Anode carbon block ferrophosphorus cleaning method using robot in combination with three-dimensional vision

Abstract

The invention discloses an anode carbon block ferrophosphorus cleaning method using a robot in combination with three-dimensional vision, and belongs to the technical field of anode carbon block cleaning equipment.The anode carbon block ferrophosphorus cleaning method comprises the following steps that a multi-dimensional vision system is installed; the multi-dimensional visual system comprises a fixed box, a mounting frame mounted below the fixed box and a multi-dimensional visual collector mounted in the fixed frame, and the multi-dimensional visual collector is used for collecting pictures on the periphery of the carbon bowl and on the carbon bowl; and finally, the scraper knife is controlled by the mechanical arm to comprehensively clean the scrap iron around the carbon bowl and on the carbon bowl. According to the anode carbon block ferrophosphorus cleaning method using the robot in combination with the three-dimensional vision, the periphery of the carbon bowl and the carbon bowl can be automatically and comprehensively cleaned after pouring, the multi-dimensional vision collector can be conveniently disassembled and assembled, and later maintenance is facilitated.

Description

Technical Field

[0001] The invention belongs to the technical field of anode carbon block cleaning equipment, and in particular relates to a method for cleaning ferrophosphorus of anode carbon blocks by using a robot combined with three-dimensional vision. Background Art

[0002] At present, the carbon anode assembly for electrolytic aluminum is connected together by a guide rod and an anode carbon block after being cooled by molten ferrophosphorus water. There are four carbon bowls on the top of the anode carbon block that need to be connected to the guide rod steel claws. Since the guide rod steel claws are reused, the pouring amount of ferrophosphorus water in each carbon bowl is different. The pouring method currently used in the aluminum industry is to manually observe and control the pouring amount. Due to the difficulty in controlling the pouring amount and locating the pouring point during manual operation, ferrophosphorus is prone to overflow on the surface of the carbon block. After cooling, the excess ferrophosphorus on the surface of the carbon block needs to be cleaned, and the current cleaning method in the industry is generally done manually.

[0003] Manual shovels are used to scrape, cut, and lift the excess ferrophosphorus on the surface of the carbon blocks. The work intensity is high and the working area is hot. After manual cleaning, there will be fine carbon powder on site, which poses a risk of occupational disease to personnel. The site needs to be vacuumed but it cannot remove all the fine carbon powder, and there are still hidden dangers. In addition, due to the heavy cleaning work and high temperature factors, the human resources required are high. Summary of the invention

[0004] The purpose of the present invention is to provide a method for cleaning ferrophosphorus from anode carbon blocks using a robot combined with three-dimensional vision, so as to solve the problem proposed in the above-mentioned background technology that manual shovels, cuts, and lifts are used to clean the excess ferrophosphorus on the surface of the carbon blocks. The work intensity is high and the working area is hot. After manual cleaning, there will be fine carbon powder on site, causing the risk of occupational diseases to personnel. In addition, due to the heavy cleaning work and high temperature factors on site, the human resources required are consumed.

[0005] To achieve the above object, the present invention provides the following technical solution: a method for cleaning ferrophosphorus from anode carbon blocks using a robot combined with three-dimensional vision, comprising the following steps:

[0006] Step 1: Multi-dimensional visual system installation;

[0007] Step 2: Collect on-site pictures;

[0008] Step 3: Clean the iron slag.

[0009] In a further embodiment, the multi-dimensional vision system in step 1 includes a fixed box, a mounting frame installed under the fixed box, and a multi-dimensional vision collector installed in the fixed frame. By placing the fixed box on the surface of the fixed rod processed by the carbon block, placing two mounting frames on both sides of the fixed rod, and placing the multi-dimensional vision collector in the mounting frame, the installation of the multi-dimensional vision collector can be quickly completed. At the same time, the detachable multi-dimensional vision collector and the fixed frame are convenient for the later maintenance and replacement of the multi-dimensional vision collector.

[0010] In a further embodiment, the on-site picture collection in step 2: pictures of the periphery of the charcoal bowl and the charcoal bowl itself are collected through a multi-dimensional vision collector, the multi-dimensional vision collector detects the molten iron overflowing from the surface of the charcoal block and performs high-precision positioning of the charcoal block, and cooperates with a customized AI deep learning intelligent system to perform all-round detection of molten steel overflow, charcoal block positioning and cleaning completion.

[0011] In a further embodiment, a scraper is controlled by a robotic arm to comprehensively clean the iron filings around the charcoal bowl and on the charcoal bowl itself. A hydraulic cylinder is installed at a suitable position of the robotic arm, and a locking block is installed at the driving end of the hydraulic cylinder. The position of the charcoal block is locked by the locking block to fix the charcoal block on the on-site production line to ensure that it will not slide or shift during the cleaning process and to ensure that the charcoal block will not move or collide due to misoperation.

[0012] Technical effects and advantages of the present invention:

[0013] The anode carbon block ferrophosphorus cleaning method using a robot combined with three-dimensional vision, after pouring, uses a multi-dimensional visual collector to collect pictures, identify the iron slag situation and generate coordinates, giving the robot arm a precise trajectory position, and then the robot arm automatically removes the slag through a shovel, avoiding manual slag removal operations, which not only reduces the labor intensity of the staff, but also makes the slag removal operation safer and more efficient;

[0014] By placing the multi-dimensional vision collector in the mounting frame, the installation of the multi-dimensional vision collector can be completed quickly. By placing two mounting frames on both sides of the fixed rod, the two multi-dimensional vision collectors are respectively attached to the two sides of the fixed rod, and the installation between the fixed rod and the multi-dimensional vision collector can be completed quickly. At the same time, it is also convenient to remove the mounting frame and the multi-dimensional vision collector from the fixed rod at a later time.

[0015] During the working process, the hydraulic cylinder drives the locking block to move, and the position of the carbon block is locked by the locking block, which fixes the carbon block on the on-site production line to ensure that it will not slide or shift during the cleaning process, and to ensure that the carbon block will not move or collide due to misoperation. The anode carbon block ferrophosphorus cleaning method using a robot combined with three-dimensional vision can automatically clean the surrounding area of ​​the carbon bowl and the carbon bowl itself after pouring, and is convenient for disassembly and assembly of the multi-dimensional vision collector, which is convenient for later maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 is a flow chart of the present invention;

[0018] Figure 2 It is a structural schematic diagram of the present invention;

[0019] Figure 3 It is a schematic diagram of the support block and hydraulic cylinder structure of the present invention;

[0020] Figure 4 It is a structural schematic diagram of the fixing box and the mounting frame of the present invention;

[0021] Figure 5 is a cross-sectional view of a fixing box of the present invention;

[0022] Figure 6 is a cross-sectional view of the mounting frame of the present invention;

[0023] Figure 7 It is a schematic structural diagram of the connecting column and the push block of the present invention.

[0024] In the figure: 1. Installation platform; 2. Robotic arm; 3. Shovel; 4. Support block; 5. Hydraulic cylinder; 6. Locking block; 7. Control box; 8. Support frame; 9. Limit frame; 10. Carbon block; 11. Carbon bowl; 12. Fixed rod; 13. Fixed box; 14. Sliding block; 15. Connecting rod; 16. Fixed spring; 17. Limiting ball; 18. Mounting frame; 19. Multi-dimensional visual collector; 20. Limiting block; 21. Guide rod; 22. Push plate; 23. Positioning plate; 24. Limiting ring; 25. Support spring; 26. Positioning pin; 27. Sliding ball; 28. Pull block; 29. ​​Connecting column; 30. Push block; 31. Compression spring. DETAILED DESCRIPTION

[0025] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is apparent to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features well known in the art are not described.

[0026] Unless otherwise defined, the up, down, left, right, front, back, inside and outside directions involved in this document are based on the up, down, left, right, front, back, inside and outside directions in the figures shown in the present invention, and are explained here together.

[0027] See also Figure 1-7 The present invention provides a method for cleaning ferrophosphorus of anode carbon blocks using a robot combined with three-dimensional vision, comprising the following steps:

[0028] Step 1: Multi-dimensional visual system installation;

[0029] Step 2: Collect on-site pictures;

[0030] Step 3: Clean the iron slag.

[0031] The cleaning method is implemented by the following equipment: it includes an installation platform 1 and a mechanical arm 2 installed in the installation platform 1. The mechanical arm 2 is a prior art, and its structure is not described in detail here. A blade 3 is installed on the driving end of the mechanical arm 2 by bolts, a support block 4 is installed on the surface of the installation platform 1 by bolts, a hydraulic cylinder 5 is installed on the surface of the support block 4 by bolts, and a locking block 6 is installed on the driving end of the hydraulic cylinder 5, and a control box 7 is installed on the surface of the installation platform 1. The control box 7 is a prior art, and its structure is not described in detail here. A support frame 8 is provided on one side of the installation platform 1, and a plurality of limit frames 9 are welded on the surface of the support frame 8, and a plurality of carbon blocks 10 are placed on the surface of the support frame 8, and a plurality of carbon bowls 11 are provided on the surface of the carbon block 10, and a fixing rod 12 is provided above the carbon block 10. During operation, the hydraulic cylinder 5 drives the locking block 6 to move, and the position of the carbon block 10 is locked by the locking block 6, so that the carbon block 10 is fixed to the on-site production line to ensure that it will not slide or deviate during the cleaning process, and to ensure that the carbon block 10 will not move or collide due to misoperation;

[0032] The surface of the fixed rod 12 is movably connected with a fixed box 13, and two connecting rods 15 are movably connected in the fixed box 13. Two sliding blocks 14 fixedly connected to the connecting rods 15 are movably connected in the fixed box 13, and the outer part of the connecting rod 15 is sleeved with a fixing spring 16 for supporting the sliding block 14. The outer walls of the sliding block 14 are provided with rotation grooves, and the rotation grooves around the sliding block 14 are rotatably connected with limiting balls 17. The inner walls of the fixed box 13 are provided with limiting sliding grooves for the limiting balls 17 to slide, which can limit the moving paths of the sliding block 14 and the connecting rod 15 to prevent the connecting rod 15 from rotating accidentally.

[0033] The bottom of the two connecting rods 15 are welded with a mounting frame 18, and a multi-dimensional visual collector 19 is movably connected inside the mounting frame 18. The multi-dimensional visual collector 19 is a prior art, and its structure is not described in detail here. After pouring, the multi-dimensional visual collector 19 collects pictures around the charcoal bowl 11 and on the charcoal bowl 11 itself, and the multi-dimensional visual collector 19 detects the molten iron overflowing from the surface of the charcoal block 10 and performs high-precision positioning of the charcoal block 10. In conjunction with the customized AI deep learning intelligent system, it performs all-round detection of molten steel overflow, positioning of the charcoal block 10 and cleaning completion, collects pictures through the multi-dimensional visual collector 19, identifies the iron slag situation and generates coordinates, gives the robot arm 2 a precise trajectory position, and then the robot arm 2 The slag removal operation is automatically performed by the scraper 3, avoiding manual slag removal operations, which not only reduces the labor intensity of the staff, but also makes the slag removal operation safer and more efficient. By pulling the two mounting frames 18, the connecting rod 15 is driven to move, thereby adjusting the distance between the two mounting frames 18, placing the two mounting frames 18 on both sides of the fixed rod 12, loosening the connecting rod 15, and the fixed spring 16 pushes the sliding block 14 to move, thereby driving the connecting rod 15 and the mounting frame 18 to move, so that the two multi-dimensional visual collectors 19 are respectively attached to the two sides of the fixed rod 12, so that the installation between the fixed rod 12 and the multi-dimensional visual collector 19 can be quickly completed, and it is also convenient to remove the mounting frame 18 and the multi-dimensional visual collector 19 from the fixed rod 12 at a later time;

[0034] Two limit blocks 20 are fixed in the mounting frame 18 by bolts, and guide holes are provided on the limit blocks 20, and guide rods 21 are movably connected in the guide holes of the limit blocks 20. A plurality of rotating grooves are also provided in the limit blocks 20, and sliding balls 27 that fit the guide rods 21 are rotatably connected in the rotating grooves of the limit blocks 20, so that the guide rods 21 can move more smoothly in the limit blocks 20. Push plates 22 and positioning plates 23 are fixed at both ends of the guide rods 21, and a positioning pin 26 is fixed on the outer wall of the positioning plate 23 on one side facing the mounting frame 18. Positioning holes matching the positioning pins 26 are provided on the outer walls on both sides of the multi-dimensional visual collector 19, and the limit blocks 20 can The moving distance of the push plate 22 is limited to prevent the positioning pin 26 from moving too far, which causes the positioning pin 26 to separate from the mounting frame 18. Both sides of the mounting frame 18 are provided with moving holes for the positioning pin 26 to move. The outer wall of the guide rod 21 is fixed with a limit ring 24, and the outer sleeve of the guide rod 21 is provided with a support spring 25 for supporting the limit ring 24. The multi-dimensional vision collector 19 is placed in the mounting frame 18, and the support spring 25 supports the limit ring 24, so that the two positioning plates 23 are respectively attached to the two sides of the mounting frame 18, and the positioning pin 26 is inserted into the positioning holes on both sides of the multi-dimensional vision collector 19, so that the installation of the multi-dimensional vision collector 19 can be quickly completed;

[0035] A through hole is provided on one side of the outer wall of the mounting frame 18, and a connecting column 29 is movably connected in the through hole of the mounting frame 18, and a pull block 28 is welded on the end surface of the connecting column 29 located outside the mounting frame 18, and a push block 30 for pushing the push plate 22 is fixed on the end surface of the connecting column 29 located inside the mounting frame 18, and the push block 30 is a truncated cone structure, and the side of the push plate 22 facing the push block 30 is an inclined surface, which is convenient for the push block 30 to push the push plate 22 to move, and the outer sleeve of the connecting column 29 is used to support the push block 30. The compression spring 31 can support the push block 30. When not subject to external force, the push block 30 can be prevented from moving, and the compression spring 31 can also limit the moving distance of the push block 30 after compression, preventing the push block 30 from separating from the push plate 22. The pull block 28 pulls the connecting column 29 and the push block 30 to move, and the push block 30 pushes the two push plates 22 to move in opposite directions, thereby driving the guide rod 21, the positioning plate 23 and the positioning pin 26 to move, so that the positioning pin 26 is separated from the multi-dimensional vision collector 19, and the disassembly of the multi-dimensional vision collector 19 can be quickly completed, which is convenient for the later maintenance and replacement of the multi-dimensional vision collector 19.

[0036] The standard parts used in the present invention can all be purchased from the market, and special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. Machinery, parts and equipment all adopt conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here. The control method of the present invention is controlled by a controller, and the control circuit of the controller can be realized by simple programming by technicians in this field. The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

[0037] In the description of the present invention, it is necessary to understand that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0038] Working principle:

[0039] The anode carbon block ferrophosphorus cleaning method using a robot combined with three-dimensional vision, when in use, pulls the connecting column 29 and the push block 30 to move through the pull block 28, and the push block 30 pushes the two push plates 22 to move in opposite directions, thereby driving the guide rod 21, the positioning plate 23 and the positioning pin 26 to move, and the positioning pin 26 moves into the mounting frame 18, and the multi-dimensional vision collector 19 is placed in the mounting frame 18, and the pull block 28 is released, and the compression spring 31 pushes the push block 30 to reset, and at the same time, the support spring 25 supports the limit ring 24, and drives the two positioning plates 23 to move toward each other, so that the two positioning plates 23 are respectively attached to the two sides of the mounting frame 18, and the positioning pin 26 is inserted into the positioning holes on both sides of the multi-dimensional vision collector 19, and the installation of the multi-dimensional vision collector 19 can be quickly completed;

[0040] After pouring, when slag removal is required, the hydraulic cylinder 5 drives the locking block 6 to move, and the position of the carbon block 10 is locked by the locking block 6, and the carbon block 10 is fixed on the on-site production line to ensure that it will not slide or shift during the cleaning process, and to ensure that there will be no misoperation that causes the carbon block 10 to move and collide. The multi-dimensional visual collector 19 then collects pictures, identifies the iron slag situation and generates coordinates, and gives the robot arm 2 a precise trajectory position. The robot arm 2 then automatically performs slag removal operations through the scraper 3, avoiding manual slag removal operations, which not only reduces the labor intensity of the staff, but also makes the slag removal operations safer and more efficient.

[0041] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for cleaning ferrophosphorus from anode carbon blocks using a robot combined with three-dimensional vision, characterized in that: The steps include: Step 1: Multi-dimensional visual system installation; Step 2: Collect on-site pictures; Step 3: Clean the iron slag.

2. The method for cleaning ferrophosphorus of anode carbon blocks using a robot combined with three-dimensional vision according to claim 1, characterized in that: The multi-dimensional vision system in step 1 includes a fixing box, a mounting frame installed under the fixing box, and a multi-dimensional vision collector installed in the fixing frame. By placing the fixing box on the surface of the fixed rod processed by the carbon block, placing two mounting frames on both sides of the fixed rod, and placing the multi-dimensional vision collector in the mounting frame, the installation of the multi-dimensional vision collector can be quickly completed. At the same time, the detachable multi-dimensional vision collector and the fixing frame are convenient for the later maintenance and replacement of the multi-dimensional vision collector.

3. The method for cleaning ferrophosphorus of anode carbon blocks using a robot combined with three-dimensional vision according to claim 1, characterized in that: On-site picture collection in step 2: pictures of the area around the charcoal bowl and the charcoal bowl itself are collected through a multi-dimensional visual collector, which detects the molten iron overflowing from the surface of the charcoal block and performs high-precision positioning of the charcoal block. In conjunction with a customized AI deep learning intelligent system, all-round detection of molten steel overflow, charcoal block positioning and cleaning completion is performed.

4. The method for cleaning ferrophosphorus of anode carbon blocks using a robot combined with three-dimensional vision according to claim 1, characterized in that: The iron slag cleaning in step 3: the scraper is controlled by the mechanical arm to comprehensively clean the iron filings around the charcoal bowl and on the charcoal bowl itself. A hydraulic cylinder is installed at the appropriate position of the mechanical arm, and a locking block is installed at the driving end of the hydraulic cylinder. The position of the charcoal block is locked by the locking block, and the charcoal block is fixed to the on-site production line to ensure that it will not slide or deviate during the cleaning process, and to ensure that the charcoal block will not move or collide due to misoperation.

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