprises an upper bottom plate and a lower bottom plate, the upper bottom plate and the lower bottom plate are connected through a plurality of bottom plate flanges, a rotating mechanism is mounted at the top of the upper bottom plate, and a lifting mechanism is mounted above the rotating mechanism; a telescopic arm carrying table is installed at the top of the lifting mechanism, a telescopic arm body is installed at the top of the telescopic arm carrying table, a slag removing rod is installed at one end of the telescopic arm body, a slag removing shovel is installed at one end of the slag removing rod, two steering wheels are installed at the two ends of the bottom of a lower bottom plate correspondingly, and two universal wheels are installed in the middle of the lower bottom plate. A control box is arranged on the top of the upper bottom plate, and a camera is further installed on the top of the upper bottom plate. According to the intelligent slag removal robot, automatic slag removal can be achieved without manual intervention, workers are liberated from heavy slag removal work, labor input is reduced, and cost is saved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot slag cleaning, and in particular to an intelligent slag cleaning robot used in a special environment of aluminum electrolysis. Background Art

[0002] Electrolytic aluminum is the most widely used metal material besides steel, and it is of great significance to support the development of the national economy and national security strategy. Aluminum is produced by electrolysis, using molten cryolite and alumina powder as raw materials, carbonite as anode, and aluminum liquid as cathode. 100-600kA direct current is passed through the electrochemical reaction in the electrolytic cell at 950℃-970℃ to obtain primary aluminum liquid. All the original aluminum liquid must be transferred from the vacuum ladle to the mixing furnace, and after the components are mixed, cooled, and stirred, it can be cast into aluminum products. When the mixing furnace is operating, the high-temperature aluminum liquid will form a large amount of alumina slag when it encounters air. These slags seriously affect the quality of aluminum products. Therefore, the slag on the surface of the aluminum liquid must be removed before casting aluminum products.

[0003] At present, there are generally two ways of existing mixed furnace slag removal process, namely manual operation and imported slag removal vehicle operation. Among them, the manual operation method is highly dangerous, with the risk of high temperature burns and high-altitude falling objects; the manual operation method is highly arbitrary, facing the hazards of high temperature and oil smoke, and cannot be strictly implemented in accordance with the slag removal process requirements; the imported slag removal vehicle is expensive, and the maintenance cost during the use period is high; the imported slag removal vehicle has extremely high requirements for operators and there is a risk of damaging the mixed furnace wall; the two methods take a long time to remove slag, which is easy to cause energy waste; it is impossible to effectively save labor costs and fundamentally change the manual operation environment. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and to propose an intelligent slag cleaning robot for use in the special environment of aluminum electrolysis.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] The invention discloses an intelligent slag cleaning robot for use in a special environment of aluminum electrolysis, comprising an upper bottom plate and a lower bottom plate, wherein the upper bottom plate and the lower bottom plate are connected by a plurality of bottom plate flanges, a slewing mechanism is installed on the top of the upper bottom plate, a lifting mechanism is installed above the slewing mechanism, a telescopic arm carrier is installed on the top of the lifting mechanism, a telescopic arm body is installed on the top of the telescopic arm carrier, a slag cleaning rod is installed at one end of the telescopic arm body, a slag cleaning shovel is installed at the end of the slag cleaning rod away from the telescopic arm body, two steering wheels are installed at both ends of the bottom of the lower bottom plate, two universal wheels for auxiliary support are installed at the center position of the lower bottom plate, a control box for driving multiple components to operate is arranged on the top of the upper bottom plate, and a camera for photographing slag on the surface of aluminum liquid in a mixing furnace is installed on the top of the end of the upper bottom plate close to the slag cleaning shovel.

[0007] Optionally, the steering wheel consists of a steering motor, a walking motor, a roller, a steering gear 1, a steering gear 2 and a mounting column, the mounting column is rotatably mounted on the bottom of the lower base plate, a mounting frame is mounted on the bottom end of the mounting column, a roller is rotatably mounted on the bottom of the mounting frame, a walking motor for driving the roller to rotate is mounted on the outer wall of one side of the mounting frame, a steering motor is mounted on the bottom of the mounting frame near the roller, the output end of the steering motor is connected to the steering gear 2 through the mounting frame, a steering gear 1 is mounted on the outer wall of the mounting column, the steering gear 2 is meshed with the steering gear 1, and a plurality of first threaded holes are opened on the top of the mounting column.

[0008] Optionally, the upper base plate and the lower base plate have the same length, width and thickness, a plurality of ribs are welded between the upper base plate and the lower base plate for improving the bearing capacity, a plurality of second threaded holes are opened at the front and rear ends of the upper base plate and the lower base plate, and the plurality of second threaded holes inside the upper base plate and the plurality of second threaded holes inside the lower base plate are on the same axis.

[0009] Optionally, the base plate flange is composed of a base plate lower end and a base plate upper end, the base plate is provided with a first through hole having the same number as the first threaded holes provided on the mounting column, a first bolt is installed inside each of the multiple first through holes, the lower end of the base plate is threadedly mounted on the upper surface of the lower base plate through a plurality of first bolts, the multiple first bolts at the lower end of the base plate all penetrate the lower base plate and are threadedly connected to the multiple first threaded holes, a second through hole having the same number as the multiple second threaded holes inside the upper base plate is provided inside the upper end of the base plate, a second bolt is installed inside each of the multiple second through holes, the upper end of the base plate is threadedly mounted on the bottom of the upper base plate through a plurality of second bolts, and the height of the base plate flange is consistent with the distance between the upper base plate and the lower base plate.

[0010] Optionally, the control box is mounted on the top of one end of the upper surface of the upper base plate away from the sleeve, and a computer processing terminal is installed on the top of the control box.

[0011] Optionally, the rotary mechanism consists of a sleeve, a turntable outer ring, a turntable inner ring, a rotary support power motor, a rotary support power reducer, a rotary support power gear, a rotary support power shaft, a rotary support inner ring and a rotary support outer ring. The rotary support power motor is installed at the bottom of the lower base plate, a reducer mounting port is provided inside the upper base plate, the rotary support power reducer is installed on the upper base plate through the reducer mounting port, the output end of the rotary support power motor is connected to the rotary support power reducer, the output end of the rotary support power reducer is connected to the rotary support power shaft, the outer wall of the rotary support power shaft is installed with a rotary support power gear, and the rotary support inner ring is threadedly mounted by a plurality of third bolts. On the upper surface of the upper base plate, the outer wall of the inner ring of the slewing support is connected to the inner wall of the outer ring of the slewing support, a rotation gap is left between the outer ring of the slewing support and the upper base plate, the outer ring of the slewing support is meshed with the slewing support power gear, the sleeve is fixedly installed on the upper surface of the upper base plate and is coaxial with the inner ring of the slewing support, a turntable outer ring is installed directly above the sleeve, the outer ring of the turntable is installed on the top of the sleeve through a plurality of fourth bolt threads, a gap is left between the lower surface of the outer ring of the turntable and the upper surface of the sleeve, the inner ring of the turntable is rotatably matched with the outer ring of the turntable, the outer ring of the slewing support flange is installed on the inner ring of the turntable through a plurality of fifth bolts coaxially threaded, and the inner ring of the slewing support flange is installed on the outer ring of the slewing support through a sixth bolt coaxially threaded.

[0012] Optionally, a lift power motor, a lift power reducer and a lift mounting sleeve are installed on the upper surface of the outer ring of the slewing support flange, the output end of the lift power motor is connected to the lift power reducer, the power output end of the lift power reducer is installed with a lift power shaft, the end of the lift power shaft away from the lift power reducer is installed with a coupling, the lift mounting sleeve is fixedly installed on the upper surface of the outer ring of the slewing support flange, the interior of the lift mounting sleeve is installed with a lift body, the interior of the lift body is installed with a worm, one side of the lift mounting sleeve is provided with a through hole with the same size as the diameter of the worm, the end of the worm away from the lift body extends through the lift mounting sleeve, and the end of the coupling away from the lift power shaft is connected to the end of the worm away from the lift body.

[0013] Optionally, a lead screw is installed inside the lift body, and a turbine is installed at one end of the worm gear located inside the lift body, the turbine is threadedly matched with the outer wall of the lead screw, the telescopic arm platform is fixedly connected to the lead screw, and the lead screw is located at the exact center of the telescopic arm platform, an A-shaped support seat is installed on the top of the telescopic arm platform, a hydraulic telescopic cylinder is provided at the front end of the A-shaped support seat, the telescopic end of the hydraulic telescopic cylinder is the upper end, and the bottom end of the hydraulic telescopic cylinder is the lower end, and the lower end of the hydraulic telescopic cylinder is rotatably installed on the upper surface of the telescopic arm platform.

[0014] Optionally, the telescopic arm body is composed of a first telescopic arm, a second telescopic arm, a third telescopic arm, a fourth telescopic arm, a cylinder rod, a cylinder body, pulley one, pulley two, pulley three, pulley four, three-section arm retracting rope, three-section arm extension rope, four-section arm extension rope, four-section arm retracting rope, a boss, a connecting buckle and a cylinder pin shaft. The fourth telescopic arm is inserted into the third telescopic arm, the third telescopic arm is inserted into the second telescopic arm, and the second telescopic arm is inserted into the first telescopic arm. The lower end of the first telescopic arm is equipped with a boss and a connecting buckle, the connecting buckle is rotatably connected to the upper end of the hydraulic telescopic cylinder, the boss is rotatably connected to the A-shaped support seat through the support seat pin shaft, a U-shaped gap is arranged inside the A-shaped support seat, the bosses are installed in the U-shaped gap at equal intervals, and the cylinder body is installed inside the first telescopic arm.

[0015] Optionally, the cylinder body is composed of a cylinder rod and a cylinder body, one end of the cylinder rod is rotatably installed on the lower end of the first telescopic arm through a cylinder pin shaft, the lower end of the cylinder body is fixedly connected to the lower end of the second telescopic arm, a pulley 2 is rotatably installed inside the fourth telescopic arm, the upper end of the cylinder body is fixedly connected to the pulley 2, three-section arm extension ropes are arranged on the pulley 2, one end of the three-section arm extension ropes is fixed to the lower end of the first telescopic arm, and the other end of the three-section arm extension ropes is fixed to the lower end of the third telescopic arm, pulley 1 is rotatably installed at the lower end of the second telescopic arm, and three-section arm retraction ropes are arranged on the pulley 1. One end of the three-section arm retracting rope is fixed to the upper end of the first telescopic arm, and the other end of the three-section arm retracting rope is fixed to the lower end of the third telescopic arm. Pulley three is rotatably installed at the upper end of the third telescopic arm, and four-section arm extension ropes are arranged on pulley three. One end of the four arm extension ropes is fixed to the lower end of the second telescopic arm, and the other end of the four arm extension ropes is fixed to the lower end of the fourth telescopic arm. Pulley four is rotatably installed at the lower end of the third telescopic arm, and four-section arm retracting ropes are arranged on pulley four. One end of the four arm retracting rope is fixed to the lower end of the fourth telescopic arm, and the other end of the four arm retracting rope is fixed to the upper end of the oil cylinder body.

[0016] The beneficial effects of the present invention are:

[0017] 1. In the present invention, the intelligent slag cleaning robot can realize automatic slag cleaning without human intervention, freeing workers from the heavy slag cleaning work, reducing labor input and saving costs;

[0018] 2. In the present invention, the slewing mechanism is composed of a sleeve, a turntable outer ring, a turntable inner ring, a slewing support power gear, a slewing support power motor reducer shaft, a slewing support inner ring and a slewing support outer ring. The design of the slewing mechanism allows the slag cleaning shovel to clean slag in any direction in the mixing furnace as the slewing support rotates. There is no need to lay additional walking tracks on the aluminum plant floor, which reduces the cost investment;

[0019] 3. In the present invention, according to the real-time picture of slag on the surface of aluminum liquid in the mixing furnace sent back by the camera, the computer processing terminal analyzes and processes the slag situation, obtains the aggregation position of slag on the surface of aluminum liquid in the mixing furnace, and then sends the processed situation to the control box. The control box controls the movement of the elevator power motor, the slewing support power motor and the hydraulic telescopic cylinder according to the data fed back by the computer processing terminal, thereby adjusting the position of the slag shovel in the mixing furnace. The use of the camera and the computer processing terminal greatly improves the slag cleaning accuracy;

[0020] 4. In the present invention, when the intelligent slag cleaning robot is working, the control box sends instructions to the steering wheel, and the steering wheel automatically runs to the designated working position according to the compiled computer program. The writing of the steering wheel computer program varies according to different factory environments. The use of the steering wheel greatly improves the generalization ability and intelligence level of the intelligent slag cleaning robot, shortens the robot's walking time, and thus improves the slag cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0022] Figure 1 This is a schematic diagram of the overall structure of an intelligent slag cleaning robot for use in a special environment of aluminum electrolysis according to the present invention;

[0023] Figure 2 This is a front view of the overall structure of an intelligent slag cleaning robot for use in a special environment of aluminum electrolysis according to the present invention;

[0024] Figure 3 This is a left view of the overall structure of an intelligent slag cleaning robot for special aluminum electrolysis environments according to the present invention;

[0025] Figure 4 It is a structural schematic diagram of the slewing mechanism and the telescopic arm body in the present invention;

[0026] Figure 5 for Figure 4 A schematic diagram of the structure in which the elevator installation sleeve is removed;

[0027] Figure 6 It is a schematic diagram of the structure of the present invention without the slewing mechanism and the telescopic arm body;

[0028] Figure 7 It is a structural schematic diagram of the bottom of the lower base plate in the present invention;

[0029] Figure 8 It is a structural schematic diagram of the steering wheel in the present invention;

[0030] Fig. 9 It is a structural schematic diagram of the bottom plate flange in the present invention;

[0031] Fig.10 It is a schematic diagram of the structure of the rotary support power motor in the present invention;

[0032] Fig.11 It is a schematic diagram of the structure of the rotary mechanism in the present invention;

[0033] Fig.12 It is a structural schematic diagram of the slewing support connecting flange in the present invention;

[0034] Fig.13 This is a schematic diagram of the structure of the power motor of the elevator in the present invention;

[0035] Fig.14 It is a schematic diagram of the structure of the whole and cross section of the elevator in the present invention;

[0036] Fig.15 It is a structural schematic diagram of the cross section of the telescopic arm in the present invention;

[0037] Fig.16 It is a structural schematic diagram of the telescopic arm in the extended state of the present invention;

[0038] Fig.17 It is a structural schematic diagram of the A-shaped support seat in the present invention;

[0039] Fig.18 It is a structural schematic diagram of the lower base plate in the present invention.

[0040] In the figure: 1. control box; 2. universal wheel; 3. slewing support power motor; 301. slewing support power reducer; 4. bottom plate flange; 401. bottom plate lower end; 402. top plate; 5. upper bottom plate; 6. lower bottom plate; 7. elevator installation sleeve; 8. coupling; 9. telescopic arm platform; 10. A-shaped support seat; 11. hydraulic telescopic cylinder; 12. first section telescopic arm; 121. second section telescopic arm; 122. third section telescopic arm; 123. fourth section telescopic arm; 13. slag cleaning rod; 14. slag cleaning shovel; 15. support seat pin shaft; 16. upper end; 17. lower end; 18. steering wheel; 181. steering motor; 182. travel motor; 183. roller; 184. steering gear one; 185. steering gear two; 186. mounting column; 187. mounting frame; 19. elevator power motor; 2 0. Elevator power reducer; 21. Elevator power shaft; 22. Worm; 23. Turbine; 24. Screw; 25. Sleeve; 26. Turntable outer ring; 27. Turntable inner ring; 28. Slewing support power gear; 29. ​​Slewing support power shaft; 30. Slewing support inner ring; 31. Slewing support outer ring; 32. Slewing support flange outer ring; 33. Slewing support flange inner ring; 34. Cylinder rod; 35. Oil Cylinder body; 36. Pulley one; 37. Pulley two; 38. Pulley three; 39. Pulley four; 40. Three-section arm-retracting rope; 41. Three-section arm-extending rope; 42. Four-section arm-extending rope; 43. Four-section arm-retracting rope; 44. Cylinder pin; 45. Rib plate; 46. Boss; 47. Connecting buckle; 48. U-shaped gap; 49. Reducer mounting port; 50. Camera; 51. Computer processing terminal; 52. Lift body. DETAILED DESCRIPTION

[0041] The technical scheme of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] Reference Figure 1-Figure 18, an intelligent slag cleaning robot for use in a special environment of aluminum electrolysis, comprising an upper base plate 5 and a lower base plate 6, the upper base plate 5 and the lower base plate 6 are connected by a plurality of base plate flanges 4, a slewing mechanism is installed on the top of the upper base plate 5, a lifting mechanism is installed above the slewing mechanism, a telescopic arm carrier 9 is installed on the top of the lifting mechanism, a telescopic arm body is installed on the top of the telescopic arm carrier 9, a slag cleaning rod 13 is installed at one end of the telescopic arm body, a slag cleaning shovel 14 is installed at the end of the slag cleaning rod 13 away from the telescopic arm body, two steering wheels 18 are installed at both ends of the bottom of the lower base plate 6, two universal wheels 2 for auxiliary support are installed at the center position of the lower base plate 6, a control box 1 for driving multiple components is arranged on the top of the upper base plate 5, and a camera 50 for photographing the slag situation on the surface of the aluminum liquid in the mixing furnace is installed on the top of the end of the upper base plate 5 close to the slag cleaning shovel 14.

[0043] As a technical optimization scheme of the present invention, the steering wheel 18 is composed of a steering motor 181, a walking motor 182, a roller 183, a steering gear 184, a steering gear 2 185 and a mounting column 186. The mounting column 186 is rotatably mounted on the bottom of the lower base plate 6. A mounting frame 187 is mounted on the bottom end of the mounting column 186. The roller 183 is rotatably mounted on the bottom of the mounting frame 187. A walking motor 182 for driving the roller 183 to rotate is mounted on the outer wall of one side of the mounting frame 187. A steering motor 181 is mounted near the roller 183 at the bottom of the mounting frame 187. The output end of the steering motor 181 is connected to the steering gear 2 185 through the mounting frame 187. A steering gear 1 184 is mounted on the outer wall of the mounting column 186. The steering gear 2 185 is meshed with the steering gear 1 184. A plurality of first threaded holes are provided on the top of the mounting column 186. When the steering gear 2 185 rotates, the steering gear 184 can rotate around the mounting column 186, thereby driving the roller 183 to swing left and right. The position of the mounting column 186 is fixed and cannot move relative to each other. After starting, the travel motor 182 can drive the roller 183 to rotate synchronously, so that when multiple rollers 183 rotate in the same direction, they can drive the entire device to move forward or backward.

[0044] As a technical optimization solution of the present invention, the length, width and thickness of the upper base plate 5 and the lower base plate 6 are the same, a plurality of ribs 45 for improving the bearing capacity are welded between the upper base plate 5 and the lower base plate 6, a plurality of second threaded holes are opened at the front and rear ends of the upper base plate 5 and the lower base plate 6, and the plurality of second threaded holes inside the upper base plate 5 and the plurality of second threaded holes inside the lower base plate 6 are all on the same axis. In order to enhance the bearing capacity of the upper base plate 5 and the lower base plate 6, a rib plate 45 is welded between the upper base plate 5 and the lower base plate 6. In order to facilitate the welding of the rib plate 45, the excess material in the middle of the lower base plate 6 is removed. The width of the lower base plate 6 after removing the excess material should meet the installation of the steering wheel 18 and the universal wheel 2. The four steering wheels 18 are evenly distributed and installed at the front and rear ends of the lower base plate 6. In order to prevent the lower base plate 6 from deforming when overloaded and to reduce the load of the steering wheel 18, two universal wheels 2 are installed in the middle position of the lower base plate 6. The universal wheel 2 can move freely according to the walking trajectory of the steering wheel 18, and the universal wheel 2 only plays the role of guiding and sharing the load.

[0045] As a technical optimization scheme of the present invention, the bottom plate flange 4 is composed of a bottom plate lower end 401 and a bottom plate upper end 402. The bottom plate lower end 401 is provided with first through holes having the same number as the first threaded holes provided on the mounting column 186, and first bolts are installed inside the plurality of first through holes. The bottom plate lower end 401 is threadedly installed on the upper surface of the lower bottom plate 6 through the plurality of first bolts, and the plurality of first bolts of the bottom plate lower end 401 penetrate the lower bottom plate 6 and are threadedly connected with the plurality of first threaded holes. The bottom plate upper end 402 is provided with second through holes having the same number as the plurality of second threaded holes in the upper bottom plate 5, and second bolts are installed inside the plurality of second through holes. The bottom plate upper end 402 is threadedly installed on the bottom of the upper bottom plate 5 through the plurality of second bolts, and the height of the bottom plate flange 4 is consistent with the distance between the upper bottom plate 5 and the lower bottom plate 6.

[0046] As a technical optimization scheme of the present invention, the control box 1 is installed on the top of one end of the upper surface of the upper base plate 5 away from the sleeve 25, and a computer processing terminal 51 is installed on the top of the control box 1. The control box 1 is placed on the upper surface of the upper base plate 5. Considering that the intelligent slag cleaning robot will generate a large eccentric load during operation, the control box 1 is placed on the upper surface of the upper base plate 5 away from the slewing mechanism. The control box 1 mainly controls the steering of the four steering wheels 18, the walking of the four steering wheels 18, the rotation of the slewing support power motor 3, the rotation of the elevator power motor 19, the telescopic movement of the hydraulic telescopic cylinder 11, and the telescopic movement of the telescopic arm body. The camera 50 and the computer processing terminal 51 are installed on the upper surface of the upper base plate 5. In order to more clearly capture the slag on the surface of the aluminum liquid in the mixing furnace, the camera 50 is installed on the upper surface of the upper base plate 5 near the side of the slag cleaning shovel 14. Through the structural schematic diagram of the telescopic arm body in the extended state, it can be intuitively seen that the slag cleaning rod 13 is fixedly connected to the end position of the fourth telescopic arm 123, and the slag cleaning shovel 14 is fixedly connected to the end position of the slag cleaning rod 13.

[0047] As a technical optimization scheme of the present invention, the rotary mechanism is composed of a sleeve 25, a turntable outer ring 26, a turntable inner ring 27, a rotary support power motor 3, a rotary support power reducer 301, a rotary support power gear 28, a rotary support power shaft 29, a rotary support inner ring 30 and a rotary support outer ring 31. The rotary support power motor 3 is installed at the bottom of the lower base plate 6, and a reducer mounting port 49 is provided inside the upper base plate 5. The rotary support power reducer 301 is installed on the upper base plate 5 through the reducer mounting port 49. The output end of the rotary support power motor 3 is connected to the rotary support power reducer 301, and the output end of the rotary support power reducer 301 is connected to the rotary support power shaft 29. The outer wall of the rotary support power shaft 29 is installed with a rotary support power gear 28. The rotary support inner ring 30 is connected to the rotary support power shaft 29 through a plurality of third The bolt threads are installed on the upper surface of the upper base plate 5, the outer wall of the slewing support inner ring 30 is connected to the inner wall of the slewing support outer ring 31, a rotation gap is left between the slewing support outer ring 31 and the upper base plate 5, the slewing support outer ring 31 is meshed with the slewing support power gear 28, the sleeve 25 is fixedly installed on the upper surface of the upper base plate 5 and is coaxial with the slewing support inner ring 30, a turntable outer ring 26 is installed directly above the sleeve 25, the turntable outer ring 26 is installed on the top of the sleeve 25 by a plurality of fourth bolt threads, a gap is left between the lower surface of the turntable outer ring 26 and the upper surface of the sleeve 25, the turntable inner ring 27 is rotatably matched with the turntable outer ring 26, the slewing support flange outer ring 32 is installed on the turntable inner ring 27 by a plurality of fifth bolts coaxially threaded, and the slewing support flange inner ring 33 is installed on the slewing support outer ring 31 by a sixth bolt coaxially threaded. The rotation of the slewing support outer ring 31 can drive the rotation of the slewing support flange outer ring 32 , so that the turntable inner ring 27 can be driven to rotate around the turntable outer ring 26 through the rotation of the slewing support flange outer ring 32 .

[0048] As a technical optimization scheme of the present invention, the upper surface of the outer ring 32 of the slewing support flange is installed with an elevator power motor 19, an elevator power reducer 20 and an elevator mounting sleeve 7, the output end of the elevator power motor 19 is connected to the elevator power reducer 20, the power output end of the elevator power reducer 20 is installed with an elevator power shaft 21, the end of the elevator power shaft 21 away from the elevator power reducer 20 is installed with a coupling 8, the elevator mounting sleeve 7 is fixedly installed on the upper surface of the outer ring 32 of the slewing support flange, the interior of the elevator mounting sleeve 7 is installed with an elevator body 52, the interior of the elevator body 52 is installed with a worm 22, one side of the elevator mounting sleeve 7 is provided with a through hole with the same diameter as the worm 22, the end of the worm 22 away from the elevator body 52 extends through the elevator mounting sleeve 7, and the end of the coupling 8 away from the elevator power shaft 21 is connected to the end of the worm 22 away from the elevator body 52. The elevator power motor 19 is started to drive the elevator power shaft 21 to rotate, and the elevator power shaft 21 drives the coupling 8 and the worm 22 to rotate synchronously.

[0049] As a technical optimization scheme of the present invention, a lead screw 24 is installed inside the elevator body 52, and a turbine 23 is installed at one end of the worm gear 22 located inside the elevator body 52. ​​The turbine 23 is threadedly matched with the outer wall of the lead screw 24. The telescopic arm platform 9 is fixedly connected to the lead screw 24, and the lead screw 24 is located at the center of the telescopic arm platform 9. An A-shaped support seat 10 is installed on the top of the telescopic arm platform 9, and a hydraulic telescopic cylinder 11 is provided at the front end of the A-shaped support seat 10. The telescopic end of the hydraulic telescopic cylinder 11 is the upper end 16, and the bottom end of the hydraulic telescopic cylinder 11 is the lower end 17. The lower end 17 of the hydraulic telescopic cylinder 11 is rotatably installed on the upper surface of the telescopic arm platform 9. The worm 22 can drive the turbine 23 to rotate synchronously during the rotation process. Since the turbine 23 is threadedly matched with the lead screw 24, it can drive the lead screw 24 to move up and down inside the elevator body 52, thereby driving the telescopic arm carrier 9 to move up and down synchronously on the top of the elevator body 52, and automatically adjusting the height of the slag cleaning shovel 14; the telescopic end of the hydraulic telescopic cylinder 11 can be extended and retracted to push the telescopic arm body to rotate and adjust within a specified range, thereby driving the slag cleaning shovel 14 to rotate and adjust synchronously.

[0050] As a technical optimization solution of the present invention, the telescopic arm body is composed of a first telescopic arm 12, a second telescopic arm 121, a third telescopic arm 122, a fourth telescopic arm 123, a cylinder rod 34, a cylinder body 35, a pulley 36, a pulley 37, a pulley 38, a pulley 49, a three-section arm retracting rope 40, a three-section arm extension rope 41, a four-section arm extension rope 42, a four-section arm retracting rope 43, a boss 46, a connecting buckle 47 and a cylinder pin 44. The fourth telescopic arm 123 is inserted into the third telescopic arm 122. The retracted arm 122 is inserted into the second telescopic arm 121, and the second telescopic arm 121 is inserted into the first telescopic arm 12. The lower end of the first telescopic arm 12 is installed with a boss 46 and a connecting buckle 47. The connecting buckle 47 is rotatably connected to the upper end 16 of the hydraulic telescopic cylinder 11. The boss 46 is rotatably connected to the A-shaped support seat 10 through the support seat pin 15. The A-shaped support seat 10 is provided with a U-shaped gap 48. The boss 46 is installed in the U-shaped gap 48 at equal intervals. The first telescopic arm 12 is installed with a cylinder body. In order to prevent interference, a certain distance is left between the lower end of the first telescopic arm 12 and the upper end of the A-shaped support seat 10. It can be intuitively seen from the structural schematic diagram of the cross-section of the telescopic arm body that the telescopic power source of the telescopic arm body comes from a reversed cylinder body.

[0051] As a technical optimization scheme of the present invention, the cylinder body is composed of a cylinder rod 34 and a cylinder body 35. One end of the cylinder rod 34 is rotatably installed on the lower end of the first telescopic arm 12 through a cylinder pin shaft 44. The lower end of the cylinder body 35 is fixedly connected to the lower end of the second telescopic arm 121. A pulley 2 37 is rotatably installed inside the fourth telescopic arm 123. The upper end of the cylinder body 35 is fixedly connected to the pulley 2 37. Three-section boom ropes 41 are arranged on the pulley 2 37. One end of the three-section boom rope 41 is fixed to the lower end of the first telescopic arm 12, and the other end of the three-section boom rope 41 is fixed to the lower end of the third telescopic arm 122. Pulley 1 36 is rotatably installed on the lower end of the second telescopic arm 121. Three-section retractable arms are arranged on the pulley 1 36. Rope 40, one end of the three-section arm retracting rope 40 is fixed to the upper end of the first telescopic arm 12, the other end of the three-section arm retracting rope 40 is fixed to the lower end of the third telescopic arm 122, pulley three 38 is rotatably installed on the upper end of the third telescopic arm 122, four-section arm extension rope 42 is arranged on pulley three 38, one end of the four-section arm extension rope 42 is fixed to the lower end of the second telescopic arm 121, the other end of the four-section arm extension rope 42 is fixed to the lower end of the fourth telescopic arm 123, pulley four 39 is rotatably installed at the lower end of the third telescopic arm 122, four-section arm retracting rope 43 is arranged on pulley four 39, one end of the four-section arm retracting rope 43 is fixed to the lower end of the fourth telescopic arm 123, and the other end of the four-section arm retracting rope 43 is fixed to the upper end of the cylinder body 35.

[0052] In the present invention, when the intelligent slag cleaning robot is operating, the control box 1 sends instructions to the four steering wheels 18, and the four steering wheels 18 run to the designated working position according to the compiled computer program. The compilation of the computer program of the four steering wheels 18 varies according to different factory environments. Specifically, after the control box 1 sends instructions to the four steering wheels 18, when the steering wheel 18 needs to turn, the steering motor 181 starts to run, the steering motor 181 drives the steering gear 2 185 to rotate, the steering gear 2 185 drives the steering gear 1 184 to rotate, and the steering gear 1 184 drives the roller 183 to move, thereby realizing the steering of the steering wheel 18; when the steering wheel 18 needs to move, the walking motor 182 starts to run, and the walking motor 182 drives the roller 183 to rotate, thereby realizing the walking of the steering wheel 18.

[0053] Considering that the intelligent slag cleaning robot needs to have an upward movement when operating, however, when the elevator rises too far, that is, when the screw 24 rises too far, due to the large load on the telescopic arm carrier 9, the screw 24 is subjected to a large offset load. In order to reduce the risk of deformation of the screw 24, the upward movement is implemented in two steps. The first step: due to the different ground flatnesses and heights of the mixing furnaces in different aluminum plants, the height of the body of the intelligent slag cleaning robot can be adjusted by adjusting the height of the bottom plate flange 4 and the distance between the upper bottom plate 5 and the lower bottom plate 6 during processing and manufacturing, so that the height mentioned above will no longer be adjusted by the elevator; the second step: when the intelligent slag cleaning robot is operating, the requirements for upward movement during slag cleaning are met by the lifting of the elevator.

[0054] After the control box 1 controls the four steering wheels 18 to move to the predetermined positions, the control box 1 controls the movement of the slewing mechanism to point the end of the slag cleaning shovel 14 to one side of the mixing furnace, that is, the side where the intelligent slag cleaning robot is operating. In the slewing mechanism, the control box 1 controls the slewing support power motor 3 to rotate, and the slewing support power motor 3 drives the slewing support power reducer 301 to rotate. The slewing support power reducer 301 drives the slewing support power gear 28 to rotate through the slewing support power shaft 29. The slewing support power gear 28 drives the slewing support outer ring 31 to rotate. The rotation of the slewing support outer ring 31 can drive the rotation of the slewing support flange outer ring 32, so that the turntable inner ring 27 can be driven to rotate around the turntable outer ring 26 through the rotation of the slewing support flange outer ring 32.

[0055] When the intelligent slag cleaning robot is working, the slag cleaning height of the telescopic arm body can be adjusted by the elevator. Assuming that the slag cleaning height of the telescopic arm body needs to be increased, the control box 1 controls the elevator power motor 19 to rotate. The elevator power motor 19 drives the elevator power reducer 20 and the elevator power shaft 21 to rotate, and then drives the worm 22 to rotate through the coupling 8. The worm 22 transmits power to the turbine 23. The rotation of the turbine 23 drives the screw 24 to move upward, thereby driving the telescopic arm carrier 9 to move upward. The required requirements are achieved. When the slag cleaning height of the telescopic arm body needs to be lowered, it can be achieved by controlling the elevator power motor 19 to rotate in the opposite direction through the control box 1.

[0056] According to the real-time image of slag on the surface of molten aluminum in the mixing furnace transmitted back by the camera 50, the computer processing terminal 51 analyzes and processes the slag situation to obtain the aggregation position of the slag on the surface of the molten aluminum in the mixing furnace, and then sends the processed situation to the control box 1. The control box 1 controls the movement of the elevator power motor 19, the slewing support power motor 3 and the hydraulic telescopic cylinder 11 according to the data fed back by the computer processing terminal 51, thereby adjusting the position of the slag cleaning shovel 14 in the mixing furnace.

[0057] During the slag cleaning process, the extension and retraction of the hydraulic telescopic cylinder 11 can control the pitching of the telescopic arm, and the boss 46 can rotate in the U-shaped gap 48 during the pitching process.

[0058] When the intelligent slag cleaning robot is operating, the control box 1 controls the extension and retraction of the cylinder rod 34. When the cylinder rod 34 is extended, the cylinder body 35 drives the second telescopic arm 121 to move upward, and the cylinder body 35 drives the second pulley 37 to move upward at the same time. At this time, the three-section arm extension rope 41 is tightened to drive the third telescopic arm 122 to move upward, and the third telescopic arm 122 moves upward to drive the pulley three 38 to move upward. At this time, the four-section arm extension rope 42 is tightened to drive the fourth telescopic arm 123 to move upward; when the cylinder rod 34 is retracted, the cylinder body 35 drives the second telescopic arm 121 to move downward, and the second telescopic arm 121 drives the pulley one 36 to move downward at the same time. At this time, the three-section arm retraction rope 40 is tightened to drive the third telescopic arm 122 to move downward, and the third telescopic arm 122 moves downward to drive the pulley four 39 to move downward. At this time, the four-section arm retraction rope 43 is tightened to drive the fourth telescopic arm 123 to move downward.

[0059] The operation of the intelligent slag cleaning robot in this embodiment is specifically as follows: the slag on the surface of the aluminum liquid in the mixing furnace is repeatedly scraped out of the mixing furnace by the slag cleaning shovel 14 through the extension and retraction of the telescopic arm body.

[0060] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An intelligent slag cleaning robot for use in a special environment of aluminum electrolysis, comprising an upper base plate (5) and a lower base plate (6), characterized in that: The upper base plate (5) and the lower base plate (6) are connected by means of a plurality of base plate flanges (4); a slewing mechanism is installed on the top of the upper base plate (5); a lifting mechanism is installed above the slewing mechanism; a telescopic arm carrier (9) is installed on the top of the lifting mechanism; a telescopic arm body is installed on the top of the telescopic arm carrier (9); a slag cleaning rod (13) is installed at one end of the telescopic arm body; a slag cleaning shovel (14) is installed at the end of the slag cleaning rod (13) away from the telescopic arm body; two steering wheels (18) are installed at both ends of the bottom of the lower base plate (6); two universal wheels (2) for auxiliary support are installed at the center of the lower base plate (6); a control box (1) for driving the operation of a plurality of components is installed on the top of the upper base plate (5); and a camera (50) for photographing the slag situation on the surface of the aluminum liquid in the mixing furnace is installed at the top of the end of the upper base plate (5) close to the slag cleaning shovel (14).

2. The intelligent slag cleaning robot for use in the special environment of aluminum electrolysis according to claim 1 is characterized in that: The steering wheel (18) is composed of a steering motor (181), a travel motor (182), a roller (183), a steering gear 1 (184), a steering gear 2 (185) and a mounting column (186). The mounting column (186) is rotatably mounted on the bottom of the lower base plate (6). A mounting frame (187) is mounted on the bottom end of the mounting column (186). The roller (183) is rotatably mounted on the bottom of the mounting frame (187). A gear for driving the roller is mounted on one side outer wall of the mounting frame (187). A travel motor (182) is used to rotate a wheel (183); a steering motor (181) is installed at the bottom of the mounting frame (187) near the roller (183); an output end of the steering motor (181) passes through the mounting frame (187) and is connected to a second steering gear (185); a first steering gear (184) is installed on the outer wall of the mounting column (186); the second steering gear (185) and the first steering gear (184) are meshed with each other; and a plurality of first threaded holes are opened on the top of the mounting column (186).

3. The intelligent slag cleaning robot for use in the special environment of aluminum electrolysis according to claim 1 is characterized in that: The upper base plate (5) and the lower base plate (6) have the same length, width and thickness. A plurality of ribs (45) for improving the bearing capacity are welded between the upper base plate (5) and the lower base plate (6). A plurality of second threaded holes are formed at the front and rear ends of the upper base plate (5) and the lower base plate (6). The plurality of second threaded holes inside the upper base plate (5) and the plurality of second threaded holes inside the lower base plate (6) are all on the same axis.

4. The intelligent slag cleaning robot for use in the special environment of aluminum electrolysis according to claim 2 is characterized in that: The bottom plate flange (4) is composed of a bottom plate lower end (401) and a bottom plate upper end (402); the bottom plate lower end (401) is provided with first through holes having the same number as the first threaded holes provided on the mounting column (186); first bolts are installed inside the plurality of first through holes; the bottom plate lower end (401) is threadedly mounted on the upper surface of the lower bottom plate (6) through the plurality of first bolts; the plurality of first bolts at the bottom plate lower end (401) penetrate the lower bottom plate (6) and are threadedly connected to the plurality of first threaded holes; the bottom plate upper end (402) is provided with second through holes having the same number as the plurality of second threaded holes provided inside the upper bottom plate (5); second bolts are installed inside the plurality of second through holes; the bottom plate upper end (402) is threadedly mounted on the bottom of the upper bottom plate (5) through the plurality of second bolts; the height of the bottom plate flange (4) is consistent with the distance between the upper bottom plate (5) and the lower bottom plate (6).

5. The intelligent slag cleaning robot for use in the special environment of aluminum electrolysis according to claim 1 is characterized in that: The control box (1) is mounted on the top of one end of the upper surface of the upper base plate (5) away from the sleeve (25), and a computer processing terminal (51) is mounted on the top of the control box (1).

6. The intelligent slag cleaning robot for use in the special environment of aluminum electrolysis according to claim 1 is characterized in that: The slewing mechanism is composed of a sleeve (25), a turntable outer ring (26), a turntable inner ring (27), a slewing support power motor (3), a slewing support power reducer (301), a slewing support power gear (28), a slewing support power shaft (29), a slewing support inner ring (30) and a slewing support outer ring (31); the slewing support power motor (3) is mounted on the bottom of the lower base plate (6); a reducer mounting opening (49) is provided inside the upper base plate (5); the slewing support power reducer (301) is mounted on the upper base plate (5) through the reducer mounting opening (49); the output end of the slewing support power motor (3) is connected to the slewing support power reducer (301); the output end of the slewing support power reducer (301) is connected to the slewing support power shaft (29); the outer wall of the slewing support power shaft (29) is mounted with a slewing support power gear (28); the slewing support inner ring (30) is threadedly mounted by a plurality of third bolts. On the upper surface of the upper base plate (5), the outer wall of the slewing support inner ring (30) is connected to the inner wall of the slewing support outer ring (31), a rotation gap is reserved between the slewing support outer ring (31) and the upper base plate (5), the slewing support outer ring (31) and the slewing support power gear (28) are meshed with each other, the sleeve (25) is fixedly mounted on the upper surface of the upper base plate (5) and is coaxial with the slewing support inner ring (30), and the turntable outer ring (26) is mounted directly above the sleeve (25). The turntable outer ring (26) is installed on the top of the sleeve (25) through multiple fourth bolt threads, and a gap is left between the lower surface of the turntable outer ring (26) and the upper surface of the sleeve (25). The turntable inner ring (27) rotates with the turntable outer ring (26). The slewing support flange outer ring (32) is installed on the turntable inner ring (27) through multiple fifth bolt coaxial threads, and the slewing support flange inner ring (33) is installed on the slewing support outer ring (31) through a sixth bolt coaxial thread.

7. The intelligent slag cleaning robot for use in the special environment of aluminum electrolysis according to claim 6, characterized in that: The upper surface of the outer ring (32) of the slewing support flange is equipped with an elevator power motor (19), an elevator power reducer (20) and an elevator installation sleeve (7); the output end of the elevator power motor (19) is connected to the elevator power reducer (20); the power output end of the elevator power reducer (20) is equipped with an elevator power shaft (21); the end of the elevator power shaft (21) away from the elevator power reducer (20) is equipped with a coupling (8); the elevator installation sleeve (7) is fixedly installed on the slewing support flange. The upper surface of the outer ring (32) of the support flange, the interior of the elevator mounting sleeve (7) is equipped with an elevator body (52), the interior of the elevator body (52) is equipped with a worm (22), one side of the elevator mounting sleeve (7) is provided with a through hole with the same diameter as the worm (22), one end of the worm (22) away from the elevator body (52) extends through the elevator mounting sleeve (7), and one end of the coupling (8) away from the elevator power shaft (21) is connected to one end of the worm (22) away from the elevator body (52).

8. The intelligent slag cleaning robot for use in the special environment of aluminum electrolysis according to claim 7 is characterized in that: A lead screw (24) is installed inside the lift body (52), a turbine (23) is installed at one end of the worm gear (22) located inside the lift body (52), the turbine (23) is threadedly matched with the outer wall of the lead screw (24), the telescopic arm platform (9) is fixedly connected with the lead screw (24), an A-shaped support seat (10) is installed on the top of the telescopic arm platform (9), a hydraulic telescopic cylinder (11) is arranged at the front end of the A-shaped support seat (10), the telescopic end of the hydraulic telescopic cylinder (11) is the upper end (16), and the bottom end of the hydraulic telescopic cylinder (11) is the lower end (17). The lower end (17) of the hydraulic telescopic cylinder (11) is rotatably installed on the upper surface of the telescopic arm platform (9).

9. The intelligent slag cleaning robot for use in the special environment of aluminum electrolysis according to claim 8, characterized in that: The telescopic arm body is composed of a first telescopic arm (12), a second telescopic arm (121), a third telescopic arm (122), a fourth telescopic arm (123), a cylinder rod (34), a cylinder body (35), a pulley 1 (36), a pulley 2 (37), a pulley 3 (38), a pulley 4 (39), a three-section arm retracting rope (40), a three-section arm extension rope (41), a four-section arm extension rope (42), a four-section arm retracting rope (43), a boss (46), a connecting buckle (47) and a cylinder pin (44). The fourth telescopic arm (123) is inserted into the third telescopic arm (122). The third telescopic arm (123) is inserted into the third telescopic arm (122). 2) inserted into the interior of the second telescopic arm (121), the second telescopic arm (121) is inserted into the interior of the first telescopic arm (12), a boss (46) and a connecting buckle (47) are installed at the lower end of the first telescopic arm (12), the connecting buckle (47) is rotatably connected to the upper end (16) of the hydraulic telescopic cylinder (11), the boss (46) is rotatably connected to the A-shaped support seat (10) through the support seat pin shaft (15), a U-shaped gap (48) is provided inside the A-shaped support seat (10), the boss (46) is installed in the U-shaped gap (48) at equal intervals, and the cylinder body is installed inside the first telescopic arm (12).

10. The intelligent slag cleaning robot for use in the special environment of aluminum electrolysis according to claim 9, characterized in that: The cylinder body is composed of a cylinder rod (34) and a cylinder body (35). One end of the cylinder rod (34) is rotatably mounted on the lower end of the first telescopic arm (12) through a cylinder pin shaft (44). The lower end of the cylinder body (35) is fixedly connected to the lower end of the second telescopic arm (121). A pulley 2 (37) is rotatably mounted inside the fourth telescopic arm (123). The upper end of the cylinder body (35) is fixedly connected to the pulley 2 (37). Three arm extension ropes (41) are arranged on the pulley 2 (37). One end of the three arm extension ropes (41) is fixed to the lower end of the first telescopic arm (12). The other end of the three arm extension ropes (41) is fixed to the lower end of the third telescopic arm (122). The pulley 1 (36) is rotatably mounted on the lower end of the second telescopic arm (121). The pulley 1 (36) is arranged with three arm retracting ropes (40). One end of the retractable arm rope (40) is fixed to the upper end of the first telescopic arm (12), and the other end of the three-section retractable arm rope (40) is fixed to the lower end of the third telescopic arm (122). The third pulley (38) is rotatably mounted on the upper end of the third telescopic arm (122). Four-section arm extension ropes (42) are arranged on the third pulley (38). One end of the four arm extension ropes (42) is fixed to the lower end of the second telescopic arm (121), and the other end of the four arm extension ropes (42) is fixed to the lower end of the fourth telescopic arm (123). The fourth pulley (39) is rotatably mounted on the lower end of the third telescopic arm (122). Four-section arm retractable ropes (43) are arranged on the fourth pulley (39), one end of the four arm retractable ropes (43) is fixed to the lower end of the fourth telescopic arm (123), and the other end of the four arm retractable ropes (43) is fixed to the upper end of the oil cylinder body (35).

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